按语言叠积木 · stack_blocks_by_language_000200任务成功第二档

观测 obs_000000 · 步 0 · 剩余 400 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 blocks from bottom to top in the order of blue, orange, and yellow, 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": 400,
  "remaining_steps": 400,
  "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

  1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32

  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 · 1,447 字
  参数原文· 85 字JSON

  {"cmd": "cat observations/000000/observation.json", "max_output_tokens": 16000}
  返回原文· 5,850 字代码

  1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250

  Process exited with code 0
  Original token count: 1447
  Output:
  {
    "episode_id": "38d0df46d43349c6acb3ffb382add880",
    "observation_id": "obs_000000",
    "step_id": 0,
    "instruction": "stack the blocks from bottom to top in the order of blue, orange, and yellow, 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": 400,
    "remaining_steps": 400,
    "rollout_finished": false,
    "native_success": false,
    "frame": "environment_origin",
    "images": [
      {
        "camera": "cam_high",
        "path": "/mnt/workspace/robot_workspaces/episode-tuzqclhs/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-tuzqclhs/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-tuzqclhs/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-tuzqclhs/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-tuzqclhs/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 · 191 字
  参数原文· 1,067 字JSON

  1 2 3 4

  {
    "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'))\npts={}\nfor c in j['images']:\n a=np.array(Image.open(c['path'])).astype(float); r,g,b=a[:,:,0],a[:,:,1],a[:,:,2]\n masks={'blue':(b>100)&(b>r*1.6)&(b>g*1.6),'yellow':(r>140)&(g>140)&(b<80),'orange':(r>160)&(g>55)&(g<190)&(b<65)}\n for name,m in masks.items():\n  y,x=np.where(m)\n  if len(x):\n   pts[c['camera'],name]=[x.mean(),y.mean()]\n   print(c['camera'],name, len(x),'bbox',(x.min(),y.min(),x.max(),y.max()),'center',pts[c['camera'],name])\nfor name in ['blue','yellow']:\n rows=[]; vals=[]\n for c in j['images']:\n  if (c['camera'],name) not in pts:continue\n  u,v=pts[c['camera'],name]; K=np.array(c['calibration']['intrinsic_matrix']); T=np.array(c['calibration']['environment_to_optical']);P=K@T[:3]\n  rows += [P[0,:3]-u*P[2,:3],P[1,:3]-v*P[2,:3]];vals += [u*P[2,3]-P[0,3],v*P[2,3]-P[1,3]]\n print(name, np.linalg.lstsq(rows, vals,rcond=None)[0])\nPY",
    "max_output_tokens": 4000
  }

  返回原文· 825 字代码

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

  Process exited with code 0
  Original token count: 191
  Output:
  cam_high blue 456 bbox (152, 215, 234, 254) center [219.2609649122807, 228.16228070175438]
  cam_high yellow 811 bbox (452, 201, 497, 279) center [475.96054254007396, 233.47718865598029]
  cam_high orange 879 bbox (10, 145, 639, 342) center [488.5381114903299, 264.92377701934015]
  cam_left_wrist blue 4922 bbox (414, 302, 494, 395) center [453.1154002438033, 346.4626168224299]
  cam_left_wrist orange 946 bbox (345, 218, 639, 479) center [464.85940803382664, 429.09302325581393]
  cam_right_wrist yellow 5248 bbox (122, 271, 439, 479) center [367.6615853658537, 351.4188262195122]
  cam_right_wrist orange 3518 bbox (310, 210, 637, 479) center [451.30358158044345, 428.20238772029563]
  blue [-0.21475189 -0.0814474   0.78716567]
  yellow [ 0.32849665 -0.09380525  0.79275617]
  

• exec_command(cmd="/root/miniconda3/envs/RoboDojo/bin/python - <<'PY' import json,numpy as np from PIL impo…")→退出码 0 · 169 字
  参数原文· 1,243 字JSON

  1 2 3 4

  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nimport json,numpy as np\nfrom PIL import Image\nfrom scipy.ndimage import label\nj=json.load(open('observations/000000/observation.json')); pts={}\nfor c in j['images']:\n a=np.array(Image.open(c['path'])).astype(float);r,g,b=a[:,:,0],a[:,:,1],a[:,:,2]\n masks={'blue':(b>100)&(b>r*1.6)&(b>g*1.6),'yellow':(r>140)&(g>r*.9)&(b<80),'orange':(r>180)&(g>75)&(g<r*.85)&(b<45)}\n for name,m in masks.items():\n  l,n=label(m); out=[]\n  for i in range(1,n+1):\n   y,x=np.where(l==i)\n   if len(x)>60:out.append((len(x), [x.mean(),y.mean()],(x.min(),y.min(),x.max(),y.max())))\n  out.sort(reverse=True)\n  print(c['camera'],name,out[:4]);\n  if out:pts[c['camera'],name]=out[0][1]\nfor name in ['blue','yellow','orange']:\n rows=[];vals=[]\n for c in j['images']:\n  if (c['camera'],name) not in pts or (name=='orange' and c['camera']=='cam_left_wrist'):continue\n  u,v=pts[c['camera'],name];K=np.array(c['calibration']['intrinsic_matrix']);T=np.array(c['calibration']['environment_to_optical']);P=K@T[:3]\n  rows += [P[0,:3]-u*P[2,:3],P[1,:3]-v*P[2,:3]];vals += [u*P[2,3]-P[0,3],v*P[2,3]-P[1,3]]\n print(name,np.linalg.lstsq(rows,vals,rcond=None)[0])\nPY",
    "max_output_tokens": 4000
  }

