叠碗 · stack_bowls_000106任务成功第二档

观测 obs_000000 · 步 0 · 剩余 800 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 bowls together. 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": 800,
  "remaining_steps": 800,
  "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 · 1,436 字
  参数原文· 85 字JSON

  {"cmd": "cat observations/000000/observation.json", "max_output_tokens": 12000}
  返回原文· 5,804 字代码

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  Process exited with code 0
  Original token count: 1436
  Output:
  {
    "episode_id": "57cb02de86074c9786dbd93f978f1e8d",
    "observation_id": "obs_000000",
    "step_id": 0,
    "instruction": "Stack the three bowls together. 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": 800,
    "remaining_steps": 800,
    "rollout_finished": false,
    "native_success": false,
    "frame": "environment_origin",
    "images": [
      {
        "camera": "cam_high",
        "path": "/mnt/workspace/robot_workspaces/episode-hcyj2h_j/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-hcyj2h_j/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-hcyj2h_j/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-hcyj2h_j/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-hcyj2h_j/agent/observations/000000/camera_parameters.json"
  }

• exec_command(cmd="/root/miniconda3/envs/RoboDojo/bin/python - <<'PY' import json,numpy as np j=json.load(o…")→退出码 0 · 124 字
  参数原文· 619 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')); c=j['images'][0]['calibration'];K=np.array(c['intrinsic_matrix']);T=np.array(c['environment_to_optical']);\nfor z in [.6,.7,.75,.8]:\n for u,v in [(218,260),(382,250)]:\n  ray=np.linalg.inv(T[:3,:3])@np.linalg.inv(K)@np.array([u,v,1]); o=-T[:3,:3].T@T[:3,3]; p=o+(z-o[2])/ray[2]*ray; print(z,(u,v),p)\nfor side in ['left','right']:\n p=np.array(j['current_eef'][side]['position']); q=T@np.r_[p,1];pix=K@q[:3];print(side,pix[:2]/pix[2])\nPY",
    "max_output_tokens": 2000
  }

  返回原文· 554 字代码

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  Process exited with code 0
  Original token count: 124
  Output:
  0.6 (218, 260) [-0.27825674 -0.06423656  0.6       ]
  0.6 (382, 250) [ 0.17245898 -0.03335504  0.6       ]
  0.7 (218, 260) [-0.23895494 -0.1130732   0.7       ]
  0.7 (382, 250) [ 0.14810036 -0.08655348  0.7       ]
  0.75 (218, 260) [-0.21930404 -0.13749153  0.75      ]
  0.75 (382, 250) [ 0.13592106 -0.1131527   0.75      ]
  0.8 (218, 260) [-0.19965314 -0.16190985  0.8       ]
  0.8 (382, 250) [ 0.12374175 -0.13975192  0.8       ]
  left [ 82.61970178 353.55126141]
  right [558.12674328 353.55126141]
  

• 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· 243 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');im.crop((180,220,415,295)).resize((940,300)).save('bowls_initial.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-hcyj2h_j/agent/bowls_initial.png")→1 张图
  查看的图
  参数原文· 88 字JSON

  {"path": "/mnt/workspace/robot_workspaces/episode-hcyj2h_j/agent/bowls_initial.png"}
  返回原文· 314 字JSON

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  [
    {
      "type": "input_image",
      "image_url": {
        "$image": "assets/1a508bf08ac2f0b60ed6c5b6191daa2847276ac79663eb43a992894b5c3c9c07.png",
        "sha256": "1a508bf08ac2f0b60ed6c5b6191daa2847276ac79663eb43a992894b5c3c9c07",
        "mime_type": "image/png",
        "width": 940,
        "height": 300
      }
    }
  ]

• exec_command(cmd="/root/miniconda3/envs/RoboDojo/bin/python - <<'PY' import json,numpy as np j=json.load(o…")→退出码 0 · 70 字
  参数原文· 618 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(i,p):\n c=j['images'][i]['calibration'];K=np.array(c['intrinsic_matrix']);T=np.array(c['environment_to_optical']);r=T[:3,:3].T@np.linalg.solve(K,[*p,1]);o=-T[:3,:3].T@T[:3,3];return o,r/np.linalg.norm(r)\no1,r1=ray(0,[219,260]);\nfor p in [[528,416],[532,430],[530,420],[536,418]]:\n o2,r2=ray(1,p);t=np.linalg.lstsq(np.stack([r1,-r2],axis=1),o2-o1,rcond=None)[0];a=o1+t[0]*r1;b=o2+t[1]*r2;print(p,(a+b)/2,np.linalg.norm(a-b))\nPY",
    "max_output_tokens": 1000
  }

