整理桌面 · organize_table_000053任务成功第一档

观测 obs_000000 · 步 0 · 剩余 1000 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": "Place the alarm clock on the drawer, put the figurine on the stand, place the mouse on the mouse pad, and push the keyboard into the frame. 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": 1000,
  "remaining_steps": 1000,
  "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 .agents/skills/robot-manipulation/SKILL.md")→退出码 0 · 1,522 字
  参数原文· 91 字JSON

  {"cmd": "cat .agents/skills/robot-manipulation/SKILL.md", "max_output_tokens": 12000}
  返回原文· 6,129 字代码

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  Process exited with code 0
  Original token count: 1522
  Output:
  ---
  name: robot-manipulation
  description: Plan and execute visual manipulation within an already initialized RoboDojo dual-arm episode, using observations to guide decisions, robot_act to control robot for manipulation, robot_wait to hold the robot while waiting for a suitable opportunity to act in a changing environment, and robot_reset after completing the manipulation goal.
  ---
  
  Track the objects, constraints, and subgoals relevant to the supplied instruction.
  Use `robot_act` to move the robot to complete the task, `robot_wait` to hold the robot while waiting for the environment to change, and `robot_reset` to return joints to their initial configuration when you believe the task's manipulation goal is complete. Normal Codex shell, Python, image viewing, calculation, and writable notes are available when useful. Observations are read-only; keep your own files in the working directory. The host provides each new observation after execution. Select actions yourself from the available evidence; do not access simulator internals or another controller.
  
  Since the end effector is a two-finger gripper, securely grasping objects can be challenging, especially for larger objects. Therefore, when selecting a grasp position, carefully consider the object’s shape and center of mass. Choose an appropriate grasp point to ensure that the object remains stable after lifting and does not tip over or slip out of the gripper.
  
  Since the two-finger gripper has a limited contact area, adaptively adjust its orientation based on the object’s geometry to achieve a stable, antipodal grasp whenever possible. Select contact points where the opposing contact forces are approximately collinear, minimizing unwanted rotational torque and reducing the risk of slipping or tipping during lifting. This is especially important for non-convex or irregularly shaped objects, where the optimal grasp orientation may not align with the horizontal or vertical axes. For example, when grasping an object shaped like the digit ‘2’, gripping its top and bottom vertically may provide better stability than gripping it horizontally. In contrast, for an object shaped like the digit ‘7’, a vertical grasp may produce poorly aligned contact forces, whereas a diagonal grasp along its longest edge may offer greater stability. Always prioritize contact geometry and grasp stability over fixed grasp orientations.
  
  Since the end effectors are grippers with limited dexterity, avoid using both grippers to manipulate a single object simultaneously unless necessary. 
  
  However, this does not mean that the two grippers cannot perform different tasks simultaneously. When the tasks assigned to the two grippers do not interfere with each other and can be executed safely in parallel, simultaneous execution is encouraged to improve efficiency.
  
  When collaborating with other robotic arms that are not under our control, wait until the other robotic arm has returned to its initial or resting position before starting our own operations. This helps prevent conflicts between the robots’ actions and avoids unnecessary complications. You may flexibly adjust the use of `robot_wait` based on the other robotic arm’s actions and movement speed, allowing you to gather sufficient information to complete the task while minimizing the number of observations and reducing observational redundancy.
  
  When the supplied task context requires returning the arms, reserve control budget to release, retract, and return toward the supplied episode-start poses.
  
  When the scene provides explicit instructions or hints indicating where an object should be placed, aim to position the object as close to the center of the designated area as possible. Correct any small positioning errors while the object is still within reach to prevent avoidable task failures that would otherwise require reaching back to readjust its position.
  
  When pushing an object with the gripper, account for the object’s inertia. Pushing too quickly or forcefully may cause the object to slide forward and travel farther than intended. If the object’s anticipated trajectory could lead to collisions with other objects, push it more slowly and carefully.
  
  When the task involves interacting with a movable container, if the target container is too far away for stable and precise placement, first move it to a nearby, clear, and unoccupied area that allows for easier manipulation and better visibility. Ensure that the container does not overlap with, cover, or obstruct access to any other objects, especially those needed for subsequent tasks.
  
  Proceed step by step, verifying that each step has been successfully completed before moving on to the next. This is especially important for tasks involving stacking objects or putting objects into containers with required orientation of objects, as recovering from errors can be costly. At the same time, anticipate subsequent steps when executing each action, ensuring that the outcome of the current step does not create obstacles or complications for future actions. For example, accidentally knocking over or displacing other objects during navigation or grasping can introduce unnecessary difficulties for subsequent tasks. Throughout execution, carefully monitor the states of surrounding objects, not just the target object, and watch for any unintended changes. If an unexpected collision occurs, stop immediately and adjust the motion trajectory or task plan to prevent further disruption and minimize the risk of consequences that are difficult to recover from.
  