  返回原文· 737 字代码

  1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16

  Process exited with code 0
  Original token count: 169
  Output:
  cam_high blue [(444, [221.03378378378378, 227.67342342342343], (207, 215, 234, 241))]
  cam_high yellow [(495, [483.37373737373736, 211.48888888888888], (470, 201, 497, 222))]
  cam_high orange [(255, [457.35686274509806, 276.5960784313726], (446, 262, 470, 286))]
  cam_left_wrist blue [(4922, [453.1154002438033, 346.4626168224299], (414, 302, 494, 395))]
  cam_left_wrist yellow []
  cam_left_wrist orange []
  cam_right_wrist blue []
  cam_right_wrist yellow [(3706, [407.2606583917971, 304.7191041554236], (377, 271, 439, 338))]
  cam_right_wrist orange []
  blue [-0.21289761 -0.07747701  0.78310615]
  yellow [ 0.36661364 -0.03130578  0.77962944]
  orange [0.52745336 0.02151542 0.2795341 ]
  

• exec_command(cmd="/root/miniconda3/envs/RoboDojo/bin/python - <<'PY' from PIL import Image im=Image.open('…")→退出码 0 · 0 字
  参数原文· 244 字JSON

  1 2 3 4

  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nfrom PIL import Image\nim=Image.open('observations/000000/cam_high.png');im.crop((195,190,510,300)).resize((945,330)).save('initial_blocks.png')\nPY",
    "max_output_tokens": 1000
  }

  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-tuzqclhs/agent/initial_blocks.png")→1 张图
  查看的图
  参数原文· 89 字JSON

  {"path": "/mnt/workspace/robot_workspaces/episode-tuzqclhs/agent/initial_blocks.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/bce2dc1846c6765b97078e97470d845a8ccc7ab74228070c1e2e807e41f76e09.png",
        "sha256": "bce2dc1846c6765b97078e97470d845a8ccc7ab74228070c1e2e807e41f76e09",
        "mime_type": "image/png",
        "width": 945,
        "height": 330
      }
    }
  ]

• exec_command(cmd="/root/miniconda3/envs/RoboDojo/bin/python - <<'PY' import json,numpy as np from scipy.sp…")→退出码 0 · 240 字
  参数原文· 978 字JSON

  1 2 3 4

  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nimport json,numpy as np\nfrom scipy.spatial.transform import Rotation\nj=json.load(open('observations/000000/observation.json'));c=j['images'][0];K=np.array(c['calibration']['intrinsic_matrix']);T=np.array(c['calibration']['environment_to_optical']);Ti=np.linalg.inv(T)\ndef ray(u,v,z):\n d=Ti[:3,:3]@np.linalg.inv(K)@np.array([u,v,1]);o=Ti[:3,3];return o+(z-o[2])/d[2]*d\nfor name,ps in {'blue':[(207,224),(219,215),(232,227),(220,235)],'orange':[(455,258),(476,269),(467,279),(449,268)],'yellow':[(476,202),(490,201),(496,213),(480,215)]}.items():\n xyz=np.array([ray(u,v,.79) for u,v in ps]); print(name,xyz, 'center',xyz.mean(0),'yaw',np.arctan2(*(xyz[1]-xyz[0])[1::-1]))\nfor phi in [np.pi/2,np.pi/4,.0,.5]:\n R=Rotation.from_euler('zy',[phi,np.pi/2]);q=R.as_quat();print(phi,q[[3,0,1,2]])\nprint('intermediate',Rotation.from_euler('zy',[np.pi/2,.75]).as_quat()[[3,0,1,2]])\nPY",
    "max_output_tokens": 4000
  }

