叠积木（随机版） · stack_blocks_random_000085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": 10000}
  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": 15000}
  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": "e0d80c84d5344bf0a808569ad1561bfb",
    "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-2rx8kyax/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-2rx8kyax/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-2rx8kyax/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-2rx8kyax/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-2rx8kyax/agent/observations/000000/camera_parameters.json"
  }

• 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· 241 字JSON

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  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nfrom PIL import Image\nim=Image.open('observations/000000/cam_high.png')\nim.crop((365,185,640,395)).resize((825,630)).save('scene_crop.png')\nPY",
    "max_output_tokens": 2000
  }

  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-2rx8kyax/agent/scene_crop.png")→1 张图
  查看的图
  参数原文· 85 字JSON

  {"path": "/mnt/workspace/robot_workspaces/episode-2rx8kyax/agent/scene_crop.png"}
  返回原文· 314 字JSON

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  [
    {
      "type": "input_image",
      "image_url": {
        "$image": "assets/f07ec2d35b79cb7c98e257e65ff410b7cd6d50c7ea7b7f3ac10afb81391111f1.png",
        "sha256": "f07ec2d35b79cb7c98e257e65ff410b7cd6d50c7ea7b7f3ac10afb81391111f1",
        "mime_type": "image/png",
        "width": 825,
        "height": 630
      }
    }
  ]

• exec_command(cmd="/root/miniconda3/envs/RoboDojo/bin/python - <<'PY' import json,numpy as np j=json.load(o…")→退出码 0 · 68 字
  参数原文· 629 字JSON

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  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nimport json,numpy as np\nj=json.load(open('observations/000000/observation.json'))\ndef ray(k,p):\n c=j['images'][k]['calibration'];K=np.array(c['intrinsic_matrix']);T=np.array(c['environment_to_optical']);R=T[:3,:3];o=-R.T@T[:3,3];d=R.T@np.linalg.inv(K)@np.r_[p,1];return o,d/np.linalg.norm(d)\nfor p1,p2 in [([443,207],[286,292]),([444,212],[286,310])]:\n o1,d1=ray(0,p1);o2,d2=ray(2,p2);a=np.stack([d1,-d2],1);ab=np.linalg.lstsq(a,o2-o1,rcond=None)[0];x1=o1+ab[0]*d1;x2=o2+ab[1]*d2;print(x1,x2,(x1+x2)/2,np.linalg.norm(x1-x2))\nPY",
    "max_output_tokens": 2000
  }

  返回原文· 330 字纯文本

  Process exited with code 0 Original token count: 68 Output: [ 0.27492173 -0.02411463 0.78714603] [ 0…

• robot_act(steps=10, obs=obs_000000)→obs_000010
  参数原文· 719 字JSON

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  {
    "observation_id": "obs_000000",
    "reason": "The wooden cube is visible ahead of the right wrist; the other blocks are partly occluded by the arms. Raise and tilt both open grippers to gain clearance and a clearer view.",
    "steps": 10,
    "target": {
      "left": {"position": [-0.3, -0.24, 1.04], "quaternion_wxyz": [0.653281, -0.270598, 0.270598, 0.653281], "gripper_closed": false},
      "right": {"position": [0.3, -0.24, 1.04], "quaternion_wxyz": [0.653281, -0.270598, 0.270598, 0.653281], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000010 · 步 10 · 剩余 540 步 · 左末端 (-0.30, -0.32, 0.96) 米 · 右末端 (0.30, -0.32, 0.96) 米

{
  "observation_id": "obs_000010",
  "step_id": 10,
  "instruction": "Stack the three blocks with different textures. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.3, -0.324, 0.956], "quaternion_wxyz": [0.701, -0.096, 0.096, 0.701], "gripper_opening_command": 1.0},
    "right": {"position": [0.3, -0.324, 0.956], "quaternion_wxyz": [0.701, -0.096, 0.096, 0.701], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 550,
  "remaining_steps": 540,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=15, obs=obs_000010)→obs_000025
  参数原文· 708 字JSON

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  {
    "observation_id": "obs_000010",
    "reason": "Both arms remain above open space, but their measured poses are still short of the clearance targets. Continue lifting and tilting to reveal the occluded tabletop.",
    "steps": 15,
    "target": {
      "left": {"position": [-0.3, -0.24, 1.04], "quaternion_wxyz": [0.653281, -0.270598, 0.270598, 0.653281], "gripper_closed": false},
      "right": {"position": [0.3, -0.24, 1.04], "quaternion_wxyz": [0.653281, -0.270598, 0.270598, 0.653281], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000025 · 步 25 · 剩余 525 步 · 左末端 (-0.30, -0.25, 1.03) 米 · 右末端 (0.30, -0.25, 1.03) 米

