解方程（选数字补全等式） · solve_equation_000181任务成功第二档

观测 obs_000000 · 步 0 · 剩余 300 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": "Complete the equation by selecting the correct missing number or operator and placing it on the pad, 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": 300,
  "remaining_steps": 300,
  "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 /mnt/workspace/robot_workspaces/episode-3xm9cy7_/agent/.agents/skills/robot-manipula…")→退出码 0 · 1,522 字
  参数原文· 145 字JSON

  { "cmd": "cat /mnt/workspace/robot_workspaces/episode-3xm9cy7_/agent/.agents/skills/robot-manipulation/SKILL.md", "max_output_tokens": 8000 }
  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 · 1,453 字
  参数原文· 84 字JSON

  {"cmd": "cat observations/000000/observation.json", "max_output_tokens": 6000}
  返回原文· 5,873 字代码

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  Process exited with code 0
  Original token count: 1453
  Output:
  {
    "episode_id": "086be914395e4d0c885d8accd1cf8ae8",
    "observation_id": "obs_000000",
    "step_id": 0,
    "instruction": "Complete the equation by selecting the correct missing number or operator and placing it on the pad, 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": 300,
    "remaining_steps": 300,
    "rollout_finished": false,
    "native_success": false,
    "frame": "environment_origin",
    "images": [
      {
        "camera": "cam_high",
        "path": "/mnt/workspace/robot_workspaces/episode-3xm9cy7_/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-3xm9cy7_/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-3xm9cy7_/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-3xm9cy7_/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-3xm9cy7_/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 · 156 字
  参数原文· 946 字JSON

  1 2 3 4

  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nimport json,numpy as np\nj=json.load(open('observations/000000/observation.json'))\ndef tri(c1,p1,c2,p2):\n Ps=[]\n for c in [c1,c2]:\n  cal=j['images'][c]['calibration'];Ps.append(np.array(cal['intrinsic_matrix'])@np.array(cal['environment_to_optical'])[:3])\n A=np.array([p1[0]*Ps[0][2]-Ps[0][0],p1[1]*Ps[0][2]-Ps[0][1],p2[0]*Ps[1][2]-Ps[1][0],p2[1]*Ps[1][2]-Ps[1][1]])\n _,_,v=np.linalg.svd(A);a=v[-1];print(a[:3]/a[3])\ntri(0,[143,206],1,[187,294]);tri(0,[246,201],1,[476,287]);tri(0,[394,201],2,[165,282])\nK=np.array(j['images'][0]['calibration']['intrinsic_matrix']);T=np.array(j['images'][0]['calibration']['environment_to_optical']);Ti=np.linalg.inv(T)\nfor pix in [[294,320],[284,203],[239,320]]:\n ray=Ti[:3,:3]@np.linalg.solve(K,[*pix,1]);origin=Ti[:3,3]\n for z in [.75,.76,.77]:\n  p=origin+ray*((z-origin[2])/ray[2]);print(pix,z,p)\nPY",
    "max_output_tokens": 2000
  }

  返回原文· 682 字代码

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  Process exited with code 0
  Original token count: 156
  Output:
  [-0.40723413 -0.01085965  0.7735341 ]
  [-1.70332292e-01 -2.70644105e-04  7.74384557e-01]
  [0.17117678 0.0012978  0.77661698]
  [294, 320] 0.75 [-0.05010878 -0.26587121  0.75      ]
  [294, 320] 0.76 [-0.04921077 -0.26845417  0.76      ]
  [294, 320] 0.77 [-0.04831276 -0.27103712  0.77      ]
  [284, 203] 0.75 [-0.08694971  0.01535131  0.75      ]
  [284, 203] 0.76 [-0.08539147  0.00772853  0.76      ]
  [284, 203] 0.77 [-8.38332334e-02  1.05743454e-04  7.70000000e-01]
  [239, 320] 0.75 [-0.15610812 -0.26587121  0.75      ]
  [239, 320] 0.76 [-0.15331048 -0.26845417  0.76      ]
  [239, 320] 0.77 [-0.15051284 -0.27103712  0.77      ]
  

• robot_act(steps=3, obs=obs_000000)→obs_000003
  参数原文· 702 字JSON

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  {
    "observation_id": "obs_000000",
    "reason": "The minus tile is near the left arm, at the front center of the table. I am moving above it while beginning a downward-facing grasp orientation.",
    "steps": 3,
    "target": {
      "left": {
        "position": [-0.16, -0.31, 1.02],
        "quaternion_wxyz": [0.653281, -0.270598, 0.270598, 0.653281],
        "gripper_closed": false
      },
      "right": {
        "position": [0.300470948, -0.352299869, 0.921500027],
        "quaternion_wxyz": [0.706999958, 0, 0, 0.707213521],
        "gripper_closed": false
      }
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000003", "native_success": false}

