模仿分拣顺序 · imitate_sorting_sequence_000217任务成功第一档

观测 obs_000000 · 步 0 · 剩余 3946 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": "Observe the object placement order, remember it, then place the corresponding objects into the basket in the same order. 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": 3946,
  "remaining_steps": 3946,
  "native_success": false,
  "frame": "environment_origin",
  "task_context": {
    "episode_start_eef": {
      "left": {"position": [-0.3, -0.352, 0.922], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
      "right": {"position": [0.3, -0.352, 0.922], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0}
    },
    "requires_arm_return": true
  }
}

• exec_command(cmd="cat /mnt/workspace/robot_workspaces/episode-wgwn4wb4/agent/.agents/skills/robot-manipula…")→退出码 0 · 1,522 字
  参数原文· 146 字JSON

  { "cmd": "cat /mnt/workspace/robot_workspaces/episode-wgwn4wb4/agent/.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 · 1,467 字
  参数原文· 85 字JSON

  {"cmd": "cat observations/000000/observation.json", "max_output_tokens": 14000}
  返回原文· 5,928 字代码

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  Process exited with code 0
  Original token count: 1467
  Output:
  {
    "episode_id": "8ce15fd4c3b84e20b64745bcfc0a6445",
    "observation_id": "obs_000000",
    "step_id": 0,
    "instruction": "Observe the object placement order, remember it, then place the corresponding objects into the basket in the same order. 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": 3946,
    "remaining_steps": 3946,
    "rollout_finished": false,
    "native_success": false,
    "frame": "environment_origin",
    "images": [
      {
        "camera": "cam_high",
        "path": "/mnt/workspace/robot_workspaces/episode-wgwn4wb4/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-wgwn4wb4/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-wgwn4wb4/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-wgwn4wb4/agent/observations/000000/observation.json",
    "task_context": {
      "episode_start_eef": {
        "left": {
          "position": [
            -0.2995290756225586,
            -0.35229986906051636,
            0.921500027179718
          ],
          "quaternion_wxyz": [
            0.7069999575614929,
            -2.8373033700290762e-08,
            -4.5104908252824316e-08,
            0.7072135210037231
          ],
          "gripper_opening_command": 1.0
        },
        "right": {
          "position": [
            0.3004709482192993,
            -0.35229986906051636,
            0.921500027179718
          ],
          "quaternion_wxyz": [
            0.7069999575614929,
            -2.8373033700290762e-08,
            -4.5104908252824316e-08,
            0.7072135210037231
          ],
          "gripper_opening_command": 1.0
        }
      },
      "requires_arm_return": true
    },
    "camera_parameters_path": "/mnt/workspace/robot_workspaces/episode-wgwn4wb4/agent/observations/000000/camera_parameters.json"
  }

• robot_wait()→obs_000025
  参数原文· 221 字JSON

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  {
    "observation_id": "obs_000000",
    "reason": "The demonstration robot is above the rear objects; both of our arms are parked clear. Watch its first pickup with a short wait so the order is not missed.",
    "steps": 25
  }

  返回原文· 57 字JSON

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

观测 obs_000025 · 步 25 · 剩余 3921 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000025",
  "step_id": 25,
  "instruction": "Observe the object placement order, remember it, then place the corresponding objects into the basket in the same order. 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": 3946,
  "remaining_steps": 3921,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_wait()→obs_000075
  参数原文· 200 字JSON

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  {
    "observation_id": "obs_000025",
    "reason": "The demonstrator remains at the rear pickup area and no object has been placed yet. Keep both arms clear and watch the next movement.",
    "steps": 50
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000075", "native_success": false}

观测 obs_000075 · 步 75 · 剩余 3871 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000075",
  "step_id": 75,
  "instruction": "Observe the object placement order, remember it, then place the corresponding objects into the basket in the same order. 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": 3946,
  "remaining_steps": 3871,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_wait()→obs_000115
  参数原文· 198 字JSON

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  {
    "observation_id": "obs_000075",
    "reason": "The demonstrator is approaching the rear black watch-shaped object. A short wait will reveal whether it is the first placed object.",
    "steps": 40
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000115", "native_success": false}

观测 obs_000115 · 步 115 · 剩余 3831 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000115",
  "step_id": 115,
  "instruction": "Observe the object placement order, remember it, then place the corresponding objects into the basket in the same order. 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": 3946,
  "remaining_steps": 3831,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_wait()→obs_000175
  参数原文· 188 字JSON