{
  "observation_id": "obs_000025",
  "step_id": 25,
  "instruction": "Stack the three blocks with different textures. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.3, -0.246, 1.032], "quaternion_wxyz": [0.655, -0.268, 0.268, 0.655], "gripper_opening_command": 1.0},
    "right": {"position": [0.3, -0.246, 1.032], "quaternion_wxyz": [0.655, -0.268, 0.268, 0.655], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 550,
  "remaining_steps": 525,
  "native_success": false,
  "frame": "environment_origin"
}

• exec_command(cmd="/root/miniconda3/envs/RoboDojo/bin/python - <<'PY' import json,numpy as np from scipy.sp…")→退出码 0 · 108 字
  参数原文· 873 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/000025/observation.json'))\ndef ray(k,p):\n c=j['images'][k]['calibration'];K=np.array(c['intrinsic_matrix']);T=np.array(c['environment_to_optical']);R=T[:3,:3];o=-R.T@T[:3,3];d=R.T@np.linalg.inv(K)@np.r_[p,1];return o,d/np.linalg.norm(d)\no1,d1=ray(0,[443,208]);o2,d2=ray(2,[279,151]);ab=np.linalg.lstsq(np.stack([d1,-d2],1),o2-o1,rcond=None)[0];print('wood top',(o1+ab[0]*d1+o2+ab[1]*d2)/2)\nfor name,p in [('wood',[444,211]),('red',[543,263]),('orange',[144,300])]:\n o,d=ray(0,p); print(name,'top z.79',o+d*(.79-o[2])/d[2])\nfor a in [45,70,90]:\n r=Rotation.from_euler('z',90,degrees=True)*Rotation.from_euler('y',a,degrees=True);q=r.as_quat();print(a,[q[3],*q[:3]])\nPY",
    "max_output_tokens": 2000
  }

  返回原文· 492 字代码

  1 2 3 4 5 6 7 8 9 10 11

  Process exited with code 0
  Original token count: 108
  Output:
  wood top [ 0.27415827 -0.02919036  0.78750945]
  wood top z.79 [ 0.27329266 -0.03712956  0.79      ]
  red top z.79 [ 0.44253133 -0.16363563  0.79      ]
  orange top z.79 [-0.32614734 -0.23931973  0.79      ]
  45 [0.6532814824381883, -0.27059805007309845, 0.2705980500730985, 0.6532814824381882]
  70 [0.5792279653395693, -0.40557978767263886, 0.4055797876726389, 0.5792279653395692]
  90 [0.5000000000000001, -0.4999999999999999, 0.5, 0.5]
  

• robot_act(steps=3, obs=obs_000025)→obs_000028
  参数原文· 728 字JSON

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  {
    "observation_id": "obs_000025",
    "reason": "The three blocks are now visible: orange on the left, wooden near the palette, and red on the right. Move above the wooden and orange blocks with downward fingers, keeping the fingertips clear of the tabletop objects.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.326, -0.239, 1.005], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false},
      "right": {"position": [0.275, -0.032, 1.01], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000028 · 步 28 · 剩余 522 步 · 左末端 (-0.32, -0.24, 1.01) 米 · 右末端 (0.30, -0.22, 1.03) 米

{
  "observation_id": "obs_000028",
  "step_id": 28,
  "instruction": "Stack the three blocks with different textures. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.322, -0.24, 1.007], "quaternion_wxyz": [0.625, -0.334, 0.329, 0.624], "gripper_opening_command": 1.0},
    "right": {"position": [0.297, -0.223, 1.028], "quaternion_wxyz": [0.637, -0.306, 0.306, 0.637], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 550,
  "remaining_steps": 522,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000028)→obs_000031
  参数原文· 673 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000028",
    "reason": "Both blocks remain visible in their wrist views, and the grippers are well above them. Continue the downward orientation and overhead alignment before descending.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.326, -0.239, 1.005], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false},
      "right": {"position": [0.275, -0.032, 1.01], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000031 · 步 31 · 剩余 519 步 · 左末端 (-0.33, -0.24, 1.00) 米 · 右末端 (0.29, -0.20, 1.02) 米