观测 obs_000003 · 步 3 · 剩余 297 步 · 左末端 (-0.29, -0.35, 0.93) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000003",
  "step_id": 3,
  "instruction": "Complete the equation by selecting the correct missing number or operator and placing it on the pad, then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.29, -0.349, 0.932], "quaternion_wxyz": [0.706, -0.038, 0.041, 0.706], "gripper_opening_command": 1.0},
    "right": {"position": [0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 300,
  "remaining_steps": 297,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000003)→obs_000006
  参数原文· 680 字JSON

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  {
    "observation_id": "obs_000003",
    "reason": "The left fingers remain above the scattered numbers with clear vertical space. Continue the approach toward the minus tile while keeping the gripper open.",
    "steps": 3,
    "target": {
      "left": {
        "position": [-0.16, -0.31, 1.02],
        "quaternion_wxyz": [0.653281, -0.270598, 0.270598, 0.653281],
        "gripper_closed": false
      },
      "right": {"position": [0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000006 · 步 6 · 剩余 294 步 · 左末端 (-0.28, -0.34, 0.94) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000006",
  "step_id": 6,
  "instruction": "Complete the equation by selecting the correct missing number or operator and placing it on the pad, then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.28, -0.344, 0.942], "quaternion_wxyz": [0.704, -0.075, 0.081, 0.702], "gripper_opening_command": 1.0},
    "right": {"position": [0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 300,
  "remaining_steps": 294,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000006)→obs_000009
  参数原文· 647 字JSON

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

  {
    "observation_id": "obs_000006",
    "reason": "The minus tile remains undisturbed and the arm is safely above the table. Continue toward its overhead approach position.",
    "steps": 3,
    "target": {
      "left": {
        "position": [-0.08, -0.27, 1.02],
        "quaternion_wxyz": [0.653281, -0.270598, 0.270598, 0.653281],
        "gripper_closed": false
      },
      "right": {"position": [0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000009 · 步 9 · 剩余 291 步 · 左末端 (-0.27, -0.34, 0.95) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000009",
  "step_id": 9,
  "instruction": "Complete the equation by selecting the correct missing number or operator and placing it on the pad, then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.268, -0.337, 0.948], "quaternion_wxyz": [0.699, -0.11, 0.118, 0.697], "gripper_opening_command": 1.0},
    "right": {"position": [0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 300,
  "remaining_steps": 291,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000009)→obs_000012
  参数原文· 639 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000009",
    "reason": "There is clearance above the minus tile. Rotate the fingers further downward and continue centering over the tile.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.05, -0.27, 1.0], "quaternion_wxyz": [0.602826, -0.369596, 0.369596, 0.602826], "gripper_closed": false},
      "right": {"position": [0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000012", "native_success": false}

观测 obs_000012 · 步 12 · 剩余 288 步 · 左末端 (-0.25, -0.33, 0.95) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000012",
  "step_id": 12,
  "instruction": "Complete the equation by selecting the correct missing number or operator and placing it on the pad, then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.254, -0.33, 0.951], "quaternion_wxyz": [0.692, -0.145, 0.154, 0.69], "gripper_opening_command": 1.0},
    "right": {"position": [0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 300,
  "remaining_steps": 288,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000012)→obs_000015
  参数原文· 661 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000012",
    "reason": "The fingers are above the loose numbers and still approaching the target. Continue aligning the closing direction across the minus disk.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.05, -0.27, 1.0], "quaternion_wxyz": [0.562916, -0.427931, 0.427931, 0.562916], "gripper_closed": false},
      "right": {"position": [0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000015 · 步 15 · 剩余 285 步 · 左末端 (-0.24, -0.32, 0.95) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000015",
  "step_id": 15,
  "instruction": "Complete the equation by selecting the correct missing number or operator and placing it on the pad, then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.239, -0.324, 0.954], "quaternion_wxyz": [0.683, -0.18, 0.19, 0.682], "gripper_opening_command": 1.0},
    "right": {"position": [0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 300,
  "remaining_steps": 285,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000015)→obs_000018
  参数原文· 662 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000015",
    "reason": "The minus disk is isolated between the other operator disks. Continue the overhead approach with the fingers turning vertically downward.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.05, -0.27, 1.0], "quaternion_wxyz": [0.522982, -0.475173, 0.475173, 0.522982], "gripper_closed": false},
      "right": {"position": [0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000018", "native_success": false}

