按图从传送带取物 · pick_from_conveyor_by_image_000062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": "Lift the basket more than 8 cm, identify the target object on the conveyor according to the image on the board, pick it up, and place it into the basket. Keep the basket raised while placing the object into it.",
  "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

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

  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 · 1,474 字
  参数原文· 85 字JSON

  {"cmd": "cat observations/000000/observation.json", "max_output_tokens": 10000}
  返回原文· 5,957 字代码

  1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250

  Process exited with code 0
  Original token count: 1474
  Output:
  {
    "episode_id": "e0864e635bd94693a954f02c9f9d70a6",
    "observation_id": "obs_000000",
    "step_id": 0,
    "instruction": "Lift the basket more than 8 cm, identify the target object on the conveyor according to the image on the board, pick it up, and place it into the basket. Keep the basket raised while placing the object into it.",
    "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-r1p8b9zs/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-r1p8b9zs/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-r1p8b9zs/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-r1p8b9zs/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-r1p8b9zs/agent/observations/000000/camera_parameters.json"
  }

• exec_command(cmd="/root/miniconda3/envs/RoboDojo/bin/python - <<'PY' import json,numpy as np from PIL impo…")→退出码 0 · 143 字
  参数原文· 695 字JSON

  1 2 3

  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nimport json,numpy as np\nfrom PIL import Image\nj=json.load(open('observations/000000/observation.json'))\nfor im in j['images'][:2]:\n K=np.array(im['calibration']['intrinsic_matrix']);T=np.array(im['calibration']['environment_to_optical']);R=T[:3,:3];t=T[:3,3];C=-R.T@t\n print(im['camera'],'center',C)\n for u,v in ([(210,240),(220,135),(160,166),(46,162),(320,324)] if im['camera']=='cam_high' else [(305,145),(485,8),(324,339)]):\n  d=R.T@np.linalg.inv(K)@np.array([u,v,1]);p=C+d*(.75-C[2])/d[2]\n  print((u,v),'at z.75',p)\nImage.open(j['images'][0]['path']).crop((288,280,348,355)).resize((240,300)).save('board.png')\nPY"
  }

  返回原文· 631 字代码

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

  Process exited with code 0
  Original token count: 143
  Output:
  cam_high center [ 0.         -0.41        1.30799997]
  (210, 240) at z.75 [-0.24598235 -0.08783849  0.75      ]
  (220, 135) at z.75 [-0.28320548  0.25552993  0.75      ]
  (160, 166) at z.75 [-0.42008169  0.13650573  0.75      ]
  (46, 162) at z.75 [-0.72622398  0.15087888  0.75      ]
  (320, 324) at z.75 [ 0.         -0.27349041  0.75      ]
  cam_left_wrist center [-0.29955451 -0.26745779  0.97243969]
  (305, 145) at z.75 [-0.32847425  0.48127988  0.75      ]
  (485, 8) at z.75 [-15.69787473 -43.2217458    0.75      ]
  (324, 339) at z.75 [-0.29649238 -0.03713665  0.75      ]
  

• view_image(path="/mnt/workspace/robot_workspaces/episode-r1p8b9zs/agent/board.png")→1 张图
  查看的图
  参数原文· 80 字JSON

  {"path": "/mnt/workspace/robot_workspaces/episode-r1p8b9zs/agent/board.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/3693e17a82be0630291ebf3b16c76c0bd871d0ff5b38c00622244f6add8cf44d.png",
        "sha256": "3693e17a82be0630291ebf3b16c76c0bd871d0ff5b38c00622244f6add8cf44d",
        "mime_type": "image/png",
        "width": 240,
        "height": 300
      }
    }
  ]

• exec_command(cmd="/root/miniconda3/envs/RoboDojo/bin/python - <<'PY' import numpy as np,json j=json.load(o…")→退出码 0 · 109 字
  参数原文· 715 字JSON