{
  "observation_id": "obs_000031",
  "step_id": 31,
  "instruction": "Stack the three blocks with different textures. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.325, -0.239, 1.004], "quaternion_wxyz": [0.601, -0.376, 0.372, 0.6], "gripper_opening_command": 1.0},
    "right": {"position": [0.295, -0.2, 1.023], "quaternion_wxyz": [0.618, -0.345, 0.344, 0.618], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 550,
  "remaining_steps": 519,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000031)→obs_000034
  参数原文· 722 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000031",
    "reason": "The orange block is centered laterally beneath the left gripper, while the right gripper still needs to advance toward the wooden block. Finish overhead alignment with fingers closing across opposite cube faces.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.326, -0.239, 1.005], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false},
      "right": {"position": [0.275, -0.032, 1.01], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000034", "native_success": false}

观测 obs_000034 · 步 34 · 剩余 516 步 · 左末端 (-0.33, -0.24, 1.00) 米 · 右末端 (0.29, -0.18, 1.02) 米

{
  "observation_id": "obs_000034",
  "step_id": 34,
  "instruction": "Stack the three blocks with different textures. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.326, -0.239, 1.004], "quaternion_wxyz": [0.574, -0.414, 0.411, 0.574], "gripper_opening_command": 1.0},
    "right": {"position": [0.292, -0.177, 1.019], "quaternion_wxyz": [0.595, -0.382, 0.381, 0.595], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 550,
  "remaining_steps": 516,
  "native_success": false,
  "frame": "environment_origin"
}

• exec_command(cmd="/root/miniconda3/envs/RoboDojo/bin/python - <<'PY' import json,numpy as np j=json.load(o…")→退出码 0 · 35 字
  参数原文· 646 字JSON

  1 2 3 4

  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nimport json,numpy as np\nj=json.load(open('observations/000034/observation.json'))\ndef ray(k,p):\n c=j['images'][k]['calibration'];K=np.array(c['intrinsic_matrix']);T=np.array(c['environment_to_optical']);R=T[:3,:3];o=-R.T@T[:3,3];d=R.T@np.linalg.inv(K)@np.r_[p,1];return o,d/np.linalg.norm(d)\nfor name,cam,a,b in [('orange',1,[142,298],[312,346]),('wood',2,[443,208],[279,53])]:\n o,d=ray(0,a);p,e=ray(cam,b);ab=np.linalg.lstsq(np.stack([d,-e],1),p-o,rcond=None)[0];print(name,(o+ab[0]*d+p+ab[1]*e)/2,'res',np.linalg.norm(o+ab[0]*d-p-ab[1]*e))\nPY",
    "max_output_tokens": 2000
  }

  返回原文· 200 字纯文本

  Process exited with code 0 Original token count: 35 Output: orange [-0.32836518 -0.23659206 0.793718…

• robot_act(steps=3, obs=obs_000034)→obs_000037
  参数原文· 697 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000034",
    "reason": "Stereo estimates put the orange cube top near z=0.794 m and wooden cube top near z=0.789 m. Lower the left gripper toward its approach height while completing both downward orientations.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.329, -0.237, 0.977], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false},
      "right": {"position": [0.275, -0.032, 1.01], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000037", "native_success": false}

观测 obs_000037 · 步 37 · 剩余 513 步 · 左末端 (-0.33, -0.24, 0.98) 米 · 右末端 (0.29, -0.15, 1.02) 米

{
  "observation_id": "obs_000037",
  "step_id": 37,
  "instruction": "Stack the three blocks with different textures. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.329, -0.238, 0.977], "quaternion_wxyz": [0.525, -0.475, 0.474, 0.524], "gripper_opening_command": 1.0},
    "right": {"position": [0.289, -0.154, 1.015], "quaternion_wxyz": [0.57, -0.418, 0.418, 0.57], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 550,
  "remaining_steps": 513,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000037)→obs_000040
  参数原文· 709 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000037",
    "reason": "The orange cube is centered between the left fingers in the wrist image, with clearance remaining above its top. Descend a small amount and finish orienting the finger pads across its parallel sides.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.329, -0.237, 0.95], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false},
      "right": {"position": [0.275, -0.032, 1.01], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000040 · 步 40 · 剩余 510 步 · 左末端 (-0.33, -0.24, 0.95) 米 · 右末端 (0.29, -0.13, 1.01) 米

{
  "observation_id": "obs_000040",
  "step_id": 40,
  "instruction": "Stack the three blocks with different textures. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.329, -0.237, 0.95], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 1.0},
    "right": {"position": [0.286, -0.132, 1.012], "quaternion_wxyz": [0.544, -0.452, 0.452, 0.544], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 550,
  "remaining_steps": 510,
  "native_success": false,
  "frame": "environment_origin"
}