观测 obs_000018 · 步 18 · 剩余 282 步 · 左末端 (-0.22, -0.32, 0.96) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000018",
  "step_id": 18,
  "instruction": "Complete the equation by selecting the correct missing number or operator and placing it on the pad, then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.223, -0.317, 0.958], "quaternion_wxyz": [0.672, -0.215, 0.227, 0.671], "gripper_opening_command": 1.0},
    "right": {"position": [0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 300,
  "remaining_steps": 282,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000018)→obs_000021
  参数原文· 659 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000018",
    "reason": "The approach remains clear and the target is starting to enter the wrist view. Finish the downward grasp orientation while advancing above the minus tile.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.05, -0.27, 1.0], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false},
      "right": {"position": [0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000021 · 步 21 · 剩余 279 步 · 左末端 (-0.20, -0.31, 0.96) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000021",
  "step_id": 21,
  "instruction": "Complete the equation by selecting the correct missing number or operator and placing it on the pad, then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.204, -0.31, 0.961], "quaternion_wxyz": [0.658, -0.252, 0.264, 0.658], "gripper_opening_command": 1.0},
    "right": {"position": [0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 300,
  "remaining_steps": 279,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000021)→obs_000024
  参数原文· 638 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000021",
    "reason": "The minus disk remains in place and the wrist view is rotating toward the operator row. Continue centering the open gripper above it.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.05, -0.27, 1.0], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false},
      "right": {"position": [0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000024", "native_success": false}

观测 obs_000024 · 步 24 · 剩余 276 步 · 左末端 (-0.18, -0.30, 0.96) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000024",
  "step_id": 24,
  "instruction": "Complete the equation by selecting the correct missing number or operator and placing it on the pad, then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.184, -0.303, 0.965], "quaternion_wxyz": [0.641, -0.292, 0.303, 0.642], "gripper_opening_command": 1.0},
    "right": {"position": [0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 300,
  "remaining_steps": 276,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000024)→obs_000027
  参数原文· 650 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000024",
    "reason": "The operator row is coming into the wrist view, and the minus tile remains clear of neighboring objects. Continue to the centered overhead pose.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.049, -0.27, 1.0], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false},
      "right": {"position": [0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000027", "native_success": false}

观测 obs_000027 · 步 27 · 剩余 273 步 · 左末端 (-0.16, -0.30, 0.97) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000027",
  "step_id": 27,
  "instruction": "Complete the equation by selecting the correct missing number or operator and placing it on the pad, then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.162, -0.297, 0.969], "quaternion_wxyz": [0.62, -0.333, 0.344, 0.622], "gripper_opening_command": 1.0},
    "right": {"position": [0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 300,
  "remaining_steps": 273,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000027)→obs_000030
  参数原文· 653 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000027",
    "reason": "The minus tile is just right of the plus tile in both camera views. Continue laterally above it with the wrist oriented for an opposing edge grasp.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.049, -0.27, 1.0], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false},
      "right": {"position": [0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000030", "native_success": false}

观测 obs_000030 · 步 30 · 剩余 270 步 · 左末端 (-0.14, -0.29, 0.97) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000030",
  "step_id": 30,
  "instruction": "Complete the equation by selecting the correct missing number or operator and placing it on the pad, then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.137, -0.29, 0.974], "quaternion_wxyz": [0.594, -0.377, 0.386, 0.597], "gripper_opening_command": 1.0},
    "right": {"position": [0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 300,
  "remaining_steps": 270,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000030)→obs_000033
  参数原文· 659 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000030",
    "reason": "The minus disk is visible beside the right open finger, and the head view confirms it remains undisturbed. Continue to center it between the finger pads.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.049, -0.27, 1.0], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false},
      "right": {"position": [0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000033 · 步 33 · 剩余 267 步 · 左末端 (-0.11, -0.28, 0.98) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000033",
  "step_id": 33,
  "instruction": "Complete the equation by selecting the correct missing number or operator and placing it on the pad, then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.113, -0.284, 0.979], "quaternion_wxyz": [0.565, -0.42, 0.426, 0.568], "gripper_opening_command": 1.0},
    "right": {"position": [0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 300,
  "remaining_steps": 267,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000033)→obs_000036
  参数原文· 631 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000033",
    "reason": "Both the minus symbol and its circular edge are visible in the wrist camera. Complete horizontal alignment before descending.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.049, -0.27, 1.0], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false},
      "right": {"position": [0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000036 · 步 36 · 剩余 264 步 · 左末端 (-0.09, -0.28, 0.99) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000036",
  "step_id": 36,
  "instruction": "Complete the equation by selecting the correct missing number or operator and placing it on the pad, then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.089, -0.279, 0.985], "quaternion_wxyz": [0.536, -0.458, 0.462, 0.538], "gripper_opening_command": 1.0},
    "right": {"position": [0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 300,
  "remaining_steps": 264,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000036)→obs_000039
  参数原文· 661 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000036",
    "reason": "The minus disk is unobscured in the wrist image and the finger axis is nearly vertical. Move directly above its center without descending into contact yet.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.049, -0.27, 1.0], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false},
      "right": {"position": [0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000039 · 步 39 · 剩余 261 步 · 左末端 (-0.07, -0.27, 0.99) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000039",
  "step_id": 39,
  "instruction": "Complete the equation by selecting the correct missing number or operator and placing it on the pad, then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.067, -0.275, 0.992], "quaternion_wxyz": [0.509, -0.49, 0.491, 0.51], "gripper_opening_command": 1.0},
    "right": {"position": [0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 300,
  "remaining_steps": 261,
  "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 · 19 字
  参数原文· 533 字JSON

