按大小排套娃 · sort_nesting_dolls_by_size_000153任务成功第三档

观测 obs_000000 · 步 0 · 剩余 1050 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": "Arrange the five nesting dolls in a row from left to right, from smallest to largest. 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": 1050,
  "remaining_steps": 1050,
  "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-c4mn86sg/agent/.agents/skills/robot-manipula…")→退出码 0 · 1,522 字
  参数原文· 146 字JSON

  { "cmd": "cat /mnt/workspace/robot_workspaces/episode-c4mn86sg/agent/.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 · 1,450 字
  参数原文· 85 字JSON

  {"cmd": "cat observations/000000/observation.json", "max_output_tokens": 14000}
  返回原文· 5,860 字代码

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  Process exited with code 0
  Original token count: 1450
  Output:
  {
    "episode_id": "023c22b1c7ca407fa6fbb7125548fd88",
    "observation_id": "obs_000000",
    "step_id": 0,
    "instruction": "Arrange the five nesting dolls in a row from left to right, from smallest to largest. 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": 1050,
    "remaining_steps": 1050,
    "rollout_finished": false,
    "native_success": false,
    "frame": "environment_origin",
    "images": [
      {
        "camera": "cam_high",
        "path": "/mnt/workspace/robot_workspaces/episode-c4mn86sg/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-c4mn86sg/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-c4mn86sg/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-c4mn86sg/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-c4mn86sg/agent/observations/000000/camera_parameters.json"
  }

• exec_command(cmd="/root/miniconda3/envs/RoboDojo/bin/python - <<'PY' import json,numpy as np from PIL impo…")→退出码 0 · 182 字
  参数原文· 1,121 字JSON

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  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nimport json,numpy as np\nfrom PIL import Image\nj=json.load(open('observations/000000/observation.json'))\ndef triangulate(a,uv,b,vw):\n A=[];v=[]\n for idx,p in [(a,uv),(b,vw)]:\n  c=j['images'][idx]['calibration']; P=np.array(c['intrinsic_matrix'])@np.array(c['environment_to_optical'])[:3]\n  for i in range(2):\n   row=P[i]-p[i]*P[2];A.append(row[:3]);v.append(-row[3])\n x=np.linalg.lstsq(A,v,rcond=None)[0];return x\nprint('small top',triangulate(0,(132,220),1,(170,305)))\nprint('big top',triangulate(0,(537,221),2,(510,264)))\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 z in [.7,.72,.74,.75,.76]:\n print('plane',z)\n for uv in [(140,232),(113,276),(209,310),(520,257),(463,304)]:\n  ray=Ti[:3,:3]@np.linalg.inv(K)@np.r_[uv,1];o=Ti[:3,3];p=o+ray*((z-o[2])/ray[2]); print(np.round(p,3),end=' ')\n print()\nImage.open('observations/000000/cam_high.png').resize((1280,960)).save('initial_high_large.png')\nPY",
    "max_output_tokens": 2000
  }

  返回原文· 789 字代码

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  Process exited with code 0
  Original token count: 182
  Output:
  small top [-0.39206132 -0.0737679   0.81227266]
  big top [ 0.38258454 -0.12606312  0.88062179]
  plane 0.7
  [-0.446 -0.036  0.7  ] [-0.47  -0.153  0.7  ] [-0.237 -0.232  0.7  ] [ 0.471 -0.105  0.7  ] [ 0.309 -0.219  0.7  ] 
  plane 0.72
  [-0.431 -0.048  0.72 ] [-0.455 -0.162  0.72 ] [-0.229 -0.238  0.72 ] [ 0.456 -0.115  0.72 ] [ 0.299 -0.225  0.72 ] 
  plane 0.74
  [-0.416 -0.061  0.74 ] [-0.439 -0.17   0.74 ] [-0.222 -0.243  0.74 ] [ 0.44  -0.125  0.74 ] [ 0.289 -0.231  0.74 ] 
  plane 0.75
  [-0.409 -0.067  0.75 ] [-0.432 -0.175  0.75 ] [-0.218 -0.246  0.75 ] [ 0.433 -0.13   0.75 ] [ 0.283 -0.234  0.75 ] 
  plane 0.76
  [-0.402 -0.073  0.76 ] [-0.424 -0.179  0.76 ] [-0.214 -0.249  0.76 ] [ 0.425 -0.135  0.76 ] [ 0.278 -0.237  0.76 ] 
  