• exec_command(cmd="/root/miniconda3/envs/RoboDojo/bin/python - <<'PY' import json,numpy as np j=json.load(o…")→退出码 0 · 15 字
  参数原文· 563 字JSON

  1 2 3 4

  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nimport json,numpy as np\nj=json.load(open('observations/000040/observation.json'))\ndef ray(k,p):\n c=j['images'][k]['calibration'];K=np.array(c['intrinsic_matrix']);T=np.array(c['environment_to_optical']);R=T[:3,:3];o=-R.T@T[:3,3];d=R.T@np.linalg.inv(K)@np.r_[p,1];return o,d/np.linalg.norm(d)\no,d=ray(0,[142.5,298]);p,e=ray(1,[323,219]);ab=np.linalg.lstsq(np.stack([d,-e],1),p-o,rcond=None)[0];print((o+ab[0]*d+p+ab[1]*e)/2,np.linalg.norm(o+ab[0]*d-p-ab[1]*e))\nPY",
    "max_output_tokens": 2000
  }

  返回原文· 119 字纯文本

  Process exited with code 0 Original token count: 15 Output: [-0.33121991 -0.23110341 0.78253319] 0.0…

• robot_act(steps=3, obs=obs_000040)→obs_000043
  参数原文· 722 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000040",
    "reason": "The left fingers are vertical and the orange cube is centered with an open gap around its sides. Lower the pads into contact height without touching the table; the right arm continues its clear overhead approach.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.33, -0.236, 0.926], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false},
      "right": {"position": [0.275, -0.032, 1.01], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000043 · 步 43 · 剩余 507 步 · 左末端 (-0.33, -0.24, 0.93) 米 · 右末端 (0.28, -0.11, 1.01) 米

{
  "observation_id": "obs_000043",
  "step_id": 43,
  "instruction": "Stack the three blocks with different textures. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.33, -0.236, 0.927], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 1.0},
    "right": {"position": [0.284, -0.112, 1.009], "quaternion_wxyz": [0.518, -0.482, 0.481, 0.518], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 550,
  "remaining_steps": 507,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000043)→obs_000046
  参数原文· 727 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000043",
    "reason": "The orange cube remains centered; its side faces need slightly deeper pad overlap for a stable grasp. Lower the left gripper another centimeter and bring the right gripper above the wooden cube with fingertips clear.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.33, -0.236, 0.916], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false},
      "right": {"position": [0.275, -0.032, 0.978], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000046 · 步 46 · 剩余 504 步 · 左末端 (-0.33, -0.24, 0.92) 米 · 右末端 (0.28, -0.09, 1.00) 米

{
  "observation_id": "obs_000046",
  "step_id": 46,
  "instruction": "Stack the three blocks with different textures. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.33, -0.237, 0.923], "quaternion_wxyz": [0.503, -0.497, 0.498, 0.502], "gripper_opening_command": 1.0},
    "right": {"position": [0.281, -0.085, 0.996], "quaternion_wxyz": [0.502, -0.498, 0.498, 0.502], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 550,
  "remaining_steps": 504,
  "native_success": false,
  "frame": "environment_origin"
}

• exec_command(cmd="cat observations/000046/observation.json")→退出码 0 · 4,593 字
  参数原文· 84 字JSON

  {"cmd": "cat observations/000046/observation.json", "max_output_tokens": 3500}
  返回原文· 14,165 字代码

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  Process exited with code 0
  Original token count: 4593
  Output:
  Warning: truncated output (original token count: 4593)
  Total output lines: 668
  
