按数字按压 · press_by_number_000030任务成功第四档

观测 obs_000000 · 步 0 · 剩余 700 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000000",
  "step_id": 0,
  "instruction": "Work through the red buttons from left to right. For each button, press it the number of times shown on its card, then press the blue button to confirm before moving on to the next red button. 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": 700,
  "remaining_steps": 700,
  "native_success": false,
  "frame": "environment_origin",
  "task_context": {
    "episode_start_eef": {
      "left": {"position": [-0.3, -0.352, 0.922], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
      "right": {"position": [0.3, -0.352, 0.922], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0}
    }
  }
}

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

  {"cmd": "cat .agents/skills/robot-manipulation/SKILL.md", "max_output_tokens": 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 · 1,477 字
  参数原文· 85 字JSON

  {"cmd": "cat observations/000000/observation.json", "max_output_tokens": 12000}
  返回原文· 5,967 字代码

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  Process exited with code 0
  Original token count: 1477
  Output:
  {
    "episode_id": "5ed351d3c23c4e39990d507c93c5cbe6",
    "observation_id": "obs_000000",
    "step_id": 0,
    "instruction": "Work through the red buttons from left to right. For each button, press it the number of times shown on its card, then press the blue button to confirm before moving on to the next red button. 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": [
      3.0778363798583674e-13,
      -7.17081258365664e-16,
      -1.1293898912964188e-17,
      5.800076635169543e-16,
      -6.913825523376105e-13,
      1.700234029088088e-12,
      1.0,
      3.077839903515428e-13,
      -7.170791407832959e-16,
      -1.1294161129218367e-17,
      5.800042753851653e-16,
      -6.913827149679364e-13,
      1.7002339206678707e-12,
      1.0
    ],
    "control_dt": 0.04,
    "max_episode_steps": 700,
    "remaining_steps": 700,
    "rollout_finished": false,
    "native_success": false,
    "frame": "environment_origin",
    "images": [
      {
        "camera": "cam_high",
        "path": "/mnt/workspace/robot_workspaces/episode-n1ysgjal/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-n1ysgjal/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-n1ysgjal/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-n1ysgjal/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-n1ysgjal/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 · 141 字
  参数原文· 486 字JSON

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  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nimport json,numpy as np\nj=json.load(open('observations/000000/observation.json'))\nc=j['images'][0]['calibration']; K=np.array(c['intrinsic_matrix']);T=np.array(c['environment_to_optical']); Ti=np.linalg.inv(T)\nfor u,v in [(244,265),(320,265),(396,265)]:\n o=Ti[:3,3]; d=Ti[:3,:3]@np.linalg.inv(K)@np.array([u,v,1.])\n for z in [.75,.76,.77,.78]:\n  p=o+d*((z-o[2])/d[2]);print(u,z,p)\nPY",
    "max_output_tokens": 1500
  }

  返回原文· 625 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: 141
  Output:
  244 0.75 [-0.161844   -0.14931262  0.75      ]
  244 0.76 [-0.15894357 -0.15398444  0.76      ]
  244 0.77 [-0.15604314 -0.15865625  0.77      ]
  244 0.78 [-0.15314271 -0.16332807  0.78      ]
  320 0.75 [ 0.         -0.14931262  0.75      ]
  320 0.76 [ 0.         -0.15398444  0.76      ]
  320 0.77 [ 0.         -0.15865625  0.77      ]
  320 0.78 [ 0.         -0.16332807  0.78      ]
  396 0.75 [ 0.161844   -0.14931262  0.75      ]
  396 0.76 [ 0.15894357 -0.15398444  0.76      ]
  396 0.77 [ 0.15604314 -0.15865625  0.77      ]
  396 0.78 [ 0.15314271 -0.16332807  0.78      ]
  

• exec_command(cmd="/root/miniconda3/envs/RoboDojo/bin/python - <<'PY' import json,numpy as np j=json.load(o…")→退出码 0 · 81 字
  参数原文· 655 字JSON