• view_image(path="/mnt/workspace/robot_workspaces/episode-c4mn86sg/agent/initial_high_large.png")→1 张图
  查看的图
  参数原文· 93 字JSON

  {"path": "/mnt/workspace/robot_workspaces/episode-c4mn86sg/agent/initial_high_large.png"}
  返回原文· 315 字JSON

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  [
    {
      "type": "input_image",
      "image_url": {
        "$image": "assets/4a04d97bd45b80cc685c77b3c26ae0e45c0fee7d4a6bbb5e8dc5464880331103.png",
        "sha256": "4a04d97bd45b80cc685c77b3c26ae0e45c0fee7d4a6bbb5e8dc5464880331103",
        "mime_type": "image/png",
        "width": 1280,
        "height": 960
      }
    }
  ]

• exec_command(cmd="/root/miniconda3/envs/RoboDojo/bin/python - <<'PY' import json,numpy as np j=json.load(o…")→退出码 0 · 60 字
  参数原文· 602 字JSON

  1 2 3

  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nimport json,numpy as np\nj=json.load(open('observations/000000/observation.json'))\ndef tri(uv,vw,b=1):\n A=[];v=[]\n for idx,p in [(0,uv),(b,vw)]:\n  c=j['images'][idx]['calibration']; P=np.array(c['intrinsic_matrix'])@np.array(c['environment_to_optical'])[:3]\n  for i in range(2):\n   row=P[i]-p[i]*P[2]; A.append(row[:3]);v.append(-row[3])\n return np.linalg.lstsq(A,v,rcond=None)[0]\nfor a,b in [((134,220),(171,305)),((141,233),(181,372)),((532,220),(510,264)),((517,253),(505,451))]: print(a,b,tri(a,b,1 if a[0]<320 else 2))\nPY"
  }

  返回原文· 300 字纯文本

  Process exited with code 0 Original token count: 60 Output: (134, 220) (171, 305) [-0.39286344 -0.06…

• exec_command(cmd="/root/miniconda3/envs/RoboDojo/bin/python - <<'PY' from scipy.spatial.transform import R…")→退出码 0 · 48 字
  参数原文· 355 字JSON

  1 2 3

  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nfrom scipy.spatial.transform import Rotation as R\nimport numpy as np\nq0=R.from_quat([0,0,.70710678,.70710678]);qt=R.from_matrix([[0,-1,0],[0,0,1],[-1,0,0]])\nprint('down',qt.as_quat()[[3,0,1,2]])\nfor a in [.6,1.2,1.57]:\n q=q0*R.from_rotvec([0,a,0]);print(a,q.as_quat()[[3,0,1,2]])\nPY"
  }

  返回原文· 250 字纯文本

  Process exited with code 0 Original token count: 48 Output: down [-0.5 0.5 -0.5 -0.5] 0.6 [ 0.675524…

• robot_act(steps=10, obs=obs_000000)→obs_000010
  参数原文· 667 字JSON

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  {
    "observation_id": "obs_000000",
    "reason": "The dolls are below the open grippers. Raise both wrists into open space while beginning the downward grasp orientation.",
    "steps": 10,
    "target": {
      "left": {
        "position": [-0.32, -0.32, 1.06],
        "quaternion_wxyz": [0.675525, -0.208964, 0.208964, 0.675525],
        "gripper_closed": false
      },
      "right": {"position": [0.32, -0.32, 1.06], "quaternion_wxyz": [0.675525, -0.208964, 0.208964, 0.675525], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000010 · 步 10 · 剩余 1040 步 · 左末端 (-0.31, -0.34, 0.99) 米 · 右末端 (0.31, -0.34, 0.99) 米

