敲木琴 · play_Xylophone_000043任务成功第四档

观测 obs_000000 · 步 0 · 剩余 500 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000000",
  "step_id": 0,
  "instruction": "Pick up the mallet and strike all xylophone keys from left to right. After each strike, lift the mallet by at least 7 cm before striking the next key.",
  "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": 500,
  "remaining_steps": 500,
  "native_success": false,
  "frame": "environment_origin",
  "task_context": {
    "episode_start_eef": {
      "left": {"position": [-0.3, -0.352, 0.922], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
      "right": {"position": [0.3, -0.352, 0.922], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0}
    }
  }
}

• exec_command(cmd="cat .agents/skills/robot-manipulation/SKILL.md")→退出码 0 · 1,522 字
  参数原文· 91 字JSON

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

  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 · 1,459 字
  参数原文· 85 字JSON

  {"cmd": "cat observations/000000/observation.json", "max_output_tokens": 12000}
  返回原文· 5,897 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: 1459
  Output:
  {
    "episode_id": "0e6cb22a4e8c47a1a6ae5cf51a304673",
    "observation_id": "obs_000000",
    "step_id": 0,
    "instruction": "Pick up the mallet and strike all xylophone keys from left to right. After each strike, lift the mallet by at least 7 cm before striking the next key.",
    "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": 500,
    "remaining_steps": 500,
    "rollout_finished": false,
    "native_success": false,
    "frame": "environment_origin",
    "images": [
      {
        "camera": "cam_high",
        "path": "/mnt/workspace/robot_workspaces/episode-h4t4w6xq/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-h4t4w6xq/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-h4t4w6xq/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-h4t4w6xq/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-h4t4w6xq/agent/observations/000000/camera_parameters.json"
  }

• exec_command(cmd="/root/miniconda3/envs/RoboDojo/bin/python - <<'PY' import json,numpy as np j=json.load(o…")→退出码 0 · 170 字
  参数原文· 1,082 字JSON

  1 2 3 4

  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nimport json,numpy as np\nj=json.load(open('observations/000000/observation.json'))\ndef tri(a,b):\n A=[]\n for im,p in zip(j['images'][:2],[a,b]):\n  K=np.array(im['calibration']['intrinsic_matrix']); T=np.array(im['calibration']['environment_to_optical']); P=K@T[:3]\n  A.extend([p[0]*P[2]-P[0],p[1]*P[2]-P[1]])\n _,_,V=np.linalg.svd(A); x=V[-1]; x=x[:3]/x[3]\n print(x)\n for im in j['images'][:2]:\n  y=np.array(im['calibration']['intrinsic_matrix'])@np.array(im['calibration']['environment_to_optical'])[:3]@np.r_[x,1]; print(y[:2]/y[2])\ntri((167,221),(267,328))\ntri((232,158),(397,205))\n# intersect high ray with height z .76,.78\nim=j['images'][0]; K=np.array(im['calibration']['intrinsic_matrix']); T=np.array(im['calibration']['environment_to_optical']); C=-T[:3,:3].T@T[:3,3]\nfor pix in [(113,286),(140,253),(213,184),(233,189),(253,193),(273,197),(293,201),(310,204),(330,208),(349,211)]:\n d=T[:3,:3].T@np.linalg.inv(K)@[*pix,1];z=.77;p=C+(z-C[2])/d[2]*d;print(pix,p)\nPY",
    "max_output_tokens": 4000
  }

  返回原文· 739 字代码

  1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20

  Process exited with code 0
  Original token count: 170
  Output:
  [-0.33693571 -0.05652511  0.7792373 ]
  [167.03267596 221.05166483]
  [266.94612644 327.90908151]
  [-0.21713409  0.12139323  0.79187011]
  [232.2136778  158.27773179]
  [396.74118389 204.62099877]
  (113, 286) [-0.40863742 -0.20424191  0.77      ]
  (140, 253) [-0.37823677 -0.13092857  0.77      ]
  (213, 184) [-0.25985634  0.0576533   0.77      ]
  (233, 189) [-0.20892729  0.04203602  0.77      ]
  (253, 193) [-0.15947434  0.02979093  0.77      ]
  (273, 197) [-0.11088887  0.01776064  0.77      ]
  (293, 201) [-0.06314826  0.00593954  0.77      ]
  (310, 204) [-0.02323672 -0.00279226  0.77      ]
  (330, 208) [ 0.02303772 -0.01426017  0.77      ]
  (349, 211) [ 0.06638299 -0.02273302  0.77      ]
  