  1 2 3

  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nimport numpy as np,json\nj=json.load(open('observations/000000/observation.json'))\ncs=[]\nfor im in j['images'][:2]:\n T=np.array(im['calibration']['environment_to_optical']);K=np.array(im['calibration']['intrinsic_matrix']);R=T[:3,:3];cs.append((-R.T@T[:3,3],R.T@np.linalg.inv(K)))\ndef triang(a,b):\n c,d=cs[0];e,f=cs[1];v=d@[*a,1];w=f@[*b,1];v/=np.linalg.norm(v);w/=np.linalg.norm(w);s=np.linalg.lstsq(np.stack([v,-w],1),e-c,rcond=None)[0];p=c+s[0]*v;q=e+s[1]*w;print(a,b,(p+q)/2,'err',np.linalg.norm(p-q))\nfor a,b in [((143,244),(305,350)),((160,163),(303,139)),((178,119),(337,109)),((158,210),(300,279)),((220,135),(487,5))]:triang(a,b)\nPY"
  }

  返回原文· 497 字代码

  1 2 3 4 5 6 7 8 9

  Process exited with code 0
  Original token count: 109
  Output:
  (143, 244) (305, 350) [-0.3052152  -0.16792218  0.87276676] err 0.0024226573506637866
  (160, 163) (303, 139) [-3.11277748e-01  1.30216996e-04  8.97190034e-01] err 0.0003138824427349325
  (178, 119) (337, 109) [-0.29135402  0.11147074  0.90223432] err 0.022287178335980814
  (158, 210) (300, 279) [-0.31418222 -0.07973753  0.84429446] err 0.01206985685431093
  (220, 135) (487, 5) [-0.18766953  0.0115546   0.96645805] err 0.027434945352681882
  

• exec_command(cmd="/root/miniconda3/envs/RoboDojo/bin/python - <<'PY' from PIL import Image Image.open('obs…")→退出码 0 · 0 字
  参数原文· 324 字JSON

  1 2 3

  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nfrom PIL import Image\nImage.open('observations/000000/cam_high.png').crop((130,95,290,275)).resize((480,540)).save('basket_high.png')\nImage.open('observations/000000/cam_left_wrist.png').crop((280,0,640,220)).resize((720,440)).save('basket_wrist.png')\nPY"
  }

  返回原文· 59 字纯文本

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

• view_image(path="/mnt/workspace/robot_workspaces/episode-r1p8b9zs/agent/basket_high.png")→1 张图
  查看的图
  参数原文· 86 字JSON

  {"path": "/mnt/workspace/robot_workspaces/episode-r1p8b9zs/agent/basket_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/e10cceef5a28cd45cd424b6522758354eb808131c0fe701cc482889f7bc1b666.png",
        "sha256": "e10cceef5a28cd45cd424b6522758354eb808131c0fe701cc482889f7bc1b666",
        "mime_type": "image/png",
        "width": 480,
        "height": 540
      }
    }
  ]

• robot_act(steps=3, obs=obs_000000)→obs_000003
  参数原文· 661 字JSON

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

  {
    "observation_id": "obs_000000",
    "reason": "The left wrist shows the basket handle above the rim. I approach its left upright with the fingers open and above the rim.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.314, -0.215, 0.96], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false},
      "right": {
        "position": [0.300470948, -0.352299869, 0.921500027],
        "quaternion_wxyz": [0.706999958, 0, 0, 0.707213521],
        "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 697 步 · 左末端 (-0.30, -0.34, 0.93) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000003",
  "step_id": 3,
  "instruction": "Lift the basket more than 8 cm, identify the target object on the conveyor according to the image on the board, pick it up, and place it into the basket. Keep the basket raised while placing the object into it.",
  "current_eef": {
    "left": {"position": [-0.301, -0.345, 0.926], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
    "right": {"position": [0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 700,
  "remaining_steps": 697,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000003)→obs_000006
  参数原文· 636 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000003",
    "reason": "The basket is moving slowly right, and the left handle upright remains visible. I continue the open-finger approach above the rim.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.29, -0.15, 0.942], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false},
      "right": {"position": [0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000006", "native_success": false}

观测 obs_000006 · 步 6 · 剩余 694 步 · 左末端 (-0.30, -0.34, 0.93) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000006",
  "step_id": 6,
  "instruction": "Lift the basket more than 8 cm, identify the target object on the conveyor according to the image on the board, pick it up, and place it into the basket. Keep the basket raised while placing the object into it.",
  "current_eef": {
    "left": {"position": [-0.3, -0.337, 0.928], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
    "right": {"position": [0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 700,
  "remaining_steps": 694,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000006)→obs_000009
  参数原文· 639 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000006",
    "reason": "The fingers remain behind the basket without contact. I advance toward the visible handle upright while tracking its rightward drift.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.24, -0.13, 0.946], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false},
      "right": {"position": [0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000009", "native_success": false}