  返回原文· 1,018 字代码

  1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21

  Process exited with code 0
  Original token count: 240
  Output:
  blue [[-0.24234661 -0.07130946  0.79      ]
   [-0.22072302 -0.04784611  0.79      ]
   [-0.18756524 -0.07893748  0.79      ]
   [-0.20969105 -0.09882598  0.79      ]] center [-0.21508148 -0.07422976  0.79      ] yaw 0.8261802271541268
  orange [[ 0.27049074 -0.15257728  0.79      ]
   [ 0.30605601 -0.17662923  0.79      ]
   [ 0.28303895 -0.19764124  0.79      ]
   [ 0.25356496 -0.17448417  0.79      ]] center [ 0.27828767 -0.17533298  0.79      ] yaw -0.5946259553139306
  yellow [[ 0.35053124 -0.01233745  0.79      ]
   [ 0.38281947 -0.0095229   0.79      ]
   [ 0.38625582 -0.04251054  0.79      ]
   [ 0.34966024 -0.04784611  0.79      ]] center [ 0.36731669 -0.02805425  0.79      ] yaw 0.08694990429328504
  1.5707963267948966 [0.5 0.5 0.5 0.5]
  0.7853981633974483 [0.65328148 0.27059805 0.65328148 0.27059805]
  0.0 [0.70710678 0.         0.70710678 0.        ]
  0.5 [0.68512454 0.17494102 0.68512454 0.17494102]
  intermediate [0.65796825 0.25899379 0.25899379 0.65796825]
  

• 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· 362 字JSON

  1 2 3 4

  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nfrom PIL import Image\nImage.open('observations/000000/cam_left_wrist.png').crop((405,290,505,405)).resize((400,460)).save('blue_wrist.png')\nImage.open('observations/000000/cam_right_wrist.png').crop((360,260,450,350)).resize((360,360)).save('yellow_wrist.png')\nPY",
    "max_output_tokens": 1000
  }

  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-tuzqclhs/agent/blue_wrist.png")→1 张图
  查看的图
  参数原文· 85 字JSON

  {"path": "/mnt/workspace/robot_workspaces/episode-tuzqclhs/agent/blue_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/b3c378604c61d5955b896951d31653576a6ac5ac20ff1093a0f1415ad1e6d275.png",
        "sha256": "b3c378604c61d5955b896951d31653576a6ac5ac20ff1093a0f1415ad1e6d275",
        "mime_type": "image/png",
        "width": 400,
        "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 · 50 字
  参数原文· 699 字JSON

  1 2 3 4

  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nimport json,numpy as np\nj=json.load(open('observations/000000/observation.json')); cs=j['images'];Ps=[np.array(c['calibration']['intrinsic_matrix'])@np.array(c['calibration']['environment_to_optical'])[:3] for c in cs]\ndef tri(a,b,i=1):\n rows=[]; vals=[]\n for P,(u,v) in zip([Ps[0],Ps[i]],[a,b]):\n  rows += [P[0,:3]-u*P[2,:3],P[1,:3]-v*P[2,:3]];vals += [u*P[2,3]-P[0,3],v*P[2,3]-P[1,3]]\n return np.linalg.lstsq(rows,vals,rcond=None)[0]\nxs=[tri(a,b) for a,b in zip([(207.5,224),(219,215),(232,227),(220,235)],[(420,329),(443,302),(494,322),(472,354)])];print(np.array(xs),'mean',np.mean(xs,0))\nPY",
    "max_output_tokens": 2000
  }

  返回原文· 260 字纯文本

  Process exited with code 0 Original token count: 50 Output: [[-0.23662963 -0.07811062 0.79873924] [-…

• exec_command(cmd="/root/miniconda3/envs/RoboDojo/bin/python - <<'PY' from scipy.spatial.transform import R…")→退出码 0 · 119 字
  参数原文· 334 字JSON

  1 2 3 4

  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nfrom scipy.spatial.transform import Rotation as R\nfor yaw,pitch in [(1.3,.6),(.83,1.4),(.96,1.4),(.83,1.5707963268),(.96,1.5707963268)]:\n print(yaw,pitch,(R.from_euler('z',yaw)*R.from_euler('y',pitch)).as_quat()[[3,0,1,2]].tolist())\nPY",
    "max_output_tokens": 2000
  }

  返回原文· 537 字代码

  1 2 3 4 5 6 7 8 9

  Process exited with code 0
  Original token count: 119
  Output:
  1.3 0.6 [0.7605279011556313, -0.1788448116917477, 0.23525884866696123, 0.5781566561224126]
  0.83 1.4 [0.6999195681868472, -0.259742084470554, 0.5895341195425173, 0.3083766682472233]
  0.96 1.4 [0.6784111368487437, -0.29748631248186186, 0.5714178177444448, 0.35318819466357554]
  0.83 1.5707963268 [0.6470849557945849, -0.28509833388253614, 0.6470849557978873, 0.28509833388108113]
  0.96 1.5707963268 [0.6272001247736695, -0.3265271864369489, 0.6272001247768704, 0.3265271864352825]
  

• robot_act(steps=3, obs=obs_000000)→obs_000003
  参数原文· 716 字JSON

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

  {
    "observation_id": "obs_000000",
    "reason": "The blue and orange blocks are separate and visible in the head and wrist views. Begin a raised, open-gripper approach while rotating the fingers toward a downward grasp.",
    "steps": 3,
    "target": {
      "left": {
        "position": [-0.24, -0.19, 1.04],
        "quaternion_wxyz": [0.760528, -0.178845, 0.235259, 0.578157],
        "gripper_closed": false
      },
      "right": {"position": [0.28, -0.23, 1.04], "quaternion_wxyz": [0.760528, -0.178845, 0.235259, 0.578157], "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 397 步 · 左末端 (-0.30, -0.35, 0.93) 米 · 右末端 (0.30, -0.35, 0.93) 米