• exec_command(cmd="/root/miniconda3/envs/RoboDojo/bin/python - <<'PY' import numpy as np from scipy.spatial…")→退出码 0 · 33 字
  参数原文· 462 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\nx=np.array([0,0,-1]); y=np.array([-.91,.4146,0]); y/=np.linalg.norm(y); z=np.cross(x,y)\nr=R.from_matrix(np.column_stack([x,y,z]));r0=R.from_quat([0,0,.7072135,.70699996]);rv=(r0.inv()*r).as_rotvec(); print('angle',np.linalg.norm(rv))\nfor t in [.45,1]:\n q=(r0*R.from_rotvec(rv*t)).as_quat();print(t,q[[3,0,1,2]])\nPY"
  }

  返回原文· 192 字纯文本

  Process exited with code 0 Original token count: 33 Output: angle 1.6158726577857616 0.45 [ 0.713008…

• robot_act(steps=3, obs=obs_000000)→obs_000003
  参数原文· 721 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000000",
    "reason": "The mallet lies ahead of the left arm, with the handle running diagonally toward the red head. Approach above the handle while beginning to turn the fingers downward and across the shaft.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.38, -0.155, 1.0], "quaternion_wxyz": [0.713008, -0.1882, 0.292557, 0.608778], "gripper_closed": false},
      "right": {"position": [0.300471, -0.3523, 0.9215], "quaternion_wxyz": [0.707, 0, 0, 0.707214], "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 497 步 · 左末端 (-0.30, -0.35, 0.93) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000003",
  "step_id": 3,
  "instruction": "Pick up the mallet and strike all xylophone keys from left to right. After each strike, lift the mallet by at least 7 cm before striking the next key.",
  "current_eef": {
    "left": {"position": [-0.302, -0.346, 0.925], "quaternion_wxyz": [0.712, -0.02, 0.029, 0.702], "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": 500,
  "remaining_steps": 497,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000003)→obs_000006
  参数原文· 679 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000003",
    "reason": "The arm has only begun the approach; the mallet remains stationary and visible in the wrist view. Continue toward the open space above the shaft.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.38, -0.155, 1.0], "quaternion_wxyz": [0.713008, -0.1882, 0.292557, 0.608778], "gripper_closed": false},
      "right": {"position": [0.300471, -0.3523, 0.9215], "quaternion_wxyz": [0.707, 0, 0, 0.707214], "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 494 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": "Pick up the mallet and strike all xylophone keys from left to right. After each strike, lift the mallet by at least 7 cm before striking the next key.",
  "current_eef": {
    "left": {"position": [-0.304, -0.338, 0.929], "quaternion_wxyz": [0.716, -0.039, 0.059, 0.695], "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": 500,
  "remaining_steps": 494,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000006)→obs_000009
  参数原文· 667 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000006",
    "reason": "The wrist view still shows the shaft unobstructed, and the fingers remain well above it. Continue the approach with the gripper open.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.38, -0.155, 1.0], "quaternion_wxyz": [0.713008, -0.1882, 0.292557, 0.608778], "gripper_closed": false},
      "right": {"position": [0.300471, -0.3523, 0.9215], "quaternion_wxyz": [0.707, 0, 0, 0.707214], "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 491 步 · 左末端 (-0.31, -0.33, 0.93) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000009",
  "step_id": 9,
  "instruction": "Pick up the mallet and strike all xylophone keys from left to right. After each strike, lift the mallet by at least 7 cm before striking the next key.",
  "current_eef": {
    "left": {"position": [-0.308, -0.328, 0.934], "quaternion_wxyz": [0.719, -0.06, 0.09, 0.687], "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": 500,
  "remaining_steps": 491,
  "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 · 13 字
  参数原文· 321 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\nr0=R.from_quat([0,0,.7072135,.70699996]); r=R.from_quat([-.38255672,.59468509,.38255672,.59468509]);q=(r0*R.from_rotvec((r0.inv()*r).as_rotvec()*.7)).as_quat();print(q[[3,0,1,2]])\nPY"
  }

