传送带配对取物 · match_and_pick_from_conveyor_000096任务成功第一档

观测 obs_000000 · 步 0 · 剩余 700 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": "Remember the first object on the conveyor, then pick the matching object when it appears again. Lift it more than 10 cm above its initial height.",
  "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": 700,
  "remaining_steps": 700,
  "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": 10000}
  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 · 1,458 字
  参数原文· 85 字JSON

  {"cmd": "cat observations/000000/observation.json", "max_output_tokens": 12000}
  返回原文· 5,892 字代码

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  Process exited with code 0
  Original token count: 1458
  Output:
  {
    "episode_id": "a872f841f70342a5bc5f2adc5f3aa6c9",
    "observation_id": "obs_000000",
    "step_id": 0,
    "instruction": "Remember the first object on the conveyor, then pick the matching object when it appears again. Lift it more than 10 cm above its initial height.",
    "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": 700,
    "remaining_steps": 700,
    "rollout_finished": false,
    "native_success": false,
    "frame": "environment_origin",
    "images": [
      {
        "camera": "cam_high",
        "path": "/mnt/workspace/robot_workspaces/episode-2d3e0bjx/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-2d3e0bjx/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-2d3e0bjx/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-2d3e0bjx/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-2d3e0bjx/agent/observations/000000/camera_parameters.json"
  }

• exec_command(cmd="/root/miniconda3/envs/RoboDojo/bin/python - <<'PY' import json,numpy as np j=json.load(o…")→退出码 0 · 9 字
  参数原文· 530 字JSON

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  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nimport json,numpy as np\nj=json.load(open('observations/000000/observation.json'))\nA=[];b=[]\nfor im,pix in zip([j['images'][0],j['images'][2]],[(508,188),(483,260)]):\n K=np.array(im['calibration']['intrinsic_matrix']);T=np.array(im['calibration']['environment_to_optical']);d=np.linalg.inv(K)@[*pix,1]; C=-T[:3,:3].T@T[:3,3];v=T[:3,:3].T@d;v=v/np.linalg.norm(v);M=np.eye(3)-np.outer(v,v);A.append(M);b.append(M@C)\np=np.linalg.solve(sum(A),sum(b));print(p)\nPY"
  }

  返回原文· 94 字纯文本

  Process exited with code 0 Original token count: 9 Output: [0.45283944 0.04530137 0.77003004]

• robot_act(steps=12, obs=obs_000000)→obs_000012
  参数原文· 730 字JSON

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  {
    "observation_id": "obs_000000",
    "reason": "The first toy is green and round with a screen, currently on the right side of the belt. I am moving the right arm into a clear overhead staging pose while leaving this first appearance untouched.",
    "steps": 12,
    "target": {
      "left": {"position": [-0.299529, -0.3523, 0.9215], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false},
      "right": {"position": [0.28, -0.14, 1.02], "quaternion_wxyz": [0.653281, -0.270598, 0.270598, 0.653281], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000012", "native_success": false}

观测 obs_000012 · 步 12 · 剩余 688 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.30, -0.32, 0.94) 米

{
  "observation_id": "obs_000012",
  "step_id": 12,
  "instruction": "Remember the first object on the conveyor, then pick the matching object when it appears again. Lift it more than 10 cm above its initial height.",
  "current_eef": {
    "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
    "right": {"position": [0.297, -0.316, 0.942], "quaternion_wxyz": [0.699, -0.105, 0.105, 0.699], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 700,
  "remaining_steps": 688,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=15, obs=obs_000012)→obs_000027
  参数原文· 722 字JSON

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  {
    "observation_id": "obs_000012",
    "reason": "The original green toy is moving right along the conveyor. The right gripper remains well above the belt; I am continuing toward an overhead intercept pose with its fingers angled downward.",
    "steps": 15,
    "target": {
      "left": {"position": [-0.299529, -0.3523, 0.9215], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false},
      "right": {"position": [0.2, -0.12, 1.02], "quaternion_wxyz": [0.653281, -0.270598, 0.270598, 0.653281], "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 673 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.25, -0.22, 0.98) 米