  1 2 3 4 5

  {
    "observation_id": "obs_000115",
    "reason": "The demonstration gripper is now aligned over the black watch. Observe its closure and lift while our arms remain parked.",
    "steps": 60
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000175", "native_success": false}

观测 obs_000175 · 步 175 · 剩余 3771 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000175",
  "step_id": 175,
  "instruction": "Observe the object placement order, remember it, then place the corresponding objects into the basket in the same order. 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": 3946,
  "remaining_steps": 3771,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_wait()→obs_000250
  参数原文· 175 字JSON

  1 2 3 4 5

  {
    "observation_id": "obs_000175",
    "reason": "The rear watch is between the demonstrator's fingers. Wait through the lift to identify the first placement.",
    "steps": 75
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000250", "native_success": false}

观测 obs_000250 · 步 250 · 剩余 3696 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000250",
  "step_id": 250,
  "instruction": "Observe the object placement order, remember it, then place the corresponding objects into the basket in the same order. 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": 3946,
  "remaining_steps": 3696,
  "native_success": false,
  "frame": "environment_origin"
}

• exec_command(cmd="mkdir -p notes cat > notes/sequence.md <<'EOF' Observed demonstration: - At step 250 dem…")→退出码 0 · 0 字
  参数原文· 484 字JSON

  1 2 3 4

  {
    "cmd": "mkdir -p notes\ncat > notes/sequence.md <<'EOF'\nObserved demonstration:\n- At step 250 demonstrator holds brown circular wristwatch band. Black camera remains on rear table. First item is watch (placement not yet confirmed).\nForeground copies: bunny left-center, circular brown watch center, black camera right-center, wooden car right, blue phone/remote front-center. Target basket is front-left; rear-right belongs to demonstrator.\nEOF",
    "max_output_tokens": 1000
  }

  返回原文· 59 字纯文本

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

• robot_wait()→obs_000350
  参数原文· 208 字JSON

  1 2 3 4 5

  {
    "observation_id": "obs_000250",
    "reason": "The demonstrator is holding the brown circular watch band while the black camera remains on the table. Watch the transfer toward its basket.",
    "steps": 100
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000350", "native_success": false}

观测 obs_000350 · 步 350 · 剩余 3596 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000350",
  "step_id": 350,
  "instruction": "Observe the object placement order, remember it, then place the corresponding objects into the basket in the same order. 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": 3946,
  "remaining_steps": 3596,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_wait()→obs_000425
  参数原文· 189 字JSON

  1 2 3 4 5

  {
    "observation_id": "obs_000350",
    "reason": "The watch has been carried toward the rear-right basket but is not yet visible inside it. Wait for placement confirmation.",
    "steps": 75
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000425", "native_success": false}

观测 obs_000425 · 步 425 · 剩余 3521 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000425",
  "step_id": 425,
  "instruction": "Observe the object placement order, remember it, then place the corresponding objects into the basket in the same order. 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": 3946,
  "remaining_steps": 3521,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_wait()→obs_000525
  参数原文· 170 字JSON

  1 2 3 4 5

  {
    "observation_id": "obs_000425",
    "reason": "The watch is lowered inside the demonstration basket. Watch its release and the next object selection.",
    "steps": 100
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000525", "native_success": false}

观测 obs_000525 · 步 525 · 剩余 3421 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000525",
  "step_id": 525,
  "instruction": "Observe the object placement order, remember it, then place the corresponding objects into the basket in the same order. 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": 3946,
  "remaining_steps": 3421,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_wait()→obs_000625
  参数原文· 199 字JSON

  1 2 3 4 5

  {
    "observation_id": "obs_000525",
    "reason": "The watch is confirmed resting in the rear basket as the first item. Wait while the demonstrator returns to select the second item.",
    "steps": 100
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000625", "native_success": false}

观测 obs_000625 · 步 625 · 剩余 3321 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000625",
  "step_id": 625,
  "instruction": "Observe the object placement order, remember it, then place the corresponding objects into the basket in the same order. 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": 3946,
  "remaining_steps": 3321,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_wait()→obs_000725
  参数原文· 166 字JSON

