叠积木 · stack_blocks_000099任务成功第二档

观测 obs_000000 · 步 0 · 剩余 550 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": "Stack the three blocks with different textures. 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": 550,
  "remaining_steps": 550,
  "native_success": false,
  "frame": "environment_origin",
  "task_context": {
    "episode_start_eef": {
      "left": {"position": [-0.3, -0.352, 0.922], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
      "right": {"position": [0.3, -0.352, 0.922], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0}
    }
  }
}

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

  {"cmd": "cat .agents/skills/robot-manipulation/SKILL.md", "max_output_tokens": 12000}
  返回原文· 6,129 字代码

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

• exec_command(cmd="cat observations/000000/observation.json")→退出码 0 · 1,440 字
  参数原文· 85 字JSON

  {"cmd": "cat observations/000000/observation.json", "max_output_tokens": 14000}
  返回原文· 5,820 字代码

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  Process exited with code 0
  Original token count: 1440
  Output:
  {
    "episode_id": "7e6b6e3a047745058678287fe6908b1b",
    "observation_id": "obs_000000",
    "step_id": 0,
    "instruction": "Stack the three blocks with different textures. 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": 550,
    "remaining_steps": 550,
    "rollout_finished": false,
    "native_success": false,
    "frame": "environment_origin",
    "images": [
      {
        "camera": "cam_high",
        "path": "/mnt/workspace/robot_workspaces/episode-yaoud85x/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-yaoud85x/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-yaoud85x/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-yaoud85x/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-yaoud85x/agent/observations/000000/camera_parameters.json"
  }

• exec_command(cmd="/root/miniconda3/envs/RoboDojo/bin/python - <<'PY' import json,numpy as np from scipy.sp…")→退出码 0 · 182 字
  参数原文· 1,013 字JSON

  1 2 3

  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nimport json,numpy as np\nfrom scipy.spatial.transform import Rotation as R\nj=json.load(open('observations/000000/observation.json'))\ndef ray(idx,p):\n c=j['images'][idx]['calibration'];K=np.array(c['intrinsic_matrix']);T=np.array(c['environment_to_optical']);Rt=T[:3,:3];o=-Rt.T@T[:3,3];v=Rt.T@np.linalg.solve(K,[*p,1]);v/=np.linalg.norm(v);return o,v\ndef tri(p,q):\n o,a=ray(0,p);u,b=ray(2,q);t=np.linalg.lstsq(np.column_stack((a,-b)),u-o,rcond=None)[0];pa=o+t[0]*a;pb=u+t[1]*b;print('tri',pa,pb,'mid',(pa+pb)/2,'error',np.linalg.norm(pa-pb))\ntri((486,231),(407,344))\nfor name,p in [('purple',(382,277)),('yellow',(420,281)),('white',(486,231))]:\n o,v=ray(0,p)\n for z in [.75,.77,.78]:\n  point=o+(z-o[2])/v[2]*v;print(name,z,point)\nq=R.from_euler('z',90,degrees=True)*R.from_euler('y',90,degrees=True)\nfor ang in [40,80,90]:\n r=R.from_euler('z',90,degrees=True)*R.from_euler('y',ang,degrees=True);print(ang,r.as_quat()[[3,0,1,2]])\nPY"
  }

  返回原文· 788 字代码

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  Process exited with code 0
  Original token count: 182
  Output:
  tri [ 0.35176623 -0.08819635  0.78876316] [ 0.35465429 -0.08542076  0.79243992] mid [ 0.35321026 -0.08680856  0.79060154] error 0.005437216238833377
  purple 0.75 [ 0.12907505 -0.17678353  0.75      ]
  purple 0.77 [ 0.12444871 -0.18514254  0.77      ]
  purple 0.78 [ 0.12213553 -0.18932205  0.78      ]
  yellow 0.75 [ 0.20664363 -0.18566921  0.75      ]
  yellow 0.77 [ 0.19923704 -0.19370974  0.77      ]
  yellow 0.78 [ 0.19553375 -0.19773001  0.78      ]
  white 0.75 [ 0.37802703 -0.06417239  0.75      ]
  white 0.77 [ 0.36447767 -0.07656764  0.77      ]
  white 0.78 [ 0.35770299 -0.08276527  0.78      ]
  40 [ 0.66446302 -0.24184476  0.24184476  0.66446302]
  80 [ 0.54167522 -0.45451948  0.45451948  0.54167522]
  90 [ 0.5 -0.5  0.5  0.5]
  