  返回原文· 338 字纯文本

  Process exited with code 0 Original token count: 70 Output: [528, 416] [-0.19990795 -0.15416543 0.80…

• exec_command(cmd="/root/miniconda3/envs/RoboDojo/bin/python - <<'PY' import json,numpy as np j=json.load(o…")→退出码 0 · 93 字
  参数原文· 396 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'))\nfor p in [[-.2,-.16,.8],[.125,-.14,.8]]:\n for im in j['images']:\n  c=im['calibration'];q=np.array(c['environment_to_optical'])@np.r_[p,1];k=np.array(c['intrinsic_matrix'])@q[:3];print(p,im['camera'],k[:2]/k[2])\nPY",
    "max_output_tokens": 1000
  }

  返回原文· 429 字代码

  1 2 3 4 5 6 7 8 9 10

  Process exited with code 0
  Original token count: 93
  Output:
  [-0.2, -0.16, 0.8] cam_high [217.99550482 259.12262748]
  [-0.2, -0.16, 0.8] cam_left_wrist [540.57385024 451.78215877]
  [-0.2, -0.16, 0.8] cam_right_wrist [-787.42243791  451.40546761]
  [0.125, -0.14, 0.8] cam_high [382.64395075 250.10982587]
  [0.125, -0.14, 0.8] cam_left_wrist [1177.93351247  413.09361089]
  [0.125, -0.14, 0.8] cam_right_wrist [-34.15435122 412.78007889]
  

• exec_command(cmd="/root/miniconda3/envs/RoboDojo/bin/python - <<'PY' from scipy.spatial.transform import R…")→退出码 0 · 33 字
  参数原文· 294 字JSON

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  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nfrom scipy.spatial.transform import Rotation as R\nfor a in [40,80,90]:\n q=(R.from_euler('z',90,degrees=True)*R.from_euler('y',a,degrees=True)).as_quat();print(a,q[[3,0,1,2]].round(8).tolist())\nPY",
    "max_output_tokens": 1000
  }

  返回原文· 191 字纯文本

  Process exited with code 0 Original token count: 33 Output: 40 [0.66446302, -0.24184476, 0.24184476,…

• robot_act(steps=10, obs=obs_000000)→obs_000010
  参数原文· 703 字JSON

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  {
    "observation_id": "obs_000000",
    "reason": "Two bowls are visible, while the third may be occluded by the arms. Raise both open grippers into clear space and angle the wrist cameras toward the tabletop.",
    "steps": 10,
    "target": {
      "left": {"position": [-0.3, -0.25, 1.05], "quaternion_wxyz": [0.664463, -0.241845, 0.241845, 0.664463], "gripper_closed": false},
      "right": {"position": [0.3, -0.25, 1.05], "quaternion_wxyz": [0.664463, -0.241845, 0.241845, 0.664463], "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 790 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 bowls together. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.3, -0.325, 0.96], "quaternion_wxyz": [0.7, -0.1, 0.1, 0.7], "gripper_opening_command": 1.0},
    "right": {"position": [0.3, -0.325, 0.96], "quaternion_wxyz": [0.7, -0.1, 0.1, 0.7], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 800,
  "remaining_steps": 790,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=15, obs=obs_000010)→obs_000010
  参数原文· 703 字JSON

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  {
    "observation_id": "obs_000010",
    "reason": "The third bowl is now partially visible under the left arm. Continue raising the arms and orienting the fingers downward to expose it and prepare a rim grasp.",
    "steps": 15,
    "target": {
      "left": {"position": [-0.3, -0.25, 1.06], "quaternion_wxyz": [0.541675, -0.454519, 0.454519, 0.541675], "gripper_closed": false},
      "right": {"position": [0.3, -0.25, 1.06], "quaternion_wxyz": [0.541675, -0.454519, 0.454519, 0.541675], "gripper_closed": false}
    }
  }