{
  "observation_id": "obs_000003",
  "step_id": 3,
  "instruction": "stack the blocks from bottom to top in the order of blue, orange, and yellow, then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.296, -0.346, 0.928], "quaternion_wxyz": [0.717, -0.02, 0.027, 0.696], "gripper_opening_command": 1.0},
    "right": {"position": [0.3, -0.347, 0.93], "quaternion_wxyz": [0.717, -0.021, 0.027, 0.696], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 400,
  "remaining_steps": 397,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000003)→obs_000006
  参数原文· 657 字JSON

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

  {
    "observation_id": "obs_000003",
    "reason": "Both arms remain far above the blocks with clear paths. Continue the short raised approach and finger rotation.",
    "steps": 3,
    "target": {
      "left": {
        "position": [-0.24, -0.19, 1.04],
        "quaternion_wxyz": [0.760528, -0.178845, 0.235259, 0.578157],
        "gripper_closed": false
      },
      "right": {"position": [0.28, -0.23, 1.04], "quaternion_wxyz": [0.760528, -0.178845, 0.235259, 0.578157], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000006 · 步 6 · 剩余 394 步 · 左末端 (-0.29, -0.34, 0.94) 米 · 右末端 (0.30, -0.34, 0.94) 米

{
  "observation_id": "obs_000006",
  "step_id": 6,
  "instruction": "stack the blocks from bottom to top in the order of blue, orange, and yellow, then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.293, -0.338, 0.936], "quaternion_wxyz": [0.727, -0.042, 0.055, 0.684], "gripper_opening_command": 1.0},
    "right": {"position": [0.3, -0.339, 0.94], "quaternion_wxyz": [0.727, -0.043, 0.056, 0.683], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 400,
  "remaining_steps": 394,
  "native_success": false,
  "frame": "environment_origin"
}

• exec_command(cmd="ls observations/000006")→退出码 0 · 23 字
  参数原文· 66 字JSON

  {"cmd": "ls observations/000006", "max_output_tokens": 1000}
  返回原文· 152 字纯文本

  Process exited with code 0 Original token count: 23 Output: cam_high.png cam_left_wrist.png cam_righ…

• robot_act(steps=15, obs=obs_000006)→obs_000021
  参数原文· 687 字JSON

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

  {
    "observation_id": "obs_000006",
    "reason": "The grippers and blocks remain well separated; the raised path is clear in all views. Move through open space to the overhead staging poses.",
    "steps": 15,
    "target": {
      "left": {
        "position": [-0.24, -0.19, 1.04],
        "quaternion_wxyz": [0.760528, -0.178845, 0.235259, 0.578157],
        "gripper_closed": false
      },
      "right": {"position": [0.28, -0.23, 1.04], "quaternion_wxyz": [0.760528, -0.178845, 0.235259, 0.578157], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000021 · 步 21 · 剩余 379 步 · 左末端 (-0.26, -0.26, 0.99) 米 · 右末端 (0.29, -0.26, 1.01) 米

{
  "observation_id": "obs_000021",
  "step_id": 21,
  "instruction": "stack the blocks from bottom to top in the order of blue, orange, and yellow, then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.265, -0.262, 0.987], "quaternion_wxyz": [0.76, -0.174, 0.229, 0.583], "gripper_opening_command": 1.0},
    "right": {"position": [0.29, -0.262, 1.007], "quaternion_wxyz": [0.76, -0.176, 0.231, 0.581], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 400,
  "remaining_steps": 379,
  "native_success": false,
  "frame": "environment_origin"
}

• exec_command(cmd="/root/miniconda3/envs/RoboDojo/bin/python - <<'PY' from scipy.spatial.transform import R…")→退出码 0 · 62 字
  参数原文· 299 字JSON

  1 2 3 4

  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nfrom scipy.spatial.transform import Rotation as R\nfor yaw,pitch in [(1.,1.35),(.83,1.5707963),(.96,1.5707963)]:\n print((R.from_euler('z',yaw)*R.from_euler('y',pitch)).as_quat()[[3,0,1,2]].tolist())\nPY",
    "max_output_tokens": 1000
  }

  返回原文· 308 字纯文本 + JSON

  Process exited with code 0 Original token count: 62 Output:

  1

  [0.6851348062604348, -0.29959173264449873, 0.5483989881323146, 0.3742908505387185]

  1

  [0.6470849644655232, -0.2850983300622184, 0.6470849471269489, 0.28509833770139875]

  1

  [0.627200133178151, -0.32652718206148457, 0.6272001163723886, 0.3265271908107467]