{
  "observation_id": "obs_000010",
  "step_id": 10,
  "instruction": "Arrange the five nesting dolls in a row from left to right, from smallest to largest. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.306, -0.335, 0.987], "quaternion_wxyz": [0.695, -0.132, 0.131, 0.695], "gripper_opening_command": 1.0},
    "right": {"position": [0.307, -0.335, 0.987], "quaternion_wxyz": [0.695, -0.131, 0.132, 0.695], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1050,
  "remaining_steps": 1040,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=12, obs=obs_000010)→obs_000022
  参数原文· 667 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000010",
    "reason": "Both wrists have risen without disturbing the dolls. Continue rotating above them, keeping finger tips above the tallest doll.",
    "steps": 12,
    "target": {
      "left": {"position": [-0.35, -0.25, 1.075], "quaternion_wxyz": [0.5836, -0.399263, 0.399263, 0.5836], "gripper_closed": false},
      "right": {"position": [0.35, -0.25, 1.075], "quaternion_wxyz": [0.5836, -0.399263, 0.399263, 0.5836], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000022", "native_success": false}

观测 obs_000022 · 步 22 · 剩余 1028 步 · 左末端 (-0.33, -0.28, 1.04) 米 · 右末端 (0.33, -0.28, 1.04) 米

{
  "observation_id": "obs_000022",
  "step_id": 22,
  "instruction": "Arrange the five nesting dolls in a row from left to right, from smallest to largest. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.333, -0.277, 1.041], "quaternion_wxyz": [0.647, -0.287, 0.284, 0.647], "gripper_opening_command": 1.0},
    "right": {"position": [0.333, -0.277, 1.041], "quaternion_wxyz": [0.647, -0.284, 0.287, 0.647], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1050,
  "remaining_steps": 1028,
  "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 · 34 字
  参数原文· 651 字JSON

  1 2 3

  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nimport json,numpy as np\nj=json.load(open('observations/000022/observation.json'))\ndef tri(uv,vw,b):\n A=[];v=[]\n for idx,p in [(0,uv),(b,vw)]:\n  c=j['images'][idx]['calibration']; P=np.array(c['intrinsic_matrix'])@np.array(c['environment_to_optical'])[:3]\n  for i in range(2):\n   row=P[i]-p[i]*P[2];A.append(row[:3]);v.append(-row[3])\n x=np.linalg.lstsq(A,v,rcond=None)[0];return np.round(x,4)\nfor name,uv,vw,b in [('small',(133,221),(210,122),1),('leftmid',(95,253),(132,280),1),('rightsmall',(472,287),(177,436),2),('big',(533,222),(474,146),2)]:print(name,tri(uv,vw,b))\nPY"
  }

  返回原文· 193 字纯文本

  Process exited with code 0 Original token count: 34 Output: small [-0.3971 -0.0666 0.7989] leftmid […

• robot_act(steps=3, obs=obs_000022)→obs_000025
  参数原文· 650 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000022",
    "reason": "The smallest doll is at the rear left and the next size is at the front right. Align open fingers vertically above those two isolated dolls.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.395, -0.07, 1.025], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false},
      "right": {"position": [0.27, -0.228, 1.025], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000025 · 步 25 · 剩余 1025 步 · 左末端 (-0.34, -0.26, 1.04) 米 · 右末端 (0.31, -0.26, 1.03) 米

{
  "observation_id": "obs_000025",
  "step_id": 25,
  "instruction": "Arrange the five nesting dolls in a row from left to right, from smallest to largest. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.339, -0.256, 1.037], "quaternion_wxyz": [0.629, -0.325, 0.322, 0.629], "gripper_opening_command": 1.0},
    "right": {"position": [0.314, -0.262, 1.034], "quaternion_wxyz": [0.625, -0.332, 0.33, 0.625], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1050,
  "remaining_steps": 1025,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000025)→obs_000028
  参数原文· 657 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000025",
    "reason": "The wrists are still behind their approach positions and the dolls remain visible. Continue the open, downward alignment above the two small dolls.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.395, -0.07, 1.025], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false},
      "right": {"position": [0.27, -0.228, 1.025], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000028", "native_success": false}