  返回原文· 597 字JSON

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  {
    "error": "left target exceeds 1.0 rad orientation distance",
    "no_execution": true,
    "retryable": true,
    "observation_id": "obs_000010",
    "current_eef": {
      "left": {
        "position": [-0.2996664047241211, -0.32476192712783813, 0.9603373408317566],
        "quaternion_wxyz": [0.6999065279960632, -0.10017623007297516, 0.10015331208705902, 0.7000463008880615],
        "gripper_opening_command": 1.0
      },
      "right": {
        "position": [0.3003336191177368, -0.32476192712783813, 0.9603373408317566],
        "quaternion_wxyz": [0.6999065279960632, -0.10017623007297516, 0.10015331208705902, 0.7000463008880615],
        "gripper_opening_command": 1.0
      }
    }
  }

• robot_act(steps=15, obs=obs_000010)→obs_000025
  参数原文· 677 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000010",
    "reason": "The third bowl is partially hidden below the left arm. Continue the clear-space lift with a smaller orientation change to reveal it.",
    "steps": 15,
    "target": {
      "left": {"position": [-0.3, -0.25, 1.06], "quaternion_wxyz": [0.640856, -0.298836, 0.298836, 0.640856], "gripper_closed": false},
      "right": {"position": [0.3, -0.25, 1.06], "quaternion_wxyz": [0.640856, -0.298836, 0.298836, 0.640856], "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 775 步 · 左末端 (-0.30, -0.26, 1.04) 米 · 右末端 (0.30, -0.26, 1.04) 米

{
  "observation_id": "obs_000025",
  "step_id": 25,
  "instruction": "Stack the three bowls together. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.3, -0.261, 1.04], "quaternion_wxyz": [0.647, -0.285, 0.285, 0.647], "gripper_opening_command": 1.0},
    "right": {"position": [0.3, -0.261, 1.04], "quaternion_wxyz": [0.647, -0.285, 0.285, 0.647], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 800,
  "remaining_steps": 775,
  "native_success": false,
  "frame": "environment_origin"
}

• exec_command(cmd="/root/miniconda3/envs/RoboDojo/bin/python - <<'PY' import numpy as np,json from scipy.op…")→退出码 0 · 79 字
  参数原文· 802 字JSON

  1 2 3 4

  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nimport numpy as np,json\nfrom scipy.optimize import least_squares\nj=json.load(open('observations/000025/observation.json'))\ncs=[(np.array(c['calibration']['intrinsic_matrix']),np.array(c['calibration']['environment_to_optical'])) for c in j['images']]\na=np.linspace(0,2*np.pi,1000)\ndef bounds(p,i):\n x,y,z,r=p; pts=np.array([x+r*np.cos(a),y+r*np.sin(a),np.full_like(a,z),np.ones_like(a)]);K,T=cs[i]; q=K@(T@pts)[:3];uv=q[:2]/q[2];return np.r_[uv[0].min(),uv[0].max(),uv[1].min(),uv[1].max()]\ndef f(p):return np.r_[bounds(p,0)-[190,247,233,284],(bounds(p,1)-[430,672,216,456])*np.array([1,0,1,1])]\nr=least_squares(f,[-.2,-.15,.8,.055]);print(r.x, f(r.x))\nfor i in range(3):print(i,bounds(r.x,i))\nPY",
    "max_output_tokens": 2000
  }

  返回原文· 373 字纯文本

  Process exited with code 0 Original token count: 79 Output: [-0.1926208 -0.16698507 0.81993015 0.055…

• exec_command(cmd="/root/miniconda3/envs/RoboDojo/bin/python - <<'PY' import json,numpy as np j=json.load(o…")→退出码 0 · 29 字
  参数原文· 428 字JSON

  1 2 3 4

  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nimport json,numpy as np\nj=json.load(open('observations/000025/observation.json')); c=j['images'][0]['calibration'];K=np.array(c['intrinsic_matrix']);T=np.array(c['environment_to_optical']);o=-T[:3,:3].T@T[:3,3]\nfor u,v in [(90,297),(219,258),(382,249)]:\n r=T[:3,:3].T@np.linalg.solve(K,[u,v,1]);p=o+(.82-o[2])/r[2]*r;print(p)\nPY",
    "max_output_tokens": 1000
  }