  When the task involves fine-grained manipulation that requires highly accurate localization for successful execution, such as inserting a coin into a small hole, consider using an idle robotic arm as an active observer. Move the observing arm to capture the target object from different viewpoints, leveraging multi-view observations and stereo triangulation to improve 3D localization accuracy. Ensure that the observing arm does not interfere with the manipulating arm or introduce collision risks.

• exec_command(cmd="cat observations/000000/observation.json")→退出码 0 · 1,472 字
  参数原文· 85 字JSON

  {"cmd": "cat observations/000000/observation.json", "max_output_tokens": 12000}
  返回原文· 5,947 字代码

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  Process exited with code 0
  Original token count: 1472
  Output:
  {
    "episode_id": "286dd1fffe0f4736998ff9e10be52656",
    "observation_id": "obs_000000",
    "step_id": 0,
    "instruction": "Place the alarm clock on the drawer, put the figurine on the stand, place the mouse on the mouse pad, and push the keyboard into the frame. 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": 1000,
    "remaining_steps": 1000,
    "rollout_finished": false,
    "native_success": false,
    "frame": "environment_origin",
    "images": [
      {
        "camera": "cam_high",
        "path": "/mnt/workspace/robot_workspaces/episode-pf41u136/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-pf41u136/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-pf41u136/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-pf41u136/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-pf41u136/agent/observations/000000/camera_parameters.json"
  }

• exec_command(cmd="ls -la")→退出码 0 · 143 字
  参数原文· 50 字JSON

  {"cmd": "ls -la", "max_output_tokens": 2000}
  返回原文· 633 字代码

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  Process exited with code 0
  Original token count: 143
  Output:
  total 36
  drwxr-xr-x 11 root root 12288 Oct 22 06:59 .
  drwx------  4 root root    80 Oct 22 06:59 ..
  drwxr-xr-x  3 root root  4096 Oct 22 06:56 .agents
  dr-xr-xr-x  2 root root    40 Oct 22 06:59 .aws
  dr-xr-xr-x  2 root root    40 Oct 22 06:59 .codex
  dr-xr-xr-x  2 root root    40 Oct 22 06:59 .git
  drwxr-xr-x  2 root root  4096 Oct 22 06:56 .shell_home
  drwxr-xr-x  3 root root  4096 Oct 22 06:59 .tmp
  -rw-r--r--  1 root root    59 Oct 22 06:56 analysis_runtime.json
  drwxr-xr-x  3 root root  4096 Oct 22 06:59 observations
  drwxr-xr-x  2 root root  4096 Oct 22 06:56 scratch
  

• exec_command(cmd="cat > scratch/geometry.py <<'PY' import json,numpy as np from scipy.spatial.transform im…")→退出码 0 · 102 字
  参数原文· 858 字JSON

  1 2 3 4

  {
    "cmd": "cat > scratch/geometry.py <<'PY'\nimport json,numpy as np\nfrom scipy.spatial.transform import Rotation\nobs=json.load(open('observations/000000/observation.json'))\ndef ray(cam,pix):\n c=obs['images'][cam]['calibration'];K=np.array(c['intrinsic_matrix']);T=np.array(c['environment_to_optical']);R=T[:3,:3];t=T[:3,3];return -R.T@t,R.T@np.linalg.solve(K,[*pix,1])\ndef tri(a,p,b,q):\n o,d=ray(a,p);v,e=ray(b,q);ts=np.linalg.lstsq(np.column_stack([d,-e]),v-o,rcond=None)[0];x=o+ts[0]*d;y=v+ts[1]*e;print((x+y)/2,'err',np.linalg.norm(x-y))\ndef plane(cam,p,z):\n o,d=ray(cam,p);print(p,o+(z-o[2])/d[2]*d)\ntri(0,(451,191),2,(330,270))\ntri(0,(232,182),1,(435,245))\nfor p in [(320,205),(535,225),(376,141),(103,98),(326,278),(196,279)]:plane(0,p,.75)\nPY\n/root/miniconda3/envs/RoboDojo/bin/python scratch/geometry.py",
    "max_output_tokens": 3000
  }

  返回原文· 468 字代码

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

  Process exited with code 0
  Original token count: 102
  Output:
  [0.31089783 0.03344203 0.76966079] err 0.005234098368472547
  [-0.2006214   0.03500207  0.79714301] err 0.008737683621989461
  (320, 205) [0.        0.0093528 0.75     ]
  (535, 225) [ 0.49568215 -0.04790608  0.75      ]
  (376, 141) [0.1562165  0.23105339 0.75      ]
  (103, 98) [-0.67823863  0.42464577  0.75      ]
  (326, 278) [ 0.01246788 -0.17901736  0.75      ]
  (196, 279) [-0.25719055 -0.18124288  0.75      ]
  