  1 2 3 4 5

  {
    "observation_id": "obs_000625",
    "reason": "The demonstrator is moving back across the rear table with empty fingers. Watch the next approach.",
    "steps": 100
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000725", "native_success": false}

观测 obs_000725 · 步 725 · 剩余 3221 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000725",
  "step_id": 725,
  "instruction": "Observe the object placement order, remember it, then place the corresponding objects into the basket in the same order. 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": 3946,
  "remaining_steps": 3221,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_wait()→obs_000825
  参数原文· 167 字JSON

  1 2 3 4 5

  {
    "observation_id": "obs_000725",
    "reason": "The demonstrator has approached the wooden toy car for the second pickup. Observe closure and lift.",
    "steps": 100
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000825", "native_success": false}

观测 obs_000825 · 步 825 · 剩余 3121 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000825",
  "step_id": 825,
  "instruction": "Observe the object placement order, remember it, then place the corresponding objects into the basket in the same order. 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": 3946,
  "remaining_steps": 3121,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_wait()→obs_000925
  参数原文· 213 字JSON

  1 2 3 4 5

  {
    "observation_id": "obs_000825",
    "reason": "The demonstrator shifted from the car area and is now aligning over the rabbit figure. The second selection is still unconfirmed; watch the lift.",
    "steps": 100
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000925", "native_success": false}

观测 obs_000925 · 步 925 · 剩余 3021 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000925",
  "step_id": 925,
  "instruction": "Observe the object placement order, remember it, then place the corresponding objects into the basket in the same order. 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": 3946,
  "remaining_steps": 3021,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_wait()→obs_001025
  参数原文· 179 字JSON

  1 2 3 4 5

  {
    "observation_id": "obs_000925",
    "reason": "The rabbit is visibly held and lifted; it is the second demonstrated object. Wait during its overhead transfer.",
    "steps": 100
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_001025", "native_success": false}

观测 obs_001025 · 步 1025 · 剩余 2921 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_001025",
  "step_id": 1025,
  "instruction": "Observe the object placement order, remember it, then place the corresponding objects into the basket in the same order. 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": 3946,
  "remaining_steps": 2921,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_wait()→obs_001125
  参数原文· 168 字JSON

  1 2 3 4 5

  {
    "observation_id": "obs_001025",
    "reason": "The rabbit is approaching the demonstration basket at a steady pace. Watch its lowering and release.",
    "steps": 100
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_001125", "native_success": false}

观测 obs_001125 · 步 1125 · 剩余 2821 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_001125",
  "step_id": 1125,
  "instruction": "Observe the object placement order, remember it, then place the corresponding objects into the basket in the same order. 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": 3946,
  "remaining_steps": 2821,
  "native_success": false,
  "frame": "environment_origin"
}

• exec_command(cmd="cat >> notes/sequence.md <<'EOF' Confirmed placements: 1 watch (step 525), 2 rabbit (ste…")→退出码 0 · 0 字
  参数原文· 191 字JSON

  1 2 3 4

  {
    "cmd": "cat >> notes/sequence.md <<'EOF'\nConfirmed placements: 1 watch (step 525), 2 rabbit (step 1125). Car approach at 725 was transit, not pickup.\nEOF",
    "max_output_tokens": 1000
  }

  返回原文· 59 字纯文本

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

• robot_wait()→obs_001225
  参数原文· 163 字JSON

  1 2 3 4 5

  {
    "observation_id": "obs_001125",
    "reason": "The rabbit is resting in the basket after the watch. Observe the demonstrator's next selection.",
    "steps": 100
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_001225", "native_success": false}

观测 obs_001225 · 步 1225 · 剩余 2721 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_001225",
  "step_id": 1225,
  "instruction": "Observe the object placement order, remember it, then place the corresponding objects into the basket in the same order. 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": 3946,
  "remaining_steps": 2721,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_wait()→obs_001325
  参数原文· 223 字JSON

  1 2 3 4 5

  {
    "observation_id": "obs_001225",
    "reason": "The demonstration gripper is approaching the wooden car; unlike the earlier transit, it is descending directly around it. Wait to confirm the third pickup.",
    "steps": 100
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_001325", "native_success": false}

观测 obs_001325 · 步 1325 · 剩余 2621 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_001325",
  "step_id": 1325,
  "instruction": "Observe the object placement order, remember it, then place the corresponding objects into the basket in the same order. 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": 3946,
  "remaining_steps": 2621,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_wait()→obs_001425
  参数原文· 190 字JSON

