把球倒进花瓶 · pour_balls_into_vase_000226任务成功第四档

观测 obs_000000 · 步 0 · 剩余 600 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": "Pour all the balls from the cup into the vase. 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": 600,
  "remaining_steps": 600,
  "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

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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 · 1,440 字
  参数原文· 85 字JSON

  {"cmd": "cat observations/000000/observation.json", "max_output_tokens": 15000}
  返回原文· 5,819 字代码

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  Process exited with code 0
  Original token count: 1440
  Output:
  {
    "episode_id": "100d3105f08f48f9b7cf12d51191cef7",
    "observation_id": "obs_000000",
    "step_id": 0,
    "instruction": "Pour all the balls from the cup into the vase. 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": 600,
    "remaining_steps": 600,
    "rollout_finished": false,
    "native_success": false,
    "frame": "environment_origin",
    "images": [
      {
        "camera": "cam_high",
        "path": "/mnt/workspace/robot_workspaces/episode-uccdxmk0/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-uccdxmk0/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-uccdxmk0/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-uccdxmk0/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-uccdxmk0/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 · 47 字
  参数原文· 687 字JSON

  1 2 3

  {
    "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=[];y=[]\n for i,uv in [a,b]:\n  c=j['images'][i]['calibration']; K=np.array(c['intrinsic_matrix']); T=np.array(c['environment_to_optical']); r=np.linalg.inv(K)@np.array([*uv,1]);\n  for row in [T[0]-r[0]*T[2],T[1]-r[1]*T[2]]: A.append(row[:3]);y.append(-row[3])\n return np.linalg.lstsq(A,y,rcond=None)[0]\nfor name,a,b in [('cup_rim',(0,(379,173)),(2,(116,202))),('cup_bottom',(0,(376,199)),(2,(138,284))),('vase_rim',(0,(209,195)),(1,(549,161))),('vase_bottom',(0,(225,243)),(1,(486,404)))]: print(name,tri(a,b))\nPY"
  }

  返回原文· 246 字纯文本

  Process exited with code 0 Original token count: 47 Output: cup_rim [0.12998366 0.03447956 0.8338237…

• robot_act(steps=3, obs=obs_000000)→obs_000003
  参数原文· 651 字JSON

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  {
    "observation_id": "obs_000000",
    "reason": "The cup is upright to the right of the vase. Move the right gripper toward it from above and behind, keeping the fingers horizontal and open.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.299529, -0.3523, 0.9215], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false},
      "right": {"position": [0.2, -0.23, 0.9], "quaternion_wxyz": [0.707, 0, 0, 0.707], "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 597 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.29, -0.35, 0.92) 米

{
  "observation_id": "obs_000003",
  "step_id": 3,
  "instruction": "Pour all the balls from the cup into the vase. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
    "right": {"position": [0.293, -0.346, 0.918], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 600,
  "remaining_steps": 597,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000003)→obs_000006
  参数原文· 609 字JSON

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  {
    "observation_id": "obs_000003",
    "reason": "The cup and vase remain stationary, with clear space behind the cup. Continue the open-gripper approach.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false},
      "right": {"position": [0.14, -0.16, 0.88], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000006 · 步 6 · 剩余 594 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.29, -0.34, 0.92) 米

{
  "observation_id": "obs_000006",
  "step_id": 6,
  "instruction": "Pour all the balls from the cup into the vase. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
    "right": {"position": [0.286, -0.341, 0.915], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.708], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 600,
  "remaining_steps": 594,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=15, obs=obs_000006)→obs_000021
  参数原文· 626 字JSON

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  {
    "observation_id": "obs_000006",
    "reason": "The right arm is still well behind the cup and above its rim. Traverse this clear region before the final grasp approach.",
    "steps": 15,
    "target": {
      "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false},
      "right": {"position": [0.14, -0.17, 0.9], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000021", "native_success": false}