{
  "observation_id": "obs_000027",
  "step_id": 27,
  "instruction": "Remember the first object on the conveyor, then pick the matching object when it appears again. Lift it more than 10 cm above its initial height.",
  "current_eef": {
    "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
    "right": {"position": [0.253, -0.222, 0.975], "quaternion_wxyz": [0.654, -0.269, 0.268, 0.654], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 700,
  "remaining_steps": 673,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=15, obs=obs_000027)→obs_000042
  参数原文· 701 字JSON

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  {
    "observation_id": "obs_000027",
    "reason": "The first green toy is continuing off to the right. I am setting the right gripper above the belt with fingers pointing down and closing across the toy's round body when its match arrives.",
    "steps": 15,
    "target": {
      "left": {"position": [-0.299529, -0.3523, 0.9215], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false},
      "right": {"position": [0.18, -0.05, 1.0], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "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 658 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.21, -0.13, 0.98) 米

{
  "observation_id": "obs_000042",
  "step_id": 42,
  "instruction": "Remember the first object on the conveyor, then pick the matching object when it appears again. Lift it more than 10 cm above its initial height.",
  "current_eef": {
    "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
    "right": {"position": [0.212, -0.126, 0.982], "quaternion_wxyz": [0.552, -0.442, 0.442, 0.552], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 700,
  "remaining_steps": 658,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=15, obs=obs_000042)
  参数原文· 678 字JSON

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  {
    "observation_id": "obs_000042",
    "reason": "The belt is clear beneath the staging area and the initial toy has left view. I am completing the overhead alignment while retaining ample clearance above the belt.",
    "steps": 15,
    "target": {
      "left": {"position": [-0.299529, -0.3523, 0.9215], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false},
      "right": {"position": [0.18, 0.045, 0.99], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false}
    }
  }

  返回原文· 663 字代码

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  IK precheck failed; robot_act was not executed. Neither arm nor gripper moved, and no control steps were used.
  Right arm: stalled after 42 iterations (maximum 128). At the best precheck iterate: position error 21.537 mm (tolerance 5.000 mm; exceeds tolerance); rotation error 0.101 degrees (tolerance 1.146 degrees; within tolerance).
  Change the target position or orientation, or first move to a different approach pose. Repeating the same target from the unchanged state, even with more execution steps, will not change the precheck result. This local IK failure does not prove global unreachability.
  Observation ID (unchanged): obs_000042
  native_success: false

• robot_act(steps=15, obs=obs_000042)→obs_000057
  参数原文· 698 字JSON

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  {
    "observation_id": "obs_000042",
    "reason": "The forward staging target failed the local kinematic check without motion. I am using a nearer, slightly lower overhead pose to keep the gripper clear and ready for the returning match.",
    "steps": 15,
    "target": {
      "left": {"position": [-0.299529, -0.3523, 0.9215], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false},
      "right": {"position": [0.2, 0.01, 0.94], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000057 · 步 57 · 剩余 643 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.20, -0.01, 0.94) 米

{
  "observation_id": "obs_000057",
  "step_id": 57,
  "instruction": "Remember the first object on the conveyor, then pick the matching object when it appears again. Lift it more than 10 cm above its initial height.",
  "current_eef": {
    "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
    "right": {"position": [0.203, -0.012, 0.943], "quaternion_wxyz": [0.5, -0.499, 0.5, 0.501], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 700,
  "remaining_steps": 643,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=10, obs=obs_000057)→obs_000067
  参数原文· 685 字JSON

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  {
    "observation_id": "obs_000057",
    "reason": "The downward fingers are close to the belt although no object is beneath them. I am raising the staging pose to keep passing objects clear before waiting for the sequence.",
    "steps": 10,
    "target": {
      "left": {"position": [-0.299529, -0.3523, 0.9215], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false},
      "right": {"position": [0.2, -0.035, 0.97], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000067", "native_success": false}