  1 2 3 4 5

  {
    "observation_id": "obs_001325",
    "reason": "The demonstrator continued past the car and is closing around the black camera. Watch the lift to confirm this third item.",
    "steps": 100
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_001425", "native_success": false}

观测 obs_001425 · 步 1425 · 剩余 2521 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_001425",
  "step_id": 1425,
  "instruction": "Observe the object placement order, remember it, then place the corresponding objects into the basket in the same order. 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": 3946,
  "remaining_steps": 2521,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_wait()→obs_001525
  参数原文· 185 字JSON

  1 2 3 4 5

  {
    "observation_id": "obs_001425",
    "reason": "The black camera is now visibly lifted and the car and phone remain on the table. Track the camera's third placement.",
    "steps": 100
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_001525", "native_success": false}

观测 obs_001525 · 步 1525 · 剩余 2421 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_001525",
  "step_id": 1525,
  "instruction": "Observe the object placement order, remember it, then place the corresponding objects into the basket in the same order. 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": 3946,
  "remaining_steps": 2421,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_wait()→obs_001625
  参数原文· 189 字JSON

  1 2 3 4 5

  {
    "observation_id": "obs_001525",
    "reason": "The camera is positioned over the demonstration basket. Wait for it to settle and see whether another object is selected.",
    "steps": 100
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_001625", "native_success": false}

观测 obs_001625 · 步 1625 · 剩余 2321 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_001625",
  "step_id": 1625,
  "instruction": "Observe the object placement order, remember it, then place the corresponding objects into the basket in the same order. 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": 3946,
  "remaining_steps": 2321,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_wait()→obs_001725
  参数原文· 211 字JSON

  1 2 3 4 5

  {
    "observation_id": "obs_001625",
    "reason": "The camera is confirmed third inside the basket. The demonstrator is retracting; wait to determine whether it finishes or selects another item.",
    "steps": 100
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_001725", "native_success": false}

观测 obs_001725 · 步 1725 · 剩余 2221 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_001725",
  "step_id": 1725,
  "instruction": "Observe the object placement order, remember it, then place the corresponding objects into the basket in the same order. 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": 3946,
  "remaining_steps": 2221,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_wait()→obs_001825
  参数原文· 185 字JSON

  1 2 3 4 5

  {
    "observation_id": "obs_001725",
    "reason": "The demonstrator is closing around the wooden car with the first three items already placed. Watch its fourth pickup.",
    "steps": 100
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_001825", "native_success": false}

观测 obs_001825 · 步 1825 · 剩余 2121 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_001825",
  "step_id": 1825,
  "instruction": "Observe the object placement order, remember it, then place the corresponding objects into the basket in the same order. 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": 3946,
  "remaining_steps": 2121,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_wait()→obs_001925
  参数原文· 161 字JSON

  1 2 3 4 5

  {
    "observation_id": "obs_001825",
    "reason": "The wooden car is visibly held as the fourth object. Wait through the transfer to its basket.",
    "steps": 100
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_001925", "native_success": false}

观测 obs_001925 · 步 1925 · 剩余 2021 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_001925",
  "step_id": 1925,
  "instruction": "Observe the object placement order, remember it, then place the corresponding objects into the basket in the same order. 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": 3946,
  "remaining_steps": 2021,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_wait()→obs_002025
  参数原文· 159 字JSON

  { "observation_id": "obs_001925", "reason": "The car is over the rear basket. Watch its release and the final remaining phone selection.", "steps": 100 }
  返回原文· 57 字JSON

  {"observation_id": "obs_002025", "native_success": false}

观测 obs_002025 · 步 2025 · 剩余 1921 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_002025",
  "step_id": 2025,
  "instruction": "Observe the object placement order, remember it, then place the corresponding objects into the basket in the same order. 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": 3946,
  "remaining_steps": 1921,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_wait()→obs_002125
  参数原文· 210 字JSON

  1 2 3 4 5

  {
    "observation_id": "obs_002025",
    "reason": "The car has been placed fourth and the phone is the only rear object remaining. Watch whether the demonstrator picks it up or returns to rest.",
    "steps": 100
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_002125", "native_success": false}