• robot_act(steps=15, obs=obs_000021)→obs_000036
  参数原文· 709 字JSON

  1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17

  {
    "observation_id": "obs_000021",
    "reason": "Both grippers are raised and the blocks have not moved. Rotate toward vertical while centering above blue and orange, keeping fingertips clear of the table.",
    "steps": 15,
    "target": {
      "left": {
        "position": [-0.214, -0.077, 1.055],
        "quaternion_wxyz": [0.685135, -0.299592, 0.548399, 0.374291],
        "gripper_closed": false
      },
      "right": {
        "position": [0.281, -0.174, 1.055],
        "quaternion_wxyz": [0.685135, -0.299592, 0.548399, 0.374291],
        "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 364 步 · 左末端 (-0.23, -0.16, 1.02) 米 · 右末端 (0.28, -0.18, 1.05) 米

{
  "observation_id": "obs_000036",
  "step_id": 36,
  "instruction": "stack the blocks from bottom to top in the order of blue, orange, and yellow, then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.235, -0.162, 1.017], "quaternion_wxyz": [0.72, -0.268, 0.465, 0.44], "gripper_opening_command": 1.0},
    "right": {"position": [0.282, -0.178, 1.051], "quaternion_wxyz": [0.722, -0.265, 0.457, 0.446], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 400,
  "remaining_steps": 364,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=12, obs=obs_000036)→obs_000048
  参数原文· 682 字JSON

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

  {
    "observation_id": "obs_000036",
    "reason": "The wrist views show blue and orange beneath their respective grippers. Finish vertical alignment at a safe height before descending.",
    "steps": 12,
    "target": {
      "left": {
        "position": [-0.214, -0.077, 1.035],
        "quaternion_wxyz": [0.647085, -0.285098, 0.647085, 0.285098],
        "gripper_closed": false
      },
      "right": {"position": [0.281, -0.174, 1.035], "quaternion_wxyz": [0.6272, -0.326527, 0.6272, 0.326527], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000048 · 步 48 · 剩余 352 步 · 左末端 (-0.22, -0.09, 1.03) 米 · 右末端 (0.28, -0.17, 1.03) 米

{
  "observation_id": "obs_000048",
  "step_id": 48,
  "instruction": "stack the blocks from bottom to top in the order of blue, orange, and yellow, then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.217, -0.093, 1.028], "quaternion_wxyz": [0.664, -0.283, 0.616, 0.315], "gripper_opening_command": 1.0},
    "right": {"position": [0.281, -0.174, 1.035], "quaternion_wxyz": [0.627, -0.327, 0.627, 0.327], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 400,
  "remaining_steps": 352,
  "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 · 53 字
  参数原文· 825 字JSON

  1 2 3 4

  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nimport json,numpy as np\nfrom PIL import Image\nfrom scipy.ndimage import label\nj=json.load(open('observations/000048/observation.json'))\nfor i,name in [(1,'blue'),(2,'orange')]:\n c=j['images'][i];a=np.array(Image.open(c['path'])).astype(float);r,g,b=a[:,:,0],a[:,:,1],a[:,:,2]\n m=(b>120)&(b>r*1.4)&(b>g*1.4) if name=='blue' else (r>200)&(g>170)&(b>90)&(b<170)\n l,n=label(m);lab=max(range(1,n+1),key=lambda k:np.sum(l==k));y,x=np.where(l==lab);uv=[x.mean(),y.mean()];K=np.array(c['calibration']['intrinsic_matrix']);T=np.linalg.inv(np.array(c['calibration']['environment_to_optical']));d=T[:3,:3]@np.linalg.inv(K)@np.array([*uv,1]);o=T[:3,3];p=o+(.8-o[2])/d[2]*d\n print(name,uv,'bbox',x.min(),y.min(),x.max(),y.max(),p)\nPY",
    "max_output_tokens": 1000
  }

  返回原文· 271 字纯文本

  Process exited with code 0 Original token count: 53 Output: blue [310.34641983189704, 164.5655920842…

• robot_act(steps=3, obs=obs_000048)→obs_000051
  参数原文· 713 字JSON

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

  {
    "observation_id": "obs_000048",
    "reason": "The wrist views locate the block tops near the gripper centerlines, with fingers aligned to opposing faces. Descend a short distance while keeping both grippers open.",
    "steps": 3,
    "target": {
      "left": {
        "position": [-0.211, -0.076, 0.976],
        "quaternion_wxyz": [0.647085, -0.285098, 0.647085, 0.285098],
        "gripper_closed": false
      },
      "right": {"position": [0.28, -0.174, 0.976], "quaternion_wxyz": [0.6272, -0.326527, 0.6272, 0.326527], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000051 · 步 51 · 剩余 349 步 · 左末端 (-0.21, -0.08, 0.98) 米 · 右末端 (0.28, -0.17, 1.00) 米