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  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nimport json,numpy as np\nj=json.load(open('observations/000000/observation.json'))\ndef ray(i,uv):\n c=j['images'][i]['calibration'];T=np.linalg.inv(np.array(c['environment_to_optical'])); return T[:3,3],T[:3,:3]@np.linalg.inv(c['intrinsic_matrix'])@np.array([*uv,1])\nfor a,b in [((223,189),(460,222)),((271,189),(604,221)),((274,234),(618,369)),((228,234),(469,370)),((249,212),(539,296))]:\n o,d=ray(0,a);p,e=ray(1,b);ab=np.linalg.lstsq(np.stack([d,-e],axis=1),p-o,rcond=None)[0];print((o+ab[0]*d+p+ab[1]*e)/2,'err',np.linalg.norm(o+ab[0]*d-p-ab[1]*e))\nPY",
    "max_output_tokens": 1500
  }

  返回原文· 381 字纯文本

  Process exited with code 0 Original token count: 81 Output: [-0.20117459 -0.01970451 0.84378115] err…

• robot_act(steps=10, obs=obs_000000)→obs_000010
  参数原文· 751 字JSON

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  {
    "observation_id": "obs_000000",
    "reason": "The two red buttons and blue confirmation button are separated on the clear tabletop. Move both grippers above the button row and begin turning the closed fingers downward, keeping clearance from the cards.",
    "steps": 10,
    "target": {
      "left": {"position": [-0.16, -0.25, 1.04], "quaternion_wxyz": [0.653281, -0.270598, 0.270598, 0.653281], "gripper_closed": true},
      "right": {"position": [0.16, -0.25, 1.04], "quaternion_wxyz": [0.653281, -0.270598, 0.270598, 0.653281], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000010", "native_success": false}

观测 obs_000010 · 步 10 · 剩余 690 步 · 左末端 (-0.27, -0.33, 0.95) 米 · 右末端 (0.28, -0.33, 0.95) 米

{
  "observation_id": "obs_000010",
  "step_id": 10,
  "instruction": "Work through the red buttons from left to right. For each button, press it the number of times shown on its card, then press the blue button to confirm before moving on to the next red button. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.274, -0.329, 0.951], "quaternion_wxyz": [0.699, -0.106, 0.111, 0.698], "gripper_opening_command": 0.0},
    "right": {"position": [0.275, -0.329, 0.951], "quaternion_wxyz": [0.698, -0.111, 0.107, 0.699], "gripper_opening_command": 0.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 700,
  "remaining_steps": 690,
  "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 · 30 字
  参数原文· 587 字JSON

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  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nimport json,numpy as np\nj=json.load(open('observations/000010/observation.json'))\ndef ray(i,uv):\n c=j['images'][i]['calibration'];T=np.linalg.inv(np.array(c['environment_to_optical']));return T[:3,3],T[:3,:3]@np.linalg.inv(c['intrinsic_matrix'])@np.array([*uv,1])\nfor a,b,i in [((244,252),(583,345),1),((396,252),(48,344),2)]:\n o,d=ray(0,a);p,e=ray(i,b);ab=np.linalg.lstsq(np.stack([d,-e],axis=1),p-o,rcond=None)[0];print((o+ab[0]*d+p+ab[1]*e)/2,np.linalg.norm(o+ab[0]*d-p-ab[1]*e))\nPY",
    "max_output_tokens": 1000
  }

  返回原文· 178 字纯文本

  Process exited with code 0 Original token count: 30 Output: [-0.1508987 -0.14415192 0.80085877] 0.00…

• robot_act(steps=15, obs=obs_000010)→obs_000025
  参数原文· 733 字JSON

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  {
    "observation_id": "obs_000010",
    "reason": "The wrist views show the button tops near 0.80 m and the cards behind them. Continue through open space toward overhead poses, with the fingers angled down and safely above contact height.",
    "steps": 15,
    "target": {
      "left": {"position": [-0.16, -0.17, 1.04], "quaternion_wxyz": [0.602826, -0.369596, 0.369596, 0.602826], "gripper_closed": true},
      "right": {"position": [0.16, -0.17, 1.04], "quaternion_wxyz": [0.602826, -0.369596, 0.369596, 0.602826], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000025", "native_success": false}

观测 obs_000025 · 步 25 · 剩余 675 步 · 左末端 (-0.23, -0.25, 0.99) 米 · 右末端 (0.23, -0.25, 0.99) 米