  返回原文· 174 字纯文本

  Process exited with code 0 Original token count: 29 Output: [-0.40369728 -0.24377702 0.82 ] [-0.1906…

• robot_act(steps=3, obs=obs_000025)→obs_000028
  参数原文· 668 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000025",
    "reason": "All three bowls are visible. The middle bowl will support the stack; approach the right bowl’s outer rim with vertical fingers closing across its wall.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.3, -0.261, 1.04], "quaternion_wxyz": [0.647, -0.285, 0.285, 0.647], "gripper_closed": false},
      "right": {"position": [0.172, -0.148, 1.035], "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 772 步 · 左末端 (-0.30, -0.26, 1.04) 米 · 右末端 (0.28, -0.24, 1.04) 米

{
  "observation_id": "obs_000028",
  "step_id": 28,
  "instruction": "Stack the three bowls together. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.3, -0.261, 1.04], "quaternion_wxyz": [0.647, -0.285, 0.285, 0.647], "gripper_opening_command": 1.0},
    "right": {"position": [0.28, -0.243, 1.037], "quaternion_wxyz": [0.624, -0.334, 0.331, 0.624], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 800,
  "remaining_steps": 772,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000028)→obs_000031
  参数原文· 664 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000028",
    "reason": "The right bowl remains clear of surrounding objects. Continue the open-gripper approach above its outer rim while finishing the downward alignment.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.3, -0.261, 1.04], "quaternion_wxyz": [0.647, -0.285, 0.285, 0.647], "gripper_closed": false},
      "right": {"position": [0.172, -0.148, 1.035], "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 769 步 · 左末端 (-0.30, -0.26, 1.04) 米 · 右末端 (0.26, -0.22, 1.03) 米

{
  "observation_id": "obs_000031",
  "step_id": 31,
  "instruction": "Stack the three bowls together. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.3, -0.261, 1.04], "quaternion_wxyz": [0.647, -0.285, 0.285, 0.647], "gripper_opening_command": 1.0},
    "right": {"position": [0.26, -0.225, 1.034], "quaternion_wxyz": [0.599, -0.378, 0.373, 0.598], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 800,
  "remaining_steps": 769,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000031)→obs_000034
  参数原文· 661 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000031",
    "reason": "The right wrist view shows the bowl moving toward the open fingers as the arm approaches. Continue above the rim with clearance before lowering.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.3, -0.261, 1.04], "quaternion_wxyz": [0.647, -0.285, 0.285, 0.647], "gripper_closed": false},
      "right": {"position": [0.172, -0.148, 1.035], "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 766 步 · 左末端 (-0.30, -0.26, 1.04) 米 · 右末端 (0.24, -0.21, 1.03) 米

{
  "observation_id": "obs_000034",
  "step_id": 34,
  "instruction": "Stack the three bowls together. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.3, -0.261, 1.04], "quaternion_wxyz": [0.647, -0.285, 0.285, 0.647], "gripper_opening_command": 1.0},
    "right": {"position": [0.24, -0.207, 1.032], "quaternion_wxyz": [0.572, -0.419, 0.414, 0.571], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 800,
  "remaining_steps": 766,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000034)→obs_000037
  参数原文· 630 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000034",
    "reason": "The fingers are nearly vertical and remain above the bowl. Continue centering their closing gap on the right rim.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.3, -0.261, 1.04], "quaternion_wxyz": [0.647, -0.285, 0.285, 0.647], "gripper_closed": false},
      "right": {"position": [0.172, -0.148, 1.035], "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 763 步 · 左末端 (-0.30, -0.26, 1.04) 米 · 右末端 (0.22, -0.19, 1.03) 米

{
  "observation_id": "obs_000037",
  "step_id": 37,
  "instruction": "Stack the three bowls together. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.3, -0.261, 1.04], "quaternion_wxyz": [0.647, -0.285, 0.285, 0.647], "gripper_opening_command": 1.0},
    "right": {"position": [0.22, -0.191, 1.031], "quaternion_wxyz": [0.542, -0.457, 0.453, 0.54], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 800,
  "remaining_steps": 763,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000037)→obs_000040
  参数原文· 638 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000037",
    "reason": "The right wrist clearly sees the bowl’s outer wall. Finish horizontal alignment above the rim before approaching contact.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.3, -0.261, 1.04], "quaternion_wxyz": [0.647, -0.285, 0.285, 0.647], "gripper_closed": false},
      "right": {"position": [0.172, -0.148, 1.035], "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 760 步 · 左末端 (-0.30, -0.26, 1.04) 米 · 右末端 (0.20, -0.17, 1.03) 米