{
  "observation_id": "obs_000051",
  "step_id": 51,
  "instruction": "stack the blocks from bottom to top in the order of blue, orange, and yellow, then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.212, -0.078, 0.982], "quaternion_wxyz": [0.647, -0.285, 0.647, 0.285], "gripper_opening_command": 1.0},
    "right": {"position": [0.28, -0.174, 1.002], "quaternion_wxyz": [0.627, -0.327, 0.627, 0.326], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 400,
  "remaining_steps": 349,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000051)→obs_000054
  参数原文· 697 字JSON

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

  {
    "observation_id": "obs_000051",
    "reason": "Blue and orange remain centered and visible, and the downward fingers are still above their tops. Continue the controlled descent toward face contact.",
    "steps": 3,
    "target": {
      "left": {
        "position": [-0.211, -0.076, 0.925],
        "quaternion_wxyz": [0.647085, -0.285098, 0.647085, 0.285098],
        "gripper_closed": false
      },
      "right": {"position": [0.28, -0.174, 0.946], "quaternion_wxyz": [0.6272, -0.326527, 0.6272, 0.326527], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000054 · 步 54 · 剩余 346 步 · 左末端 (-0.21, -0.08, 0.95) 米 · 右末端 (0.28, -0.17, 0.97) 米

{
  "observation_id": "obs_000054",
  "step_id": 54,
  "instruction": "stack the blocks from bottom to top in the order of blue, orange, and yellow, then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.211, -0.076, 0.946], "quaternion_wxyz": [0.647, -0.285, 0.647, 0.285], "gripper_opening_command": 1.0},
    "right": {"position": [0.28, -0.174, 0.969], "quaternion_wxyz": [0.627, -0.327, 0.627, 0.326], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 400,
  "remaining_steps": 346,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000054)→obs_000057
  参数原文· 730 字JSON

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

  {
    "observation_id": "obs_000054",
    "reason": "The blue fingertips are entering the block's upper side region; orange remains slightly higher. Lower carefully to align the pads across the block faces without reaching the tabletop.",
    "steps": 3,
    "target": {
      "left": {
        "position": [-0.211, -0.076, 0.923],
        "quaternion_wxyz": [0.647085, -0.285098, 0.647085, 0.285098],
        "gripper_closed": false
      },
      "right": {"position": [0.28, -0.174, 0.929], "quaternion_wxyz": [0.6272, -0.326527, 0.6272, 0.326527], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000057 · 步 57 · 剩余 343 步 · 左末端 (-0.21, -0.08, 0.92) 米 · 右末端 (0.28, -0.17, 0.94) 米

{
  "observation_id": "obs_000057",
  "step_id": 57,
  "instruction": "stack the blocks from bottom to top in the order of blue, orange, and yellow, then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.211, -0.076, 0.923], "quaternion_wxyz": [0.647, -0.285, 0.647, 0.285], "gripper_opening_command": 1.0},
    "right": {"position": [0.28, -0.174, 0.937], "quaternion_wxyz": [0.627, -0.327, 0.627, 0.326], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 400,
  "remaining_steps": 343,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=2, obs=obs_000057)→obs_000059
  参数原文· 700 字JSON

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

  {
    "observation_id": "obs_000057",
    "reason": "Blue is aligned between the opposing finger pads at a safe grasp depth. Hold blue steady while lowering orange the last centimeter to the same pad depth.",
    "steps": 2,
    "target": {
      "left": {
        "position": [-0.211, -0.076, 0.923],
        "quaternion_wxyz": [0.647085, -0.285098, 0.647085, 0.285098],
        "gripper_closed": false
      },
      "right": {"position": [0.28, -0.174, 0.923], "quaternion_wxyz": [0.6272, -0.326527, 0.6272, 0.326527], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000059", "native_success": false}

观测 obs_000059 · 步 59 · 剩余 341 步 · 左末端 (-0.21, -0.08, 0.92) 米 · 右末端 (0.28, -0.17, 0.92) 米

{
  "observation_id": "obs_000059",
  "step_id": 59,
  "instruction": "stack the blocks from bottom to top in the order of blue, orange, and yellow, then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.211, -0.076, 0.923], "quaternion_wxyz": [0.647, -0.285, 0.647, 0.285], "gripper_opening_command": 1.0},
    "right": {"position": [0.28, -0.174, 0.924], "quaternion_wxyz": [0.627, -0.326, 0.627, 0.327], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 400,
  "remaining_steps": 341,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000059)→obs_000062
  参数原文· 687 字JSON

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

  {
    "observation_id": "obs_000059",
    "reason": "Both blocks are centered between fingers aligned with their side faces. Close the grippers without moving the arms, then check before lifting.",
    "steps": 3,
    "target": {
      "left": {
        "position": [-0.211, -0.076, 0.923],
        "quaternion_wxyz": [0.647085, -0.285098, 0.647085, 0.285098],
        "gripper_closed": true
      },
      "right": {"position": [0.28, -0.174, 0.924], "quaternion_wxyz": [0.6272, -0.326527, 0.6272, 0.326527], "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 338 步 · 左末端 (-0.21, -0.08, 0.92) 米 · 右末端 (0.28, -0.17, 0.92) 米