观测 obs_000021 · 步 21 · 剩余 579 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.25, -0.31, 0.93) 米

{
  "observation_id": "obs_000021",
  "step_id": 21,
  "instruction": "Pour all the balls from the cup into the vase. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
    "right": {"position": [0.247, -0.306, 0.926], "quaternion_wxyz": [0.707, -0.001, 0.0, 0.707], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 600,
  "remaining_steps": 579,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=15, obs=obs_000021)→obs_000036
  参数原文· 654 字JSON

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  {
    "observation_id": "obs_000021",
    "reason": "The cup remains visible in the wrist view and the fingers are above it. Continue through open space to align the right gripper behind its center.",
    "steps": 15,
    "target": {
      "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false},
      "right": {"position": [0.132, -0.115, 0.885], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000036 · 步 36 · 剩余 564 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.20, -0.23, 0.92) 米

{
  "observation_id": "obs_000036",
  "step_id": 36,
  "instruction": "Pour all the balls from the cup into the vase. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
    "right": {"position": [0.199, -0.226, 0.919], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 600,
  "remaining_steps": 564,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=12, obs=obs_000036)→obs_000048
  参数原文· 654 字JSON

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  {
    "observation_id": "obs_000036",
    "reason": "The open fingers are still above the cup rim with clear vertical clearance. Move into alignment over the cup before descending to its side walls.",
    "steps": 12,
    "target": {
      "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false},
      "right": {"position": [0.132, -0.105, 0.865], "quaternion_wxyz": [0.707, 0, 0, 0.707], "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 552 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.14, -0.13, 0.88) 米

{
  "observation_id": "obs_000048",
  "step_id": 48,
  "instruction": "Pour all the balls from the cup into the vase. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
    "right": {"position": [0.144, -0.127, 0.875], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 600,
  "remaining_steps": 552,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000048)→obs_000051
  参数原文· 669 字JSON

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  {
    "observation_id": "obs_000048",
    "reason": "The wrist view shows the cup mouth and balls between the open fingers. Center the fingers across the cup, maintaining horizontal pads and clearance above the rim.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false},
      "right": {"position": [0.13, -0.105, 0.855], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000051", "native_success": false}

观测 obs_000051 · 步 51 · 剩余 549 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.13, -0.11, 0.86) 米

{
  "observation_id": "obs_000051",
  "step_id": 51,
  "instruction": "Pour all the balls from the cup into the vase. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
    "right": {"position": [0.131, -0.106, 0.856], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 600,
  "remaining_steps": 549,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000051)→obs_000054
  参数原文· 621 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000051",
    "reason": "The cup is centered between the open fingers. Descend slightly so the pads begin to straddle its outer side walls.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false},
      "right": {"position": [0.13, -0.103, 0.833], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000054", "native_success": false}

观测 obs_000054 · 步 54 · 剩余 546 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.13, -0.10, 0.83) 米

{
  "observation_id": "obs_000054",
  "step_id": 54,
  "instruction": "Pour all the balls from the cup into the vase. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
    "right": {"position": [0.13, -0.103, 0.834], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 600,
  "remaining_steps": 546,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000054)→obs_000057
  参数原文· 652 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000054",
    "reason": "Both views show the cup upright and centered, with the fingers outside its rim. Lower the pads to the mid-upper walls for a broad opposing grasp.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false},
      "right": {"position": [0.13, -0.103, 0.804], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000057 · 步 57 · 剩余 543 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.13, -0.10, 0.81) 米

{
  "observation_id": "obs_000057",
  "step_id": 57,
  "instruction": "Pour all the balls from the cup into the vase. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
    "right": {"position": [0.13, -0.103, 0.805], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 600,
  "remaining_steps": 543,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000057)→obs_000060
  参数原文· 631 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000057",
    "reason": "The finger pads flank the cup walls below the rim, aligned to close across its diameter. Close without changing the cup pose.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false},
      "right": {"position": [0.13, -0.103, 0.805], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000060 · 步 60 · 剩余 540 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.13, -0.10, 0.81) 米