观测 obs_000067 · 步 67 · 剩余 633 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.20, -0.03, 0.97) 米

{
  "observation_id": "obs_000067",
  "step_id": 67,
  "instruction": "Remember the first object on the conveyor, then pick the matching object when it appears again. Lift it more than 10 cm above its initial height.",
  "current_eef": {
    "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
    "right": {"position": [0.2, -0.035, 0.97], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 700,
  "remaining_steps": 633,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_wait()→obs_000107
  参数原文· 258 字JSON

  1 2 3 4 5

  {
    "observation_id": "obs_000067",
    "reason": "The first green toy has exited and the belt is currently empty. Both arms are clear and the right gripper is prepared; a 40-step wait will reveal the next object without skipping its passage.",
    "steps": 40
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000107", "native_success": false}

观测 obs_000107 · 步 107 · 剩余 593 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.20, -0.03, 0.97) 米

{
  "observation_id": "obs_000107",
  "step_id": 107,
  "instruction": "Remember the first object on the conveyor, then pick the matching object when it appears again. Lift it more than 10 cm above its initial height.",
  "current_eef": {
    "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
    "right": {"position": [0.2, -0.035, 0.97], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 700,
  "remaining_steps": 593,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_wait()→obs_000147
  参数原文· 247 字JSON

  1 2 3 4 5

  {
    "observation_id": "obs_000107",
    "reason": "No new object is visible yet, and both arms remain staged clear of the moving belt. I am waiting another 40 steps to observe the next appearance while preserving manipulation time.",
    "steps": 40
  }

  返回原文· 57 字JSON

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

观测 obs_000147 · 步 147 · 剩余 553 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.20, -0.03, 0.97) 米

{
  "observation_id": "obs_000147",
  "step_id": 147,
  "instruction": "Remember the first object on the conveyor, then pick the matching object when it appears again. Lift it more than 10 cm above its initial height.",
  "current_eef": {
    "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
    "right": {"position": [0.2, -0.035, 0.97], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 700,
  "remaining_steps": 553,
  "native_success": false,
  "frame": "environment_origin"
}

• exec_command(cmd="cat > episode_notes.txt <<'EOF' Target: initial bright lime-green round electronic toy, …")→退出码 0 · 0 字
  参数原文· 537 字JSON

  1 2 3

  {
    "cmd": "cat > episode_notes.txt <<'EOF'\nTarget: initial bright lime-green round electronic toy, rectangular gray screen, yellow buttons, small chain at upper edge. Initial center triangulated approx (0.453,0.045,0.770) at step 0. Original travels toward +X, approx 0.0042 m/control step, left view by step 42.\nStep 147: different dark teal/black object entering from left, lower belt lane. Right staging pose (0.2,-0.035,0.97), quaternion (0.5,-0.5,0.5,0.5), open. Fingers local +X point down; local Y closes along world X.\nEOF"
  }

  返回原文· 59 字纯文本

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

• robot_wait()→obs_000197
  参数原文· 251 字JSON

  1 2 3 4 5

  {
    "observation_id": "obs_000147",
    "reason": "A dark teal object has entered from the left; it does not match the remembered green screen toy. The staged fingers are above its path, so I am waiting 50 steps to follow the sequence.",
    "steps": 50
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000197", "native_success": false}

观测 obs_000197 · 步 197 · 剩余 503 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.20, -0.03, 0.97) 米

{
  "observation_id": "obs_000197",
  "step_id": 197,
  "instruction": "Remember the first object on the conveyor, then pick the matching object when it appears again. Lift it more than 10 cm above its initial height.",
  "current_eef": {
    "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
    "right": {"position": [0.2, -0.035, 0.97], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 700,
  "remaining_steps": 503,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=15, obs=obs_000197)→obs_000212
  参数原文· 702 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000197",
    "reason": "The new object is a tall figurine, followed by a camera, so neither matches the green toy. I am retracting the right gripper away from their lane to give these taller objects safe clearance.",
    "steps": 15,
    "target": {
      "left": {"position": [-0.299529, -0.3523, 0.9215], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false},
      "right": {"position": [0.2, -0.2, 1.02], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000212", "native_success": false}

