玩叠叠乐 · play_stacking_toy_000238任务成功第二档

观测 obs_000000 · 步 0 · 剩余 1200 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000000",
  "step_id": 0,
  "instruction": "Place all stacking toy pieces onto the correct pegs. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.3, -0.352, 0.922], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
    "right": {"position": [0.3, -0.352, 0.922], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1200,
  "remaining_steps": 1200,
  "native_success": false,
  "frame": "environment_origin",
  "task_context": {
    "episode_start_eef": {
      "left": {"position": [-0.3, -0.352, 0.922], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
      "right": {"position": [0.3, -0.352, 0.922], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0}
    }
  }
}

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

  {"cmd": "cat .agents/skills/robot-manipulation/SKILL.md", "max_output_tokens": 10000}
  返回原文· 6,129 字代码

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

• exec_command(cmd="cat observations/000000/observation.json")→退出码 0 · 1,442 字
  参数原文· 85 字JSON

  {"cmd": "cat observations/000000/observation.json", "max_output_tokens": 12000}
  返回原文· 5,827 字代码

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  Process exited with code 0
  Original token count: 1442
  Output:
  {
    "episode_id": "a2935d96570844eca8408dfa1a80dc78",
    "observation_id": "obs_000000",
    "step_id": 0,
    "instruction": "Place all stacking toy pieces onto the correct pegs. Then reset the robot arm.",
    "current_eef": {
      "left": {
        "position": [
          -0.2995290756225586,
          -0.35229986906051636,
          0.921500027179718
        ],
        "quaternion_wxyz": [
          0.7069999575614929,
          -2.8373033700290762e-08,
          -4.5104908252824316e-08,
          0.7072135210037231
        ],
        "gripper_opening_command": 1.0
      },
      "right": {
        "position": [
          0.3004709482192993,
          -0.35229986906051636,
          0.921500027179718
        ],
        "quaternion_wxyz": [
          0.7069999575614929,
          -2.8373033700290762e-08,
          -4.5104908252824316e-08,
          0.7072135210037231
        ],
        "gripper_opening_command": 1.0
      }
    },
    "current_state": [
      5.117600137063971e-13,
      -1.1564972815666062e-15,
      1.7751208264243043e-17,
      7.854382995167437e-16,
      -9.9895645141318e-13,
      2.5006680753891786e-12,
      1.0,
      5.11759742655854e-13,
      -1.1564970698083694e-15,
      1.7749080755707557e-17,
      7.854373995442373e-16,
      -9.989571019344834e-13,
      2.5006676417083096e-12,
      1.0
    ],
    "control_dt": 0.04,
    "max_episode_steps": 1200,
    "remaining_steps": 1200,
    "rollout_finished": false,
    "native_success": false,
    "frame": "environment_origin",
    "images": [
      {
        "camera": "cam_high",
        "path": "/mnt/workspace/robot_workspaces/episode-0wq4tmm8/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-0wq4tmm8/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-0wq4tmm8/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-0wq4tmm8/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-0wq4tmm8/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 · 19 字
  参数原文· 662 字JSON

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  {
    "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'))\ndef tri(a,b,ca,cb):\n p=[]\n for im in [j['images'][ca],j['images'][cb]]:\n  p.append(np.array(im['calibration']['intrinsic_matrix'])@np.array(im['calibration']['environment_to_optical'])[:3])\n A=np.array([a[0]*p[0][2]-p[0][0],a[1]*p[0][2]-p[0][1],b[0]*p[1][2]-p[1][0],b[1]*p[1][2]-p[1][1]])\n _,_,v=np.linalg.svd(A);q=v[-1];print(q[:3]/q[3])\ntri((250,224),(525,338),0,1)\ntri((531,252),(569,419),0,2)\nImage.open(j['images'][0]['path']).resize((1280,960)).save('initial_large.png')\nPY"
  }

  返回原文· 136 字纯文本

  Process exited with code 0 Original token count: 19 Output: [-0.1552073 -0.05981287 0.77276459] [ 0.…

• view_image(path="/mnt/workspace/robot_workspaces/episode-0wq4tmm8/agent/initial_large.png")→1 张图
  查看的图
  参数原文· 88 字JSON