• robot_act(steps=3, obs=obs_000000)→obs_000003
  参数原文· 705 字JSON

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  {
    "observation_id": "obs_000000",
    "reason": "The clock is behind the figurine, and the mouse is clear on the right. Move above their front approach corridors with open fingers, beginning a downward orientation for the mouse.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.202, -0.2, 0.96], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false},
      "right": {
        "position": [0.311, -0.13, 0.98],
        "quaternion_wxyz": [0.653281, -0.270598, 0.270598, 0.653281],
        "gripper_closed": false
      }
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000003 · 步 3 · 剩余 997 步 · 左末端 (-0.29, -0.35, 0.93) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000003",
  "step_id": 3,
  "instruction": "Place the alarm clock on the drawer, put the figurine on the stand, place the mouse on the mouse pad, and push the keyboard into the frame. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.294, -0.345, 0.925], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
    "right": {"position": [0.301, -0.346, 0.924], "quaternion_wxyz": [0.707, -0.024, 0.024, 0.707], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1000,
  "remaining_steps": 997,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=15, obs=obs_000003)→obs_000018
  参数原文· 687 字JSON

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  {
    "observation_id": "obs_000003",
    "reason": "Both arms remain far above the tabletop and have clear space along these corridors. Continue the raised navigation toward the objects before the close approach.",
    "steps": 15,
    "target": {
      "left": {"position": [-0.202, -0.2, 0.96], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false},
      "right": {
        "position": [0.311, -0.13, 0.98],
        "quaternion_wxyz": [0.653281, -0.270598, 0.270598, 0.653281],
        "gripper_closed": false
      }
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000018 · 步 18 · 剩余 982 步 · 左末端 (-0.26, -0.30, 0.95) 米 · 右末端 (0.30, -0.29, 0.94) 米

{
  "observation_id": "obs_000018",
  "step_id": 18,
  "instruction": "Place the alarm clock on the drawer, put the figurine on the stand, place the mouse on the mouse pad, and push the keyboard into the frame. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.26, -0.296, 0.949], "quaternion_wxyz": [0.707, -0.001, 0.001, 0.707], "gripper_opening_command": 1.0},
    "right": {"position": [0.303, -0.287, 0.94], "quaternion_wxyz": [0.688, -0.163, 0.163, 0.688], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1000,
  "remaining_steps": 982,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000018)→obs_000021
  参数原文· 738 字JSON

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  {
    "observation_id": "obs_000018",
    "reason": "The figurine shifted near the left fingers but remains upright. Stop forward travel and raise the left gripper for clearance, while the right continues in unobstructed space above the mouse.",
    "steps": 3,
    "target": {
      "left": {
        "position": [-0.26, -0.296, 1.08],
        "quaternion_wxyz": [0.653281, -0.270598, 0.270598, 0.653281],
        "gripper_closed": false
      },
      "right": {
        "position": [0.311, -0.08, 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_000021", "native_success": false}

观测 obs_000021 · 步 21 · 剩余 979 步 · 左末端 (-0.26, -0.29, 0.96) 米 · 右末端 (0.30, -0.27, 0.95) 米

{
  "observation_id": "obs_000021",
  "step_id": 21,
  "instruction": "Place the alarm clock on the drawer, put the figurine on the stand, place the mouse on the mouse pad, and push the keyboard into the frame. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.259, -0.294, 0.956], "quaternion_wxyz": [0.707, -0.02, 0.022, 0.707], "gripper_opening_command": 1.0},
    "right": {"position": [0.304, -0.268, 0.947], "quaternion_wxyz": [0.678, -0.2, 0.2, 0.678], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1000,
  "remaining_steps": 979,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000021)→obs_000024
  参数原文· 690 字JSON

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

  {
    "observation_id": "obs_000021",
    "reason": "The left fingers are still close to the figurine, so raise vertically while leveling them to separate safely. The right approach remains clear above the tabletop.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.259, -0.294, 1.12], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false},
      "right": {
        "position": [0.311, -0.08, 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_000024", "native_success": false}

观测 obs_000024 · 步 24 · 剩余 976 步 · 左末端 (-0.26, -0.29, 0.99) 米 · 右末端 (0.30, -0.25, 0.95) 米

{
  "observation_id": "obs_000024",
  "step_id": 24,
  "instruction": "Place the alarm clock on the drawer, put the figurine on the stand, place the mouse on the mouse pad, and push the keyboard into the frame. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.259, -0.293, 0.991], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
    "right": {"position": [0.305, -0.247, 0.953], "quaternion_wxyz": [0.665, -0.24, 0.24, 0.665], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1000,
  "remaining_steps": 976,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000024)→obs_000027
  参数原文· 682 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000024",
    "reason": "The figurine moved with the left finger contact despite the open command. Back the left hand away to disengage before any further navigation; hold the right arm still.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.259, -0.39, 1.02], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false},
      "right": {"position": [0.305, -0.247, 0.953], "quaternion_wxyz": [0.665, -0.24, 0.24, 0.665], "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 973 步 · 左末端 (-0.26, -0.31, 0.99) 米 · 右末端 (0.30, -0.25, 0.95) 米