{
  "observation_id": "obs_000025",
  "step_id": 25,
  "instruction": "Work through the red buttons from left to right. For each button, press it the number of times shown on its card, then press the blue button to confirm before moving on to the next red button. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.225, -0.255, 0.986], "quaternion_wxyz": [0.646, -0.286, 0.29, 0.646], "gripper_opening_command": 0.0},
    "right": {"position": [0.225, -0.255, 0.986], "quaternion_wxyz": [0.646, -0.29, 0.287, 0.646], "gripper_opening_command": 0.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 700,
  "remaining_steps": 675,
  "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 · 30 字
  参数原文· 588 字JSON

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  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nimport json,numpy as np\nj=json.load(open('observations/000025/observation.json'))\ndef ray(i,uv):\n c=j['images'][i]['calibration'];T=np.linalg.inv(np.array(c['environment_to_optical']));return T[:3,3],T[:3,:3]@np.linalg.inv(c['intrinsic_matrix'])@np.array([*uv,1])\nfor a,b,i in [((244,264),(511,352),1),((396,264),(128,352),2)]:\n o,d=ray(0,a);p,e=ray(i,b);ab=np.linalg.lstsq(np.stack([d,-e],axis=1),p-o,rcond=None)[0];print((o+ab[0]*d+p+ab[1]*e)/2,np.linalg.norm(o+ab[0]*d-p-ab[1]*e))\nPY",
    "max_output_tokens": 1000
  }

  返回原文· 178 字纯文本

  Process exited with code 0 Original token count: 30 Output: [-0.14974261 -0.16986555 0.79553239] 0.0…

• robot_act(steps=15, obs=obs_000025)→obs_000040
  参数原文· 709 字JSON

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  {
    "observation_id": "obs_000025",
    "reason": "The red and blue button centers are visible in both head and wrist views. Finish rotating the fingers vertically downward while centering above their respective buttons, keeping the fingertips elevated.",
    "steps": 15,
    "target": {
      "left": {"position": [-0.15, -0.17, 1.035], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true},
      "right": {"position": [0.15, -0.17, 1.035], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000040", "native_success": false}

观测 obs_000040 · 步 40 · 剩余 660 步 · 左末端 (-0.16, -0.19, 1.02) 米 · 右末端 (0.16, -0.19, 1.02) 米

{
  "observation_id": "obs_000040",
  "step_id": 40,
  "instruction": "Work through the red buttons from left to right. For each button, press it the number of times shown on its card, then press the blue button to confirm before moving on to the next red button. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.164, -0.185, 1.023], "quaternion_wxyz": [0.542, -0.453, 0.454, 0.543], "gripper_opening_command": 0.0},
    "right": {"position": [0.164, -0.185, 1.023], "quaternion_wxyz": [0.542, -0.455, 0.454, 0.542], "gripper_opening_command": 0.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 700,
  "remaining_steps": 660,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=8, obs=obs_000040)→obs_000048
  参数原文· 712 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000040",
    "reason": "Both grippers are above the button row, with the left red button visible under its wrist. Refine the left alignment and lower to a hover above its top; keep the right gripper above blue without pressing it.",
    "steps": 8,
    "target": {
      "left": {"position": [-0.15, -0.16, 0.985], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true},
      "right": {"position": [0.15, -0.16, 1.035], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000048 · 步 48 · 剩余 652 步 · 左末端 (-0.15, -0.16, 0.99) 米 · 右末端 (0.15, -0.16, 1.03) 米

{
  "observation_id": "obs_000048",
  "step_id": 48,
  "instruction": "Work through the red buttons from left to right. For each button, press it the number of times shown on its card, then press the blue button to confirm before moving on to the next red button. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.15, -0.16, 0.985], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 0.0},
    "right": {"position": [0.15, -0.16, 1.035], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 0.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 700,
  "remaining_steps": 652,
  "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 · 61 字
  参数原文· 626 字JSON

  1 2 3 4

  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nimport json,numpy as np\nj=json.load(open('observations/000048/observation.json'))\ndef ray(i,uv):\n c=j['images'][i]['calibration'];T=np.linalg.inv(np.array(c['environment_to_optical']));return T[:3,3],T[:3,:3]@np.linalg.inv(c['intrinsic_matrix'])@np.array([*uv,1])\nfor a,b in [((244,251),(320,142)),((244,263),(320,225)),((230,263),(225,225)),((258,263),(415,225))]:\n o,d=ray(0,a);p,e=ray(1,b);ab=np.linalg.lstsq(np.stack([d,-e],axis=1),p-o,rcond=None)[0];print((o+ab[0]*d+p+ab[1]*e)/2,np.linalg.norm(o+ab[0]*d-p-ab[1]*e))\nPY",
    "max_output_tokens": 1000
  }