  {
    "episode_id": "e0d80c84d5344bf0a808569ad1561bfb",
    "observation_id": "obs_000046",
    "step_id": 46,
    "instruction": "Stack the three blocks with different textures. Then reset the robot arm.",
    "current_eef": {
      "left": {
        "position": [
          -0.3299650251865387,
          -0.23721779882907867,
          0.9226119518280029
        ],
        "quaternion_wxyz": [
          0.502646803855896,
          -0.49735739827156067,
          0.4976596534252167,
          0.5023112297058105
        ],
        "gripper_opening_command": 1.0
      },
      "right": {
        "position": [
          0.28085923194885254,
          -0.08500342071056366,
          0.9959208965301514
        ],
        "quaternion_wxyz": [
          0.5021969676017761,
          -0.4977935552597046,
          0.49776893854141235,
          0.5022207498550415
        ],
        "gripper_opening_command": 1.0
      }
    },
    "current_state": [
      0.14213243126869202,
      1.4457072019577026,
      0.7762254476547241,
      -0.8914793133735657,
      0.0014484991552308202,
      0.1430649310350418,
      1.0,
      0.05350266024470329,
      1.9351924657821655,
      1.6326191425323486,
      -1.2593814134597778,
      0.0004742417950183153,
      0.05375425145030022,
      1.0
    ],
    "control_dt": 0.04,
    "max_episode_steps": 550,
    "remaining_steps": 504,
    "rollout_finished": false,
    "native_success": false,
    "frame": "environment_origin",
    "images": [
      {
        "camera": "cam_high",
        "path": "/mnt/workspace/robot_workspaces/episode-2rx8kyax/agent/observations/000046/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,
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              -0.8660253513624241,
              1.337761167766017
            ],
            [
              0.0,
              0.0,
              0.0,
              1.0
            ]
          ]
        }
      },
      {
        "camera": "cam_left_wrist",
        "path": "/mnt/workspace/robot_workspaces/episode-2rx8kyax/agent/observations/000046/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": [
            [
              0.999999795782994,
              -0.0006380004222950569,
              3.7275075258281836e-05,
              0.3297796508649254
            ],
            [
              -0.0005739745814921201,
              -0.8709361763100868,
              0.49139581535412513,
              -0.5736208877508537
            ],
            [
              -0.00028104652619279996,
              -0.4913957363976888,
              -0.870936364646134,
              0.6388730853561976
            ],
            [
              0.0,
              0.0,
              0.0,
              1.0000000000000002
            ]
          ]
        }
      },
      {
        "camera": "cam_right_wrist",
        "path": "/mnt/workspace/robot_workspaces/episode-2rx8kyax/agent/observations/000046/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": [
            [
              0.9999999988005597,
              4.8284155455670994e-05,
              8.21711038476542e-06,
              -0.28086292461338047
            ],
            [
              3.798101539148228e-05,
              -0.8704022551585119,
              0.49234125641918225,
              -0.47779306152564843
            ],
            [
              3.092447317163792e-05,
              -0.49234125551655405,
              -0.8704022559483976,
              0.7769898303165356
            ],
            [
              0.0,
              0.0,
              0.0,
              1.0
            ]
          ]
        }
      }
    ],
    "observation_path": "/mnt/workspace/robot_workspaces/episode-2rx8kyax/agent/observations/000046/observation.json",
    "camera_parameters_path": "/mnt/workspace/robot_workspaces/episode-2rx8kyax/agent/observations/000046/camera_parameters.json",
    "execution": {
      "requested_steps": 3,
      "executed_steps": 3,
      "steps": [
        {
          "step_id": 44,
          "observation_id": "obs_000043",
          "target": {
            "left": {
              "position": [
                -0.33,
                -0.236,
                0.916
              ],
              "quaternion_wxyz": [
                0.5,
                -0.5,
                0.5,
                0.5
              ],
              "gripper_closed": false
            },
            "right": {
              "position": [
                0.275,
                -0.032,
                0.978
              ],
              "quaternion_wxyz": [
                0.5,
                -0.5,
                0.5,
                0.5
              ],
              "gripper_closed": false
            }
          },
          "command": [
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            1.0,
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            1.8535035848617554,
            1.5555663108825684,
            -1.2393925189971924,
            0.001874103443697095,
            0.050563834607601166,
            1.0
          ],
          "ik_diagnostics": {
            "left": {
              "target_position_error_m": 0.01093636181828111,
              "target_rotation_error_rad": 0.00019902944989523455,
              "proposed_joint_delta": [
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              "joint_increment_scale": 1.0,
              "bounded_task_delta": [
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                0.00010565377708371404,
                -0.0109357363856315,
                0.00019671830919830105,
                2.3806591857056768e-05,
                -1.865140573556925e-05
              ],
              "method": "robot_only_numerical_jacobian_dls",
          …1093 tokens truncated…,
              "method": "robot_only_numerical_jacobian_dls",
              "physical_tracking_verified": false
            },
            "right": {
              "target_position_error_m": 0.07709129300101702,
              "target_rotation_error_rad": 0.03879716808742253,
              "proposed_joint_delta": [
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                0.04999995231628418,
                0.04563307762145996,
                -0.01915597915649414,
                -0.0012187380343675613,
                0.0019499994814395905
              ],
              "joint_increment_scale": 0.6111466318185587,
              "bounded_task_delta": [
                -0.0020993343777245097,
                0.018650904407854003,
                -0.0069091649234618874,
                -0.03879675049621386,