观测 obs_000212 · 步 212 · 剩余 488 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.20, -0.19, 1.02) 米

{
  "observation_id": "obs_000212",
  "step_id": 212,
  "instruction": "Remember the first object on the conveyor, then pick the matching object when it appears again. Lift it more than 10 cm above its initial height.",
  "current_eef": {
    "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
    "right": {"position": [0.2, -0.194, 1.019], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 700,
  "remaining_steps": 488,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_wait()→obs_000262
  参数原文· 243 字JSON

  1 2 3 4 5

  {
    "observation_id": "obs_000212",
    "reason": "The figurine and camera are advancing slowly to the right, with no green match yet visible. The right arm is now retracted from their lane; I will inspect again after 50 steps.",
    "steps": 50
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000262", "native_success": false}

观测 obs_000262 · 步 262 · 剩余 438 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.20, -0.19, 1.02) 米

{
  "observation_id": "obs_000262",
  "step_id": 262,
  "instruction": "Remember the first object on the conveyor, then pick the matching object when it appears again. Lift it more than 10 cm above its initial height.",
  "current_eef": {
    "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
    "right": {"position": [0.2, -0.194, 1.019], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 700,
  "remaining_steps": 438,
  "native_success": false,
  "frame": "environment_origin"
}

• view_image(path="/mnt/workspace/robot_workspaces/episode-2d3e0bjx/agent/observations/000000/cam_high.png")→1 张图
  查看的图
  参数原文· 103 字JSON

  {"path": "/mnt/workspace/robot_workspaces/episode-2d3e0bjx/agent/observations/000000/cam_high.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/ce587caf15e35c1c1246a6c2c6ec39e2ff539d78f737b9a2c4fbc4ca7efc2b40.png",
        "sha256": "ce587caf15e35c1c1246a6c2c6ec39e2ff539d78f737b9a2c4fbc4ca7efc2b40",
        "mime_type": "image/png",
        "width": 640,
        "height": 480
      }
    }
  ]

• exec_command(cmd="/root/miniconda3/envs/RoboDojo/bin/python - <<'PY' import numpy as np,json j=json.load(o…")→退出码 0 · 36 字
  参数原文· 433 字JSON

  1 2 3

  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nimport numpy as np,json\nj=json.load(open('observations/000262/observation.json'));i=j['images'][0];K=np.array(i['calibration']['intrinsic_matrix']);T=np.array(i['calibration']['environment_to_optical']);R=T[:3,:3];C=-R.T@T[:3,3]\nfor uv,z in [((70,251),.770),((230,249),.755),((508,188),.770)]:\n d=R.T@np.linalg.inv(K)@[*uv,1];p=C+d*((z-C[2])/d[2]);print(uv,p)\nPY"
  }

  返回原文· 203 字纯文本

  Process exited with code 0 Original token count: 36 Output: (70, 251) [-0.52738872 -0.12618044 0.77 …

• view_image(path="…workspace/robot_workspaces/episode-2d3e0bjx/agent/observations/000000/cam_right_wrist.png")→1 张图
  查看的图
  参数原文· 110 字JSON

  {"path": "/mnt/workspace/robot_workspaces/episode-2d3e0bjx/agent/observations/000000/cam_right_wrist.png"}
  返回原文· 314 字JSON

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

  [
    {
      "type": "input_image",
      "image_url": {
        "$image": "assets/3755848aeac31719a541cb10c641e709b4354e1d06256189ece21c414f460e9c.png",
        "sha256": "3755848aeac31719a541cb10c641e709b4354e1d06256189ece21c414f460e9c",
        "mime_type": "image/png",
        "width": 640,
        "height": 480
      }
    }
  ]