  {"path": "/mnt/workspace/robot_workspaces/episode-0wq4tmm8/agent/initial_large.png"}
  返回原文· 315 字JSON

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  [
    {
      "type": "input_image",
      "image_url": {
        "$image": "assets/156dd162c433d6d7737059be63f51a7a3d2319e86f4bc91c7bf7d0b95fc94d3f.png",
        "sha256": "156dd162c433d6d7737059be63f51a7a3d2319e86f4bc91c7bf7d0b95fc94d3f",
        "mime_type": "image/png",
        "width": 1280,
        "height": 960
      }
    }
  ]

• robot_act(steps=3, obs=obs_000000)→obs_000003
  参数原文· 687 字JSON

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  {
    "observation_id": "obs_000000",
    "reason": "The pieces lie flat around a four-peg base, with some pieces occluded by the grippers. Raise both arms and begin rotating the fingers downward for a clear approach.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.22, -0.23, 1.035], "quaternion_wxyz": [0.664, -0.242, 0.242, 0.664], "gripper_closed": false},
      "right": {"position": [0.36, -0.28, 1.06], "quaternion_wxyz": [0.664, -0.242, 0.242, 0.664], "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 1197 步 · 左末端 (-0.30, -0.35, 0.93) 米 · 右末端 (0.30, -0.35, 0.93) 米

{
  "observation_id": "obs_000003",
  "step_id": 3,
  "instruction": "Place all stacking toy pieces onto the correct pegs. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.296, -0.347, 0.929], "quaternion_wxyz": [0.707, -0.027, 0.028, 0.706], "gripper_opening_command": 1.0},
    "right": {"position": [0.304, -0.348, 0.934], "quaternion_wxyz": [0.707, -0.03, 0.031, 0.706], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1200,
  "remaining_steps": 1197,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=15, obs=obs_000003)→obs_000018
  参数原文· 645 字JSON

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  {
    "observation_id": "obs_000003",
    "reason": "Both arms have begun rising without disturbing the pieces. Continue the unobstructed clearance motion above the tabletop.",
    "steps": 15,
    "target": {
      "left": {"position": [-0.22, -0.23, 1.035], "quaternion_wxyz": [0.664, -0.242, 0.242, 0.664], "gripper_closed": false},
      "right": {"position": [0.36, -0.28, 1.06], "quaternion_wxyz": [0.664, -0.242, 0.242, 0.664], "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 1182 步 · 左末端 (-0.26, -0.29, 0.98) 米 · 右末端 (0.34, -0.30, 1.01) 米

{
  "observation_id": "obs_000018",
  "step_id": 18,
  "instruction": "Place all stacking toy pieces onto the correct pegs. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.263, -0.288, 0.98], "quaternion_wxyz": [0.679, -0.196, 0.199, 0.679], "gripper_opening_command": 1.0},
    "right": {"position": [0.336, -0.301, 1.013], "quaternion_wxyz": [0.672, -0.22, 0.222, 0.672], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1200,
  "remaining_steps": 1182,
  "native_success": false,
  "frame": "environment_origin"
}

• exec_command(cmd="/root/miniconda3/envs/RoboDojo/bin/python - <<'PY' import json,numpy as np from PIL impo…")→退出码 0 · 45 字
  参数原文· 773 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/000018/observation.json'))\nImage.open(j['images'][0]['path']).crop((250,257,390,311)).resize((1120,432)).save('base.png')\ndef tri(a,b,ca,cb):\n p=[np.array(j['images'][i]['calibration']['intrinsic_matrix'])@np.array(j['images'][i]['calibration']['environment_to_optical'])[:3] for i in (ca,cb)]\n A=np.array([a[0]*p[0][2]-p[0][0],a[1]*p[0][2]-p[0][1],b[0]*p[1][2]-p[1][0],b[1]*p[1][2]-p[1][1]])\n _,_,v=np.linalg.svd(A);q=v[-1];return q[:3]/q[3]\nfor name,a,b,c in [('yellowL',(248,224),(499,208),1),('redL',(242,253),(516,325),1),('yellowR',(530,249),(494,278),2),('redR',(495,289),(331,438),2)]:print(name,tri(a,b,0,c))\nPY"
  }