{
  "observation_id": "obs_000027",
  "step_id": 27,
  "instruction": "Place the alarm clock on the drawer, put the figurine on the stand, place the mouse on the mouse pad, and push the keyboard into the frame. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.259, -0.31, 0.995], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
    "right": {"position": [0.305, -0.247, 0.953], "quaternion_wxyz": [0.665, -0.24, 0.24, 0.665], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1000,
  "remaining_steps": 973,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000027)→obs_000030
  参数原文· 690 字JSON

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

  {
    "observation_id": "obs_000027",
    "reason": "The left hand is disengaging from the upright figurine. Finish backing away while moving the right gripper into a raised, nearly vertical approach over the mouse.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.259, -0.39, 1.04], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false},
      "right": {
        "position": [0.311, -0.055, 1.03],
        "quaternion_wxyz": [0.540825, -0.455531, 0.455531, 0.540825],
        "gripper_closed": false
      }
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000030", "native_success": false}

观测 obs_000030 · 步 30 · 剩余 970 步 · 左末端 (-0.26, -0.33, 1.00) 米 · 右末端 (0.31, -0.22, 0.96) 米

{
  "observation_id": "obs_000030",
  "step_id": 30,
  "instruction": "Place the alarm clock on the drawer, put the figurine on the stand, place the mouse on the mouse pad, and push the keyboard into the frame. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.26, -0.326, 1.004], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
    "right": {"position": [0.306, -0.225, 0.96], "quaternion_wxyz": [0.649, -0.281, 0.281, 0.649], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1000,
  "remaining_steps": 970,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=15, obs=obs_000030)→obs_000045
  参数原文· 698 字JSON

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

  {
    "observation_id": "obs_000030",
    "reason": "The left fingers are now separated from the figurine. Lift them through clear space and bring the right hand over the mouse with its pads closing across the mouse width.",
    "steps": 15,
    "target": {
      "left": {"position": [-0.26, -0.326, 1.13], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false},
      "right": {
        "position": [0.311, -0.055, 1.03],
        "quaternion_wxyz": [0.540825, -0.455531, 0.455531, 0.540825],
        "gripper_closed": false
      }
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000045 · 步 45 · 剩余 955 步 · 左末端 (-0.26, -0.33, 1.13) 米 · 右末端 (0.31, -0.14, 0.99) 米

{
  "observation_id": "obs_000045",
  "step_id": 45,
  "instruction": "Place the alarm clock on the drawer, put the figurine on the stand, place the mouse on the mouse pad, and push the keyboard into the frame. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.26, -0.326, 1.13], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
    "right": {"position": [0.308, -0.138, 0.99], "quaternion_wxyz": [0.557, -0.435, 0.435, 0.557], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1000,
  "remaining_steps": 955,
  "native_success": false,
  "frame": "environment_origin"
}

• exec_command(cmd="cat > scratch/localize.py <<'PY' exec(open('scratch/geometry.py').read().split('tri(0,')…")→退出码 0 · 223 字
  参数原文· 475 字JSON

  1 2 3 4

  {
    "cmd": "cat > scratch/localize.py <<'PY'\nexec(open('scratch/geometry.py').read().split('tri(0,')[0])\nfor z in [.75,.9,1.0]:\n print('z',z)\n for p in [(231,195),(266,173),(366,137),(94,100),(325,269),(359,205)]:plane(0,p,z)\nfrom PIL import Image\nim=Image.open('observations/000045/cam_high.png');im.crop((180,115,425,230)).resize((980,460)).save('scratch/targets.png')\nPY\n/root/miniconda3/envs/RoboDojo/bin/python scratch/localize.py",
    "max_output_tokens": 2000
  }