观测 obs_000009 · 步 9 · 剩余 691 步 · 左末端 (-0.30, -0.33, 0.93) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000009",
  "step_id": 9,
  "instruction": "Lift the basket more than 8 cm, identify the target object on the conveyor according to the image on the board, pick it up, and place it into the basket. Keep the basket raised while placing the object into it.",
  "current_eef": {
    "left": {"position": [-0.297, -0.328, 0.931], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
    "right": {"position": [0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 700,
  "remaining_steps": 691,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000009)→obs_000012
  参数原文· 663 字JSON

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

  {
    "observation_id": "obs_000009",
    "reason": "The basket’s front rim is closer than its moving handle. I start turning the open fingers downward to grip across the rim’s thickness.",
    "steps": 3,
    "target": {
      "left": {
        "position": [-0.255, -0.26, 1.025],
        "quaternion_wxyz": [0.6532815, 0.270598, 0.270598, 0.6532815],
        "gripper_closed": false
      },
      "right": {"position": [0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0, 0, 0.707], "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 (-0.29, -0.32, 0.95) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000012",
  "step_id": 12,
  "instruction": "Lift the basket more than 8 cm, identify the target object on the conveyor according to the image on the board, pick it up, and place it into the basket. Keep the basket raised while placing the object into it.",
  "current_eef": {
    "left": {"position": [-0.29, -0.317, 0.951], "quaternion_wxyz": [0.706, 0.046, 0.046, 0.705], "gripper_opening_command": 1.0},
    "right": {"position": [0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 700,
  "remaining_steps": 688,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000012)→obs_000015
  参数原文· 663 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000012",
    "reason": "I will pinch the left side rim across its thickness. The arm is still clear of the basket, so I continue rotating downward and moving above that rim.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.21, -0.105, 1.04], "quaternion_wxyz": [0.616, 0.347, 0.347, 0.616], "gripper_closed": false},
      "right": {"position": [0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000015 · 步 15 · 剩余 685 步 · 左末端 (-0.29, -0.30, 0.96) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000015",
  "step_id": 15,
  "instruction": "Lift the basket more than 8 cm, identify the target object on the conveyor according to the image on the board, pick it up, and place it into the basket. Keep the basket raised while placing the object into it.",
  "current_eef": {
    "left": {"position": [-0.285, -0.303, 0.96], "quaternion_wxyz": [0.703, 0.084, 0.085, 0.701], "gripper_opening_command": 1.0},
    "right": {"position": [0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 700,
  "remaining_steps": 685,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000015)→obs_000015
  参数原文· 655 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000015",
    "reason": "The left side rim remains visible beyond the open fingers. I move above it and continue the downward orientation without touching the basket.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.14, -0.125, 1.06], "quaternion_wxyz": [0.596, 0.381, 0.381, 0.596], "gripper_closed": false},
      "right": {"position": [0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false}
    }
  }

  返回原文· 597 字JSON

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

  {
    "error": "left target exceeds 0.25 m Euclidean distance",
    "no_execution": true,
    "retryable": true,
    "observation_id": "obs_000015",
    "current_eef": {
      "left": {
        "position": [-0.2851625680923462, -0.30328044295310974, 0.959893524646759],
        "quaternion_wxyz": [0.7026067972183228, 0.08412306755781174, 0.08498633652925491, 0.7014586925506592],
        "gripper_opening_command": 1.0
      },
      "right": {
        "position": [0.3000006377696991, -0.35200145840644836, 0.9209998846054077],
        "quaternion_wxyz": [0.7071067094802856, -4.883925441845349e-08, 1.3469345638839059e-09, 0.7071068286895752],
        "gripper_opening_command": 1.0
      }
    }
  }