  返回原文· 110 字纯文本

  Process exited with code 0 Original token count: 13 Output: [ 0.67560967 -0.28360343 0.44086202 0.51…

• robot_act(steps=3, obs=obs_000009)→obs_000012
  参数原文· 693 字JSON

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

  {
    "observation_id": "obs_000009",
    "reason": "The mallet is unchanged and the left arm is still above clear table space. Progress the downward alignment while moving above the intended shaft grasp point.",
    "steps": 3,
    "target": {
      "left": {
        "position": [-0.38, -0.155, 0.98],
        "quaternion_wxyz": [0.67561, -0.283603, 0.440862, 0.518422],
        "gripper_closed": false
      },
      "right": {"position": [0.300471, -0.3523, 0.9215], "quaternion_wxyz": [0.707, 0, 0, 0.707214], "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 488 步 · 左末端 (-0.31, -0.32, 0.94) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000012",
  "step_id": 12,
  "instruction": "Pick up the mallet and strike all xylophone keys from left to right. After each strike, lift the mallet by at least 7 cm before striking the next key.",
  "current_eef": {
    "left": {"position": [-0.311, -0.317, 0.937], "quaternion_wxyz": [0.721, -0.081, 0.123, 0.677], "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": 500,
  "remaining_steps": 488,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000012)→obs_000015
  参数原文· 666 字JSON

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

  {
    "observation_id": "obs_000012",
    "reason": "The handle remains visible between the open fingers, with no contact yet. Continue the approach and alignment in small increments.",
    "steps": 3,
    "target": {
      "left": {
        "position": [-0.38, -0.155, 0.98],
        "quaternion_wxyz": [0.67561, -0.283603, 0.440862, 0.518422],
        "gripper_closed": false
      },
      "right": {"position": [0.300471, -0.3523, 0.9215], "quaternion_wxyz": [0.707, 0, 0, 0.707214], "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 485 步 · 左末端 (-0.32, -0.30, 0.94) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000015",
  "step_id": 15,
  "instruction": "Pick up the mallet and strike all xylophone keys from left to right. After each strike, lift the mallet by at least 7 cm before striking the next key.",
  "current_eef": {
    "left": {"position": [-0.316, -0.304, 0.941], "quaternion_wxyz": [0.722, -0.104, 0.158, 0.666], "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": 500,
  "remaining_steps": 485,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000015)→obs_000018
  参数原文· 677 字JSON

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

  {
    "observation_id": "obs_000015",
    "reason": "The left wrist is rotating toward a top-down grasp; the shaft is still visible and undisturbed. Continue aligning above it before descending.",
    "steps": 3,
    "target": {
      "left": {
        "position": [-0.38, -0.155, 0.98],
        "quaternion_wxyz": [0.67561, -0.283603, 0.440862, 0.518422],
        "gripper_closed": false
      },
      "right": {"position": [0.300471, -0.3523, 0.9215], "quaternion_wxyz": [0.707, 0, 0, 0.707214], "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 482 步 · 左末端 (-0.32, -0.29, 0.94) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000018",
  "step_id": 18,
  "instruction": "Pick up the mallet and strike all xylophone keys from left to right. After each strike, lift the mallet by at least 7 cm before striking the next key.",
  "current_eef": {
    "left": {"position": [-0.322, -0.289, 0.944], "quaternion_wxyz": [0.722, -0.129, 0.195, 0.652], "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": 500,
  "remaining_steps": 482,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000018)→obs_000021
  参数原文· 668 字JSON

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

  {
    "observation_id": "obs_000018",
    "reason": "The shaft remains below the open gripper, with the red head clear of the arm. Continue positioning the finger pads across the shaft.",
    "steps": 3,
    "target": {
      "left": {
        "position": [-0.38, -0.155, 0.98],
        "quaternion_wxyz": [0.67561, -0.283603, 0.440862, 0.518422],
        "gripper_closed": false
      },
      "right": {"position": [0.300471, -0.3523, 0.9215], "quaternion_wxyz": [0.707, 0, 0, 0.707214], "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 479 步 · 左末端 (-0.33, -0.27, 0.95) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000021",
  "step_id": 21,
  "instruction": "Pick up the mallet and strike all xylophone keys from left to right. After each strike, lift the mallet by at least 7 cm before striking the next key.",
  "current_eef": {
    "left": {"position": [-0.328, -0.271, 0.948], "quaternion_wxyz": [0.719, -0.155, 0.236, 0.635], "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": 500,
  "remaining_steps": 479,
  "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· 495 字JSON