观测 obs_000028 · 步 28 · 剩余 1022 步 · 左末端 (-0.35, -0.23, 1.03) 米 · 右末端 (0.29, -0.24, 1.03) 米

{
  "observation_id": "obs_000028",
  "step_id": 28,
  "instruction": "Arrange the five nesting dolls in a row from left to right, from smallest to largest. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.345, -0.234, 1.034], "quaternion_wxyz": [0.609, -0.361, 0.359, 0.608], "gripper_opening_command": 1.0},
    "right": {"position": [0.291, -0.244, 1.027], "quaternion_wxyz": [0.597, -0.383, 0.377, 0.596], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1050,
  "remaining_steps": 1022,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000028)→obs_000031
  参数原文· 644 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000028",
    "reason": "Both open grippers remain safely above the dolls. Continue alignment until their measured poses reach the vertical approach positions.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.395, -0.07, 1.025], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false},
      "right": {"position": [0.27, -0.228, 1.025], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000031", "native_success": false}

观测 obs_000031 · 步 31 · 剩余 1019 步 · 左末端 (-0.35, -0.21, 1.03) 米 · 右末端 (0.27, -0.23, 1.02) 米

{
  "observation_id": "obs_000031",
  "step_id": 31,
  "instruction": "Arrange the five nesting dolls in a row from left to right, from smallest to largest. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.352, -0.212, 1.03], "quaternion_wxyz": [0.586, -0.397, 0.395, 0.585], "gripper_opening_command": 1.0},
    "right": {"position": [0.274, -0.231, 1.024], "quaternion_wxyz": [0.566, -0.428, 0.422, 0.565], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1050,
  "remaining_steps": 1019,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=12, obs=obs_000031)→obs_000043
  参数原文· 684 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000031",
    "reason": "The right gripper is centered over the second-smallest doll; the left is still moving through clear overhead space. Finish overhead positioning before descending to contact.",
    "steps": 12,
    "target": {
      "left": {"position": [-0.395, -0.07, 1.025], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false},
      "right": {"position": [0.27, -0.228, 1.025], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000043", "native_success": false}

观测 obs_000043 · 步 43 · 剩余 1007 步 · 左末端 (-0.38, -0.12, 1.02) 米 · 右末端 (0.27, -0.23, 1.02) 米

{
  "observation_id": "obs_000043",
  "step_id": 43,
  "instruction": "Arrange the five nesting dolls in a row from left to right, from smallest to largest. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.38, -0.119, 1.021], "quaternion_wxyz": [0.501, -0.499, 0.499, 0.501], "gripper_opening_command": 1.0},
    "right": {"position": [0.27, -0.228, 1.025], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1050,
  "remaining_steps": 1007,
  "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 · 87 字
  参数原文· 925 字JSON

  1 2 3

  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nimport json,numpy as np\nj=json.load(open('observations/000043/observation.json'))\ndef tri(uv,vw,b):\n A=[];v=[]\n for idx,p in [(0,uv),(b,vw)]:\n  c=j['images'][idx]['calibration'];P=np.array(c['intrinsic_matrix'])@np.array(c['environment_to_optical'])[:3]\n  for i in range(2):\n   row=P[i]-p[i]*P[2];A.append(row[:3]);v.append(-row[3])\n return np.linalg.lstsq(A,v,rcond=None)[0]\nfor n,u,w,b in [('small', (133,221),(276,43),1),('midleft',(93,253),(221,378),1),('smallright',(472,287),(325,211),2)]:print(n,tri(u,w,b))\n# Wrist projected vertical grasp axis at different heights\nfor idx in [1,2]:\n c=j['images'][idx]['calibration'];P=np.array(c['intrinsic_matrix'])@np.array(c['environment_to_optical'])[:3];arm=j['current_eef']['left' if idx==1 else 'right'];\n for z in [.8,.82,.9]:\n  p=P@np.r_[arm['position'][:2],z,1]; print(idx,z,p[:2]/p[2])\nPY"
  }