                0.00016426477658073834,
                -7.361807808897722e-05
              ],
              "method": "robot_only_numerical_jacobian_dls",
              "physical_tracking_verified": false
            }
          },
          "native_counter_before": 44,
          "native_counter_after": 45,
          "current_state": [
            0.14212748408317566,
            1.446062445640564,
            0.7765257954597473,
            -0.8917937874794006,
            0.0013908232795074582,
            0.14299024641513824,
            1.0,
            0.051787689328193665,
            1.8913332223892212,
            1.5907232761383057,
            -1.251328945159912,
            0.0010491098510101438,
            0.0520249605178833,
            1.0
          ],
          "current_eef": {
            "left": {
              "position": [
                -0.3299729824066162,
                -0.23716695606708527,
                0.922610878944397
              ],
              "quaternion_wxyz": [
                0.5025352239608765,
                -0.49746793508529663,
                0.4977371394634247,
                0.5022367238998413
              ],
              "gripper_opening_command": 1.0
            },
            "right": {
              "position": [
                0.28201723098754883,
                -0.09485605359077454,
                1.0003142356872559
              ],
              "quaternion_wxyz": [
                0.5047028064727783,
                -0.4952869415283203,
                0.49522507190704346,
                0.5046960115432739
              ],
              "gripper_opening_command": 1.0
            }
          },
          "observation_path": "/mnt/workspace/robot_workspaces/episode-2rx8kyax/agent/observations/000045/observation.json",
          "rollout_finished": false,
          "native_success": false
        },
        {
          "step_id": 46,
          "observation_id": "obs_000045",
          "target": {
            "left": {
              "position": [
                -0.33,
                -0.236,
                0.916
              ],
              "quaternion_wxyz": [
                0.5,
                -0.5,
                0.5,
                0.5
              ],
              "gripper_closed": false
            },
            "right": {
              "position": [
                0.275,
                -0.032,
                0.978
              ],
              "quaternion_wxyz": [
                0.5,
                -0.5,
                0.5,
                0.5
              ],
              "gripper_closed": false
            }
          },
          "command": [
            0.14140453934669495,
            1.4659088850021362,
            0.766201376914978,
            -0.8711258172988892,
            -4.5506567403208464e-06,
            0.1417163759469986,
            1.0,
            0.05372614413499832,
            1.9413331747055054,
            1.637978434562683,
            -1.2608884572982788,
            0.0003932281688321382,
            0.054007530212402344,
            1.0
          ],
          "ik_diagnostics": {
            "left": {
              "target_position_error_m": 0.006713083877739035,
              "target_rotation_error_rad": 0.009584191843282283,
              "proposed_joint_delta": [
                -0.0007229447364807129,
                0.019846439361572266,
                -0.010324418544769287,
                0.020667970180511475,
                -0.001395373936247779,
                -0.0012738704681396484
              ],
              "joint_increment_scale": 1.0,
              "bounded_task_delta": [
                -2.691545582222954e-05,
                0.0011669146381663442,
                -0.006610830578303362,
                -0.009567339058859581,
                2.9544953976343566e-05,
                0.0005673479684929124
              ],
              "method": "robot_only_numerical_jacobian_dls",
              "physical_tracking_verified": false
            },
            "right": {
              "target_position_error_m": 0.06706752628286781,
              "target_rotation_error_rad": 0.018886801658238223,
              "proposed_joint_delta": [
                0.001938454806804657,
                0.04999995231628418,
                0.04725515842437744,
                -0.0095595121383667,
                -0.0006558816821780056,
                0.001982569694519043
              ],
              "joint_increment_scale": 0.6594926094367191,
              "bounded_task_delta": [
                -0.0020925389507571866,
                0.01874411921338662,
                -0.006654267476883874,
                -0.018886595470914036,
                6.888062418072061e-05,
                -5.517114546539281e-05
              ],
              "method": "robot_only_numerical_jacobian_dls",
              "physical_tracking_verified": false
            }
          },
          "native_counter_before": 45,
          "native_counter_after": 46,
          "current_state": [
            0.14213243126869202,
            1.4457072019577026,
            0.7762254476547241,
            -0.8914793133735657,
            0.0014484991552308202,
            0.1430649310350418,
            1.0,
            0.05350266024470329,
            1.9351924657821655,
            1.6326191425323486,
            -1.2593814134597778,
            0.0004742417950183153,
            0.05375425145030022,
            1.0
          ],
          "current_eef": {
            "left": {
              "position": [
                -0.3299650251865387,
                -0.23721779882907867,
                0.9226119518280029
              ],
              "quaternion_wxyz": [
                0.502646803855896,
                -0.49735739827156067,
                0.4976596534252167,
                0.5023112297058105
              ],
              "gripper_opening_command": 1.0
            },
            "right": {
              "position": [
                0.28085923194885254,
                -0.08500342071056366,
                0.9959208965301514
              ],
              "quaternion_wxyz": [
                0.5021969676017761,
                -0.4977935552597046,
                0.49776893854141235,
                0.5022207498550415
              ],
              "gripper_opening_command": 1.0
            }
          },
          "observation_path": "/mnt/workspace/robot_workspaces/episode-2rx8kyax/agent/observations/000046/observation.json",
          "rollout_finished": false,
          "native_success": false
        }
      ]
    }
  }