  1 2 3

  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nimport json,numpy as np\nj=json.load(open('observations/000021/observation.json'))\ndef tr(a,b):\n A=[]\n for im,p in zip(j['images'][:2],[a,b]):\n  P=np.array(im['calibration']['intrinsic_matrix'])@np.array(im['calibration']['environment_to_optical'])[:3];A.extend([p[0]*P[2]-P[0],p[1]*P[2]-P[1]])\n _,_,v=np.linalg.svd(A);p=v[-1,:3]/v[-1,3];print(p)\ntr([167,221],[266,195]);tr([132,263],[198,364]);tr([157,234],[249,247])\nPY"
  }

  返回原文· 174 字纯文本

  Process exited with code 0 Original token count: 29 Output: [-0.33717341 -0.05583296 0.77935665] [-0…

• exec_command(cmd="/root/miniconda3/envs/RoboDojo/bin/python - <<'PY' from scipy.spatial.transform import R…")→退出码 0 · 13 字
  参数原文· 301 字JSON

  1 2 3

  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nfrom scipy.spatial.transform import Rotation as R\nr0=R.from_quat([0,0,.7072135,.70699996]); r=R.from_quat([-.38255672,.59468509,.38255672,.59468509]);q=(r0*R.from_rotvec((r0.inv()*r).as_rotvec()*.9)).as_quat();print(q[[3,0,1,2]])\nPY"
  }

  返回原文· 110 字纯文本

  Process exited with code 0 Original token count: 13 Output: [ 0.62580151 -0.35179554 0.54686678 0.43…

• robot_act(steps=3, obs=obs_000021)→obs_000024
  参数原文· 704 字JSON

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

  {
    "observation_id": "obs_000021",
    "reason": "Stereo views place the intended shaft contact near (-0.378, -0.141, 0.777). Align the gripper more vertically above that point, keeping it open and clear of contact.",
    "steps": 3,
    "target": {
      "left": {
        "position": [-0.378, -0.141, 0.955],
        "quaternion_wxyz": [0.625802, -0.351796, 0.546867, 0.430754],
        "gripper_closed": false
      },
      "right": {"position": [0.300471, -0.3523, 0.9215], "quaternion_wxyz": [0.707, 0, 0, 0.707214], "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 476 步 · 左末端 (-0.33, -0.25, 0.95) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000024",
  "step_id": 24,
  "instruction": "Pick up the mallet and strike all xylophone keys from left to right. After each strike, lift the mallet by at least 7 cm before striking the next key.",
  "current_eef": {
    "left": {"position": [-0.335, -0.253, 0.948], "quaternion_wxyz": [0.715, -0.182, 0.277, 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": 500,
  "remaining_steps": 476,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000024)→obs_000027
  参数原文· 654 字JSON

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

  {
    "observation_id": "obs_000024",
    "reason": "The shaft is visible in the wrist view and the fingers remain above it. Continue toward the vertical approach pose.",
    "steps": 3,
    "target": {
      "left": {
        "position": [-0.378, -0.141, 0.955],
        "quaternion_wxyz": [0.625802, -0.351796, 0.546867, 0.430754],
        "gripper_closed": false
      },
      "right": {"position": [0.300471, -0.3523, 0.9215], "quaternion_wxyz": [0.707, 0, 0, 0.707214], "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 473 步 · 左末端 (-0.34, -0.23, 0.95) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000027",
  "step_id": 27,
  "instruction": "Pick up the mallet and strike all xylophone keys from left to right. After each strike, lift the mallet by at least 7 cm before striking the next key.",
  "current_eef": {
    "left": {"position": [-0.342, -0.232, 0.947], "quaternion_wxyz": [0.709, -0.21, 0.321, 0.592], "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": 500,
  "remaining_steps": 473,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000027)→obs_000030
  参数原文· 663 字JSON