{
  "observation_id": "obs_000040",
  "step_id": 40,
  "instruction": "Stack the three bowls together. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.3, -0.261, 1.04], "quaternion_wxyz": [0.647, -0.285, 0.285, 0.647], "gripper_opening_command": 1.0},
    "right": {"position": [0.2, -0.174, 1.03], "quaternion_wxyz": [0.511, -0.49, 0.488, 0.511], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 800,
  "remaining_steps": 760,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000040)→obs_000043
  参数原文· 633 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000040",
    "reason": "The measured right pose is still a few centimeters outside its rim target. Complete the alignment with open fingers.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.3, -0.261, 1.04], "quaternion_wxyz": [0.647, -0.285, 0.285, 0.647], "gripper_closed": false},
      "right": {"position": [0.172, -0.148, 1.035], "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 757 步 · 左末端 (-0.30, -0.26, 1.04) 米 · 右末端 (0.18, -0.16, 1.03) 米

{
  "observation_id": "obs_000043",
  "step_id": 43,
  "instruction": "Stack the three bowls together. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.3, -0.261, 1.04], "quaternion_wxyz": [0.647, -0.285, 0.285, 0.647], "gripper_opening_command": 1.0},
    "right": {"position": [0.179, -0.155, 1.033], "quaternion_wxyz": [0.501, -0.499, 0.498, 0.502], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 800,
  "remaining_steps": 757,
  "native_success": false,
  "frame": "environment_origin"
}

• exec_command(cmd="/root/miniconda3/envs/RoboDojo/bin/python - <<'PY' import numpy as np,json from scipy.op…")→退出码 0 · 76 字
  参数原文· 854 字JSON

  1 2 3 4

  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nimport numpy as np,json\nfrom scipy.optimize import least_squares\nj=json.load(open('observations/000043/observation.json'));cs=[(np.array(c['calibration']['intrinsic_matrix']),np.array(c['calibration']['environment_to_optical'])) for c in j['images']];a=np.linspace(0,2*np.pi,1000)\ndef b(p,i):\n x,y,z,r=p;pts=np.array([x+r*np.cos(a),y+r*np.sin(a),np.full_like(a,z),np.ones_like(a)]);K,T=cs[i];q=K@(T@pts)[:3];uv=q[:2]/q[2];return np.r_[uv[0].min(),uv[0].max(),uv[1].min(),uv[1].max()]\ndef f(p):return np.r_[b(p,0)-[353,410,225,275],(b(p,2)-[-40,305,-20,295])*[0,1,0,1]]\nr=least_squares(f,[.12,-.148,.82,.054]);print(r.x,f(r.x));\nfor p in [[.172,-.148,.82],[.172,-.148,.89],[.172,-.148,.8774]]:\n K,T=cs[2];q=K@(T@np.r_[p,1])[:3];print(p,q[:2]/q[2])\nPY",
    "max_output_tokens": 1000
  }

  返回原文· 361 字纯文本

  Process exited with code 0 Original token count: 76 Output: [ 0.11903298 -0.14756207 0.81950754 0.05…

• robot_act(steps=3, obs=obs_000043)→obs_000046
  参数原文· 662 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000043",
    "reason": "Camera geometry places the right rim near x=0.174, y=-0.148, z=0.820. Lower the aligned fingers partway toward it while keeping the bowl visible.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.3, -0.261, 1.04], "quaternion_wxyz": [0.647, -0.285, 0.285, 0.647], "gripper_closed": false},
      "right": {"position": [0.173, -0.148, 1.003], "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 754 步 · 左末端 (-0.30, -0.26, 1.04) 米 · 右末端 (0.17, -0.15, 1.00) 米