  返回原文· 238 字纯文本

  Process exited with code 0 Original token count: 45 Output: yellowL [-0.15786403 -0.06434812 0.77816…

• view_image(path="/mnt/workspace/robot_workspaces/episode-0wq4tmm8/agent/base.png")→1 张图
  查看的图
  参数原文· 79 字JSON

  {"path": "/mnt/workspace/robot_workspaces/episode-0wq4tmm8/agent/base.png"}
  返回原文· 315 字JSON

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  [
    {
      "type": "input_image",
      "image_url": {
        "$image": "assets/33303e7e6d49a7b5497d85c40a812114339cd0c9a4b0d150bea0bd37d186bdf6.png",
        "sha256": "33303e7e6d49a7b5497d85c40a812114339cd0c9a4b0d150bea0bd37d186bdf6",
        "mime_type": "image/png",
        "width": 1120,
        "height": 432
      }
    }
  ]

• robot_act(steps=3, obs=obs_000018)→obs_000018
  参数原文· 663 字JSON

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  {
    "observation_id": "obs_000018",
    "reason": "The wrist views locate flat orange rings near (-0.162,-0.134) and (0.340,-0.214). Rotate both open grippers downward above them, keeping a high clearance.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.162, -0.134, 1.02], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false},
      "right": {"position": [0.34, -0.214, 1.04], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false}
    }
  }

  返回原文· 594 字JSON

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  {
    "error": "left target exceeds 1.0 rad orientation distance",
    "no_execution": true,
    "retryable": true,
    "observation_id": "obs_000018",
    "current_eef": {
      "left": {
        "position": [-0.2630195915699005, -0.28842297196388245, 0.9797707796096802],
        "quaternion_wxyz": [0.6789990663528442, -0.19639882445335388, 0.19885848462581635, 0.6788541674613953],
        "gripper_opening_command": 1.0
      },
      "right": {
        "position": [0.3355821371078491, -0.3010527491569519, 1.0133693218231201],
        "quaternion_wxyz": [0.6716688871383667, -0.22012218832969666, 0.2218283861875534, 0.671713650226593],
        "gripper_opening_command": 1.0
      }
    }
  }

• robot_act(steps=3, obs=obs_000018)→obs_000021
  参数原文· 655 字JSON

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  {
    "observation_id": "obs_000018",
    "reason": "A full downward rotation exceeds the current orientation bound. Use an intermediate tilt while moving above the two visible rings.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.162, -0.134, 1.02], "quaternion_wxyz": [0.542, -0.455, 0.455, 0.542], "gripper_closed": false},
      "right": {"position": [0.34, -0.214, 1.04], "quaternion_wxyz": [0.542, -0.455, 0.455, 0.542], "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 1179 步 · 左末端 (-0.25, -0.27, 0.98) 米 · 右末端 (0.34, -0.28, 1.02) 米

{
  "observation_id": "obs_000021",
  "step_id": 21,
  "instruction": "Place all stacking toy pieces onto the correct pegs. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.253, -0.272, 0.983], "quaternion_wxyz": [0.667, -0.232, 0.235, 0.667], "gripper_opening_command": 1.0},
    "right": {"position": [0.337, -0.281, 1.018], "quaternion_wxyz": [0.658, -0.257, 0.258, 0.659], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1200,
  "remaining_steps": 1179,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=15, obs=obs_000021)→obs_000036
  参数原文· 646 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000021",
    "reason": "Both arms are well above the pieces and their lateral paths are clear. Finish moving above the two rings with fingers directed downward.",
    "steps": 15,
    "target": {
      "left": {"position": [-0.162, -0.134, 1.02], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false},
      "right": {"position": [0.34, -0.214, 1.04], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "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 1164 步 · 左末端 (-0.19, -0.18, 1.00) 米 · 右末端 (0.34, -0.21, 1.04) 米