  返回原文· 301 字纯文本

  Process exited with code 0 Original token count: 61 Output: [-0.15123772 -0.13962624 0.7962129 ] 0.0…

• robot_act(steps=3, obs=obs_000048)→obs_000051
  参数原文· 707 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000048",
    "reason": "The left wrist shows the closed fingertips centered on the first red button, with about 3 cm clearance. Lower vertically to just above its surface for the first press, while holding the blue arm clear.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.15, -0.16, 0.958], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true},
      "right": {"position": [0.15, -0.16, 1.035], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000051 · 步 51 · 剩余 649 步 · 左末端 (-0.15, -0.16, 0.96) 米 · 右末端 (0.15, -0.16, 1.03) 米

{
  "observation_id": "obs_000051",
  "step_id": 51,
  "instruction": "Work through the red buttons from left to right. For each button, press it the number of times shown on its card, then press the blue button to confirm before moving on to the next red button. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.15, -0.16, 0.959], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 0.0},
    "right": {"position": [0.15, -0.16, 1.035], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 0.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 700,
  "remaining_steps": 649,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000051)→obs_000054
  参数原文· 666 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000051",
    "reason": "The left fingertips are aligned just above the first red cap. Make a controlled downward stroke to depress it for press 1 of 4, keeping the other arm stationary.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.15, -0.16, 0.94], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true},
      "right": {"position": [0.15, -0.16, 1.035], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000054 · 步 54 · 剩余 646 步 · 左末端 (-0.15, -0.16, 0.94) 米 · 右末端 (0.15, -0.16, 1.04) 米

{
  "observation_id": "obs_000054",
  "step_id": 54,
  "instruction": "Work through the red buttons from left to right. For each button, press it the number of times shown on its card, then press the blue button to confirm before moving on to the next red button. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.15, -0.16, 0.941], "quaternion_wxyz": [0.501, -0.5, 0.499, 0.5], "gripper_opening_command": 0.0},
    "right": {"position": [0.15, -0.16, 1.035], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 0.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 700,
  "remaining_steps": 646,
  "native_success": false,
  "frame": "environment_origin"
}

• exec_command(cmd="cat observations/000054/observation.json")→退出码 0 · 4,637 字
  参数原文· 84 字JSON

  {"cmd": "cat observations/000054/observation.json", "max_output_tokens": 3500}
  返回原文· 14,165 字代码

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  Process exited with code 0
  Original token count: 4637
  Output:
  Warning: truncated output (original token count: 4637)
  Total output lines: 668
  