• robot_act(steps=3, obs=obs_000046)→obs_000049
  参数原文· 760 字JSON

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

  {
    "observation_id": "obs_000046",
    "reason": "The left gripper stopped slightly above its commanded depth, so avoid pushing lower. Close at the measured pose where the finger pads overlap the orange cube sides, while the right gripper continues its overhead approach.",
    "steps": 3,
    "target": {
      "left": {
        "position": [-0.329965, -0.237218, 0.922612],
        "quaternion_wxyz": [0.502647, -0.497357, 0.49766, 0.502311],
        "gripper_closed": true
      },
      "right": {"position": [0.275, -0.032, 0.978], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000049 · 步 49 · 剩余 501 步 · 左末端 (-0.33, -0.24, 0.92) 米 · 右末端 (0.28, -0.06, 0.98) 米

{
  "observation_id": "obs_000049",
  "step_id": 49,
  "instruction": "Stack the three blocks with different textures. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.33, -0.237, 0.923], "quaternion_wxyz": [0.503, -0.497, 0.498, 0.502], "gripper_opening_command": 0.332},
    "right": {"position": [0.277, -0.056, 0.984], "quaternion_wxyz": [0.501, -0.499, 0.499, 0.501], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 550,
  "remaining_steps": 501,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000049)→obs_000052
  参数原文· 715 字JSON

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

  {
    "observation_id": "obs_000049",
    "reason": "The left fingers now contact opposing orange cube faces, but the grasp is not yet verified. Finish closure at a steady pose; bring the wooden cube under the right open gripper.",
    "steps": 3,
    "target": {
      "left": {
        "position": [-0.329965, -0.237218, 0.922612],
        "quaternion_wxyz": [0.502647, -0.497357, 0.49766, 0.502311],
        "gripper_closed": true
      },
      "right": {"position": [0.275, -0.032, 0.978], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000052 · 步 52 · 剩余 498 步 · 左末端 (-0.33, -0.24, 0.92) 米 · 右末端 (0.28, -0.03, 0.98) 米

{
  "observation_id": "obs_000052",
  "step_id": 52,
  "instruction": "Stack the three blocks with different textures. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.33, -0.237, 0.923], "quaternion_wxyz": [0.503, -0.497, 0.498, 0.502], "gripper_opening_command": 0.301},
    "right": {"position": [0.275, -0.034, 0.978], "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": 498,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000052)→obs_000055
  参数原文· 728 字JSON

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

  {
    "observation_id": "obs_000052",
    "reason": "The orange cube is bracketed by the closed finger pads. Make a small vertical test lift with orientation fixed, and lower the right open gripper a small amount toward the centered wooden cube.",
    "steps": 3,
    "target": {
      "left": {
        "position": [-0.329965, -0.237218, 0.953],
        "quaternion_wxyz": [0.502647, -0.497357, 0.49766, 0.502311],
        "gripper_closed": true
      },
      "right": {"position": [0.275, -0.032, 0.948], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000055 · 步 55 · 剩余 495 步 · 左末端 (-0.33, -0.24, 0.95) 米 · 右末端 (0.27, -0.03, 0.95) 米