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

  {
    "observation_id": "obs_000027",
    "reason": "The approach continues without disturbing the mallet. Finish the vertical finger orientation above the measured shaft point.",
    "steps": 3,
    "target": {
      "left": {
        "position": [-0.378, -0.141, 0.955],
        "quaternion_wxyz": [0.594685, -0.382557, 0.594685, 0.382557],
        "gripper_closed": false
      },
      "right": {"position": [0.300471, -0.3523, 0.9215], "quaternion_wxyz": [0.707, 0, 0, 0.707214], "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 470 步 · 左末端 (-0.35, -0.21, 0.95) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000030",
  "step_id": 30,
  "instruction": "Pick up the mallet and strike all xylophone keys from left to right. After each strike, lift the mallet by at least 7 cm before striking the next key.",
  "current_eef": {
    "left": {"position": [-0.35, -0.211, 0.947], "quaternion_wxyz": [0.699, -0.239, 0.367, 0.566], "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": 500,
  "remaining_steps": 470,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000030)→obs_000033
  参数原文· 697 字JSON

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

  {
    "observation_id": "obs_000030",
    "reason": "The shaft is nearly vertical in the wrist image, consistent with pads aligned along it and closure across it. Continue the final orientation above the mallet.",
    "steps": 3,
    "target": {
      "left": {
        "position": [-0.378, -0.141, 0.955],
        "quaternion_wxyz": [0.594685, -0.382557, 0.594685, 0.382557],
        "gripper_closed": false
      },
      "right": {"position": [0.300471, -0.3523, 0.9215], "quaternion_wxyz": [0.707, 0, 0, 0.707214], "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 467 步 · 左末端 (-0.36, -0.19, 0.95) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000033",
  "step_id": 33,
  "instruction": "Pick up the mallet and strike all xylophone keys from left to right. After each strike, lift the mallet by at least 7 cm before striking the next key.",
  "current_eef": {
    "left": {"position": [-0.358, -0.189, 0.948], "quaternion_wxyz": [0.686, -0.269, 0.413, 0.536], "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": 500,
  "remaining_steps": 467,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000033)→obs_000036
  参数原文· 683 字JSON

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

  {
    "observation_id": "obs_000033",
    "reason": "The open fingers still clear the mallet and the shaft remains stationary. Complete the approach pose before lowering the pads to contact height.",
    "steps": 3,
    "target": {
      "left": {
        "position": [-0.378, -0.141, 0.955],
        "quaternion_wxyz": [0.594685, -0.382557, 0.594685, 0.382557],
        "gripper_closed": false
      },
      "right": {"position": [0.300471, -0.3523, 0.9215], "quaternion_wxyz": [0.707, 0, 0, 0.707214], "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 464 步 · 左末端 (-0.37, -0.17, 0.95) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000036",
  "step_id": 36,
  "instruction": "Pick up the mallet and strike all xylophone keys from left to right. After each strike, lift the mallet by at least 7 cm before striking the next key.",
  "current_eef": {
    "left": {"position": [-0.366, -0.169, 0.949], "quaternion_wxyz": [0.671, -0.294, 0.454, 0.507], "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": 500,
  "remaining_steps": 464,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000036)→obs_000039
  参数原文· 682 字JSON

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

  {
    "observation_id": "obs_000036",
    "reason": "The finger opening is centered near the handle; a small positional correction is still needed. Continue the top-down alignment without closing.",
    "steps": 3,
    "target": {
      "left": {
        "position": [-0.378, -0.141, 0.955],
        "quaternion_wxyz": [0.594685, -0.382557, 0.594685, 0.382557],
        "gripper_closed": false
      },
      "right": {"position": [0.300471, -0.3523, 0.9215], "quaternion_wxyz": [0.707, 0, 0, 0.707214], "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 461 步 · 左末端 (-0.37, -0.15, 0.95) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000039",
  "step_id": 39,
  "instruction": "Pick up the mallet and strike all xylophone keys from left to right. After each strike, lift the mallet by at least 7 cm before striking the next key.",
  "current_eef": {
    "left": {"position": [-0.373, -0.151, 0.952], "quaternion_wxyz": [0.656, -0.317, 0.491, 0.478], "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": 500,
  "remaining_steps": 461,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000039)→obs_000042
  参数原文· 688 字JSON