{
  "observation_id": "obs_000062",
  "step_id": 62,
  "instruction": "stack the blocks from bottom to top in the order of blue, orange, and yellow, then reset the robot arm.",
  "current_eef": {
    "left": {
      "position": [-0.211, -0.076, 0.923],
      "quaternion_wxyz": [0.647, -0.285, 0.647, 0.285],
      "gripper_opening_command": 0.329
    },
    "right": {"position": [0.28, -0.174, 0.924], "quaternion_wxyz": [0.627, -0.327, 0.627, 0.326], "gripper_opening_command": 0.329}
  },
  "control_dt": 0.04,
  "max_episode_steps": 400,
  "remaining_steps": 338,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=2, obs=obs_000062)→obs_000064
  参数原文· 683 字JSON

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

  {
    "observation_id": "obs_000062",
    "reason": "The pads now touch the blocks, but closure alone does not confirm a grasp. Complete closure with the poses fixed before a small test lift.",
    "steps": 2,
    "target": {
      "left": {
        "position": [-0.211, -0.076, 0.923],
        "quaternion_wxyz": [0.647085, -0.285098, 0.647085, 0.285098],
        "gripper_closed": true
      },
      "right": {"position": [0.28, -0.174, 0.924], "quaternion_wxyz": [0.6272, -0.326527, 0.6272, 0.326527], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000064", "native_success": false}

观测 obs_000064 · 步 64 · 剩余 336 步 · 左末端 (-0.21, -0.08, 0.92) 米 · 右末端 (0.28, -0.17, 0.92) 米

{
  "observation_id": "obs_000064",
  "step_id": 64,
  "instruction": "stack the blocks from bottom to top in the order of blue, orange, and yellow, then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.211, -0.076, 0.923], "quaternion_wxyz": [0.647, -0.285, 0.647, 0.285], "gripper_opening_command": 0.3},
    "right": {"position": [0.28, -0.174, 0.924], "quaternion_wxyz": [0.627, -0.327, 0.627, 0.326], "gripper_opening_command": 0.299}
  },
  "control_dt": 0.04,
  "max_episode_steps": 400,
  "remaining_steps": 336,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000064)→obs_000067
  参数原文· 688 字JSON

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

  {
    "observation_id": "obs_000064",
    "reason": "The blocks are opposed by both finger pads. Lift each about two centimeters with fixed orientation to test whether they move with the grippers.",
    "steps": 3,
    "target": {
      "left": {
        "position": [-0.211, -0.076, 0.945],
        "quaternion_wxyz": [0.647085, -0.285098, 0.647085, 0.285098],
        "gripper_closed": true
      },
      "right": {"position": [0.28, -0.174, 0.946], "quaternion_wxyz": [0.6272, -0.326527, 0.6272, 0.326527], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000067", "native_success": false}

观测 obs_000067 · 步 67 · 剩余 333 步 · 左末端 (-0.21, -0.08, 0.94) 米 · 右末端 (0.28, -0.17, 0.95) 米

{
  "observation_id": "obs_000067",
  "step_id": 67,
  "instruction": "stack the blocks from bottom to top in the order of blue, orange, and yellow, then reset the robot arm.",
  "current_eef": {
    "left": {
      "position": [-0.211, -0.076, 0.945],
      "quaternion_wxyz": [0.647, -0.285, 0.647, 0.285],
      "gripper_opening_command": 0.298
    },
    "right": {"position": [0.28, -0.174, 0.946], "quaternion_wxyz": [0.627, -0.327, 0.627, 0.326], "gripper_opening_command": 0.298}
  },
  "control_dt": 0.04,
  "max_episode_steps": 400,
  "remaining_steps": 333,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=10, obs=obs_000067)→obs_000077
  参数原文· 690 字JSON

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

  {
    "observation_id": "obs_000067",
    "reason": "Both blocks rose with their grippers and stayed fixed in the wrist views, confirming the test lifts. Raise them into clear space before transport.",
    "steps": 10,
    "target": {
      "left": {
        "position": [-0.211, -0.076, 1.05],
        "quaternion_wxyz": [0.647085, -0.285098, 0.647085, 0.285098],
        "gripper_closed": true
      },
      "right": {"position": [0.28, -0.174, 1.05], "quaternion_wxyz": [0.6272, -0.326527, 0.6272, 0.326527], "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 323 步 · 左末端 (-0.21, -0.08, 1.05) 米 · 右末端 (0.28, -0.17, 1.05) 米

{
  "observation_id": "obs_000077",
  "step_id": 77,
  "instruction": "stack the blocks from bottom to top in the order of blue, orange, and yellow, then reset the robot arm.",
  "current_eef": {
    "left": {
      "position": [-0.211, -0.077, 1.048],
      "quaternion_wxyz": [0.647, -0.285, 0.647, 0.285],
      "gripper_opening_command": 0.298
    },
    "right": {"position": [0.28, -0.174, 1.049], "quaternion_wxyz": [0.627, -0.327, 0.627, 0.326], "gripper_opening_command": 0.298}
  },
  "control_dt": 0.04,
  "max_episode_steps": 400,
  "remaining_steps": 323,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=15, obs=obs_000077)
  参数原文· 700 字JSON