• robot_act(steps=3, obs=obs_000000)→obs_000003
  参数原文· 677 字JSON

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  {
    "observation_id": "obs_000000",
    "reason": "The white block is isolated to the right of the other two. Begin a clear-space approach while pitching the right fingers toward a downward grasp.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.299529, -0.3523, 0.9215], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false},
      "right": {"position": [0.34, -0.24, 1.0], "quaternion_wxyz": [0.664463, -0.241845, 0.241845, 0.664463], "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 547 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.30, -0.35, 0.93) 米

{
  "observation_id": "obs_000003",
  "step_id": 3,
  "instruction": "Stack the three blocks with different textures. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
    "right": {"position": [0.303, -0.346, 0.928], "quaternion_wxyz": [0.707, -0.025, 0.026, 0.707], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 550,
  "remaining_steps": 547,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=15, obs=obs_000003)→obs_000018
  参数原文· 703 字JSON

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  {
    "observation_id": "obs_000003",
    "reason": "The blocks are stationary and the white block offers a clear base for the stack. Move the right arm through open space toward the yellow block, with fingers still well above all blocks.",
    "steps": 15,
    "target": {
      "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false},
      "right": {"position": [0.235, -0.235, 1.025], "quaternion_wxyz": [0.633, -0.315, 0.315, 0.633], "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 532 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.27, -0.29, 0.98) 米

{
  "observation_id": "obs_000018",
  "step_id": 18,
  "instruction": "Stack the three blocks with different textures. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
    "right": {"position": [0.271, -0.287, 0.978], "quaternion_wxyz": [0.679, -0.199, 0.196, 0.679], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 550,
  "remaining_steps": 532,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=15, obs=obs_000018)→obs_000033
  参数原文· 713 字JSON

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

  {
    "observation_id": "obs_000018",
    "reason": "The right wrist now sees the yellow and white blocks, with no displacement. Continue above the yellow block and rotate the fingers almost vertical while maintaining tabletop clearance.",
    "steps": 15,
    "target": {
      "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false},
      "right": {
        "position": [0.201, -0.194, 1.02],
        "quaternion_wxyz": [0.541675, -0.454519, 0.454519, 0.541675],
        "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 517 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.21, -0.20, 1.01) 米

{
  "observation_id": "obs_000033",
  "step_id": 33,
  "instruction": "Stack the three blocks with different textures. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
    "right": {"position": [0.21, -0.205, 1.012], "quaternion_wxyz": [0.594, -0.386, 0.383, 0.593], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 550,
  "remaining_steps": 517,
  "native_success": false,
  "frame": "environment_origin"
}

• exec_command(cmd="/root/miniconda3/envs/RoboDojo/bin/python - <<'PY' import json,numpy as np from PIL impo…")→退出码 0 · 19 字
  参数原文· 623 字JSON

  1 2 3

  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nimport json,numpy as np\nfrom PIL import Image\nj=json.load(open('observations/000033/observation.json'))\nImage.open(j['images'][2]['path']).crop((160,280,350,460)).resize((570,540)).save('yellow_crop.png')\ndef ray(i,p):\n c=j['images'][i]['calibration'];K=np.array(c['intrinsic_matrix']);T=np.array(c['environment_to_optical']);rot=T[:3,:3];o=-rot.T@T[:3,3];v=rot.T@np.linalg.solve(K,[*p,1]);return o,v/np.linalg.norm(v)\na,u=ray(0,(419,281));b,v=ray(2,(275,363));t=np.linalg.lstsq(np.column_stack([u,-v]),b-a,rcond=None)[0];print(a+t[0]*u,b+t[1]*v)\nPY"
  }

  返回原文· 136 字纯文本

  Process exited with code 0 Original token count: 19 Output: [ 0.19258606 -0.19881818 0.78270673] [ 0…

• view_image(path="/mnt/workspace/robot_workspaces/episode-yaoud85x/agent/yellow_crop.png")→1 张图
  查看的图
  参数原文· 86 字JSON