{
  "observation_id": "obs_000046",
  "step_id": 46,
  "instruction": "Stack the three bowls together. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.3, -0.261, 1.04], "quaternion_wxyz": [0.647, -0.285, 0.285, 0.647], "gripper_opening_command": 1.0},
    "right": {"position": [0.173, -0.148, 1.004], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 800,
  "remaining_steps": 754,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=2, obs=obs_000046)→obs_000048
  参数原文· 657 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000046",
    "reason": "The rim stays between the open fingers, which are still above contact. Lower another two centimeters to engage the rim near the finger pads.",
    "steps": 2,
    "target": {
      "left": {"position": [-0.3, -0.261, 1.04], "quaternion_wxyz": [0.647, -0.285, 0.285, 0.647], "gripper_closed": false},
      "right": {"position": [0.173, -0.148, 0.982], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000048 · 步 48 · 剩余 752 步 · 左末端 (-0.30, -0.26, 1.04) 米 · 右末端 (0.17, -0.15, 0.98) 米

{
  "observation_id": "obs_000048",
  "step_id": 48,
  "instruction": "Stack the three bowls together. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.3, -0.261, 1.04], "quaternion_wxyz": [0.647, -0.285, 0.285, 0.647], "gripper_opening_command": 1.0},
    "right": {"position": [0.173, -0.148, 0.984], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 800,
  "remaining_steps": 752,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=2, obs=obs_000048)→obs_000050
  参数原文· 677 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000048",
    "reason": "The fingers are aligned across the thin rim wall, with their tips still slightly above it. Lower slowly so the pads straddle the rim without touching the table.",
    "steps": 2,
    "target": {
      "left": {"position": [-0.3, -0.261, 1.04], "quaternion_wxyz": [0.647, -0.285, 0.285, 0.647], "gripper_closed": false},
      "right": {"position": [0.173, -0.148, 0.968], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000050", "native_success": false}

观测 obs_000050 · 步 50 · 剩余 750 步 · 左末端 (-0.30, -0.26, 1.04) 米 · 右末端 (0.17, -0.15, 0.97) 米

{
  "observation_id": "obs_000050",
  "step_id": 50,
  "instruction": "Stack the three bowls together. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.3, -0.261, 1.04], "quaternion_wxyz": [0.647, -0.285, 0.285, 0.647], "gripper_opening_command": 1.0},
    "right": {"position": [0.173, -0.148, 0.969], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 800,
  "remaining_steps": 750,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=2, obs=obs_000050)→obs_000052
  参数原文· 654 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000050",
    "reason": "The rim is now within the tips’ depth and remains stationary. Set the final pad depth a little farther down to increase rim contact area.",
    "steps": 2,
    "target": {
      "left": {"position": [-0.3, -0.261, 1.04], "quaternion_wxyz": [0.647, -0.285, 0.285, 0.647], "gripper_closed": false},
      "right": {"position": [0.172, -0.148, 0.958], "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 748 步 · 左末端 (-0.30, -0.26, 1.04) 米 · 右末端 (0.17, -0.15, 0.96) 米

{
  "observation_id": "obs_000052",
  "step_id": 52,
  "instruction": "Stack the three bowls together. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.3, -0.261, 1.04], "quaternion_wxyz": [0.647, -0.285, 0.285, 0.647], "gripper_opening_command": 1.0},
    "right": {"position": [0.172, -0.148, 0.958], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 1.0}
  },
  "control_dt": 0.04,
  "max_episode_steps": 800,
  "remaining_steps": 748,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000052)→obs_000055
  参数原文· 656 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000052",
    "reason": "The vertical pads straddle the right bowl’s rim and the bowl is still supported by the table. Close the right gripper without changing pose.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.3, -0.261, 1.04], "quaternion_wxyz": [0.647, -0.285, 0.285, 0.647], "gripper_closed": false},
      "right": {"position": [0.172, -0.148, 0.958], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000055 · 步 55 · 剩余 745 步 · 左末端 (-0.30, -0.26, 1.04) 米 · 右末端 (0.17, -0.15, 0.96) 米

{
  "observation_id": "obs_000055",
  "step_id": 55,
  "instruction": "Stack the three bowls together. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.3, -0.261, 1.04], "quaternion_wxyz": [0.647, -0.285, 0.285, 0.647], "gripper_opening_command": 1.0},
    "right": {"position": [0.172, -0.148, 0.958], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 0.329}
  },
  "control_dt": 0.04,
  "max_episode_steps": 800,
  "remaining_steps": 745,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000055)→obs_000058
  参数原文· 667 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000055",
    "reason": "The fingers are closing toward the visible rim but the opening command has not yet settled. Continue closure at the same pose before testing the grasp.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.3, -0.261, 1.04], "quaternion_wxyz": [0.647, -0.285, 0.285, 0.647], "gripper_closed": false},
      "right": {"position": [0.172, -0.148, 0.958], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000058 · 步 58 · 剩余 742 步 · 左末端 (-0.30, -0.26, 1.04) 米 · 右末端 (0.17, -0.15, 0.96) 米