• robot_act(steps=3, obs=obs_000015)→obs_000018
  参数原文· 627 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000015",
    "reason": "The prior target was beyond the allowed distance, so I use a nearer intermediate pose above the basket’s left rim.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.18, -0.13, 1.05], "quaternion_wxyz": [0.596, 0.381, 0.381, 0.596], "gripper_closed": false},
      "right": {"position": [0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0, 0, 0.707], "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 682 步 · 左末端 (-0.28, -0.29, 0.97) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000018",
  "step_id": 18,
  "instruction": "Lift the basket more than 8 cm, identify the target object on the conveyor according to the image on the board, pick it up, and place it into the basket. Keep the basket raised while placing the object into it.",
  "current_eef": {
    "left": {"position": [-0.275, -0.287, 0.971], "quaternion_wxyz": [0.696, 0.129, 0.13, 0.694], "gripper_opening_command": 1.0},
    "right": {"position": [0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 700,
  "remaining_steps": 682,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000018)→obs_000021
  参数原文· 654 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000018",
    "reason": "The basket continues right at a steady slow speed. I approach a point above its left rim, keeping the fingers open and turning them downward.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.12, -0.13, 1.05], "quaternion_wxyz": [0.571, 0.417, 0.417, 0.571], "gripper_closed": false},
      "right": {"position": [0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0, 0, 0.707], "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 679 步 · 左末端 (-0.26, -0.27, 0.98) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000021",
  "step_id": 21,
  "instruction": "Lift the basket more than 8 cm, identify the target object on the conveyor according to the image on the board, pick it up, and place it into the basket. Keep the basket raised while placing the object into it.",
  "current_eef": {
    "left": {"position": [-0.26, -0.271, 0.981], "quaternion_wxyz": [0.686, 0.174, 0.175, 0.684], "gripper_opening_command": 1.0},
    "right": {"position": [0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 700,
  "remaining_steps": 679,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000021)→obs_000021
  参数原文· 657 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000021",
    "reason": "The fingers are approaching the outside of the left rim, with no visible disturbance. I raise the wrist slightly while finishing the downward alignment.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.16, -0.12, 1.06], "quaternion_wxyz": [0.5, 0.5, 0.5, 0.5], "gripper_closed": false},
      "right": {"position": [0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false}
    }
  }

  返回原文· 599 字JSON

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

  {
    "error": "left target exceeds 1.0 rad orientation distance",
    "no_execution": true,
    "retryable": true,
    "observation_id": "obs_000021",
    "current_eef": {
      "left": {
        "position": [-0.2603805959224701, -0.2712894678115845, 0.9807091951370239],
        "quaternion_wxyz": [0.6862967014312744, 0.17447181046009064, 0.1754203885793686, 0.6839473247528076],
        "gripper_opening_command": 1.0
      },
      "right": {
        "position": [0.30000004172325134, -0.3520001173019409, 0.9210000038146973],
        "quaternion_wxyz": [0.7071067094802856, 1.3742528892635164e-07, -1.215876466176269e-07, 0.7071068286895752],
        "gripper_opening_command": 1.0
      }
    }
  }

• robot_act(steps=3, obs=obs_000021)→obs_000024
  参数原文· 625 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000021",
    "reason": "I use an intermediate downward angle within the orientation bound, with the open fingers still outside the basket.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.16, -0.12, 1.06], "quaternion_wxyz": [0.53, 0.468, 0.468, 0.53], "gripper_closed": false},
      "right": {"position": [0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0, 0, 0.707], "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 676 步 · 左末端 (-0.25, -0.25, 0.99) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000024",
  "step_id": 24,
  "instruction": "Lift the basket more than 8 cm, identify the target object on the conveyor according to the image on the board, pick it up, and place it into the basket. Keep the basket raised while placing the object into it.",
  "current_eef": {
    "left": {"position": [-0.248, -0.253, 0.991], "quaternion_wxyz": [0.673, 0.219, 0.22, 0.671], "gripper_opening_command": 1.0},
    "right": {"position": [0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 700,
  "remaining_steps": 676,
  "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 · 91 字
  参数原文· 725 字JSON

  1 2 3

  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nimport json,numpy as np\nj=json.load(open('observations/000024/observation.json'));c=[]\nfor im in j['images'][:2]:\n T=np.array(im['calibration']['environment_to_optical']);R=T[:3,:3];K=np.array(im['calibration']['intrinsic_matrix']);c.append((-R.T@T[:3,3],R.T@np.linalg.inv(K)))\nfor a,b in [((212,165),(504,268)),((221,124),(441,174))]:\n C,A=c[0];D,B=c[1];v=A@[*a,1];w=B@[*b,1];v/=np.linalg.norm(v);w/=np.linalg.norm(w);s=np.linalg.lstsq(np.stack([v,-w],1),D-C,rcond=None)[0];p=C+s[0]*v;q=D+s[1]*w;print((p+q)/2,np.linalg.norm(p-q))\nfor uv in [(207,219),(212,165),(273,140),(224,124),(320,250)]:\n C,A=c[0];v=A@[*uv,1];print(uv,C+v*(.895-C[2])/v[2])\nPY"
  }