  {"path": "/mnt/workspace/robot_workspaces/episode-yaoud85x/agent/yellow_crop.png"}
  返回原文· 314 字JSON

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  [
    {
      "type": "input_image",
      "image_url": {
        "$image": "assets/e472902b4c86e133dbaf987033076ca502a87d9b5953df986824faeeb6cd8805.png",
        "sha256": "e472902b4c86e133dbaf987033076ca502a87d9b5953df986824faeeb6cd8805",
        "mime_type": "image/png",
        "width": 570,
        "height": 540
      }
    }
  ]

• exec_command(cmd="/root/miniconda3/envs/RoboDojo/bin/python - <<'PY' import json,numpy as np j=json.load(o…")→退出码 0 · 33 字
  参数原文· 595 字JSON

  1 2 3

  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nimport json,numpy as np\nj=json.load(open('observations/000033/observation.json'))\ndef ray(i,p):\n c=j['images'][i]['calibration'];K=np.array(c['intrinsic_matrix']);T=np.array(c['environment_to_optical']);rot=T[:3,:3];o=-rot.T@T[:3,3];v=rot.T@np.linalg.solve(K,[*p,1]);return o,v/np.linalg.norm(v)\nfor ps in [((419,279),(277,350)),((382,276),(132,337))]:\n a,u=ray(0,ps[0]);b,v=ray(2,ps[1]);t=np.linalg.lstsq(np.column_stack([u,-v]),b-a,rcond=None)[0];print((a+t[0]*u+b+t[1]*v)/2,'error',np.linalg.norm(a+t[0]*u-b-t[1]*v))\nPY"
  }

  返回原文· 191 字纯文本

  Process exited with code 0 Original token count: 33 Output: [ 0.1926181 -0.19308992 0.78069699] erro…

• exec_command(cmd="/root/miniconda3/envs/RoboDojo/bin/python - <<'PY' from PIL import Image Image.open('obs…")→退出码 0 · 0 字
  参数原文· 211 字JSON

  1 2 3

  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nfrom PIL import Image\nImage.open('observations/000033/cam_high.png').crop((360,255,440,310)).resize((640,440)).save('blocks_high_crop.png')\nPY"
  }

  返回原文· 59 字纯文本

  Process exited with code 0 Original token count: 0 Output:

• view_image(path="/mnt/workspace/robot_workspaces/episode-yaoud85x/agent/blocks_high_crop.png")→1 张图
  查看的图
  参数原文· 91 字JSON

  {"path": "/mnt/workspace/robot_workspaces/episode-yaoud85x/agent/blocks_high_crop.png"}
  返回原文· 314 字JSON

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

  [
    {
      "type": "input_image",
      "image_url": {
        "$image": "assets/fbe9f0d72b15481eef030fb431ba2cc6ff4c6d96e6d7d2671f9db3146f1c7443.png",
        "sha256": "fbe9f0d72b15481eef030fb431ba2cc6ff4c6d96e6d7d2671f9db3146f1c7443",
        "mime_type": "image/png",
        "width": 640,
        "height": 440
      }
    }
  ]

• 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· 550 字JSON

  1 2 3

  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nimport json,numpy as np\nj=json.load(open('observations/000033/observation.json'))\ndef ray(i,p):\n c=j['images'][i]['calibration'];K=np.array(c['intrinsic_matrix']);T=np.array(c['environment_to_optical']);rot=T[:3,:3];o=-rot.T@T[:3,3];v=rot.T@np.linalg.solve(K,[*p,1]);return o,v/np.linalg.norm(v)\nfor ph,pw in [((420,281),(276,354)),((382,277),(133,341))]:\n a,u=ray(0,ph);b,v=ray(2,pw);t=np.linalg.lstsq(np.column_stack([u,-v]),b-a,rcond=None)[0];print((a+t[0]*u+b+t[1]*v)/2)\nPY"
  }

  返回原文· 136 字纯文本

  Process exited with code 0 Original token count: 19 Output: [ 0.19311487 -0.19618519 0.77951664] [ 0…