  返回原文· 950 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

  Process exited with code 0
  Original token count: 223
  Output:
  z 0.75
  (231, 195) [-0.21874633  0.0398738   0.75      ]
  (266, 173) [-0.13948057  0.1119931   0.75      ]
  (366, 137) [0.12961667 0.24728868 0.75      ]
  (94, 100) [-0.70243381  0.4146133   0.75      ]
  (325, 269) [ 0.01056698 -0.15860832  0.75      ]
  (359, 205) [0.09378956 0.0093528  0.75      ]
  z 0.9
  (231, 195) [-0.15994355 -0.08106002  0.9       ]
  (266, 173) [-0.10198579 -0.02832763  0.9       ]
  (366, 137) [0.09477348 0.07059817 0.9       ]
  (94, 100) [-0.5136075   0.19294305  0.9       ]
  (325, 269) [ 0.00772639 -0.22618673  0.9       ]
  (359, 205) [ 0.06857731 -0.10337645  0.9       ]
  z 1.0
  (231, 195) [-0.1207417  -0.16168257  1.        ]
  (266, 173) [-0.07698927 -0.12187479  1.        ]
  (366, 137) [ 0.07154468 -0.04719551  1.        ]
  (94, 100) [-0.3877233   0.04516288  1.        ]
  (325, 269) [ 0.00583267 -0.271239    1.        ]
  (359, 205) [ 0.05176914 -0.17852929  1.        ]
  

• view_image(path="/mnt/workspace/robot_workspaces/episode-pf41u136/agent/scratch/targets.png")→1 张图
  查看的图
  参数原文· 90 字JSON

  {"path": "/mnt/workspace/robot_workspaces/episode-pf41u136/agent/scratch/targets.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/9fafebcec82ea88362b2fc83fe15b97d177ffe5d3d41db28867d6da56ee6c2ad.png",
        "sha256": "9fafebcec82ea88362b2fc83fe15b97d177ffe5d3d41db28867d6da56ee6c2ad",
        "mime_type": "image/png",
        "width": 980,
        "height": 460
      }
    }
  ]

• robot_act(steps=15, obs=obs_000045)→obs_000060
  参数原文· 743 字JSON

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

  {
    "observation_id": "obs_000045",
    "reason": "The mouse is still stationary and the right approach is clear. Align to a 45-degree downward grasp across its width; move the raised left arm over the clock without entering the figurine's space.",
    "steps": 15,
    "target": {
      "left": {
        "position": [-0.202, -0.12, 1.13],
        "quaternion_wxyz": [0.653281, -0.270598, 0.270598, 0.653281],
        "gripper_closed": false
      },
      "right": {"position": [0.311, -0.06, 1.0], "quaternion_wxyz": [0.653281, -0.270598, 0.270598, 0.653281], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000060 · 步 60 · 剩余 940 步 · 左末端 (-0.22, -0.20, 1.12) 米 · 右末端 (0.31, -0.06, 1.00) 米

{
  "observation_id": "obs_000060",
  "step_id": 60,
  "instruction": "Place the alarm clock on the drawer, put the figurine on the stand, place the mouse on the mouse pad, and push the keyboard into the frame. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.224, -0.196, 1.122], "quaternion_wxyz": [0.665, -0.238, 0.237, 0.667], "gripper_opening_command": 1.0},
    "right": {"position": [0.311, -0.06, 1.0], "quaternion_wxyz": [0.653, -0.271, 0.271, 0.653], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1000,
  "remaining_steps": 940,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000060)→obs_000063
  参数原文· 745 字JSON

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

  {
    "observation_id": "obs_000060",
    "reason": "Both wrist views now clearly show the target shapes between the finger paths. Lower the right hand toward the mouse and finish centering the left hand above the clock, keeping both grippers open.",
    "steps": 3,
    "target": {
      "left": {
        "position": [-0.202, -0.057, 1.11],
        "quaternion_wxyz": [0.653281, -0.270598, 0.270598, 0.653281],
        "gripper_closed": false
      },
      "right": {
        "position": [0.311, -0.057, 0.91],
        "quaternion_wxyz": [0.653281, -0.270598, 0.270598, 0.653281],
        "gripper_closed": false
      }
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000063 · 步 63 · 剩余 937 步 · 左末端 (-0.22, -0.17, 1.12) 米 · 右末端 (0.31, -0.06, 0.97) 米

{
  "observation_id": "obs_000063",
  "step_id": 63,
  "instruction": "Place the alarm clock on the drawer, put the figurine on the stand, place the mouse on the mouse pad, and push the keyboard into the frame. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.219, -0.166, 1.117], "quaternion_wxyz": [0.655, -0.267, 0.267, 0.655], "gripper_opening_command": 1.0},
    "right": {"position": [0.311, -0.059, 0.966], "quaternion_wxyz": [0.653, -0.27, 0.27, 0.653], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1000,
  "remaining_steps": 937,
  "native_success": false,
  "frame": "environment_origin"
}

• exec_command(cmd="cat > scratch/tri_current.py <<'PY' exec(open('scratch/geometry.py').read().split('tri(0…")→退出码 0 · 63 字
  参数原文· 387 字JSON

  1 2 3 4

  {
    "cmd": "cat > scratch/tri_current.py <<'PY'\nexec(open('scratch/geometry.py').read().split('tri(0,')[0])\nobs=json.load(open('observations/000063/observation.json'))\ntri(0,(233,176),1,(353,190))\ntri(0,(450,191),2,(323,352))\ntri(0,(259,169),1,(394,151))\ntri(0,(95,80),1,(75,40))\nPY\n/root/miniconda3/envs/RoboDojo/bin/python scratch/tri_current.py",
    "max_output_tokens": 2000
  }