  返回原文· 423 字代码

  1 2 3 4 5 6 7 8 9 10 11

  Process exited with code 0
  Original token count: 91
  Output:
  [-0.20973377 -0.00504618  0.8930005 ] 0.006016261122642442
  [-0.20846176  0.10761702  0.89898727] 0.006601313566943019
  (207, 219) [-0.19524319 -0.12965699  0.895     ]
  (212, 165) [-0.21036636 -0.00286668  0.895     ]
  (273, 140) [-0.09728357  0.06745294  0.895     ]
  (224, 124) [-0.20700664  0.11727446  0.895     ]
  (320, 250) [ 0.         -0.19029044  0.895     ]
  

• robot_act(steps=3, obs=obs_000024)→obs_000027
  参数原文· 639 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000024",
    "reason": "Stereo views put the basket rim near z=0.895 m. I continue to a downward grip pose above the left side, keeping clear of the handle.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.155, -0.12, 1.065], "quaternion_wxyz": [0.5, 0.5, 0.5, 0.5], "gripper_closed": false},
      "right": {"position": [0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0, 0, 0.707], "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 (-0.24, -0.23, 1.00) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000027",
  "step_id": 27,
  "instruction": "Lift the basket more than 8 cm, identify the target object on the conveyor according to the image on the board, pick it up, and place it into the basket. Keep the basket raised while placing the object into it.",
  "current_eef": {
    "left": {"position": [-0.236, -0.235, 1.002], "quaternion_wxyz": [0.658, 0.263, 0.263, 0.655], "gripper_opening_command": 1.0},
    "right": {"position": [0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 700,
  "remaining_steps": 673,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000027)→obs_000030
  参数原文· 625 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000027",
    "reason": "The open gripper remains outside the side wall. I continue tracking the moving rim and turning downward before contact.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.14, -0.12, 1.065], "quaternion_wxyz": [0.5, 0.5, 0.5, 0.5], "gripper_closed": false},
      "right": {"position": [0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0, 0, 0.707], "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 670 步 · 左末端 (-0.22, -0.22, 1.01) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000030",
  "step_id": 30,
  "instruction": "Lift the basket more than 8 cm, identify the target object on the conveyor according to the image on the board, pick it up, and place it into the basket. Keep the basket raised while placing the object into it.",
  "current_eef": {
    "left": {"position": [-0.221, -0.217, 1.012], "quaternion_wxyz": [0.639, 0.305, 0.305, 0.636], "gripper_opening_command": 1.0},
    "right": {"position": [0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 700,
  "remaining_steps": 670,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000030)→obs_000033
  参数原文· 630 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000030",
    "reason": "The gripper is nearing downward alignment above the left side. I move toward the rim while preserving a vertical clearance.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.155, -0.11, 1.055], "quaternion_wxyz": [0.5, 0.5, 0.5, 0.5], "gripper_closed": false},
      "right": {"position": [0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000033 · 步 33 · 剩余 667 步 · 左末端 (-0.21, -0.20, 1.02) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000033",
  "step_id": 33,
  "instruction": "Lift the basket more than 8 cm, identify the target object on the conveyor according to the image on the board, pick it up, and place it into the basket. Keep the basket raised while placing the object into it.",
  "current_eef": {
    "left": {"position": [-0.209, -0.197, 1.02], "quaternion_wxyz": [0.618, 0.346, 0.346, 0.615], "gripper_opening_command": 1.0},
    "right": {"position": [0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 700,
  "remaining_steps": 667,
  "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 · 29 字
  参数原文· 431 字JSON

  1 2 3

  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nimport json,numpy as np\nj=json.load(open('observations/000033/observation.json'));im=j['images'][0];K=np.array(im['calibration']['intrinsic_matrix']);T=np.array(im['calibration']['environment_to_optical']);R=T[:3,:3];C=-R.T@T[:3,3]\nfor u,v,z in [(285,132,.96),(236,168,.895),(285,190,.79)]:\n d=R.T@np.linalg.inv(K)@np.array([u,v,1]);print(C+d*(z-C[2])/d[2])\nPY"
  }