{
  "observation_id": "obs_000060",
  "step_id": 60,
  "instruction": "Pour all the balls from the cup into the vase. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
    "right": {"position": [0.129, -0.103, 0.805], "quaternion_wxyz": [0.706, 0.0, 0.0, 0.708], "gripper_opening_command": 0.608}
  },
  "control_dt": 0.04,
  "max_episode_steps": 600,
  "remaining_steps": 540,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000060)→obs_000063
  参数原文· 659 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000060",
    "reason": "The fingers have begun closing around the cup, but the command has not reached its endpoint. Hold alignment and finish closure before testing the grasp.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false},
      "right": {"position": [0.129, -0.103, 0.805], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000063 · 步 63 · 剩余 537 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.13, -0.10, 0.81) 米

{
  "observation_id": "obs_000063",
  "step_id": 63,
  "instruction": "Pour all the balls from the cup into the vase. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
    "right": {"position": [0.129, -0.103, 0.805], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 0.579}
  },
  "control_dt": 0.04,
  "max_episode_steps": 600,
  "remaining_steps": 537,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000063)→obs_000066
  参数原文· 649 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000063",
    "reason": "The cup is stable between contacting pads. Make a small vertical test lift with unchanged orientation to check whether it follows the gripper.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false},
      "right": {"position": [0.129, -0.103, 0.829], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000066 · 步 66 · 剩余 534 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.13, -0.10, 0.83) 米

{
  "observation_id": "obs_000066",
  "step_id": 66,
  "instruction": "Pour all the balls from the cup into the vase. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
    "right": {"position": [0.129, -0.103, 0.828], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 0.577}
  },
  "control_dt": 0.04,
  "max_episode_steps": 600,
  "remaining_steps": 534,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=12, obs=obs_000066)→obs_000078
  参数原文· 629 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000066",
    "reason": "The cup rose with the gripper and the balls remain contained. Lift it vertically clear of the vase before transporting it.",
    "steps": 12,
    "target": {
      "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false},
      "right": {"position": [0.129, -0.103, 1.04], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000078", "native_success": false}

观测 obs_000078 · 步 78 · 剩余 522 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.13, -0.11, 0.96) 米

{
  "observation_id": "obs_000078",
  "step_id": 78,
  "instruction": "Pour all the balls from the cup into the vase. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
    "right": {"position": [0.13, -0.105, 0.962], "quaternion_wxyz": [0.707, -0.001, 0.0, 0.707], "gripper_opening_command": 0.575}
  },
  "control_dt": 0.04,
  "max_episode_steps": 600,
  "remaining_steps": 522,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=10, obs=obs_000078)→obs_000088
  参数原文· 648 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000078",
    "reason": "The cup is securely lifted and remains upright. Raise it farther so the cup base and fingers will clear the vase during the lateral transfer.",
    "steps": 10,
    "target": {
      "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false},
      "right": {"position": [0.129, -0.105, 1.06], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000088 · 步 88 · 剩余 512 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.13, -0.11, 1.06) 米

{
  "observation_id": "obs_000088",
  "step_id": 88,
  "instruction": "Pour all the balls from the cup into the vase. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
    "right": {"position": [0.129, -0.105, 1.059], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 0.575}
  },
  "control_dt": 0.04,
  "max_episode_steps": 600,
  "remaining_steps": 512,
  "native_success": false,
  "frame": "environment_origin"
}

• view_image(path="…workspace/robot_workspaces/episode-uccdxmk0/agent/observations/000000/cam_right_wrist.png")→1 张图
  查看的图
  参数原文· 110 字JSON

  {"path": "/mnt/workspace/robot_workspaces/episode-uccdxmk0/agent/observations/000000/cam_right_wrist.png"}
  返回原文· 314 字JSON