• robot_act(steps=3, obs=obs_000033)→obs_000036
  参数原文· 683 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000033",
    "reason": "The wrist view shows the yellow block's broad opposite faces and a gap from the purple block. Align the downward fingers over its visually estimated center before descending.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false},
      "right": {"position": [0.193, -0.194, 1.005], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000036 · 步 36 · 剩余 514 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.20, -0.20, 1.00) 米

{
  "observation_id": "obs_000036",
  "step_id": 36,
  "instruction": "Stack the three blocks with different textures. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
    "right": {"position": [0.196, -0.196, 1.005], "quaternion_wxyz": [0.564, -0.429, 0.426, 0.563], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 550,
  "remaining_steps": 514,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000036)→obs_000039
  参数原文· 650 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000036",
    "reason": "The yellow block remains visible between the open fingers. Finish the vertical alignment above it, keeping finger tips above its top surface.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false},
      "right": {"position": [0.193, -0.194, 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_000039", "native_success": false}

观测 obs_000039 · 步 39 · 剩余 511 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.19, -0.19, 0.98) 米

{
  "observation_id": "obs_000039",
  "step_id": 39,
  "instruction": "Stack the three blocks with different textures. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
    "right": {"position": [0.193, -0.195, 0.982], "quaternion_wxyz": [0.518, -0.482, 0.482, 0.517], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 550,
  "remaining_steps": 511,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000039)→obs_000042
  参数原文· 693 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000039",
    "reason": "The fingers are nearly vertical and centered around the yellow block in the wrist view. Lower toward the upper side faces with the gripper open, preserving clearance from the tabletop.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false},
      "right": {"position": [0.193, -0.195, 0.947], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000042 · 步 42 · 剩余 508 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.19, -0.19, 0.95) 米

{
  "observation_id": "obs_000042",
  "step_id": 42,
  "instruction": "Stack the three blocks with different textures. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
    "right": {"position": [0.193, -0.195, 0.948], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 550,
  "remaining_steps": 508,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000042)→obs_000045
  参数原文· 670 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000042",
    "reason": "The open fingers bracket the yellow block without disturbing its neighbors. Descend another small amount so the lower finger pads overlap its vertical side faces.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false},
      "right": {"position": [0.193, -0.195, 0.92], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000045 · 步 45 · 剩余 505 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.19, -0.20, 0.92) 米

{
  "observation_id": "obs_000045",
  "step_id": 45,
  "instruction": "Stack the three blocks with different textures. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
    "right": {"position": [0.193, -0.195, 0.923], "quaternion_wxyz": [0.501, -0.499, 0.5, 0.501], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 550,
  "remaining_steps": 505,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000045)→obs_000048
  参数原文· 732 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000045",
    "reason": "The yellow block is centered in the wrist view and the finger tips overlap its sides. The nearby purple block may have shifted slightly, so hold the arm stationary and close to pull the fingers away from that neighbor.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false},
      "right": {"position": [0.193, -0.195, 0.923], "quaternion_wxyz": [0.501, -0.499, 0.5, 0.501], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000048 · 步 48 · 剩余 502 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.19, -0.19, 0.92) 米

{
  "observation_id": "obs_000048",
  "step_id": 48,
  "instruction": "Stack the three blocks with different textures. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
    "right": {"position": [0.193, -0.195, 0.923], "quaternion_wxyz": [0.501, -0.499, 0.5, 0.501], "gripper_opening_command": 0.312}
  },
  "control_dt": 0.04,
  "max_episode_steps": 550,
  "remaining_steps": 502,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000048)→obs_000051
  参数原文· 677 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000048",
    "reason": "Both finger pads now meet the yellow block's opposite faces, while closure is still interpolating. Complete closure at the same measured pose before the lift test.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false},
      "right": {"position": [0.193, -0.195, 0.923], "quaternion_wxyz": [0.501, -0.499, 0.5, 0.501], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000051 · 步 51 · 剩余 499 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.19, -0.19, 0.92) 米