  1 2 3 4

  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nimport json,numpy as np\nj=json.load(open('observations/000039/observation.json'))\nP=[]\nfor i in [0,1]:\n c=j['images'][i]['calibration'];P.append(np.array(c['intrinsic_matrix'])@np.array(c['environment_to_optical'])[:3])\nfor a,b in [([294,320],[367,175]),([294,319],[367,174])]:\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);x=v[-1];print(x[:3]/x[3])\nPY",
    "max_output_tokens": 1000
  }

  返回原文· 136 字纯文本

  Process exited with code 0 Original token count: 19 Output: [-0.04908319 -0.26949313 0.76376765] [-0…

• robot_act(steps=3, obs=obs_000039)→obs_000042
  参数原文· 667 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000039",
    "reason": "The head and wrist views place the minus disk near x −0.049, y −0.269. Finish centering and begin a short vertical descent while leaving room above the disk.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.049, -0.2695, 0.955], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false},
      "right": {"position": [0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000042 · 步 42 · 剩余 258 步 · 左末端 (-0.05, -0.27, 0.96) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000042",
  "step_id": 42,
  "instruction": "Complete the equation by selecting the correct missing number or operator and placing it on the pad, then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.05, -0.27, 0.957], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 1.0},
    "right": {"position": [0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 300,
  "remaining_steps": 258,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000042)→obs_000045
  参数原文· 656 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000042",
    "reason": "The minus disk is centered between the open fingers in the wrist view. Lower vertically toward its opposite circular edges with orientation fixed.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.049, -0.2695, 0.932], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false},
      "right": {"position": [0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000045", "native_success": false}

观测 obs_000045 · 步 45 · 剩余 255 步 · 左末端 (-0.05, -0.27, 0.93) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000045",
  "step_id": 45,
  "instruction": "Complete the equation by selecting the correct missing number or operator and placing it on the pad, then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.049, -0.269, 0.933], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 1.0},
    "right": {"position": [0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 300,
  "remaining_steps": 255,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=2, obs=obs_000045)→obs_000047
  参数原文· 671 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000045",
    "reason": "The disk remains centered and the finger tips are still above its edge. Lower another small amount to place the pads alongside the disk rather than over its top.",
    "steps": 2,
    "target": {
      "left": {"position": [-0.049, -0.2695, 0.916], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false},
      "right": {"position": [0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000047 · 步 47 · 剩余 253 步 · 左末端 (-0.05, -0.27, 0.92) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000047",
  "step_id": 47,
  "instruction": "Complete the equation by selecting the correct missing number or operator and placing it on the pad, then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.049, -0.27, 0.923], "quaternion_wxyz": [0.503, -0.5, 0.496, 0.5], "gripper_opening_command": 1.0},
    "right": {"position": [0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 300,
  "remaining_steps": 253,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=2, obs=obs_000047)→obs_000049
  参数原文· 650 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000047",
    "reason": "The disk fits within the open finger gap without visible displacement. Finish the final short descent so the pads overlap its thin sidewall.",
    "steps": 2,
    "target": {
      "left": {"position": [-0.049, -0.2695, 0.916], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false},
      "right": {"position": [0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000049", "native_success": false}

观测 obs_000049 · 步 49 · 剩余 251 步 · 左末端 (-0.05, -0.27, 0.92) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000049",
  "step_id": 49,
  "instruction": "Complete the equation by selecting the correct missing number or operator and placing it on the pad, then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.05, -0.27, 0.923], "quaternion_wxyz": [0.504, -0.5, 0.496, 0.5], "gripper_opening_command": 1.0},
    "right": {"position": [0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 300,
  "remaining_steps": 251,
  "native_success": false,
  "frame": "environment_origin"
}