{
  "observation_id": "obs_000036",
  "step_id": 36,
  "instruction": "Place all stacking toy pieces onto the correct pegs. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.193, -0.18, 1.001], "quaternion_wxyz": [0.569, -0.419, 0.42, 0.57], "gripper_opening_command": 1.0},
    "right": {"position": [0.34, -0.215, 1.039], "quaternion_wxyz": [0.549, -0.445, 0.444, 0.55], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1200,
  "remaining_steps": 1164,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000036)→obs_000039
  参数原文· 651 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000036",
    "reason": "The two orange rings remain visible between the fingers in the wrist views. Complete downward alignment above their centers before descending.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.162, -0.134, 0.98], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false},
      "right": {"position": [0.34, -0.214, 0.99], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "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 1161 步 · 左末端 (-0.18, -0.16, 0.99) 米 · 右末端 (0.34, -0.21, 0.99) 米

{
  "observation_id": "obs_000039",
  "step_id": 39,
  "instruction": "Place all stacking toy pieces onto the correct pegs. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.18, -0.162, 0.99], "quaternion_wxyz": [0.54, -0.455, 0.456, 0.541], "gripper_opening_command": 1.0},
    "right": {"position": [0.34, -0.214, 0.992], "quaternion_wxyz": [0.501, -0.499, 0.499, 0.501], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1200,
  "remaining_steps": 1161,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000039)→obs_000042
  参数原文· 681 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000039",
    "reason": "The right gripper is vertically aligned with its ring; the left needs a small lateral correction. Lower toward the rings with open fingers, keeping their centers visible.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.162, -0.134, 0.948], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false},
      "right": {"position": [0.34, -0.214, 0.948], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000042", "native_success": false}

观测 obs_000042 · 步 42 · 剩余 1158 步 · 左末端 (-0.17, -0.15, 0.96) 米 · 右末端 (0.34, -0.21, 0.96) 米

{
  "observation_id": "obs_000042",
  "step_id": 42,
  "instruction": "Place all stacking toy pieces onto the correct pegs. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.17, -0.147, 0.964], "quaternion_wxyz": [0.507, -0.493, 0.493, 0.508], "gripper_opening_command": 1.0},
    "right": {"position": [0.34, -0.214, 0.96], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1200,
  "remaining_steps": 1158,
  "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 · 132 字
  参数原文· 1,108 字JSON

  1 2 3

  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nimport json,numpy as np\nj=json.load(open('observations/000042/observation.json'))\np=[np.array(i['calibration']['intrinsic_matrix'])@np.array(i['calibration']['environment_to_optical'])[:3] for i in j['images']]\ndef tri(a,b,k):\n A=np.array([a[0]*p[0][2]-p[0][0],a[1]*p[0][2]-p[0][1],b[0]*p[k][2]-p[k][0],b[1]*p[k][2]-p[k][1]])\n _,_,v=np.linalg.svd(A);q=v[-1];return q[:3]/q[3]\nprint('ringL',tri((241.5,252.5),(349,185),1))\nprint('ringR',tri((495,289),(326,224),2))\nprint('peg1top',tri((269,281),(543,354),1))\n# intersect cam high ray with plane\nK=np.array(j['images'][0]['calibration']['intrinsic_matrix']);T=np.array(j['images'][0]['calibration']['environment_to_optical']);C=np.linalg.inv(T)[:3,3]\nfor name,uv,z in [('peg1',(272,289),.775),('peg2',(304,282),.775),('peg3',(337,278),.775),('peg4',(369,275),.775),('redL2',(209,296),.778),('starL',(165,289),.778),('starC',(325,235),.778),('blue',(110,308),.778),('yellowC',(424,289),.778)]:\n ray=T[:3,:3].T@np.linalg.inv(K)@np.r_[uv,1];q=C+ray*((z-C[2])/ray[2]);print(name,q)\nPY"
  }

  返回原文· 588 字代码

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

  Process exited with code 0
  Original token count: 132
  Output:
  ringL [-0.16246368 -0.13246096  0.77585824]
  ringR [ 0.34061503 -0.21392502  0.77716788]
  peg1top [-0.09539639 -0.1942347   0.77933969]
  peg1 [-0.093362   -0.21232335  0.775     ]
  peg2 [-0.03152329 -0.19782216  0.775     ]
  peg3 [ 0.03374296 -0.18936604  0.775     ]
  peg4 [ 0.09780545 -0.18294083  0.775     ]
  redL2 [-0.211977   -0.22749185  0.778     ]
  starL [-0.29978458 -0.21343598  0.778     ]
  starC [ 0.01072744 -0.09161732  0.778     ]
  blue [-0.3925509  -0.25078028  0.778     ]
  yellowC [ 0.20114578 -0.21343598  0.778     ]
  