• robot_act(steps=15, obs=obs_000262)→obs_000277
  参数原文· 707 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000262",
    "reason": "The matching toy is at the left side of the belt, behind two taller objects. I am shifting the right arm into a high, retracted pose to avoid their swept paths before intercepting the small toy.",
    "steps": 15,
    "target": {
      "left": {"position": [-0.299529, -0.3523, 0.9215], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false},
      "right": {"position": [0.1, -0.26, 1.06], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000277", "native_success": false}

观测 obs_000277 · 步 277 · 剩余 423 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.10, -0.26, 1.06) 米

{
  "observation_id": "obs_000277",
  "step_id": 277,
  "instruction": "Remember the first object on the conveyor, then pick the matching object when it appears again. Lift it more than 10 cm above its initial height.",
  "current_eef": {
    "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
    "right": {"position": [0.1, -0.26, 1.06], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 700,
  "remaining_steps": 423,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_wait()→obs_000327
  参数原文· 279 字JSON

  1 2 3 4 5

  {
    "observation_id": "obs_000277",
    "reason": "The green match is still well left of the intercept, and the figurine and camera are moving ahead of it. The right arm is retracted from their lane; 50 steps lets them pass while leaving time to approach the toy.",
    "steps": 50
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000327", "native_success": false}

观测 obs_000327 · 步 327 · 剩余 373 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.10, -0.26, 1.06) 米

{
  "observation_id": "obs_000327",
  "step_id": 327,
  "instruction": "Remember the first object on the conveyor, then pick the matching object when it appears again. Lift it more than 10 cm above its initial height.",
  "current_eef": {
    "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
    "right": {"position": [0.1, -0.26, 1.06], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 700,
  "remaining_steps": 373,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_wait()→obs_000362
  参数原文· 284 字JSON

  1 2 3 4 5

  {
    "observation_id": "obs_000327",
    "reason": "The wrist view confirms the returning toy has the same lime-green body, screen, buttons, and chain. It is approaching from the left behind the camera; I am waiting 35 steps so the camera clears the planned grasp lane.",
    "steps": 35
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000362", "native_success": false}

观测 obs_000362 · 步 362 · 剩余 338 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.10, -0.26, 1.06) 米

{
  "observation_id": "obs_000362",
  "step_id": 362,
  "instruction": "Remember the first object on the conveyor, then pick the matching object when it appears again. Lift it more than 10 cm above its initial height.",
  "current_eef": {
    "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
    "right": {"position": [0.1, -0.26, 1.06], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 700,
  "remaining_steps": 338,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000362)→obs_000365
  参数原文· 706 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000362",
    "reason": "The match is near x=-0.12 m in the near-side belt lane, while the camera is ahead and farther back. I am starting a short approach above its predicted path with open, downward-facing fingers.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.299529, -0.3523, 0.9215], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false},
      "right": {"position": [0.04, -0.126, 0.975], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000365", "native_success": false}

观测 obs_000365 · 步 365 · 剩余 335 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.08, -0.22, 1.04) 米

{
  "observation_id": "obs_000365",
  "step_id": 365,
  "instruction": "Remember the first object on the conveyor, then pick the matching object when it appears again. Lift it more than 10 cm above its initial height.",
  "current_eef": {
    "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
    "right": {"position": [0.085, -0.224, 1.036], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 700,
  "remaining_steps": 335,
  "native_success": false,
  "frame": "environment_origin"
}

• exec_command(cmd="/root/miniconda3/envs/RoboDojo/bin/python - <<'PY' import json,numpy as np j=json.load(o…")→退出码 0 · 60 字
  参数原文· 371 字JSON