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

  [
    {
      "type": "input_image",
      "image_url": {
        "$image": "assets/af923afefbd7010f5c61e35eda2f459b17266e5d2e9185029ecf3c4b1ab3a9fd.png",
        "sha256": "af923afefbd7010f5c61e35eda2f459b17266e5d2e9185029ecf3c4b1ab3a9fd",
        "mime_type": "image/png",
        "width": 640,
        "height": 480
      }
    }
  ]

• robot_act(steps=15, obs=obs_000088)→obs_000103
  参数原文· 638 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000088",
    "reason": "The lifted cup clears the vase rim by over a cup height. Move it leftward above the clear table while keeping all balls contained.",
    "steps": 15,
    "target": {
      "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false},
      "right": {"position": [-0.065, -0.215, 1.06], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000103", "native_success": false}

观测 obs_000103 · 步 103 · 剩余 497 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (-0.06, -0.21, 1.06) 米

{
  "observation_id": "obs_000103",
  "step_id": 103,
  "instruction": "Pour all the balls from the cup into the vase. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
    "right": {"position": [-0.065, -0.215, 1.06], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 0.576}
  },
  "control_dt": 0.04,
  "max_episode_steps": 600,
  "remaining_steps": 497,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=8, obs=obs_000103)→obs_000111
  参数原文· 642 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000103",
    "reason": "The cup stayed secure during transport. Align its center above the vase’s right side, leaving vertical clearance for the upcoming tilt.",
    "steps": 8,
    "target": {
      "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false},
      "right": {"position": [-0.154, -0.223, 1.06], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000111", "native_success": false}

观测 obs_000111 · 步 111 · 剩余 489 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (-0.14, -0.22, 1.06) 米

{
  "observation_id": "obs_000111",
  "step_id": 111,
  "instruction": "Pour all the balls from the cup into the vase. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
    "right": {"position": [-0.139, -0.223, 1.058], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 0.572}
  },
  "control_dt": 0.04,
  "max_episode_steps": 600,
  "remaining_steps": 489,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000111)→obs_000114
  参数原文· 669 字JSON

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

  {
    "observation_id": "obs_000111",
    "reason": "The cup remains upright above the vase’s right side. Begin a gentle leftward tilt while bringing its pouring edge closer to the vase mouth.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false},
      "right": {
        "position": [-0.154, -0.223, 1.035],
        "quaternion_wxyz": [0.683013, -0.183013, -0.183013, 0.683013],
        "gripper_closed": true
      }
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000114", "native_success": false}

观测 obs_000114 · 步 114 · 剩余 486 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (-0.15, -0.22, 1.04) 米

{
  "observation_id": "obs_000114",
  "step_id": 114,
  "instruction": "Pour all the balls from the cup into the vase. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
    "right": {"position": [-0.15, -0.223, 1.04], "quaternion_wxyz": [0.706, -0.047, -0.047, 0.705], "gripper_opening_command": 0.574}
  },
  "control_dt": 0.04,
  "max_episode_steps": 600,
  "remaining_steps": 486,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000114)→obs_000117
  参数原文· 694 字JSON

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

  {
    "observation_id": "obs_000114",
    "reason": "The initial tilt is only about eight degrees, and all seven balls remain inside. Continue toward a 30-degree tilt with the rim above the vase and the fingers clear.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false},
      "right": {
        "position": [-0.154, -0.223, 1.025],
        "quaternion_wxyz": [0.683013, -0.183013, -0.183013, 0.683013],
        "gripper_closed": true
      }
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000117", "native_success": false}

观测 obs_000117 · 步 117 · 剩余 483 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (-0.15, -0.22, 1.03) 米

{
  "observation_id": "obs_000117",
  "step_id": 117,
  "instruction": "Pour all the balls from the cup into the vase. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
    "right": {
      "position": [-0.154, -0.223, 1.027],
      "quaternion_wxyz": [0.701, -0.095, -0.093, 0.701],
      "gripper_opening_command": 0.575
    }
  },
  "control_dt": 0.04,
  "max_episode_steps": 600,
  "remaining_steps": 483,
  "native_success": false,
  "frame": "environment_origin"
}