• robot_act(steps=3, obs=obs_000042)→obs_000045
  参数原文· 665 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000042",
    "reason": "Stereo estimates place the ring tops at about z=0.776–0.777 m. Lower the finger pads alongside their outer rims while maintaining vertical alignment.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.1625, -0.1325, 0.928], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false},
      "right": {"position": [0.3406, -0.2139, 0.928], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "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 1155 步 · 左末端 (-0.16, -0.13, 0.93) 米 · 右末端 (0.34, -0.21, 0.93) 米

{
  "observation_id": "obs_000045",
  "step_id": 45,
  "instruction": "Place all stacking toy pieces onto the correct pegs. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.163, -0.133, 0.929], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 1.0},
    "right": {"position": [0.34, -0.213, 0.932], "quaternion_wxyz": [0.502, -0.499, 0.498, 0.502], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1200,
  "remaining_steps": 1155,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=2, obs=obs_000045)→obs_000047
  参数原文· 682 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000045",
    "reason": "The ring holes are centered between the open fingers, with the pads still slightly above their rims. Descend another 16 mm to bring the pad faces alongside the rings.",
    "steps": 2,
    "target": {
      "left": {"position": [-0.1625, -0.1325, 0.912], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false},
      "right": {"position": [0.3406, -0.2139, 0.912], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000047", "native_success": false}

观测 obs_000047 · 步 47 · 剩余 1153 步 · 左末端 (-0.16, -0.13, 0.92) 米 · 右末端 (0.34, -0.22, 0.92) 米

{
  "observation_id": "obs_000047",
  "step_id": 47,
  "instruction": "Place all stacking toy pieces onto the correct pegs. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.163, -0.134, 0.923], "quaternion_wxyz": [0.505, -0.497, 0.495, 0.503], "gripper_opening_command": 1.0},
    "right": {"position": [0.34, -0.216, 0.923], "quaternion_wxyz": [0.504, -0.496, 0.495, 0.505], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1200,
  "remaining_steps": 1153,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000047)→obs_000050
  参数原文· 688 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000047",
    "reason": "The neighboring right ring shifted during descent, so stop lowering. The target rings remain centered and the finger tips are at tabletop height; close in place around their rims.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.163, -0.134, 0.923], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true},
      "right": {"position": [0.34, -0.216, 0.923], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000050 · 步 50 · 剩余 1150 步 · 左末端 (-0.16, -0.13, 0.92) 米 · 右末端 (0.34, -0.22, 0.92) 米

{
  "observation_id": "obs_000050",
  "step_id": 50,
  "instruction": "Place all stacking toy pieces onto the correct pegs. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.163, -0.134, 0.923], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 0.488},
    "right": {"position": [0.34, -0.216, 0.923], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 0.488}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1200,
  "remaining_steps": 1150,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000050)→obs_000053
  参数原文· 666 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000050",
    "reason": "Both rims now touch the opposing finger pads, but the closure command is still interpolating. Hold the aligned poses and finish closing before the lift test.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.163, -0.134, 0.923], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true},
      "right": {"position": [0.34, -0.216, 0.923], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000053 · 步 53 · 剩余 1147 步 · 左末端 (-0.16, -0.13, 0.92) 米 · 右末端 (0.34, -0.22, 0.92) 米

{
  "observation_id": "obs_000053",
  "step_id": 53,
  "instruction": "Place all stacking toy pieces onto the correct pegs. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.163, -0.134, 0.923], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 0.487},
    "right": {"position": [0.34, -0.216, 0.923], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 0.487}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1200,
  "remaining_steps": 1147,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000053)→obs_000056
  参数原文· 656 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000053",
    "reason": "The pad contact is stable in both wrist images. Make a small vertical test lift with orientations fixed to verify the rings move with the grippers.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.163, -0.134, 0.958], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true},
      "right": {"position": [0.34, -0.216, 0.958], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000056", "native_success": false}