  {
    "episode_id": "5ed351d3c23c4e39990d507c93c5cbe6",
    "observation_id": "obs_000054",
    "step_id": 54,
    "instruction": "Work through the red buttons from left to right. For each button, press it the number of times shown on its card, then press the blue button to confirm before moving on to the next red button. Then reset the robot arm.",
    "current_eef": {
      "left": {
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          -0.1499662697315216,
          -0.15991303324699402,
          0.9408679008483887
        ],
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          0.49927768111228943,
          0.5002432465553284
        ],
        "gripper_opening_command": 0.0
      },
      "right": {
        "position": [
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          1.0350004434585571
        ],
        "quaternion_wxyz": [
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        ],
        "gripper_opening_command": 0.0
      }
    },
    "current_state": [
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    "control_dt": 0.04,
    "max_episode_steps": 700,
    "remaining_steps": 646,
    "rollout_finished": false,
    "native_success": false,
    "frame": "environment_origin",
    "images": [
      {
        "camera": "cam_high",
        "path": "/mnt/workspace/robot_workspaces/episode-n1ysgjal/agent/observations/000054/cam_high.png",
        "width": 640,
        "height": 480,
        "calibration": {
          "intrinsic_matrix": [
            [
              288.1325423543974,
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            [
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              0.0,
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          "environment_to_optical": [
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      {
        "camera": "cam_left_wrist",
        "path": "/mnt/workspace/robot_workspaces/episode-n1ysgjal/agent/observations/000054/cam_left_wrist.png",
        "width": 640,
        "height": 480,
        "calibration": {
          "intrinsic_matrix": [
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      {
        "camera": "cam_right_wrist",
        "path": "/mnt/workspace/robot_workspaces/episode-n1ysgjal/agent/observations/000054/cam_right_wrist.png",
        "width": 640,
        "height": 480,
        "calibration": {
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          "environment_to_optical": [
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    ],
    "observation_path": "/mnt/workspace/robot_workspaces/episode-n1ysgjal/agent/observations/000054/observation.json",
    "camera_parameters_path": "/mnt/workspace/robot_workspaces/episode-n1ysgjal/agent/observations/000054/camera_parameters.json",
    "execution": {
      "requested_steps": 3,
      "executed_steps": 3,
      "steps": [
        {
          "step_id": 52,
          "observation_id": "obs_000051",
          "target": {
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              "quaternion_wxyz": [
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  …1137 tokens truncated… "method": "robot_only_numerical_jacobian_dls",
              "physical_tracking_verified": false
            },
            "right": {
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        {
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          "observation_id": "obs_000053",
          "target": {
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            "right": {
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                -4.7217131906512614e-06,
                -2.4526319839232224e-06,
                -1.1611382587791176e-07
              ],
              "method": "robot_only_numerical_jacobian_dls",
              "physical_tracking_verified": false
            }
          },
          "native_counter_before": 53,
          "native_counter_after": 54,
          "current_state": [
            -0.47608160972595215,
            1.8355207443237305,
            1.2753461599349976,
            -1.0084949731826782,
            -2.1558853404712863e-05,
            -0.47581106424331665,
            0.0,
            0.4785809814929962,
            1.781850814819336,
            1.589209794998169,
            -1.3781499862670898,
            -1.5405780686705839e-06,
            0.47888296842575073,
            0.0
          ],
          "current_eef": {
            "left": {
              "position": [
                -0.1499662697315216,
                -0.15991303324699402,
                0.9408679008483887
              ],
              "quaternion_wxyz": [
                0.5007060766220093,
                -0.4997718334197998,
                0.49927768111228943,
                0.5002432465553284
              ],
              "gripper_opening_command": 0.0
            },
            "right": {
              "position": [
                0.1500004082918167,
                -0.16000059247016907,
                1.0350004434585571
              ],
              "quaternion_wxyz": [
                0.5000005960464478,
                -0.4999980628490448,
                0.49999940395355225,
                0.5000017285346985
              ],
              "gripper_opening_command": 0.0
            }
          },
          "observation_path": "/mnt/workspace/robot_workspaces/episode-n1ysgjal/agent/observations/000054/observation.json",
          "rollout_finished": false,
          "native_success": false
        }
      ]
    }
  }

• exec_command(cmd="/root/miniconda3/envs/RoboDojo/bin/python - <<'PY' import json,numpy as np j=json.load(o…")→退出码 0 · 45 字
  参数原文· 604 字JSON

  1 2 3 4

  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nimport json,numpy as np\nj=json.load(open('observations/000054/observation.json'))\ndef ray(i,uv):\n c=j['images'][i]['calibration'];T=np.linalg.inv(np.array(c['environment_to_optical']));return T[:3,3],T[:3,:3]@np.linalg.inv(c['intrinsic_matrix'])@np.array([*uv,1])\nfor a,b in [((232,264),(194,285)),((244,263),(319,190)),((244,269),(319,296))]:\n o,d=ray(0,a);p,e=ray(1,b);ab=np.linalg.lstsq(np.stack([d,-e],axis=1),p-o,rcond=None)[0];print((o+ab[0]*d+p+ab[1]*e)/2,np.linalg.norm(o+ab[0]*d-p-ab[1]*e))\nPY",
    "max_output_tokens": 1000
  }

  返回原文· 237 字纯文本

  Process exited with code 0 Original token count: 45 Output: [-0.17750726 -0.16239238 0.78308052] 0.0…

• robot_act(steps=3, obs=obs_000054)→obs_000057
  参数原文· 662 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000054",
    "reason": "The first red cap is visibly lower than before, consistent with press 1. Lift the left fingers vertically to release it fully before the next distinct press.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.15, -0.16, 0.98], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true},
      "right": {"position": [0.15, -0.16, 1.035], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000057 · 步 57 · 剩余 643 步 · 左末端 (-0.15, -0.16, 0.97) 米 · 右末端 (0.15, -0.16, 1.04) 米