观测 obs_002125 · 步 2125 · 剩余 1821 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_002125",
  "step_id": 2125,
  "instruction": "Observe the object placement order, remember it, then place the corresponding objects into the basket in the same order. 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": 3946,
  "remaining_steps": 1821,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_wait()→obs_002225
  参数原文· 229 字JSON

  1 2 3 4 5

  {
    "observation_id": "obs_002125",
    "reason": "The demonstrator is retracting high above the basket rather than approaching the remaining phone. Wait briefly for its resting configuration before manipulating.",
    "steps": 100
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_002225", "native_success": false}

观测 obs_002225 · 步 2225 · 剩余 1721 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_002225",
  "step_id": 2225,
  "instruction": "Observe the object placement order, remember it, then place the corresponding objects into the basket in the same order. 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": 3946,
  "remaining_steps": 1721,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_wait()→obs_002325
  参数原文· 177 字JSON

  1 2 3 4 5

  {
    "observation_id": "obs_002225",
    "reason": "The demonstration arm has rotated back toward the remaining phone rather than resting. Watch its next pickup.",
    "steps": 100
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_002325", "native_success": false}

观测 obs_002325 · 步 2325 · 剩余 1621 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_002325",
  "step_id": 2325,
  "instruction": "Observe the object placement order, remember it, then place the corresponding objects into the basket in the same order. 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": 3946,
  "remaining_steps": 1621,
  "native_success": false,
  "frame": "environment_origin"
}

• exec_command(cmd="cat > notes/geometry.py <<'PY' import json,numpy as np from scipy.spatial.transform impo…")→退出码 0 · 240 字
  参数原文· 1,180 字JSON

  1 2 3 4

  {
    "cmd": "cat > notes/geometry.py <<'PY'\nimport json,numpy as np\nfrom scipy.spatial.transform import Rotation as R\np='observations/002325/observation.json'\no=json.load(open(p))\ndef ray(c,uv):\n im=next(x for x in o['images'] if x['camera']==c);K=np.array(im['calibration']['intrinsic_matrix']);T=np.array(im['calibration']['environment_to_optical']);A=T[:3,:3];cen=-A.T@T[:3,3];d=A.T@np.linalg.solve(K,np.r_[uv,1]);return cen,d/np.linalg.norm(d)\ndef tri(c1,uv1,c2,uv2):\n a,d=ray(c1,uv1);b,e=ray(c2,uv2);ts=np.linalg.lstsq(np.c_[d,-e],b-a,rcond=None)[0];p=a+ts[0]*d;q=b+ts[1]*e;print((p+q)/2,'error',np.linalg.norm(p-q))\ntri('cam_high',(468,250),'cam_right_wrist',(327,387))\ntri('cam_high',(225,242),'cam_left_wrist',(540,388))\nfor z in [.74,.75,.76,.78]:\n print('z',z)\n for name,uv in [('watch',(302,230)),('rabbit',(225,243)),('camera',(375,230)),('car',(467,252)),('phone',(335,315)),('basket',(108,252))]:\n  a,d=ray('cam_high',uv);pt=a+d*((z-a[2])/d[2]);print(name,np.round(pt,4))\nprint('down yaw90',R.from_euler('zyx',[90,90,0],degrees=True).as_quat()[[3,0,1,2]])\nPY\n/root/miniconda3/envs/RoboDojo/bin/python notes/geometry.py",
    "max_output_tokens": 2500
  }

  返回原文· 1,021 字代码

  1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35

  Process exited with code 0
  Original token count: 240
  Output:
  [ 0.30137905 -0.13168402  0.79850883] error 0.014178806204102216
  [-0.1885716  -0.12870855  0.80815011] error 0.0047844684445273586
  z 0.74
  watch [-0.0418 -0.0552  0.74  ]
  rabbit [-0.215  -0.0899  0.74  ]
  camera [ 0.1278 -0.0552  0.74  ]
  car [ 0.3268 -0.1129  0.74  ]
  phone [ 0.0297 -0.2534  0.74  ]
  basket [-0.4712 -0.1129  0.74  ]
  z 0.75
  watch [-0.0411 -0.0615  0.75  ]
  rabbit [-0.2112 -0.0955  0.75  ]
  camera [ 0.1255 -0.0615  0.75  ]
  car [ 0.321  -0.1181  0.75  ]
  phone [ 0.0292 -0.2562  0.75  ]
  basket [-0.4629 -0.1181  0.75  ]
  z 0.76
  watch [-0.0403 -0.0677  0.76  ]
  rabbit [-0.2074 -0.1012  0.76  ]
  camera [ 0.1233 -0.0677  0.76  ]
  car [ 0.3153 -0.1233  0.76  ]
  phone [ 0.0286 -0.259   0.76  ]
  basket [-0.4546 -0.1233  0.76  ]
  z 0.78
  watch [-0.0389 -0.0802  0.78  ]
  rabbit [-0.1998 -0.1124  0.78  ]
  camera [ 0.1188 -0.0802  0.78  ]
  car [ 0.3037 -0.1338  0.78  ]
  phone [ 0.0276 -0.2645  0.78  ]
  basket [-0.4381 -0.1338  0.78  ]
  down yaw90 [0.5 0.5 0.5 0.5]
  