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

  {
    "observation_id": "obs_000039",
    "reason": "The shaft is centered, but measured wrist orientation is still slightly tilted. Hold above the handle and finish orienting the fingers straight down.",
    "steps": 3,
    "target": {
      "left": {
        "position": [-0.378, -0.141, 0.955],
        "quaternion_wxyz": [0.594685, -0.382557, 0.594685, 0.382557],
        "gripper_closed": false
      },
      "right": {"position": [0.300471, -0.3523, 0.9215], "quaternion_wxyz": [0.707, 0, 0, 0.707214], "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 458 步 · 左末端 (-0.38, -0.14, 0.95) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000042",
  "step_id": 42,
  "instruction": "Pick up the mallet and strike all xylophone keys from left to right. After each strike, lift the mallet by at least 7 cm before striking the next key.",
  "current_eef": {
    "left": {"position": [-0.377, -0.144, 0.953], "quaternion_wxyz": [0.636, -0.341, 0.529, 0.446], "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": 500,
  "remaining_steps": 458,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000042)→obs_000045
  参数原文· 675 字JSON

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

  {
    "observation_id": "obs_000042",
    "reason": "The handle remains centered between the fingers. Lower by 2 cm while completing the orientation, still leaving the tips above the table.",
    "steps": 3,
    "target": {
      "left": {
        "position": [-0.378, -0.141, 0.935],
        "quaternion_wxyz": [0.594685, -0.382557, 0.594685, 0.382557],
        "gripper_closed": false
      },
      "right": {"position": [0.300471, -0.3523, 0.9215], "quaternion_wxyz": [0.707, 0, 0, 0.707214], "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 455 步 · 左末端 (-0.38, -0.14, 0.94) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000045",
  "step_id": 45,
  "instruction": "Pick up the mallet and strike all xylophone keys from left to right. After each strike, lift the mallet by at least 7 cm before striking the next key.",
  "current_eef": {
    "left": {"position": [-0.378, -0.142, 0.935], "quaternion_wxyz": [0.603, -0.375, 0.584, 0.393], "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": 500,
  "remaining_steps": 455,
  "native_success": false,
  "frame": "environment_origin"
}

• exec_command(cmd="/root/miniconda3/envs/RoboDojo/bin/python - <<'PY' import numpy as np,json j=json.load(o…")→退出码 0 · 19 字
  参数原文· 467 字JSON

  1 2 3

  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nimport numpy as np,json\nj=json.load(open('observations/000045/observation.json'))\nfor a,b in [([132,263],[338,275]),([167,221],[337,-20])]:\n A=[]\n for im,p in zip(j['images'][:2],[a,b]):\n  P=np.array(im['calibration']['intrinsic_matrix'])@np.array(im['calibration']['environment_to_optical'])[:3];A.extend([p[0]*P[2]-P[0],p[1]*P[2]-P[1]])\n _,_,v=np.linalg.svd(A);p=v[-1,:3]/v[-1,3];print(p)\nPY"
  }

  返回原文· 136 字纯文本

  Process exited with code 0 Original token count: 19 Output: [-0.38151078 -0.14998548 0.76490447] [-0…

• view_image(path="/mnt/workspace/robot_workspaces/episode-h4t4w6xq/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-h4t4w6xq/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/d4fd546b8040dacc18bca4acd94f043c7c667ad1359d0ecb58bf2a2184006158.png",
        "sha256": "d4fd546b8040dacc18bca4acd94f043c7c667ad1359d0ecb58bf2a2184006158",
        "mime_type": "image/png",
        "width": 640,
        "height": 480
      }
    }
  ]

• view_image(path="…/workspace/robot_workspaces/episode-h4t4w6xq/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-h4t4w6xq/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/8ccb9a68514b9b601b78b83670dfe6fa83e7c62ca79190af1436db0a162e6ff0.png",
        "sha256": "8ccb9a68514b9b601b78b83670dfe6fa83e7c62ca79190af1436db0a162e6ff0",
        "mime_type": "image/png",
        "width": 640,
        "height": 480
      }
    }
  ]