  返回原文· 174 字纯文本

  Process exited with code 0 Original token count: 29 Output: [-0.0622922 0.01286979 0.96 ] [-0.162468…

• robot_act(steps=3, obs=obs_000033)→obs_000036
  参数原文· 623 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000033",
    "reason": "I keep the fingertip height above the rim while finishing alignment; the left side wall is the intended pinch surface.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.15, -0.11, 1.07], "quaternion_wxyz": [0.5, 0.5, 0.5, 0.5], "gripper_closed": false},
      "right": {"position": [0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000036", "native_success": false}

观测 obs_000036 · 步 36 · 剩余 664 步 · 左末端 (-0.20, -0.18, 1.03) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000036",
  "step_id": 36,
  "instruction": "Lift the basket more than 8 cm, identify the target object on the conveyor according to the image on the board, pick it up, and place it into the basket. Keep the basket raised while placing the object into it.",
  "current_eef": {
    "left": {"position": [-0.196, -0.179, 1.031], "quaternion_wxyz": [0.594, 0.386, 0.386, 0.591], "gripper_opening_command": 1.0},
    "right": {"position": [0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 700,
  "remaining_steps": 664,
  "native_success": false,
  "frame": "environment_origin"
}

• exec_command(cmd="/root/miniconda3/envs/RoboDojo/bin/python - <<'PY' import numpy as np from scipy.spatial…")→退出码 0 · 47 字
  参数原文· 368 字JSON

  1 2 3

  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nimport numpy as np\nfrom scipy.spatial.transform import Rotation as R,Slerp\nq=np.array([.594,.386,.386,.591]);g=np.array([.5,-.5,.5,.5]);r=R.from_quat([q[[1,2,3,0]],g[[1,2,3,0]]]);a=(r[0].inv()*r[1]).magnitude();z=Slerp([0,1],r)([.9/a]).as_quat()[0];print(a,z[[3,0,1,2]])\nprint(r[0].as_matrix())\nPY"
  }

  返回原文· 247 字纯文本

  Process exited with code 0 Original token count: 47 Output: 1.8733554100322622 [ 0.61479667 -0.04588…

• robot_act(steps=3, obs=obs_000036)→obs_000039
  参数原文· 680 字JSON

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

  {
    "observation_id": "obs_000036",
    "reason": "The wrist view shows the fingers still projecting forward rather than down. I correct the orientation above the left side rim before lowering for a pinch.",
    "steps": 3,
    "target": {
      "left": {
        "position": [-0.14, -0.12, 1.09],
        "quaternion_wxyz": [0.614797, -0.045884, 0.494048, 0.613055],
        "gripper_closed": false
      },
      "right": {"position": [0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000039 · 步 39 · 剩余 661 步 · 左末端 (-0.19, -0.17, 1.04) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000039",
  "step_id": 39,
  "instruction": "Lift the basket more than 8 cm, identify the target object on the conveyor according to the image on the board, pick it up, and place it into the basket. Keep the basket raised while placing the object into it.",
  "current_eef": {
    "left": {"position": [-0.187, -0.169, 1.039], "quaternion_wxyz": [0.601, 0.346, 0.4, 0.599], "gripper_opening_command": 1.0},
    "right": {"position": [0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 700,
  "remaining_steps": 661,
  "native_success": false,
  "frame": "environment_origin"
}

• exec_command(cmd="/root/miniconda3/envs/RoboDojo/bin/python - <<'PY' import json,numpy as np from scipy.sp…")→退出码 0 · 54 字
  参数原文· 501 字JSON

  1 2 3

  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nimport json,numpy as np\nfrom scipy.spatial.transform import Rotation as R,Slerp\nj=json.load(open('observations/000039/observation.json'))\nfor arm,g in [('left',[.5,-.5,.5,.5]),('right',[.5,-.5,.5,.5])]:\n q=np.array(j['current_eef'][arm]['quaternion_wxyz']);g=np.array(g);r=R.from_quat([q[[1,2,3,0]],g[[1,2,3,0]]]);a=(r[0].inv()*r[1]).magnitude();z=Slerp([0,1],r)([min(1,.95/a)]).as_quat()[0];print(arm,a,z[[3,0,1,2]].tolist())\nPY"
  }