{
  "observation_id": "obs_000057",
  "step_id": 57,
  "instruction": "Work through the red buttons from left to right. For each button, press it the number of times shown on its card, then press the blue button to confirm before moving on to the next red button. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.15, -0.161, 0.975], "quaternion_wxyz": [0.501, -0.5, 0.499, 0.5], "gripper_opening_command": 0.0},
    "right": {"position": [0.15, -0.16, 1.035], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 0.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 700,
  "remaining_steps": 643,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000057)→obs_000060
  参数原文· 632 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000057",
    "reason": "The first red cap has returned upward and the fingers are clear. Press it again with the same vertical stroke for press 2 of 4.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.15, -0.16, 0.94], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true},
      "right": {"position": [0.15, -0.16, 1.035], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "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 640 步 · 左末端 (-0.15, -0.16, 0.95) 米 · 右末端 (0.15, -0.16, 1.04) 米

{
  "observation_id": "obs_000060",
  "step_id": 60,
  "instruction": "Work through the red buttons from left to right. For each button, press it the number of times shown on its card, then press the blue button to confirm before moving on to the next red button. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.15, -0.161, 0.948], "quaternion_wxyz": [0.506, -0.498, 0.495, 0.501], "gripper_opening_command": 0.0},
    "right": {"position": [0.15, -0.16, 1.035], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 0.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 700,
  "remaining_steps": 640,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=2, obs=obs_000060)→obs_000062
  参数原文· 659 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000060",
    "reason": "The left arm is still 8 mm above the requested depressed pose. Continue this same second stroke to full depth without releasing or creating another press.",
    "steps": 2,
    "target": {
      "left": {"position": [-0.15, -0.16, 0.94], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true},
      "right": {"position": [0.15, -0.16, 1.035], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000062", "native_success": false}

观测 obs_000062 · 步 62 · 剩余 638 步 · 左末端 (-0.15, -0.16, 0.95) 米 · 右末端 (0.15, -0.16, 1.04) 米

{
  "observation_id": "obs_000062",
  "step_id": 62,
  "instruction": "Work through the red buttons from left to right. For each button, press it the number of times shown on its card, then press the blue button to confirm before moving on to the next red button. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.15, -0.161, 0.948], "quaternion_wxyz": [0.508, -0.497, 0.493, 0.502], "gripper_opening_command": 0.0},
    "right": {"position": [0.15, -0.16, 1.035], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 0.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 700,
  "remaining_steps": 638,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000062)→obs_000065
  参数原文· 638 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000062",
    "reason": "The second downward stroke has reached contact and the red cap is visibly depressed. Release it by lifting vertically before press 3.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.15, -0.16, 0.98], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true},
      "right": {"position": [0.15, -0.16, 1.035], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000065", "native_success": false}

观测 obs_000065 · 步 65 · 剩余 635 步 · 左末端 (-0.15, -0.16, 0.98) 米 · 右末端 (0.15, -0.16, 1.04) 米

{
  "observation_id": "obs_000065",
  "step_id": 65,
  "instruction": "Work through the red buttons from left to right. For each button, press it the number of times shown on its card, then press the blue button to confirm before moving on to the next red button. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.15, -0.161, 0.976], "quaternion_wxyz": [0.501, -0.5, 0.499, 0.5], "gripper_opening_command": 0.0},
    "right": {"position": [0.15, -0.16, 1.035], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 0.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 700,
  "remaining_steps": 635,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000065)→obs_000068
  参数原文· 640 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000065",
    "reason": "The first red cap is released and the left gripper remains centered. Execute press 3 of 4 with the established vertical contact stroke.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.15, -0.16, 0.94], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true},
      "right": {"position": [0.15, -0.16, 1.035], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000068", "native_success": false}

观测 obs_000068 · 步 68 · 剩余 632 步 · 左末端 (-0.15, -0.16, 0.95) 米 · 右末端 (0.15, -0.16, 1.04) 米