  1 2 3

  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nimport json,numpy as np\nj=json.load(open('observations/000365/observation.json'))\np=np.array([-.112,-.126,.77,1])\nfor im in j['images']:\n K=np.array(im['calibration']['intrinsic_matrix']);T=np.array(im['calibration']['environment_to_optical']);s=T@p;v=K@s[:3];print(im['camera'],s[:3],v[:2]/v[2])\nPY"
  }

  返回原文· 297 字纯文本

  Process exited with code 0 Original token count: 60 Output: cam_high [-0.112 0.02304884 0.60792164] …

• robot_act(steps=3, obs=obs_000365)→obs_000368
  参数原文· 690 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000365",
    "reason": "The toy continues toward the intercept and remains separated from the taller objects ahead. I am advancing the open gripper toward the toy's lane, still above contact height.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.299529, -0.3523, 0.9215], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false},
      "right": {"position": [0.015, -0.126, 0.975], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000368", "native_success": false}

观测 obs_000368 · 步 368 · 剩余 332 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.06, -0.20, 1.02) 米

{
  "observation_id": "obs_000368",
  "step_id": 368,
  "instruction": "Remember the first object on the conveyor, then pick the matching object when it appears again. Lift it more than 10 cm above its initial height.",
  "current_eef": {
    "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
    "right": {"position": [0.065, -0.196, 1.017], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 700,
  "remaining_steps": 332,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000368)→obs_000371
  参数原文· 688 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000368",
    "reason": "The green toy is approaching beneath the left side of the open gripper. I am making another short approach toward its predicted center while maintaining vertical clearance.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.299529, -0.3523, 0.9215], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false},
      "right": {"position": [-0.015, -0.126, 0.96], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000371", "native_success": false}

观测 obs_000371 · 步 371 · 剩余 329 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.04, -0.17, 1.00) 米

{
  "observation_id": "obs_000371",
  "step_id": 371,
  "instruction": "Remember the first object on the conveyor, then pick the matching object when it appears again. Lift it more than 10 cm above its initial height.",
  "current_eef": {
    "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
    "right": {"position": [0.04, -0.175, 0.997], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.501], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 700,
  "remaining_steps": 329,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000371)→obs_000374
  参数原文· 678 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000371",
    "reason": "The toy is now entering the right wrist view, confirming the approach from both cameras. I am shifting over its center with fingers still open and above the body.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.299529, -0.3523, 0.9215], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false},
      "right": {"position": [-0.045, -0.126, 0.96], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000374", "native_success": false}

观测 obs_000374 · 步 374 · 剩余 326 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.01, -0.16, 0.98) 米

{
  "observation_id": "obs_000374",
  "step_id": 374,
  "instruction": "Remember the first object on the conveyor, then pick the matching object when it appears again. Lift it more than 10 cm above its initial height.",
  "current_eef": {
    "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
    "right": {"position": [0.013, -0.16, 0.983], "quaternion_wxyz": [0.5, -0.499, 0.5, 0.501], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 700,
  "remaining_steps": 326,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000374)→obs_000377
  参数原文· 694 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000374",
    "reason": "The wrist view shows the matching toy left of the gripper center. I am completing horizontal alignment before descending, with the closing direction across its curved side edges.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.299529, -0.3523, 0.9215], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false},
      "right": {"position": [-0.055, -0.126, 0.96], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000377", "native_success": false}

观测 obs_000377 · 步 377 · 剩余 323 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (-0.01, -0.15, 0.97) 米

{
  "observation_id": "obs_000377",
  "step_id": 377,
  "instruction": "Remember the first object on the conveyor, then pick the matching object when it appears again. Lift it more than 10 cm above its initial height.",
  "current_eef": {
    "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
    "right": {"position": [-0.01, -0.149, 0.973], "quaternion_wxyz": [0.5, -0.499, 0.5, 0.501], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 700,
  "remaining_steps": 323,
  "native_success": false,
  "frame": "environment_origin"
}

• exec_command(cmd="/root/miniconda3/envs/RoboDojo/bin/python - <<'PY' import json,numpy as np j=json.load(o…")→退出码 0 · 10 字
  参数原文· 523 字JSON