{
  "observation_id": "obs_000051",
  "step_id": 51,
  "instruction": "Stack the three blocks with different textures. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
    "right": {"position": [0.193, -0.195, 0.923], "quaternion_wxyz": [0.501, -0.499, 0.5, 0.501], "gripper_opening_command": 0.3}
  },
  "control_dt": 0.04,
  "max_episode_steps": 550,
  "remaining_steps": 499,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000051)→obs_000054
  参数原文· 675 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000051",
    "reason": "The finger pads remain in contact with the yellow block. Make a small vertical test lift with unchanged orientation to verify that the block follows the gripper.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false},
      "right": {"position": [0.193, -0.195, 0.948], "quaternion_wxyz": [0.501, -0.499, 0.5, 0.501], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000054 · 步 54 · 剩余 496 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.19, -0.20, 0.95) 米

{
  "observation_id": "obs_000054",
  "step_id": 54,
  "instruction": "Stack the three blocks with different textures. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
    "right": {"position": [0.193, -0.195, 0.947], "quaternion_wxyz": [0.501, -0.499, 0.5, 0.501], "gripper_opening_command": 0.298}
  },
  "control_dt": 0.04,
  "max_episode_steps": 550,
  "remaining_steps": 496,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000054)→obs_000057
  参数原文· 680 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000054",
    "reason": "The yellow block rose with the gripper and stayed fixed in the wrist image, confirming the grasp. Raise it vertically to clear both remaining blocks before transport.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false},
      "right": {"position": [0.193, -0.195, 1.015], "quaternion_wxyz": [0.501, -0.499, 0.5, 0.501], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000057 · 步 57 · 剩余 493 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.19, -0.20, 0.98) 米

{
  "observation_id": "obs_000057",
  "step_id": 57,
  "instruction": "Stack the three blocks with different textures. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
    "right": {"position": [0.193, -0.196, 0.98], "quaternion_wxyz": [0.501, -0.499, 0.5, 0.501], "gripper_opening_command": 0.298}
  },
  "control_dt": 0.04,
  "max_episode_steps": 550,
  "remaining_steps": 493,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=5, obs=obs_000057)→obs_000062
  参数原文· 681 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000057",
    "reason": "The yellow block is securely lifted and its underside now clears the tabletop blocks. Continue upward before lateral transport to preserve a generous clearance margin.",
    "steps": 5,
    "target": {
      "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false},
      "right": {"position": [0.193, -0.195, 1.045], "quaternion_wxyz": [0.501, -0.499, 0.5, 0.501], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000062 · 步 62 · 剩余 488 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.19, -0.20, 1.03) 米

{
  "observation_id": "obs_000062",
  "step_id": 62,
  "instruction": "Stack the three blocks with different textures. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
    "right": {"position": [0.194, -0.196, 1.034], "quaternion_wxyz": [0.501, -0.499, 0.5, 0.501], "gripper_opening_command": 0.298}
  },
  "control_dt": 0.04,
  "max_episode_steps": 550,
  "remaining_steps": 488,
  "native_success": false,
  "frame": "environment_origin"
}

• view_image(path="/mnt/workspace/robot_workspaces/episode-yaoud85x/agent/observations/000000/cam_high.png")→1 张图
  查看的图
  参数原文· 103 字JSON

  {"path": "/mnt/workspace/robot_workspaces/episode-yaoud85x/agent/observations/000000/cam_high.png"}
  返回原文· 314 字JSON

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

  [
    {
      "type": "input_image",
      "image_url": {
        "$image": "assets/1fd5a7920d637861e82507679e7f5a7e4cdbb2e1934887211902947eae4f9207.png",
        "sha256": "1fd5a7920d637861e82507679e7f5a7e4cdbb2e1934887211902947eae4f9207",
        "mime_type": "image/png",
        "width": 640,
        "height": 480
      }
    }
  ]

• view_image(path="…workspace/robot_workspaces/episode-yaoud85x/agent/observations/000000/cam_right_wrist.png")→1 张图
  查看的图
  参数原文· 110 字JSON

  {"path": "/mnt/workspace/robot_workspaces/episode-yaoud85x/agent/observations/000000/cam_right_wrist.png"}
  返回原文· 314 字JSON

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

  [
    {
      "type": "input_image",
      "image_url": {
        "$image": "assets/a47494df697f61dbd05e8dfc5adf4d67e488326cd1280980b062b5377f932796.png",
        "sha256": "a47494df697f61dbd05e8dfc5adf4d67e488326cd1280980b062b5377f932796",
        "mime_type": "image/png",
        "width": 640,
        "height": 480
      }
    }
  ]