  返回原文· 405 字代码

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

  Process exited with code 0
  Original token count: 87
  Output:
  small [-0.39264205 -0.07498967  0.80526023]
  midleft [-0.41140966 -0.17037797  0.84644422]
  smallright [ 0.26984718 -0.22977944  0.82847467]
  1 0.8 [320.15922313 176.3769922 ]
  1 0.82 [320.16477985 198.66632916]
  1 0.9 [320.22063858 422.72914137]
  2 0.8 [319.99683037 169.78825916]
  2 0.82 [319.99683196 191.05412645]
  2 0.9 [319.99684752 398.38742584]
  

• robot_act(steps=3, obs=obs_000043)→obs_000046
  参数原文· 688 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000043",
    "reason": "Wrist and head views place the smallest doll at approximately (-0.393, -0.075), and the second-smallest at (0.270, -0.230). Center both open grippers and begin a shallow descent.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.393, -0.075, 0.979], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false},
      "right": {"position": [0.27, -0.23, 0.982], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000046", "native_success": false}

观测 obs_000046 · 步 46 · 剩余 1004 步 · 左末端 (-0.39, -0.09, 0.99) 米 · 右末端 (0.27, -0.23, 0.99) 米

{
  "observation_id": "obs_000046",
  "step_id": 46,
  "instruction": "Arrange the five nesting dolls in a row from left to right, from smallest to largest. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.389, -0.089, 0.991], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 1.0},
    "right": {"position": [0.27, -0.23, 0.992], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1050,
  "remaining_steps": 1004,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000046)→obs_000049
  参数原文· 678 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000046",
    "reason": "Both small dolls are centered between the open fingers in the wrist views. Lower steadily so the finger pads span their upper bodies rather than just their rounded tips.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.393, -0.075, 0.94], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false},
      "right": {"position": [0.27, -0.23, 0.953], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "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 1001 步 · 左末端 (-0.39, -0.08, 0.95) 米 · 右末端 (0.27, -0.23, 0.96) 米

{
  "observation_id": "obs_000049",
  "step_id": 49,
  "instruction": "Arrange the five nesting dolls in a row from left to right, from smallest to largest. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.392, -0.078, 0.951], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 1.0},
    "right": {"position": [0.27, -0.23, 0.961], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1050,
  "remaining_steps": 1001,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000049)→obs_000052
  参数原文· 653 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000049",
    "reason": "The open fingers are aligned but still contact only the tops. Lower another few centimeters to obtain opposed pad contact on the dolls’ bodies.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.393, -0.075, 0.918], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false},
      "right": {"position": [0.27, -0.23, 0.936], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000052", "native_success": false}

观测 obs_000052 · 步 52 · 剩余 998 步 · 左末端 (-0.39, -0.08, 0.92) 米 · 右末端 (0.27, -0.23, 0.94) 米

{
  "observation_id": "obs_000052",
  "step_id": 52,
  "instruction": "Arrange the five nesting dolls in a row from left to right, from smallest to largest. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.393, -0.076, 0.923], "quaternion_wxyz": [0.501, -0.499, 0.499, 0.501], "gripper_opening_command": 1.0},
    "right": {"position": [0.27, -0.23, 0.937], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1050,
  "remaining_steps": 998,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000052)→obs_000055
  参数原文· 679 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000052",
    "reason": "The smallest and second-smallest dolls sit centrally between opposed finger pads at body height. Close both grippers while holding position and orientation steady.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.393, -0.076, 0.923], "quaternion_wxyz": [0.501, -0.499, 0.499, 0.501], "gripper_closed": true},
      "right": {"position": [0.27, -0.23, 0.937], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000055", "native_success": false}

观测 obs_000055 · 步 55 · 剩余 995 步 · 左末端 (-0.39, -0.08, 0.92) 米 · 右末端 (0.27, -0.23, 0.94) 米