{
  "observation_id": "obs_000068",
  "step_id": 68,
  "instruction": "Work through the red buttons from left to right. For each button, press it the number of times shown on its card, then press the blue button to confirm before moving on to the next red button. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.15, -0.161, 0.948], "quaternion_wxyz": [0.506, -0.498, 0.495, 0.501], "gripper_opening_command": 0.0},
    "right": {"position": [0.15, -0.16, 1.035], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 0.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 700,
  "remaining_steps": 632,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000068)→obs_000071
  参数原文· 678 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000068",
    "reason": "The third stroke is in contact but the measured pose remains above the nominal target. Extend this same stroke by 5 mm to ensure full depression, without releasing the cap.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.15, -0.16, 0.935], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true},
      "right": {"position": [0.15, -0.16, 1.035], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000071 · 步 71 · 剩余 629 步 · 左末端 (-0.15, -0.16, 0.95) 米 · 右末端 (0.15, -0.16, 1.04) 米

{
  "observation_id": "obs_000071",
  "step_id": 71,
  "instruction": "Work through the red buttons from left to right. For each button, press it the number of times shown on its card, then press the blue button to confirm before moving on to the next red button. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.15, -0.163, 0.948], "quaternion_wxyz": [0.513, -0.496, 0.489, 0.502], "gripper_opening_command": 0.012},
    "right": {"position": [0.15, -0.16, 1.035], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 0.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 700,
  "remaining_steps": 629,
  "native_success": false,
  "frame": "environment_origin"
}

• view_image(path="/mnt/workspace/robot_workspaces/episode-n1ysgjal/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-n1ysgjal/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/e0c752a40c56af7e28f7104774a6e7d812ab3f29018ca94c3944e694796645ba.png",
        "sha256": "e0c752a40c56af7e28f7104774a6e7d812ab3f29018ca94c3944e694796645ba",
        "mime_type": "image/png",
        "width": 640,
        "height": 480
      }
    }
  ]

• robot_act(steps=3, obs=obs_000071)→obs_000074
  参数原文· 657 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000071",
    "reason": "The first red cap is depressed after the third stroke. Lift to release it and restore finger alignment before the fourth and final press on this button.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.15, -0.16, 0.98], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true},
      "right": {"position": [0.15, -0.16, 1.035], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000074 · 步 74 · 剩余 626 步 · 左末端 (-0.15, -0.16, 0.97) 米 · 右末端 (0.15, -0.16, 1.04) 米

{
  "observation_id": "obs_000074",
  "step_id": 74,
  "instruction": "Work through the red buttons from left to right. For each button, press it the number of times shown on its card, then press the blue button to confirm before moving on to the next red button. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.15, -0.161, 0.973], "quaternion_wxyz": [0.502, -0.499, 0.498, 0.5], "gripper_opening_command": 0.0},
    "right": {"position": [0.15, -0.16, 1.035], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 0.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 700,
  "remaining_steps": 626,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000074)→obs_000077
  参数原文· 640 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000074",
    "reason": "The first red button has returned upward after three press-and-release cycles. Make press 4 of 4 with a short vertical downward stroke.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.15, -0.16, 0.94], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true},
      "right": {"position": [0.15, -0.16, 1.035], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000077 · 步 77 · 剩余 623 步 · 左末端 (-0.15, -0.16, 0.94) 米 · 右末端 (0.15, -0.16, 1.04) 米

{
  "observation_id": "obs_000077",
  "step_id": 77,
  "instruction": "Work through the red buttons from left to right. For each button, press it the number of times shown on its card, then press the blue button to confirm before moving on to the next red button. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.15, -0.161, 0.944], "quaternion_wxyz": [0.502, -0.499, 0.498, 0.501], "gripper_opening_command": 0.0},
    "right": {"position": [0.15, -0.16, 1.035], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 0.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 700,
  "remaining_steps": 623,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000077)→obs_000080
  参数原文· 662 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000077",
    "reason": "The fourth red stroke has depressed the cap. Release the first red button and lower the right gripper to a hover above blue, preparing its confirmation press.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.15, -0.16, 1.02], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true},
      "right": {"position": [0.15, -0.16, 0.98], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000080 · 步 80 · 剩余 620 步 · 左末端 (-0.15, -0.16, 0.98) 米 · 右末端 (0.15, -0.16, 1.00) 米

{
  "observation_id": "obs_000080",
  "step_id": 80,
  "instruction": "Work through the red buttons from left to right. For each button, press it the number of times shown on its card, then press the blue button to confirm before moving on to the next red button. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.151, -0.162, 0.977], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 0.0},
    "right": {"position": [0.15, -0.159, 1.002], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 0.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 700,
  "remaining_steps": 620,
  "native_success": false,
  "frame": "environment_origin"
}