• robot_act(steps=12, obs=obs_000062)→obs_000074
  参数原文· 703 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000062",
    "reason": "The held yellow block has ample clearance above the other blocks and the left arm is outside the path. Transport through open space toward the isolated white base, holding the block upright.",
    "steps": 12,
    "target": {
      "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false},
      "right": {"position": [0.315, -0.1, 1.055], "quaternion_wxyz": [0.501, -0.499, 0.5, 0.501], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000074 · 步 74 · 剩余 476 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.31, -0.10, 1.05) 米

{
  "observation_id": "obs_000074",
  "step_id": 74,
  "instruction": "Stack the three blocks with different textures. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
    "right": {"position": [0.314, -0.102, 1.054], "quaternion_wxyz": [0.501, -0.499, 0.5, 0.501], "gripper_opening_command": 0.298}
  },
  "control_dt": 0.04,
  "max_episode_steps": 550,
  "remaining_steps": 476,
  "native_success": false,
  "frame": "environment_origin"
}

• exec_command(cmd="/root/miniconda3/envs/RoboDojo/bin/python - <<'PY' import json,numpy as np from PIL impo…")→退出码 0 · 56 字
  参数原文· 801 字JSON

  1 2 3

  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nimport json,numpy as np\nfrom PIL import Image\nj=json.load(open('observations/000074/observation.json'))\nImage.open(j['images'][0]['path']).crop((465,220,510,250)).resize((540,360)).save('white_high.png')\nImage.open(j['images'][2]['path']).crop((350,60,470,175)).resize((480,460)).save('white_wrist.png')\ndef ray(i,p):\n c=j['images'][i]['calibration'];T=np.array(c['environment_to_optical']);o=-T[:3,:3].T@T[:3,3];v=T[:3,:3].T@np.linalg.solve(np.array(c['intrinsic_matrix']),[*p,1]);return o,v/np.linalg.norm(v)\nfor pw in [(414,114),(414,122),(411,126)]:\n a,u=ray(0,(486,232));b,v=ray(2,pw);t=np.linalg.lstsq(np.column_stack([u,-v]),b-a,rcond=None)[0];print(pw,(a+t[0]*u+b+t[1]*v)/2,'err',np.linalg.norm(a+t[0]*u-b-t[1]*v))\nPY"
  }

  返回原文· 283 字纯文本

  Process exited with code 0 Original token count: 56 Output: (414, 114) [ 0.35472532 -0.08929241 0.78…

• view_image(path="/mnt/workspace/robot_workspaces/episode-yaoud85x/agent/white_high.png")→1 张图
  查看的图
  参数原文· 85 字JSON

  {"path": "/mnt/workspace/robot_workspaces/episode-yaoud85x/agent/white_high.png"}
  返回原文· 314 字JSON

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

  [
    {
      "type": "input_image",
      "image_url": {
        "$image": "assets/6a462f45a31a124445527436dfe0c796e06f948880605f912264433a6ff2c4df.png",
        "sha256": "6a462f45a31a124445527436dfe0c796e06f948880605f912264433a6ff2c4df",
        "mime_type": "image/png",
        "width": 540,
        "height": 360
      }
    }
  ]

• view_image(path="/mnt/workspace/robot_workspaces/episode-yaoud85x/agent/white_wrist.png")→1 张图
  查看的图
  参数原文· 86 字JSON

  {"path": "/mnt/workspace/robot_workspaces/episode-yaoud85x/agent/white_wrist.png"}
  返回原文· 314 字JSON

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

  [
    {
      "type": "input_image",
      "image_url": {
        "$image": "assets/a41e29a35b81aabd011cf2b6e8325127214238d36fb340141629711cea00efed.png",
        "sha256": "a41e29a35b81aabd011cf2b6e8325127214238d36fb340141629711cea00efed",
        "mime_type": "image/png",
        "width": 480,
        "height": 460
      }
    }
  ]

• exec_command(cmd="/root/miniconda3/envs/RoboDojo/bin/python - <<'PY' import json,numpy as np j=json.load(o…")→退出码 0 · 94 字
  参数原文· 696 字JSON