{
  "observation_id": "obs_000058",
  "step_id": 58,
  "instruction": "Stack the three bowls together. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.3, -0.261, 1.04], "quaternion_wxyz": [0.647, -0.285, 0.285, 0.647], "gripper_opening_command": 1.0},
    "right": {"position": [0.172, -0.148, 0.958], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 0.037}
  },
  "control_dt": 0.04,
  "max_episode_steps": 800,
  "remaining_steps": 742,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000058)→obs_000061
  参数原文· 630 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000058",
    "reason": "The rim is visibly between both pads. Test the grasp with a two-centimeter vertical lift and unchanged orientation.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.3, -0.261, 1.04], "quaternion_wxyz": [0.647, -0.285, 0.285, 0.647], "gripper_closed": false},
      "right": {"position": [0.172, -0.148, 0.98], "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 739 步 · 左末端 (-0.30, -0.26, 1.04) 米 · 右末端 (0.17, -0.15, 0.98) 米

{
  "observation_id": "obs_000061",
  "step_id": 61,
  "instruction": "Stack the three bowls together. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.3, -0.261, 1.04], "quaternion_wxyz": [0.647, -0.285, 0.285, 0.647], "gripper_opening_command": 1.0},
    "right": {"position": [0.172, -0.148, 0.98], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 0.018}
  },
  "control_dt": 0.04,
  "max_episode_steps": 800,
  "remaining_steps": 739,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=10, obs=obs_000061)→obs_000071
  参数原文· 664 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000061",
    "reason": "The bowl lifted with the right gripper, confirming the grasp. Raise it for transport and move the idle left arm upward to clear the destination bowl.",
    "steps": 10,
    "target": {
      "left": {"position": [-0.33, -0.3, 1.15], "quaternion_wxyz": [0.647, -0.285, 0.285, 0.647], "gripper_closed": false},
      "right": {"position": [0.172, -0.148, 1.07], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000071", "native_success": false}

观测 obs_000071 · 步 71 · 剩余 729 步 · 左末端 (-0.32, -0.30, 1.14) 米 · 右末端 (0.17, -0.15, 1.07) 米

{
  "observation_id": "obs_000071",
  "step_id": 71,
  "instruction": "Stack the three bowls together. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.325, -0.296, 1.137], "quaternion_wxyz": [0.647, -0.285, 0.285, 0.647], "gripper_opening_command": 1.0},
    "right": {"position": [0.172, -0.148, 1.069], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 0.014}
  },
  "control_dt": 0.04,
  "max_episode_steps": 800,
  "remaining_steps": 729,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=15, obs=obs_000071)→obs_000086
  参数原文· 686 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000071",
    "reason": "The right bowl is held steadily above the table, and the left arm is clear of the route. Translate it toward the middle bowl while maintaining height and orientation.",
    "steps": 15,
    "target": {
      "left": {"position": [-0.325, -0.296, 1.137], "quaternion_wxyz": [0.647, -0.285, 0.285, 0.647], "gripper_closed": false},
      "right": {"position": [-0.025, -0.165, 1.07], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000086", "native_success": false}

观测 obs_000086 · 步 86 · 剩余 714 步 · 左末端 (-0.32, -0.30, 1.14) 米 · 右末端 (-0.01, -0.17, 1.06) 米

{
  "observation_id": "obs_000086",
  "step_id": 86,
  "instruction": "Stack the three bowls together. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.325, -0.296, 1.137], "quaternion_wxyz": [0.647, -0.285, 0.285, 0.647], "gripper_opening_command": 1.0},
    "right": {"position": [-0.006, -0.168, 1.064], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 0.011}
  },
  "control_dt": 0.04,
  "max_episode_steps": 800,
  "remaining_steps": 714,
  "native_success": false,
  "frame": "environment_origin"
}