{
  "observation_id": "obs_000055",
  "step_id": 55,
  "instruction": "Stack the three blocks with different textures. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.33, -0.238, 0.951], "quaternion_wxyz": [0.503, -0.497, 0.498, 0.502], "gripper_opening_command": 0.298},
    "right": {"position": [0.275, -0.032, 0.949], "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": 495,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000055)→obs_000058
  参数原文· 726 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000055",
    "reason": "The orange cube moved upward with the left gripper and kept its position in the wrist view, confirming the grasp. Lift it to transport clearance while lowering the right pads around the wooden cube.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.33, -0.238, 1.03], "quaternion_wxyz": [0.502647, -0.497357, 0.49766, 0.502311], "gripper_closed": true},
      "right": {"position": [0.275, -0.032, 0.925], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000058 · 步 58 · 剩余 492 步 · 左末端 (-0.33, -0.24, 0.98) 米 · 右末端 (0.27, -0.03, 0.93) 米

{
  "observation_id": "obs_000058",
  "step_id": 58,
  "instruction": "Stack the three blocks with different textures. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.33, -0.238, 0.981], "quaternion_wxyz": [0.503, -0.497, 0.498, 0.502], "gripper_opening_command": 0.298},
    "right": {"position": [0.275, -0.032, 0.925], "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": 492,
  "native_success": false,
  "frame": "environment_origin"
}

• exec_command(cmd="/root/miniconda3/envs/RoboDojo/bin/python - <<'PY' import json,numpy as np j=json.load(o…")→退出码 0 · 48 字
  参数原文· 633 字JSON

  1 2 3 4

  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nimport json,numpy as np\nj=json.load(open('observations/000052/observation.json'))\ndef ray(k,p):\n c=j['images'][k]['calibration'];K=np.array(c['intrinsic_matrix']);T=np.array(c['environment_to_optical']);R=T[:3,:3];o=-R.T@T[:3,3];d=R.T@np.linalg.inv(K)@np.r_[p,1];return o,d/np.linalg.norm(d)\nfor a,b in [([443,205],[320,157]),([443,212],[320,213]),([443,220],[320,280])]:\n o,d=ray(0,a);p,e=ray(2,b);ab=np.linalg.lstsq(np.stack([d,-e],1),p-o,rcond=None)[0];print((o+ab[0]*d+p+ab[1]*e)/2,'res',np.linalg.norm(o+ab[0]*d-p-ab[1]*e))\nPY",
    "max_output_tokens": 2000
  }

  返回原文· 251 字纯文本

  Process exited with code 0 Original token count: 48 Output: [ 0.27574014 -0.01792884 0.78659939] res…

• robot_act(steps=3, obs=obs_000058)→obs_000061
  参数原文· 725 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000058",
    "reason": "The wooden cube is centered between the right fingers, whose tips overlap the cube sides at the measured height. Close without pressing lower, while the securely held orange cube rises to clearance.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.33, -0.238, 1.03], "quaternion_wxyz": [0.502647, -0.497357, 0.49766, 0.502311], "gripper_closed": true},
      "right": {"position": [0.275, -0.032, 0.925], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000061 · 步 61 · 剩余 489 步 · 左末端 (-0.33, -0.24, 1.01) 米 · 右末端 (0.28, -0.03, 0.93) 米

{
  "observation_id": "obs_000061",
  "step_id": 61,
  "instruction": "Stack the three blocks with different textures. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.33, -0.239, 1.013], "quaternion_wxyz": [0.503, -0.497, 0.498, 0.502], "gripper_opening_command": 0.298},
    "right": {"position": [0.275, -0.032, 0.925], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 0.329}
  },
  "control_dt": 0.04,
  "max_episode_steps": 550,
  "remaining_steps": 489,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000061)→obs_000064
  参数原文· 717 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000061",
    "reason": "The right pads now contact opposite wooden cube faces. Finish its closure before testing the grasp; move the verified orange cube through open space toward a clear central stacking location.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.12, -0.225, 1.05], "quaternion_wxyz": [0.502647, -0.497357, 0.49766, 0.502311], "gripper_closed": true},
      "right": {"position": [0.275, -0.032, 0.925], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "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 486 步 · 左末端 (-0.30, -0.24, 1.02) 米 · 右末端 (0.28, -0.03, 0.93) 米

{
  "observation_id": "obs_000064",
  "step_id": 64,
  "instruction": "Stack the three blocks with different textures. Then reset the robot arm.",
  "current_eef": {
    "left": {
      "position": [-0.302, -0.238, 1.018],
      "quaternion_wxyz": [0.503, -0.497, 0.498, 0.502],
      "gripper_opening_command": 0.301
    },
    "right": {"position": [0.275, -0.032, 0.925], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 0.298}
  },
  "control_dt": 0.04,
  "max_episode_steps": 550,
  "remaining_steps": 486,
  "native_success": false,
  "frame": "environment_origin"
}