  1 2 3

  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nimport json,numpy as np\nj=json.load(open('observations/000074/observation.json'))\ndef ray(i,p):\n c=j['images'][i]['calibration'];T=np.array(c['environment_to_optical']);o=-T[:3,:3].T@T[:3,3];v=T[:3,:3].T@np.linalg.solve(np.array(c['intrinsic_matrix']),[*p,1]);return o,v/np.linalg.norm(v)\nfor ph,pw in [((482,224),(376,84)),((493,224),(450,85)),((498,234),(450,152)),((480,237),(376,152)),((489,230),(413,118)),((488,229),(413,118))]:\n a,u=ray(0,ph);b,v=ray(2,pw);t=np.linalg.lstsq(np.column_stack([u,-v]),b-a,rcond=None)[0];print(ph,pw,np.round((a+t[0]*u+b+t[1]*v)/2,5),'err',round(np.linalg.norm(a+t[0]*u-b-t[1]*v),5))\nPY"
  }

  返回原文· 434 字代码

  1 2 3 4 5 6 7 8 9 10

  Process exited with code 0
  Original token count: 94
  Output:
  (482, 224) (376, 84) [ 0.33843 -0.07674  0.79993] err 0.00499
  (493, 224) (450, 85) [ 0.36655 -0.07594  0.79694] err 0.00092
  (498, 234) (450, 152) [ 0.36891 -0.10247  0.79973] err 0.0034
  (480, 237) (376, 152) [ 0.33708 -0.10465  0.79007] err 0.00587
  (489, 230) (413, 118) [ 0.35395 -0.08982  0.79548] err 0.0005
  (488, 229) (413, 118) [ 0.3525  -0.08881  0.79732] err 0.00177
  

• exec_command(cmd="/root/miniconda3/envs/RoboDojo/bin/python - <<'PY' import json,numpy as np j=json.load(o…")→退出码 0 · 72 字
  参数原文· 464 字JSON

  1 2 3

  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nimport json,numpy as np\nj=json.load(open('observations/000074/observation.json'))\nc=j['images'][2]['calibration'];T=np.array(c['environment_to_optical']);o=-T[:3,:3].T@T[:3,3]\nfor pix in [(312,335),(313,344),(320,343)]:\n v=T[:3,:3].T@np.linalg.solve(np.array(c['intrinsic_matrix']),[*pix,1]);p=o+(.9105-o[2])/v[2]*v;print(pix,p,'relative',p-np.array(j['current_eef']['right']['position']))\nPY"
  }

  返回原文· 348 字纯文本

  Process exited with code 0 Original token count: 72 Output: (312, 335) [ 0.3123717 -0.10564337 0.910…

• robot_act(steps=3, obs=obs_000074)→obs_000077
  参数原文· 668 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000074",
    "reason": "The white base is visible from both cameras and remains stationary. Align the held yellow block over its estimated center while staying well above contact.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false},
      "right": {"position": [0.354, -0.09, 1.055], "quaternion_wxyz": [0.501, -0.499, 0.5, 0.501], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000077 · 步 77 · 剩余 473 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.35, -0.09, 1.05) 米

{
  "observation_id": "obs_000077",
  "step_id": 77,
  "instruction": "Stack the three blocks with different textures. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
    "right": {"position": [0.353, -0.091, 1.054], "quaternion_wxyz": [0.501, -0.499, 0.5, 0.501], "gripper_opening_command": 0.296}
  },
  "control_dt": 0.04,
  "max_episode_steps": 550,
  "remaining_steps": 473,
  "native_success": false,
  "frame": "environment_origin"
}

• exec_command(cmd="/root/miniconda3/envs/RoboDojo/bin/python - <<'PY' import json,numpy as np from PIL impo…")→退出码 0 · 99 字
  参数原文· 895 字JSON