观测 obs_000056 · 步 56 · 剩余 1144 步 · 左末端 (-0.16, -0.13, 0.96) 米 · 右末端 (0.34, -0.22, 0.95) 米

{
  "observation_id": "obs_000056",
  "step_id": 56,
  "instruction": "Place all stacking toy pieces onto the correct pegs. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.163, -0.135, 0.956], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 0.487},
    "right": {"position": [0.34, -0.216, 0.953], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 0.487}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1200,
  "remaining_steps": 1144,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=8, obs=obs_000056)→obs_000064
  参数原文· 675 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000056",
    "reason": "Both rings rose with their grippers, confirming the grasps. Lift them well above the peg tips before transporting the right ring to the four-piece peg at the right end.",
    "steps": 8,
    "target": {
      "left": {"position": [-0.163, -0.135, 1.06], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true},
      "right": {"position": [0.34, -0.216, 1.06], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000064", "native_success": false}

观测 obs_000064 · 步 64 · 剩余 1136 步 · 左末端 (-0.16, -0.14, 1.04) 米 · 右末端 (0.34, -0.22, 1.04) 米

{
  "observation_id": "obs_000064",
  "step_id": 64,
  "instruction": "Place all stacking toy pieces onto the correct pegs. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.164, -0.137, 1.045], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 0.487},
    "right": {"position": [0.34, -0.218, 1.038], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 0.487}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1200,
  "remaining_steps": 1136,
  "native_success": false,
  "frame": "environment_origin"
}

• 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· 200 字JSON

  1 2 3

  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nfrom PIL import Image\nImage.open('observations/000064/cam_high.png').crop((250,255,390,312)).resize((1120,456)).save('pegs.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-0wq4tmm8/agent/pegs.png")→1 张图
  查看的图
  参数原文· 79 字JSON

  {"path": "/mnt/workspace/robot_workspaces/episode-0wq4tmm8/agent/pegs.png"}
  返回原文· 315 字JSON

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

  [
    {
      "type": "input_image",
      "image_url": {
        "$image": "assets/c693fcf6317566d594d11e3e05ce6eddc4821ab30bddedc134ac87a2cc9d8f8d.png",
        "sha256": "c693fcf6317566d594d11e3e05ce6eddc4821ab30bddedc134ac87a2cc9d8f8d",
        "mime_type": "image/png",
        "width": 1120,
        "height": 456
      }
    }
  ]

• exec_command(cmd="/root/miniconda3/envs/RoboDojo/bin/python - <<'PY' import json,numpy as np j=json.load(o…")→退出码 0 · 19 字
  参数原文· 510 字JSON

  1 2 3

  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nimport json,numpy as np\nj=json.load(open('observations/000064/observation.json'));p=[np.array(i['calibration']['intrinsic_matrix'])@np.array(i['calibration']['environment_to_optical'])[:3] for i in j['images']]\ndef tri(a,b,k):\n A=np.array([a[0]*p[0][2]-p[0][0],a[1]*p[0][2]-p[0][1],b[0]*p[k][2]-p[k][0],b[1]*p[k][2]-p[k][1]])\n _,_,v=np.linalg.svd(A);q=v[-1];print(q[:3]/q[3])\ntri((266.5,279),(608,300),1)\ntri((269.5,288),(562,257),1)\nPY"
  }

  返回原文· 136 字纯文本

  Process exited with code 0 Original token count: 19 Output: [-0.06712174 -0.19258935 0.84405655] [-0…

• robot_act(steps=15, obs=obs_000064)→obs_000079
  参数原文· 714 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000064",
    "reason": "The base shows progressively shorter pegs from left to right; the four orange rings belong on the tallest left peg. Move the right arm above the base at safe height to obtain a closer view before insertion.",
    "steps": 15,
    "target": {
      "left": {"position": [-0.164, -0.137, 1.05], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true},
      "right": {"position": [0.14, -0.16, 1.055], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000079", "native_success": false}

观测 obs_000079 · 步 79 · 剩余 1121 步 · 左末端 (-0.16, -0.14, 1.05) 米 · 右末端 (0.16, -0.17, 1.05) 米