• exec_command(cmd="rg --files observations/000049 observations/000047")→退出码 0 · 96 字
  参数原文· 94 字JSON

  {"cmd": "rg --files observations/000049 observations/000047", "max_output_tokens": 1000}
  返回原文· 444 字代码

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

  Process exited with code 0
  Original token count: 96
  Output:
  observations/000049/observation.json
  observations/000049/camera_parameters.json
  observations/000049/cam_right_wrist.png
  observations/000049/cam_left_wrist.png
  observations/000049/cam_high.png
  observations/000047/observation.json
  observations/000047/camera_parameters.json
  observations/000047/cam_right_wrist.png
  observations/000047/cam_left_wrist.png
  observations/000047/cam_high.png
  

• exec_command(cmd="cat observations/000049/observation.json")→退出码 0 · 3,514 字
  参数原文· 84 字JSON

  {"cmd": "cat observations/000049/observation.json", "max_output_tokens": 2200}
  返回原文· 8,965 字代码

  1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347

  Process exited with code 0
  Original token count: 3514
  Output:
  Warning: truncated output (original token count: 3514)
  Total output lines: 519
  
  {
    "episode_id": "086be914395e4d0c885d8accd1cf8ae8",
    "observation_id": "obs_000049",
    "step_id": 49,
    "instruction": "Complete the equation by selecting the correct missing number or operator and placing it on the pad, then reset the robot arm.",
    "current_eef": {
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        "gripper_opening_command": 1.0
      },
      "right": {
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        "quaternion_wxyz": [
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        "gripper_opening_command": 1.0
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    "current_state": [
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    "control_dt": 0.04,
    "max_episode_steps": 300,
    "remaining_steps": 251,
    "rollout_finished": false,
    "native_success": false,
    "frame": "environment_origin",
    "images": [
      {
        "camera": "cam_high",
        "path": "/mnt/workspace/robot_workspaces/episode-3xm9cy7_/agent/observations/000049/cam_high.png",
        "width": 640,
        "height": 480,
        "calibration": {
          "intrinsic_matrix": [
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              0.0,
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              240.0
            ],
            [
              0.0,
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              1.0
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          ],
          "environment_to_optical": [
            [
              1.0,
              0.0,
              0.0,
              0.0
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            [
              0.0,
              -0.8660253513624241,
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              0.2989297120661619
            ],
            [
              0.0,
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            ],
            [
              0.0,
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              1.0
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        }
      },
      {
        "camera": "cam_left_wrist",
        "path": "/mnt/workspace/robot_workspaces/episode-3xm9cy7_/agent/observations/000049/cam_left_wrist.png",
        "width": 640,
        "height": 480,
        "calibration": {
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          "environment_to_optical": [
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            [
              0.0,
              0.0,
              0.0,
              1.0000000000000002
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          ]
        }
      },
      {
        "camera": "cam_right_wrist",
        "path": "/mnt/workspace/robot_workspaces/episode-3xm9cy7_/agent/observations/000049/cam_right_wrist.png",
        "width": 640,
        "height": 480,
        "calibration": {
          "intrinsic_matrix": [
            [
              397.0412803766092,
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          ],
          "environment_to_optical": [
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              1.7438351245060108e-09,
              -0.3000021337022857
            ],
            [
              -3.6273247126401374e-06,
        …1314 tokens truncated… "target": {
            "left": {
              "position": [
                -0.049,
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                0.916
              ],
              "quaternion_wxyz": [
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              "gripper_closed": false
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              "quaternion_wxyz": [
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              ],
              "gripper_closed": false
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          },
          "command": [
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            1.0,
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            0.0053651039488613605,
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          "ik_diagnostics": {
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              "target_rotation_error_rad": 0.01134767658517719,
              "proposed_joint_delta": [
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              "bounded_task_delta": [
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              "method": "robot_only_numerical_jacobian_dls",
              "physical_tracking_verified": false
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            "right": {
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              "proposed_joint_delta": [
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              "method": "robot_only_numerical_jacobian_dls",
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          "native_counter_before": 48,
          "native_counter_after": 49,
          "current_state": [
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          "current_eef": {
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          "observation_path": "/mnt/workspace/robot_workspaces/episode-3xm9cy7_/agent/observations/000049/observation.json",
          "rollout_finished": false,
          "native_success": false
        }
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  }