  1 2 3

  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nimport json,numpy as np\nfrom PIL import Image\nj=json.load(open('observations/000077/observation.json'))\nImage.open(j['images'][0]['path']).crop((505,181,546,215)).resize((492,408)).save('held_high.png')\nImage.open(j['images'][2]['path']).crop((190,245,450,480)).resize((520,470)).save('held_wrist.png')\ndef ray(i,p):\n c=j['images'][i]['calibration'];T=np.array(c['environment_to_optical']);o=-T[:3,:3].T@T[:3,3];v=T[:3,:3].T@np.linalg.solve(np.array(c['intrinsic_matrix']),[*p,1]);return o,v/np.linalg.norm(v)\nfor ph,pw in [((525,195),(312,346)),((525,195),(312,337)),((525,199),(312,352))]:\n a,u=ray(0,ph);b,v=ray(2,pw);t=np.linalg.lstsq(np.column_stack([u,-v]),b-a,rcond=None)[0];p=(a+t[0]*u+b+t[1]*v)/2;print(ph,pw,p,'rel',p-np.array(j['current_eef']['right']['position']),'err',np.linalg.norm(a+t[0]*u-b-t[1]*v))\nPY"
  }

  返回原文· 455 字代码

  1 2 3 4 5 6 7

  Process exited with code 0
  Original token count: 99
  Output:
  (525, 195) (312, 346) [ 0.3521639  -0.09395644  0.91617622] rel [-0.00048975 -0.00302495 -0.13818298] err 0.002795495308030831
  (525, 195) (312, 337) [ 0.35253805 -0.09306252  0.91516536] rel [-1.15598060e-04 -2.13103448e-03 -1.39193833e-01] err 0.0037409185537848606
  (525, 199) (312, 352) [ 0.35222559 -0.0996071   0.91233524] rel [-0.00042806 -0.00867561 -0.14202396] err 0.0032785361218378864
  

• view_image(path="/mnt/workspace/robot_workspaces/episode-yaoud85x/agent/held_high.png")→1 张图
  查看的图
  参数原文· 84 字JSON

  {"path": "/mnt/workspace/robot_workspaces/episode-yaoud85x/agent/held_high.png"}
  返回原文· 314 字JSON

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

  [
    {
      "type": "input_image",
      "image_url": {
        "$image": "assets/ed99443445923aacc9a076c2243c6d95b997b1191043c539eb6ac55f50c25ca7.png",
        "sha256": "ed99443445923aacc9a076c2243c6d95b997b1191043c539eb6ac55f50c25ca7",
        "mime_type": "image/png",
        "width": 492,
        "height": 408
      }
    }
  ]

• robot_act(steps=3, obs=obs_000077)→obs_000080
  参数原文· 686 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000077",
    "reason": "The yellow block is centered laterally above the white base in the wrist view. Begin a slow vertical descent, compensating slightly for its observed offset within the grasp.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false},
      "right": {"position": [0.354, -0.085, 1.02], "quaternion_wxyz": [0.501, -0.499, 0.5, 0.501], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000080 · 步 80 · 剩余 470 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.35, -0.08, 1.02) 米

{
  "observation_id": "obs_000080",
  "step_id": 80,
  "instruction": "Stack the three blocks with different textures. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
    "right": {"position": [0.354, -0.085, 1.022], "quaternion_wxyz": [0.501, -0.499, 0.5, 0.501], "gripper_opening_command": 0.297}
  },
  "control_dt": 0.04,
  "max_episode_steps": 550,
  "remaining_steps": 470,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000080)→obs_000083
  参数原文· 677 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000080",
    "reason": "The two blocks remain aligned in the wrist image and separated vertically. Lower the held block in another small controlled increment toward the white top surface.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false},
      "right": {"position": [0.354, -0.085, 0.992], "quaternion_wxyz": [0.501, -0.499, 0.5, 0.501], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000083", "native_success": false}

观测 obs_000083 · 步 83 · 剩余 467 步 · 左末端 (-0.30, -0.35, 0.92) 米 · 右末端 (0.35, -0.08, 0.99) 米

{
  "observation_id": "obs_000083",
  "step_id": 83,
  "instruction": "Stack the three blocks with different textures. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.3, -0.352, 0.921], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
    "right": {"position": [0.354, -0.085, 0.993], "quaternion_wxyz": [0.501, -0.499, 0.5, 0.501], "gripper_opening_command": 0.298}
  },
  "control_dt": 0.04,
  "max_episode_steps": 550,
  "remaining_steps": 467,
  "native_success": false,
  "frame": "environment_origin"
}