  返回原文· 309 字纯文本

  Process exited with code 0 Original token count: 63 Output: [-0.19606093 0.04551188 0.81416654] err …

• robot_act(steps=3, obs=obs_000063)→obs_000066
  参数原文· 733 字JSON

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

  {
    "observation_id": "obs_000063",
    "reason": "Stereo views put the mouse body near z=0.77 and the clock body near z=0.81. Continue a small open-finger descent toward the mouse while bringing the left wrist closer above the clock.",
    "steps": 3,
    "target": {
      "left": {
        "position": [-0.202, -0.057, 1.07],
        "quaternion_wxyz": [0.653281, -0.270598, 0.270598, 0.653281],
        "gripper_closed": false
      },
      "right": {
        "position": [0.311, -0.057, 0.89],
        "quaternion_wxyz": [0.653281, -0.270598, 0.270598, 0.653281],
        "gripper_closed": false
      }
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000066 · 步 66 · 剩余 934 步 · 左末端 (-0.21, -0.13, 1.10) 米 · 右末端 (0.31, -0.06, 0.93) 米

{
  "observation_id": "obs_000066",
  "step_id": 66,
  "instruction": "Place the alarm clock on the drawer, put the figurine on the stand, place the mouse on the mouse pad, and push the keyboard into the frame. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.213, -0.129, 1.1], "quaternion_wxyz": [0.653, -0.27, 0.27, 0.653], "gripper_opening_command": 1.0},
    "right": {"position": [0.311, -0.058, 0.932], "quaternion_wxyz": [0.653, -0.27, 0.27, 0.653], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1000,
  "remaining_steps": 934,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000066)→obs_000069
  参数原文· 693 字JSON

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

  {
    "observation_id": "obs_000066",
    "reason": "The mouse remains centered and visible between the pad paths. Lower another controlled increment; the clock approach stays well above contact.",
    "steps": 3,
    "target": {
      "left": {
        "position": [-0.202, -0.057, 1.04],
        "quaternion_wxyz": [0.653281, -0.270598, 0.270598, 0.653281],
        "gripper_closed": false
      },
      "right": {
        "position": [0.311, -0.057, 0.875],
        "quaternion_wxyz": [0.653281, -0.270598, 0.270598, 0.653281],
        "gripper_closed": false
      }
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000069", "native_success": false}

观测 obs_000069 · 步 69 · 剩余 931 步 · 左末端 (-0.21, -0.09, 1.07) 米 · 右末端 (0.31, -0.06, 0.90) 米

{
  "observation_id": "obs_000069",
  "step_id": 69,
  "instruction": "Place the alarm clock on the drawer, put the figurine on the stand, place the mouse on the mouse pad, and push the keyboard into the frame. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.208, -0.092, 1.068], "quaternion_wxyz": [0.653, -0.27, 0.27, 0.653], "gripper_opening_command": 1.0},
    "right": {"position": [0.311, -0.057, 0.897], "quaternion_wxyz": [0.653, -0.27, 0.27, 0.653], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1000,
  "remaining_steps": 931,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=2, obs=obs_000069)→obs_000071
  参数原文· 730 字JSON

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

  {
    "observation_id": "obs_000069",
    "reason": "The mouse sides are entering the finger pads, but the wrist is still slightly high. Complete alignment with a short descent before closing; keep the clock approach above its body.",
    "steps": 2,
    "target": {
      "left": {
        "position": [-0.202, -0.057, 1.01],
        "quaternion_wxyz": [0.653281, -0.270598, 0.270598, 0.653281],
        "gripper_closed": false
      },
      "right": {
        "position": [0.311, -0.057, 0.875],
        "quaternion_wxyz": [0.653281, -0.270598, 0.270598, 0.653281],
        "gripper_closed": false
      }
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000071", "native_success": false}

观测 obs_000071 · 步 71 · 剩余 929 步 · 左末端 (-0.21, -0.08, 1.04) 米 · 右末端 (0.31, -0.06, 0.88) 米

{
  "observation_id": "obs_000071",
  "step_id": 71,
  "instruction": "Place the alarm clock on the drawer, put the figurine on the stand, place the mouse on the mouse pad, and push the keyboard into the frame. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.205, -0.077, 1.044], "quaternion_wxyz": [0.653, -0.27, 0.27, 0.653], "gripper_opening_command": 1.0},
    "right": {"position": [0.311, -0.057, 0.879], "quaternion_wxyz": [0.654, -0.268, 0.268, 0.655], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1000,
  "remaining_steps": 929,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000071)→obs_000074
  参数原文· 717 字JSON