  返回原文· 274 字纯文本

  Process exited with code 0 Original token count: 54 Output: left 1.785477052866307 [0.60654668195859…

• robot_act(steps=3, obs=obs_000039)→obs_000042
  参数原文· 703 字JSON

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

  {
    "observation_id": "obs_000039",
    "reason": "Both arms are clear of objects. I continue aligning the left fingers downward and prepare the right arm’s downward grasp orientation for the incoming target.",
    "steps": 3,
    "target": {
      "left": {
        "position": [-0.12, -0.12, 1.09],
        "quaternion_wxyz": [0.606547, -0.113452, 0.502159, 0.605859],
        "gripper_closed": false
      },
      "right": {"position": [0.3, -0.352, 1.06], "quaternion_wxyz": [0.628825, -0.323387, 0.323387, 0.628825], "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 (-0.18, -0.16, 1.05) 米 · 右末端 (0.30, -0.35, 0.94) 米

{
  "observation_id": "obs_000042",
  "step_id": 42,
  "instruction": "Lift the basket more than 8 cm, identify the target object on the conveyor according to the image on the board, pick it up, and place it into the basket. Keep the basket raised while placing the object into it.",
  "current_eef": {
    "left": {"position": [-0.176, -0.16, 1.047], "quaternion_wxyz": [0.607, 0.306, 0.414, 0.606], "gripper_opening_command": 1.0},
    "right": {"position": [0.3, -0.351, 0.943], "quaternion_wxyz": [0.706, -0.043, 0.043, 0.706], "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=3, obs=obs_000042)→obs_000045
  参数原文· 653 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000042",
    "reason": "The basket remains stable on the moving belt. I continue downward alignment above its left rim and prepare the idle right gripper.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.1, -0.1, 1.08], "quaternion_wxyz": [0.6, -0.15, 0.514782, 0.5943], "gripper_closed": false},
      "right": {"position": [0.3, -0.27, 1.065], "quaternion_wxyz": [0.606, -0.3644, 0.3644, 0.606], "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 655 步 · 左末端 (-0.16, -0.15, 1.05) 米 · 右末端 (0.30, -0.34, 0.96) 米

{
  "observation_id": "obs_000045",
  "step_id": 45,
  "instruction": "Lift the basket more than 8 cm, identify the target object on the conveyor according to the image on the board, pick it up, and place it into the basket. Keep the basket raised while placing the object into it.",
  "current_eef": {
    "left": {"position": [-0.164, -0.15, 1.051], "quaternion_wxyz": [0.611, 0.264, 0.428, 0.611], "gripper_opening_command": 1.0},
    "right": {"position": [0.3, -0.343, 0.956], "quaternion_wxyz": [0.703, -0.073, 0.073, 0.703], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 700,
  "remaining_steps": 655,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000045)→obs_000048
  参数原文· 650 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000045",
    "reason": "The fingers are above the basket’s side without contact. I continue the corrective rotation and track its slow rightward movement.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.09, -0.085, 1.07], "quaternion_wxyz": [0.59, -0.2, 0.5146, 0.59], "gripper_closed": false},
      "right": {"position": [0.3, -0.22, 1.055], "quaternion_wxyz": [0.586, -0.396, 0.396, 0.586], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000048 · 步 48 · 剩余 652 步 · 左末端 (-0.15, -0.14, 1.05) 米 · 右末端 (0.30, -0.33, 0.97) 米

{
  "observation_id": "obs_000048",
  "step_id": 48,
  "instruction": "Lift the basket more than 8 cm, identify the target object on the conveyor according to the image on the board, pick it up, and place it into the basket. Keep the basket raised while placing the object into it.",
  "current_eef": {
    "left": {"position": [-0.151, -0.139, 1.052], "quaternion_wxyz": [0.615, 0.222, 0.441, 0.616], "gripper_opening_command": 1.0},
    "right": {"position": [0.3, -0.332, 0.965], "quaternion_wxyz": [0.7, -0.103, 0.103, 0.7], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 700,
  "remaining_steps": 652,
  "native_success": false,
  "frame": "environment_origin"
}