{
  "observation_id": "obs_000055",
  "step_id": 55,
  "instruction": "Arrange the five nesting dolls in a row from left to right, from smallest to largest. Then reset the robot arm.",
  "current_eef": {
    "left": {
      "position": [-0.393, -0.076, 0.923],
      "quaternion_wxyz": [0.501, -0.499, 0.499, 0.501],
      "gripper_opening_command": 0.327
    },
    "right": {"position": [0.27, -0.23, 0.937], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 0.334}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1050,
  "remaining_steps": 995,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000055)→obs_000058
  参数原文· 637 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000055",
    "reason": "The pads now touch opposite sides of each small doll. Finish closure before testing whether either doll is securely held.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.393, -0.076, 0.923], "quaternion_wxyz": [0.501, -0.499, 0.499, 0.501], "gripper_closed": true},
      "right": {"position": [0.27, -0.23, 0.937], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000058", "native_success": false}

观测 obs_000058 · 步 58 · 剩余 992 步 · 左末端 (-0.39, -0.08, 0.92) 米 · 右末端 (0.27, -0.23, 0.94) 米

{
  "observation_id": "obs_000058",
  "step_id": 58,
  "instruction": "Arrange the five nesting dolls in a row from left to right, from smallest to largest. Then reset the robot arm.",
  "current_eef": {
    "left": {
      "position": [-0.393, -0.076, 0.923],
      "quaternion_wxyz": [0.501, -0.499, 0.499, 0.501],
      "gripper_opening_command": 0.221
    },
    "right": {"position": [0.27, -0.23, 0.937], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 0.331}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1050,
  "remaining_steps": 992,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000058)→obs_000061
  参数原文· 642 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000058",
    "reason": "Both pads appear seated around the dolls, but grasp stability is unverified. Make a small vertical test lift without rotating.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.393, -0.076, 0.955], "quaternion_wxyz": [0.501, -0.499, 0.499, 0.501], "gripper_closed": true},
      "right": {"position": [0.27, -0.23, 0.969], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000061", "native_success": false}

观测 obs_000061 · 步 61 · 剩余 989 步 · 左末端 (-0.39, -0.08, 0.95) 米 · 右末端 (0.27, -0.23, 0.97) 米

{
  "observation_id": "obs_000061",
  "step_id": 61,
  "instruction": "Arrange the five nesting dolls in a row from left to right, from smallest to largest. Then reset the robot arm.",
  "current_eef": {
    "left": {
      "position": [-0.393, -0.077, 0.954],
      "quaternion_wxyz": [0.501, -0.499, 0.499, 0.501],
      "gripper_opening_command": 0.221
    },
    "right": {"position": [0.27, -0.23, 0.967], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 0.331}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1050,
  "remaining_steps": 989,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=12, obs=obs_000061)→obs_000073
  参数原文· 679 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000061",
    "reason": "Both dolls rose with their grippers and remain fixed in the wrist views. Lift them above the remaining dolls before moving toward a clear row at the back of the workspace.",
    "steps": 12,
    "target": {
      "left": {"position": [-0.393, -0.076, 1.09], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true},
      "right": {"position": [0.27, -0.23, 1.105], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000073", "native_success": false}

观测 obs_000073 · 步 73 · 剩余 977 步 · 左末端 (-0.39, -0.08, 1.07) 米 · 右末端 (0.27, -0.23, 1.09) 米

{
  "observation_id": "obs_000073",
  "step_id": 73,
  "instruction": "Arrange the five nesting dolls in a row from left to right, from smallest to largest. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.392, -0.08, 1.073], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 0.221},
    "right": {"position": [0.27, -0.232, 1.09], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 0.331}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1050,
  "remaining_steps": 977,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=15, obs=obs_000073)→obs_000088
  参数原文· 672 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000073",
    "reason": "Both small dolls are securely suspended above the clutter. Move the smallest toward the left end of a clear front row while staging the second-smallest near the center.",
    "steps": 15,
    "target": {
      "left": {"position": [-0.3, -0.3, 1.085], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true},
      "right": {"position": [0.08, -0.3, 1.105], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000088 · 步 88 · 剩余 962 步 · 左末端 (-0.33, -0.22, 1.08) 米 · 右末端 (0.13, -0.28, 1.10) 米

{
  "observation_id": "obs_000088",
  "step_id": 88,
  "instruction": "Arrange the five nesting dolls in a row from left to right, from smallest to largest. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.334, -0.218, 1.084], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 0.221},
    "right": {"position": [0.131, -0.283, 1.1], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 0.33}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1050,
  "remaining_steps": 962,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=12, obs=obs_000088)→obs_000100
  参数原文· 678 字JSON