• robot_act(steps=3, obs=obs_000045)→obs_000048
  参数原文· 709 字JSON

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

  {
    "observation_id": "obs_000045",
    "reason": "The handle is centered and the finger direction is almost vertical. Lower another 1.5 cm to put the shaft within the finger pads while preserving clearance from the table.",
    "steps": 3,
    "target": {
      "left": {
        "position": [-0.378, -0.141, 0.92],
        "quaternion_wxyz": [0.594685, -0.382557, 0.594685, 0.382557],
        "gripper_closed": false
      },
      "right": {"position": [0.300471, -0.3523, 0.9215], "quaternion_wxyz": [0.707, 0, 0, 0.707214], "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 452 步 · 左末端 (-0.38, -0.14, 0.92) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000048",
  "step_id": 48,
  "instruction": "Pick up the mallet and strike all xylophone keys from left to right. After each strike, lift the mallet by at least 7 cm before striking the next key.",
  "current_eef": {
    "left": {"position": [-0.378, -0.141, 0.923], "quaternion_wxyz": [0.596, -0.38, 0.593, 0.384], "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": 500,
  "remaining_steps": 452,
  "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· 409 字JSON

  1 2 3

  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nimport json,numpy as np\nj=json.load(open('observations/000048/observation.json'));im=j['images'][1];K=np.array(im['calibration']['intrinsic_matrix']);T=np.array(im['calibration']['environment_to_optical']);C=-T[:3,:3].T@T[:3,3];d=T[:3,:3].T@np.linalg.inv(K)@np.array([338,300,1])\nfor z in [.758,.765,.77]:\n p=C+(z-C[2])/d[2]*d;print(p)\nPY"
  }

  返回原文· 174 字纯文本

  Process exited with code 0 Original token count: 29 Output: [-0.37876996 -0.15323572 0.758 ] [-0.376…

• robot_act(steps=2, obs=obs_000048)→obs_000050
  参数原文· 706 字JSON

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

  {
    "observation_id": "obs_000048",
    "reason": "The wrist view confirms the shaft lies between the open fingers. Lower the last centimeter so the finger pads overlap the shaft rather than contacting only their tips.",
    "steps": 2,
    "target": {
      "left": {
        "position": [-0.378, -0.141, 0.913],
        "quaternion_wxyz": [0.594685, -0.382557, 0.594685, 0.382557],
        "gripper_closed": false
      },
      "right": {"position": [0.300471, -0.3523, 0.9215], "quaternion_wxyz": [0.707, 0, 0, 0.707214], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000050 · 步 50 · 剩余 450 步 · 左末端 (-0.38, -0.14, 0.92) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000050",
  "step_id": 50,
  "instruction": "Pick up the mallet and strike all xylophone keys from left to right. After each strike, lift the mallet by at least 7 cm before striking the next key.",
  "current_eef": {
    "left": {"position": [-0.378, -0.142, 0.923], "quaternion_wxyz": [0.598, -0.377, 0.592, 0.388], "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": 500,
  "remaining_steps": 450,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000050)→obs_000053
  参数原文· 692 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000050",
    "reason": "The measured height did not decrease, suggesting the finger tips are already at table height. Stop descending and close around the centered shaft at the current pose.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.378, -0.142, 0.923], "quaternion_wxyz": [0.598, -0.377, 0.592, 0.388], "gripper_closed": true},
      "right": {"position": [0.300471, -0.3523, 0.9215], "quaternion_wxyz": [0.707, 0, 0, 0.707214], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000053 · 步 53 · 剩余 447 步 · 左末端 (-0.38, -0.14, 0.92) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000053",
  "step_id": 53,
  "instruction": "Pick up the mallet and strike all xylophone keys from left to right. After each strike, lift the mallet by at least 7 cm before striking the next key.",
  "current_eef": {
    "left": {
      "position": [-0.378, -0.142, 0.923],
      "quaternion_wxyz": [0.598, -0.377, 0.592, 0.388],
      "gripper_opening_command": 0.601
    },
    "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": 500,
  "remaining_steps": 447,
  "native_success": false,
  "frame": "environment_origin"
}