  1 2 3

  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nimport json,numpy as np\nj=json.load(open('observations/000377/observation.json'));A=[];b=[]\nfor im,pix in zip([j['images'][0],j['images'][2]],[(289,249),(127,119)]):\n K=np.array(im['calibration']['intrinsic_matrix']);T=np.array(im['calibration']['environment_to_optical']);d=np.linalg.inv(K)@[*pix,1];C=-T[:3,:3].T@T[:3,3];v=T[:3,:3].T@d;v/=np.linalg.norm(v);M=np.eye(3)-np.outer(v,v);A.append(M);b.append(M@C)\nprint(np.linalg.solve(sum(A),sum(b)))\nPY"
  }

  返回原文· 98 字纯文本

  Process exited with code 0 Original token count: 10 Output: [-0.06475767 -0.12442793 0.77536868]

• robot_act(steps=3, obs=obs_000377)→obs_000380
  参数原文· 696 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000377",
    "reason": "Both cameras place the toy center near (-0.065,-0.124,0.775) m. I am tracking its rightward motion and lowering the open fingers toward the side edges, with orientation held steady.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.299529, -0.3523, 0.9215], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false},
      "right": {"position": [-0.04, -0.124, 0.94], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000380", "native_success": false}

观测 obs_000380 · 步 380 · 剩余 320 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (-0.03, -0.13, 0.95) 米

{
  "observation_id": "obs_000380",
  "step_id": 380,
  "instruction": "Remember the first object on the conveyor, then pick the matching object when it appears again. Lift it more than 10 cm above its initial height.",
  "current_eef": {
    "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
    "right": {"position": [-0.03, -0.133, 0.948], "quaternion_wxyz": [0.5, -0.499, 0.5, 0.501], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 700,
  "remaining_steps": 320,
  "native_success": false,
  "frame": "environment_origin"
}

• exec_command(cmd="/root/miniconda3/envs/RoboDojo/bin/python - <<'PY' import json,numpy as np j=json.load(o…")→退出码 0 · 64 字
  参数原文· 560 字JSON

  1 2 3

  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nimport json,numpy as np\nj=json.load(open('observations/000380/observation.json'));A=[];b=[]\nfor im,pix in zip([j['images'][0],j['images'][2]],[(296,249),(234,214)]):\n K=np.array(im['calibration']['intrinsic_matrix']);T=np.array(im['calibration']['environment_to_optical']);d=np.linalg.inv(K)@[*pix,1];C=-T[:3,:3].T@T[:3,3];v=T[:3,:3].T@d;v/=np.linalg.norm(v);M=np.eye(3)-np.outer(v,v);A.append(M);b.append(M@C)\np=np.linalg.solve(sum(A),sum(b));print(p);print(j['current_eef']['right'])\nPY"
  }

  返回原文· 313 字纯文本

  Process exited with code 0 Original token count: 64 Output: [-0.05075231 -0.12462321 0.77624001] {'p…

• robot_act(steps=3, obs=obs_000380)→obs_000383
  参数原文· 701 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000380",
    "reason": "Stereo estimates place the toy's upper body at z≈0.776 m, just below the fingertips. I am lowering the open pads around its side edges and tracking its rightward motion before closure.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.299529, -0.3523, 0.9215], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false},
      "right": {"position": [-0.025, -0.124, 0.923], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000383", "native_success": false}

观测 obs_000383 · 步 383 · 剩余 317 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (-0.03, -0.12, 0.92) 米

{
  "observation_id": "obs_000383",
  "step_id": 383,
  "instruction": "Remember the first object on the conveyor, then pick the matching object when it appears again. Lift it more than 10 cm above its initial height.",
  "current_eef": {
    "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
    "right": {"position": [-0.025, -0.124, 0.923], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 700,
  "remaining_steps": 317,
  "native_success": false,
  "frame": "environment_origin"
}