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  {
    "observation_id": "obs_000088",
    "reason": "The row area in front of the original dolls is clear. Position the smallest over its leftmost spot and keep the second-smallest high and separated while the first is placed.",
    "steps": 12,
    "target": {
      "left": {"position": [-0.3, -0.32, 0.987], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true},
      "right": {"position": [0.0, -0.32, 1.105], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000100", "native_success": false}

观测 obs_000100 · 步 100 · 剩余 950 步 · 左末端 (-0.31, -0.30, 1.01) 米 · 右末端 (0.00, -0.32, 1.10) 米

{
  "observation_id": "obs_000100",
  "step_id": 100,
  "instruction": "Arrange the five nesting dolls in a row from left to right, from smallest to largest. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.309, -0.295, 1.011], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 0.221},
    "right": {"position": [0.0, -0.32, 1.105], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 0.332}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1050,
  "remaining_steps": 950,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000100)→obs_000103
  参数原文· 670 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000100",
    "reason": "The smallest remains stable in its grasp above the left end of the planned row. Descend vertically toward its original support height while the right arm holds clear.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.3, -0.32, 0.949], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true},
      "right": {"position": [0.0, -0.32, 1.105], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000103 · 步 103 · 剩余 947 步 · 左末端 (-0.31, -0.31, 0.98) 米 · 右末端 (-0.00, -0.32, 1.10) 米

{
  "observation_id": "obs_000103",
  "step_id": 103,
  "instruction": "Arrange the five nesting dolls in a row from left to right, from smallest to largest. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.306, -0.306, 0.984], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 0.221},
    "right": {"position": [0.0, -0.32, 1.105], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 0.331}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1050,
  "remaining_steps": 947,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000103)→obs_000106
  参数原文· 622 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000103",
    "reason": "The smallest is still suspended and level. Continue the controlled vertical descent to just above the support surface.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.3, -0.32, 0.926], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true},
      "right": {"position": [0.0, -0.32, 1.105], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000106", "native_success": false}

观测 obs_000106 · 步 106 · 剩余 944 步 · 左末端 (-0.30, -0.31, 0.95) 米 · 右末端 (-0.00, -0.32, 1.10) 米

{
  "observation_id": "obs_000106",
  "step_id": 106,
  "instruction": "Arrange the five nesting dolls in a row from left to right, from smallest to largest. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.303, -0.314, 0.953], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 0.221},
    "right": {"position": [0.0, -0.32, 1.105], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 0.331}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1050,
  "remaining_steps": 944,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000106)→obs_000109
  参数原文· 632 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000106",
    "reason": "The smallest remains directly above its leftmost destination. Set its base onto the table at the height verified before lifting.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.3, -0.32, 0.923], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true},
      "right": {"position": [0.0, -0.32, 1.105], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000109", "native_success": false}

观测 obs_000109 · 步 109 · 剩余 941 步 · 左末端 (-0.30, -0.32, 0.92) 米 · 右末端 (-0.00, -0.32, 1.10) 米

{
  "observation_id": "obs_000109",
  "step_id": 109,
  "instruction": "Arrange the five nesting dolls in a row from left to right, from smallest to largest. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.3, -0.32, 0.925], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 0.221},
    "right": {"position": [0.0, -0.32, 1.105], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 0.331}
  },
  "control_dt": 0.04,
  "max_episode_steps": 1050,
  "remaining_steps": 941,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000109)→obs_000112
  参数原文· 652 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000109",
    "reason": "The smallest is at its support height with an upright orientation. Open the left fingers gently while continuing to hold the second-smallest clear.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.3, -0.32, 0.923], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false},
      "right": {"position": [0.0, -0.32, 1.105], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000112", "native_success": false}

观测 obs_000112 · 步 112 · 剩余 938 步 · 左末端 (-0.30, -0.32, 0.92) 米 · 右末端 (-0.00, -0.32, 1.10) 米