{
  "observation_id": "obs_000079",
  "step_id": 79,
  "instruction": "Place all stacking toy pieces onto the correct pegs. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.164, -0.137, 1.05], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 0.487},
    "right": {"position": [0.159, -0.167, 1.051], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.501], "gripper_opening_command": 0.486}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1200,
  "remaining_steps": 1121,
  "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 · 147 字
  参数原文· 418 字JSON

  1 2 3

  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nimport json,numpy as np\nj=json.load(open('observations/000079/observation.json'))\nfor q in [(-.09,-.2,.85),(-.09,-.2,.78),(-.068,-.194,.846),(-.1,-.2,.85)]:\n print(q)\n for i in j['images']:\n  c=np.array(i['calibration']['environment_to_optical'])@np.r_[q,1];p=np.array(i['calibration']['intrinsic_matrix'])@c[:3];print(i['camera'],p[:2]/p[2])\nPY"
  }

  返回原文· 648 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: 147
  Output:
  (-0.09, -0.2, 0.85)
  cam_high [268.30565856 267.07330603]
  cam_left_wrist [507.54320676 344.13452654]
  cam_right_wrist [-372.19681838  278.63806565]
  (-0.09, -0.2, 0.78)
  cam_high [273.87922781 282.09018132]
  cam_left_wrist [455.22832391 251.11885925]
  cam_right_wrist [-165.7389038   198.86895856]
  (-0.068, -0.194, 0.846)
  cam_high [281.43894884 264.91642362]
  cam_left_wrist [562.57905523 325.64457599]
  cam_right_wrist [-308.90926656  258.61998494]
  (-0.1, -0.2, 0.85)
  cam_high [262.56184284 267.07330603]
  cam_left_wrist [482.20099585 344.13458664]
  cam_right_wrist [-400.01652549  278.6112967 ]
  

• exec_command(cmd="/root/miniconda3/envs/RoboDojo/bin/python - <<'PY' import json,numpy as np j=json.load(o…")→退出码 0 · 114 字
  参数原文· 608 字JSON

  1 2 3

  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nimport json,numpy as np\nj=json.load(open('observations/000079/observation.json'));i=j['images'][0];T=np.array(i['calibration']['environment_to_optical']);K=np.array(i['calibration']['intrinsic_matrix']);C=np.linalg.inv(T)[:3,3]\nfor z in [.778,.79,.8,.81,.82,.83]:\n uv=(266.5,279);ray=T[:3,:3].T@np.linalg.inv(K)@np.r_[uv,1];q=C+ray*((z-C[2])/ray[2]);print(z,q)\n c=np.array(j['images'][1]['calibration']['environment_to_optical'])@np.r_[q,1];p=np.array(j['images'][1]['calibration']['intrinsic_matrix'])@c[:3];print('left',p[:2]/p[2])\nPY"
  }

  返回原文· 517 字代码

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

  Process exited with code 0
  Original token count: 114
  Output:
  0.778 [-0.10539713 -0.19272174  0.778     ]
  left [428.04237563 237.75544014]
  0.79 [-0.10301078 -0.19764124  0.79      ]
  left [436.73992087 257.30850248]
  0.8 [-0.10102215 -0.20174083  0.8       ]
  left [444.51262477 274.78241721]
  0.81 [-0.09903353 -0.20584042  0.81      ]
  left [452.81432016 293.44556444]
  0.82 [-0.0970449  -0.20994001  0.82      ]
  left [461.70091224 313.42362539]
  0.83 [-0.09505628 -0.2140396   0.83      ]
  left [471.23647149 334.8606377 ]
  

• 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· 537 字JSON

  1 2 3

  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nimport json,numpy as np\nj=json.load(open('observations/000079/observation.json'));p=[np.array(i['calibration']['intrinsic_matrix'])@np.array(i['calibration']['environment_to_optical'])[:3] for i in j['images']]\ndef tri(a,b,k):\n A=np.array([a[0]*p[0][2]-p[0][0],a[1]*p[0][2]-p[0][1],b[0]*p[k][2]-p[k][0],b[1]*p[k][2]-p[k][1]])\n _,_,v=np.linalg.svd(A);q=v[-1];print(q[:3]/q[3])\ntri((368.5,270),(183,172),2)\ntri((336.5,272),(36,206),2)\ntri((270,287),(596,296),1)\nPY"
  }