• robot_wait()→obs_002425
  参数原文· 187 字JSON

  1 2 3 4 5

  {
    "observation_id": "obs_002325",
    "reason": "The rear gripper is still turning and descending toward the last phone. Keep our arms clear and watch the fifth pickup.",
    "steps": 100
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_002425", "native_success": false}

观测 obs_002425 · 步 2425 · 剩余 1521 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_002425",
  "step_id": 2425,
  "instruction": "Observe the object placement order, remember it, then place the corresponding objects into the basket in the same order. 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": 3946,
  "remaining_steps": 1521,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_wait()→obs_002525
  参数原文· 188 字JSON

  1 2 3 4 5

  {
    "observation_id": "obs_002425",
    "reason": "The phone is visibly lifted, confirming it as fifth after watch, rabbit, camera, and car. Wait for its basket placement.",
    "steps": 100
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_002525", "native_success": false}

观测 obs_002525 · 步 2525 · 剩余 1421 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_002525",
  "step_id": 2525,
  "instruction": "Observe the object placement order, remember it, then place the corresponding objects into the basket in the same order. 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": 3946,
  "remaining_steps": 1421,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_wait()→obs_002625
  参数原文· 195 字JSON

  1 2 3 4 5

  {
    "observation_id": "obs_002525",
    "reason": "The phone is being lowered over the rear basket. Wait through release while preserving budget for the five matching placements.",
    "steps": 100
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_002625", "native_success": false}

观测 obs_002625 · 步 2625 · 剩余 1321 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_002625",
  "step_id": 2625,
  "instruction": "Observe the object placement order, remember it, then place the corresponding objects into the basket in the same order. 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": 3946,
  "remaining_steps": 1321,
  "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 · 49 字
  参数原文· 267 字JSON

  1 2 3 4

  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nfrom scipy.spatial.transform import Rotation as R\nfor q in [[.5,.5,.5,.5],[.5,-.5,.5,.5],[.7071,0,.7071,0]]:\n print(q,R.from_quat([q[1],q[2],q[3],q[0]]).as_matrix())\nPY",
    "max_output_tokens": 1500
  }

  返回原文· 255 字纯文本

  Process exited with code 0 Original token count: 49 Output: [0.5, 0.5, 0.5, 0.5] [[0. 0. 1.] [1. 0. …

• robot_wait()→obs_002665
  参数原文· 243 字JSON

  1 2 3 4 5

  {
    "observation_id": "obs_002625",
    "reason": "All five demonstrated objects are now in order: watch, rabbit, camera, car, phone. The rear arm is almost parked; give it a brief final retraction interval before our approach.",
    "steps": 40
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_002665", "native_success": false}

观测 obs_002665 · 步 2665 · 剩余 1281 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_002665",
  "step_id": 2665,
  "instruction": "Observe the object placement order, remember it, then place the corresponding objects into the basket in the same order. 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": 3946,
  "remaining_steps": 1281,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_wait()→obs_002765
  参数原文· 225 字JSON

  1 2 3 4 5

  {
    "observation_id": "obs_002665",
    "reason": "The demonstrator is still moving through its return rotation, although all placements are complete. Wait until it is parked before starting our manipulation.",
    "steps": 100
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_002765", "native_success": false}

观测 obs_002765 · 步 2765 · 剩余 1181 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_002765",
  "step_id": 2765,
  "instruction": "Observe the object placement order, remember it, then place the corresponding objects into the basket in the same order. 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": 3946,
  "remaining_steps": 1181,
  "native_success": false,
  "frame": "environment_origin"
}