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

  {
    "observation_id": "obs_000077",
    "reason": "Blue and orange remain securely held above the table. Carry blue to the clear center while keeping orange well to the right to prevent arm interference.",
    "steps": 15,
    "target": {
      "left": {
        "position": [-0.015, -0.065, 1.05],
        "quaternion_wxyz": [0.647085, -0.285098, 0.647085, 0.285098],
        "gripper_closed": true
      },
      "right": {"position": [0.28, -0.174, 1.05], "quaternion_wxyz": [0.647085, -0.285098, 0.647085, 0.285098], "gripper_closed": true}
    }
  }

  返回原文· 662 字代码

  1 2 3 4 5

  IK precheck failed; robot_act was not executed. Neither arm nor gripper moved, and no control steps were used.
  Left arm: stalled after 31 iterations (maximum 128). At the best precheck iterate: position error 22.841 mm (tolerance 5.000 mm; exceeds tolerance); rotation error 0.095 degrees (tolerance 1.146 degrees; within tolerance).
  Change the target position or orientation, or first move to a different approach pose. Repeating the same target from the unchanged state, even with more execution steps, will not change the precheck result. This local IK failure does not prove global unreachability.
  Observation ID (unchanged): obs_000077
  native_success: false

• robot_act(steps=15, obs=obs_000077)→obs_000092
  参数原文· 736 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000077",
    "reason": "The centerward pose at the higher height failed the local kinematic check without motion. Use a lower intermediate pose that still keeps the held blue block clear of the table and orange arm.",
    "steps": 15,
    "target": {
      "left": {"position": [-0.06, -0.09, 1.0], "quaternion_wxyz": [0.647085, -0.285098, 0.647085, 0.285098], "gripper_closed": true},
      "right": {"position": [0.28, -0.174, 1.05], "quaternion_wxyz": [0.647085, -0.285098, 0.647085, 0.285098], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000092", "native_success": false}

观测 obs_000092 · 步 92 · 剩余 308 步 · 左末端 (-0.06, -0.09, 1.00) 米 · 右末端 (0.28, -0.17, 1.05) 米

{
  "observation_id": "obs_000092",
  "step_id": 92,
  "instruction": "stack the blocks from bottom to top in the order of blue, orange, and yellow, then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.06, -0.09, 1.0], "quaternion_wxyz": [0.647, -0.285, 0.647, 0.285], "gripper_opening_command": 0.298},
    "right": {"position": [0.28, -0.174, 1.05], "quaternion_wxyz": [0.647, -0.285, 0.647, 0.285], "gripper_opening_command": 0.298}
  },
  "control_dt": 0.04,
  "max_episode_steps": 400,
  "remaining_steps": 308,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=8, obs=obs_000092)→obs_000100
  参数原文· 721 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000092",
    "reason": "Blue is securely held over clear tabletop; orange stays separated on the right. Move blue toward the central stack footprint at a height that leaves its bottom clear of the table.",
    "steps": 8,
    "target": {
      "left": {"position": [0, -0.15, 0.968], "quaternion_wxyz": [0.647085, -0.285098, 0.647085, 0.285098], "gripper_closed": true},
      "right": {"position": [0.28, -0.174, 1.05], "quaternion_wxyz": [0.647085, -0.285098, 0.647085, 0.285098], "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 300 步 · 左末端 (0.00, -0.15, 0.97) 米 · 右末端 (0.28, -0.17, 1.05) 米

{
  "observation_id": "obs_000100",
  "step_id": 100,
  "instruction": "stack the blocks from bottom to top in the order of blue, orange, and yellow, then reset the robot arm.",
  "current_eef": {
    "left": {"position": [0.0, -0.15, 0.968], "quaternion_wxyz": [0.647, -0.285, 0.647, 0.285], "gripper_opening_command": 0.297},
    "right": {"position": [0.28, -0.174, 1.05], "quaternion_wxyz": [0.647, -0.285, 0.647, 0.285], "gripper_opening_command": 0.298}
  },
  "control_dt": 0.04,
  "max_episode_steps": 400,
  "remaining_steps": 300,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000100)→obs_000103
  参数原文· 679 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000100",
    "reason": "Blue is over the empty central footprint and remains level. Lower it gently toward the tabletop, leaving orange stationary and separated.",
    "steps": 3,
    "target": {
      "left": {"position": [0, -0.15, 0.938], "quaternion_wxyz": [0.647085, -0.285098, 0.647085, 0.285098], "gripper_closed": true},
      "right": {"position": [0.28, -0.174, 1.05], "quaternion_wxyz": [0.647085, -0.285098, 0.647085, 0.285098], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

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