  返回原文· 174 字纯文本

  Process exited with code 0 Original token count: 29 Output: [ 0.09529549 -0.18048221 0.79254227] [ 0…

• robot_act(steps=8, obs=obs_000079)→obs_000087
  参数原文· 680 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000079",
    "reason": "The tallest peg is at the left end near (-0.10,-0.22), and both held rings remain stable. Move the left ring above that peg while the right arm holds clear on the other side.",
    "steps": 8,
    "target": {
      "left": {"position": [-0.1, -0.22, 1.05], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true},
      "right": {"position": [0.159, -0.167, 1.051], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000087", "native_success": false}

观测 obs_000087 · 步 87 · 剩余 1113 步 · 左末端 (-0.10, -0.22, 1.05) 米 · 右末端 (0.16, -0.17, 1.05) 米

{
  "observation_id": "obs_000087",
  "step_id": 87,
  "instruction": "Place all stacking toy pieces onto the correct pegs. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.1, -0.22, 1.05], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 0.485},
    "right": {"position": [0.159, -0.167, 1.051], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 0.487}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1200,
  "remaining_steps": 1113,
  "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 · 28 字
  参数原文· 451 字JSON

  1 2 3

  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nimport json,numpy as np\nj=json.load(open('observations/000087/observation.json'))\nfor k,uv,z in [(1,(332,153),.832),(1,(329,118),.784),(0,(269,287),.782)]:\n i=j['images'][k];T=np.array(i['calibration']['environment_to_optical']);K=np.array(i['calibration']['intrinsic_matrix']);C=np.linalg.inv(T)[:3,3];ray=T[:3,:3].T@np.linalg.inv(K)@np.r_[uv,1];print(C+ray*((z-C[2])/ray[2]))\nPY"
  }

  返回原文· 171 字纯文本

  Process exited with code 0 Original token count: 28 Output: [-0.0961415 -0.2111485 0.832 ] [-0.09624…

• robot_act(steps=3, obs=obs_000087)→obs_000090
  参数原文· 691 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000087",
    "reason": "The left wrist view now resolves the tallest peg at about (-0.096,-0.211), with its tip near z=0.832. Center the ring hole above it and lower until the ring is just above the tip.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.0962, -0.2105, 0.994], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true},
      "right": {"position": [0.159, -0.167, 1.051], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000090", "native_success": false}

观测 obs_000090 · 步 90 · 剩余 1110 步 · 左末端 (-0.10, -0.21, 1.02) 米 · 右末端 (0.16, -0.17, 1.05) 米

{
  "observation_id": "obs_000090",
  "step_id": 90,
  "instruction": "Place all stacking toy pieces onto the correct pegs. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.097, -0.214, 1.016], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 0.486},
    "right": {"position": [0.159, -0.167, 1.051], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 0.487}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1200,
  "remaining_steps": 1110,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000090)→obs_000093
  参数原文· 641 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000090",
    "reason": "The ring remains level and aligned over the tallest peg. Continue the short vertical approach to bring the peg tip into the hole.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.0962, -0.2105, 0.988], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true},
      "right": {"position": [0.159, -0.167, 1.051], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000093", "native_success": false}

观测 obs_000093 · 步 93 · 剩余 1107 步 · 左末端 (-0.10, -0.21, 0.99) 米 · 右末端 (0.16, -0.17, 1.05) 米

{
  "observation_id": "obs_000093",
  "step_id": 93,
  "instruction": "Place all stacking toy pieces onto the correct pegs. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.096, -0.21, 0.989], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 0.486},
    "right": {"position": [0.159, -0.167, 1.051], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 0.487}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1200,
  "remaining_steps": 1107,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000093)→obs_000096
  参数原文· 648 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000093",
    "reason": "The peg is entering the centered hole and no adjacent piece is in the descent path. Lower the ring slowly along the peg toward the base.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.0962, -0.2105, 0.961], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true},
      "right": {"position": [0.159, -0.167, 1.051], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000096", "native_success": false}