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

  {
    "observation_id": "obs_000071",
    "reason": "The mouse has tilted at finger contact, so hold the pose and close across its opposing sides without further descent. Continue only a short, high approach increment for the clock.",
    "steps": 3,
    "target": {
      "left": {
        "position": [-0.202, -0.057, 1.01],
        "quaternion_wxyz": [0.653281, -0.270598, 0.270598, 0.653281],
        "gripper_closed": false
      },
      "right": {"position": [0.311, -0.057, 0.879], "quaternion_wxyz": [0.654, -0.268, 0.268, 0.655], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000074", "native_success": false}

观测 obs_000074 · 步 74 · 剩余 926 步 · 左末端 (-0.20, -0.06, 1.01) 米 · 右末端 (0.31, -0.06, 0.88) 米

{
  "observation_id": "obs_000074",
  "step_id": 74,
  "instruction": "Place the alarm clock on the drawer, put the figurine on the stand, place the mouse on the mouse pad, and push the keyboard into the frame. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.202, -0.058, 1.012], "quaternion_wxyz": [0.654, -0.27, 0.27, 0.653], "gripper_opening_command": 1.0},
    "right": {"position": [0.311, -0.057, 0.88], "quaternion_wxyz": [0.654, -0.267, 0.267, 0.655], "gripper_opening_command": 0.521}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1000,
  "remaining_steps": 926,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000074)→obs_000077
  参数原文· 724 字JSON

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

  {
    "observation_id": "obs_000074",
    "reason": "The right opening command is only halfway closed and the mouse is between the fingers. Finish closure at the same pose; bring the left gripper closer to the clock's sides without contact.",
    "steps": 3,
    "target": {
      "left": {
        "position": [-0.202, -0.057, 0.96],
        "quaternion_wxyz": [0.653281, -0.270598, 0.270598, 0.653281],
        "gripper_closed": false
      },
      "right": {"position": [0.311, -0.057, 0.88], "quaternion_wxyz": [0.654, -0.267, 0.267, 0.655], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000077", "native_success": false}

观测 obs_000077 · 步 77 · 剩余 923 步 · 左末端 (-0.20, -0.06, 0.98) 米 · 右末端 (0.31, -0.06, 0.88) 米

{
  "observation_id": "obs_000077",
  "step_id": 77,
  "instruction": "Place the alarm clock on the drawer, put the figurine on the stand, place the mouse on the mouse pad, and push the keyboard into the frame. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.202, -0.057, 0.977], "quaternion_wxyz": [0.654, -0.27, 0.27, 0.653], "gripper_opening_command": 1.0},
    "right": {"position": [0.311, -0.057, 0.881], "quaternion_wxyz": [0.654, -0.266, 0.266, 0.656], "gripper_opening_command": 0.466}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1000,
  "remaining_steps": 923,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000077)→obs_000080
  参数原文· 729 字JSON

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

  {
    "observation_id": "obs_000077",
    "reason": "The mouse closure has stabilized against the body. Make a small test lift with orientation unchanged and inspect whether it follows; align the left pads lower on the clock's broad sidewalls.",
    "steps": 3,
    "target": {
      "left": {
        "position": [-0.202, -0.057, 0.938],
        "quaternion_wxyz": [0.653281, -0.270598, 0.270598, 0.653281],
        "gripper_closed": false
      },
      "right": {"position": [0.311, -0.057, 0.925], "quaternion_wxyz": [0.654, -0.266, 0.266, 0.656], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000080", "native_success": false}

观测 obs_000080 · 步 80 · 剩余 920 步 · 左末端 (-0.20, -0.06, 0.94) 米 · 右末端 (0.31, -0.06, 0.92) 米

{
  "observation_id": "obs_000080",
  "step_id": 80,
  "instruction": "Place the alarm clock on the drawer, put the figurine on the stand, place the mouse on the mouse pad, and push the keyboard into the frame. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.202, -0.057, 0.943], "quaternion_wxyz": [0.654, -0.27, 0.27, 0.653], "gripper_opening_command": 1.0},
    "right": {"position": [0.311, -0.058, 0.916], "quaternion_wxyz": [0.654, -0.266, 0.266, 0.656], "gripper_opening_command": 0.292}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1000,
  "remaining_steps": 920,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=2, obs=obs_000080)→obs_000082
  参数原文· 737 字JSON

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

  {
    "observation_id": "obs_000080",
    "reason": "The mouse rose with the right hand, though its angle changed during seating. Confirm retention with another small lift; lower the left fingers a final small amount alongside the clock before closure.",
    "steps": 2,
    "target": {
      "left": {
        "position": [-0.202, -0.057, 0.922],
        "quaternion_wxyz": [0.653281, -0.270598, 0.270598, 0.653281],
        "gripper_closed": false
      },
      "right": {"position": [0.311, -0.058, 0.95], "quaternion_wxyz": [0.654, -0.266, 0.266, 0.656], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000082", "native_success": false}