• view_image(path="/mnt/workspace/robot_workspaces/episode-uccdxmk0/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-uccdxmk0/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/3d75964e12f31b44e0af7f69c63b28ecdb7202a067d3df974e3089c768c6455a.png",
        "sha256": "3d75964e12f31b44e0af7f69c63b28ecdb7202a067d3df974e3089c768c6455a",
        "mime_type": "image/png",
        "width": 640,
        "height": 480
      }
    }
  ]

• robot_act(steps=3, obs=obs_000117)→obs_000120
  参数原文· 675 字JSON

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

  {
    "observation_id": "obs_000117",
    "reason": "The cup has tilted about fifteen degrees without spilling. Continue the controlled tilt, keeping its lower rim directly above the vase’s opening.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false},
      "right": {
        "position": [-0.154, -0.223, 1.025],
        "quaternion_wxyz": [0.683013, -0.183013, -0.183013, 0.683013],
        "gripper_closed": true
      }
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000120", "native_success": false}

观测 obs_000120 · 步 120 · 剩余 480 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (-0.15, -0.22, 1.02) 米

{
  "observation_id": "obs_000120",
  "step_id": 120,
  "instruction": "Pour all the balls from the cup into the vase. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
    "right": {
      "position": [-0.154, -0.223, 1.025],
      "quaternion_wxyz": [0.693, -0.141, -0.139, 0.693],
      "gripper_opening_command": 0.576
    }
  },
  "control_dt": 0.04,
  "max_episode_steps": 600,
  "remaining_steps": 480,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000120)→obs_000123
  参数原文· 673 字JSON

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

  {
    "observation_id": "obs_000120",
    "reason": "All balls are still contained at the shallow tilt. Lower the cup a little to reduce the fall into the vase while completing the 30-degree tilt.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false},
      "right": {
        "position": [-0.154, -0.223, 0.999],
        "quaternion_wxyz": [0.683013, -0.183013, -0.183013, 0.683013],
        "gripper_closed": true
      }
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000123", "native_success": false}

观测 obs_000123 · 步 123 · 剩余 477 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (-0.15, -0.22, 1.00) 米

{
  "observation_id": "obs_000123",
  "step_id": 123,
  "instruction": "Pour all the balls from the cup into the vase. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
    "right": {"position": [-0.154, -0.223, 1.0], "quaternion_wxyz": [0.683, -0.182, -0.181, 0.684], "gripper_opening_command": 0.577}
  },
  "control_dt": 0.04,
  "max_episode_steps": 600,
  "remaining_steps": 477,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000123)→obs_000126
  参数原文· 696 字JSON

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

  {
    "observation_id": "obs_000123",
    "reason": "The cup is at roughly 30 degrees, with its lower edge above the vase and no spill. Increase the leftward tilt toward 60 degrees without translating closer to obstacles.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false},
      "right": {
        "position": [-0.154, -0.223, 1.0],
        "quaternion_wxyz": [0.612372, -0.353553, -0.353553, 0.612372],
        "gripper_closed": true
      }
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000126", "native_success": false}

观测 obs_000126 · 步 126 · 剩余 474 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (-0.15, -0.22, 1.00) 米

{
  "observation_id": "obs_000126",
  "step_id": 126,
  "instruction": "Pour all the balls from the cup into the vase. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
    "right": {"position": [-0.154, -0.223, 0.999], "quaternion_wxyz": [0.67, -0.227, -0.226, 0.67], "gripper_opening_command": 0.578}
  },
  "control_dt": 0.04,
  "max_episode_steps": 600,
  "remaining_steps": 474,
  "native_success": false,
  "frame": "environment_origin"
}