观测 obs_000082 · 步 82 · 剩余 918 步 · 左末端 (-0.20, -0.06, 0.92) 米 · 右末端 (0.31, -0.06, 0.94) 米

{
  "observation_id": "obs_000082",
  "step_id": 82,
  "instruction": "Place the alarm clock on the drawer, put the figurine on the stand, place the mouse on the mouse pad, and push the keyboard into the frame. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.202, -0.057, 0.924], "quaternion_wxyz": [0.654, -0.27, 0.27, 0.653], "gripper_opening_command": 1.0},
    "right": {"position": [0.311, -0.059, 0.939], "quaternion_wxyz": [0.654, -0.266, 0.266, 0.656], "gripper_opening_command": 0.292}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1000,
  "remaining_steps": 918,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000082)→obs_000085
  参数原文· 706 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000082",
    "reason": "The mouse stayed fixed in the wrist view during the second lift, confirming a grasp. Close the aligned left fingers around the clock and raise the retained mouse into open clearance.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.202, -0.057, 0.924], "quaternion_wxyz": [0.654, -0.27, 0.27, 0.653], "gripper_closed": true},
      "right": {"position": [0.311, -0.059, 1.015], "quaternion_wxyz": [0.654, -0.266, 0.266, 0.656], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000085", "native_success": false}

观测 obs_000085 · 步 85 · 剩余 915 步 · 左末端 (-0.20, -0.06, 0.92) 米 · 右末端 (0.31, -0.06, 0.97) 米

{
  "observation_id": "obs_000085",
  "step_id": 85,
  "instruction": "Place the alarm clock on the drawer, put the figurine on the stand, place the mouse on the mouse pad, and push the keyboard into the frame. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.202, -0.057, 0.924], "quaternion_wxyz": [0.654, -0.27, 0.27, 0.653], "gripper_opening_command": 0.705},
    "right": {"position": [0.311, -0.06, 0.973], "quaternion_wxyz": [0.654, -0.266, 0.266, 0.656], "gripper_opening_command": 0.292}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1000,
  "remaining_steps": 915,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000085)→obs_000088
  参数原文· 704 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000085",
    "reason": "The clock is clamped between the left pads but needs a lift check. Raise it a few centimeters with orientation fixed and continue lifting the confirmed mouse above nearby obstacles.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.202, -0.057, 0.966], "quaternion_wxyz": [0.654, -0.27, 0.27, 0.653], "gripper_closed": true},
      "right": {"position": [0.311, -0.06, 1.015], "quaternion_wxyz": [0.654, -0.266, 0.266, 0.656], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000088", "native_success": false}

观测 obs_000088 · 步 88 · 剩余 912 步 · 左末端 (-0.20, -0.06, 0.96) 米 · 右末端 (0.31, -0.06, 1.01) 米

{
  "observation_id": "obs_000088",
  "step_id": 88,
  "instruction": "Place the alarm clock on the drawer, put the figurine on the stand, place the mouse on the mouse pad, and push the keyboard into the frame. Then reset the robot arm.",
  "current_eef": {
    "left": {
      "position": [-0.202, -0.058, 0.958],
      "quaternion_wxyz": [0.654, -0.271, 0.271, 0.653],
      "gripper_opening_command": 0.705
    },
    "right": {"position": [0.311, -0.061, 1.007], "quaternion_wxyz": [0.654, -0.266, 0.266, 0.656], "gripper_opening_command": 0.292}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1000,
  "remaining_steps": 912,
  "native_success": false,
  "frame": "environment_origin"
}

• view_image(path="/mnt/workspace/robot_workspaces/episode-pf41u136/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-pf41u136/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/544182d378c9f309303e6c221c301a7d92d786619b62e2bb0fe326d7d30c052c.png",
        "sha256": "544182d378c9f309303e6c221c301a7d92d786619b62e2bb0fe326d7d30c052c",
        "mime_type": "image/png",
        "width": 640,
        "height": 480
      }
    }
  ]

• view_image(path="…/workspace/robot_workspaces/episode-pf41u136/agent/observations/000000/cam_left_wrist.png")→1 张图
  查看的图
  参数原文· 109 字JSON

  {"path": "/mnt/workspace/robot_workspaces/episode-pf41u136/agent/observations/000000/cam_left_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/badb0eea6c899c2043aeafaf0aa88120447bcc865e441ba35a2874b6081d251f.png",
        "sha256": "badb0eea6c899c2043aeafaf0aa88120447bcc865e441ba35a2874b6081d251f",
        "mime_type": "image/png",
        "width": 640,
        "height": 480
      }
    }
  ]