叠碗（随机版） · stack_bowls_random_000001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": 12000}
  返回原文· 6,129 字代码

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

• exec_command(cmd="cat observations/000000/observation.json")→退出码 0 · 1,436 字
  参数原文· 85 字JSON

  {"cmd": "cat observations/000000/observation.json", "max_output_tokens": 16000}
  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": "a88b6bc2bedd49139ba2b68cc2931c75",
    "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-j00hbf0c/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-j00hbf0c/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-j00hbf0c/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-j00hbf0c/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-j00hbf0c/agent/observations/000000/camera_parameters.json"
  }

• exec_command(cmd="cat > geometry.py <<'PY' import json,numpy as np from scipy.spatial.transform import Rot…")→退出码 0 · 312 字
  参数原文· 1,074 字JSON

  1 2 3 4

  {
    "cmd": "cat > geometry.py <<'PY'\nimport json,numpy as np\nfrom scipy.spatial.transform import Rotation\nobs=json.load(open('observations/000000/observation.json'))\ndef ray(camera,p):\n c=obs['images'][camera]['calibration']; K=np.array(c['intrinsic_matrix']); T=np.array(c['environment_to_optical']); inv=np.linalg.inv(T);return inv[:3,3],inv[:3,:3]@np.linalg.solve(K,[*p,1.])\ndef plane(camera,p,z):\n a,b=ray(camera,p);return a+b*(z-a[2])/b[2]\ndef triang(c1,p1,c2,p2):\n a,b=ray(c1,p1);c,d=ray(c2,p2);ts=np.linalg.lstsq(np.array([b,-d]).T,c-a,rcond=None)[0]; x=a+ts[0]*b;y=c+ts[1]*d;return (x+y)/2,np.linalg.norm(x-y)\nfor name,p in [('left',(217,195)),('center',(345,196)),('right',(507,162))]:\n print(name,[(z,plane(0,p,z)) for z in [.65,.7,.75,.8]])\nfor pair in [((215,164),(449,184)),((219,231),(467,326)),((173,191),(319,252)),((260,192),(608,261)),((506,133),(436,150)),((512,194),(456,224))]:\n c=1 if pair[0][0]<300 else 2\n print(pair,triang(0,pair[0],c,pair[1]))\nPY\n/root/miniconda3/envs/RoboDojo/bin/python geometry.py",
    "max_output_tokens": 2000
  }

  返回原文· 1,308 字代码

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

  Process exited with code 0
  Original token count: 312
  Output:
  left [(0.65, array([-0.2985243 ,  0.12049635,  0.65      ])), (0.7, array([-0.27584008,  0.08018507,  0.7       ])), (0.75, array([-0.25315586,  0.0398738 ,  0.75      ])), (0.8, array([-2.30471646e-01, -4.37475276e-04,  8.00000000e-01]))]
  center [(0.65, array([0.07229813, 0.11682609, 0.65      ])), (0.7, array([0.06680435, 0.07679372, 0.7       ])), (0.75, array([0.06131057, 0.03676134, 0.75      ])), (0.8, array([ 0.05581679, -0.00327104,  0.8       ]))]
  right [(0.65, array([0.58445802, 0.25139482, 0.65      ])), (0.7, array([0.54004632, 0.20113685, 0.7       ])), (0.75, array([0.49563461, 0.15087888, 0.75      ])), (0.8, array([0.45122291, 0.10062092, 0.8       ]))]
  ((215, 164), (449, 184)) (array([-0.20911431,  0.01381913,  0.86843196]), 0.0208644466750555)
  ((219, 231), (467, 326)) (array([-0.21016903, -0.09299687,  0.80681431]), 0.01176793565273247)
  ((173, 191), (319, 252)) (array([-0.30484072, -0.02123447,  0.82845956]), 0.01672140775356517)
  ((260, 192), (608, 261)) (array([-0.11761538, -0.04245545,  0.84117326]), 0.027195433951182093)
  ((506, 133), (436, 150)) (array([0.42525574, 0.13678923, 0.85115766]), 0.011914191811384435)
  ((512, 194), (456, 224)) (array([ 0.38795205, -0.03903892,  0.85183381]), 0.002020963850139396)
  

• exec_command(cmd="cat > inspect_geometry.py <<'PY' exec(open('geometry.py').read().split('for name')[0]) f…")→退出码 0 · 0 字
  参数原文· 849 字JSON

  1 2 3 4

  {
    "cmd": "cat > inspect_geometry.py <<'PY'\nexec(open('geometry.py').read().split('for name')[0])\nfrom PIL import Image,ImageDraw\nfor c in [1,2]:\n im=Image.open(obs['images'][c]['path']);dr=ImageDraw.Draw(im)\n for p,col in [((217,229),'cyan'),((217,164),'lime'),((507,194),'cyan'),((507,134),'lime'),((345,229),'red')]:\n  a,b=ray(0,p); pts=[]\n  cal=obs['images'][c]['calibration']; K=np.array(cal['intrinsic_matrix']);T=np.array(cal['environment_to_optical'])\n  for z in [.78,.8,.82,.84,.86,.88,.9]:\n   x=a+b*(z-a[2])/b[2];cp=T@np.r_[x,1]; pix=K@cp[:3];u,v=pix[:2]/pix[2];pts.append((float(u),float(v)));dr.ellipse([u-2,v-2,u+2,v+2],fill=col);dr.text((u+3,v),str(z),fill=col)\n  dr.line(pts,fill=col,width=2)\n im.save(f'annotated_{c}.png')\nPY\n/root/miniconda3/envs/RoboDojo/bin/python inspect_geometry.py",
    "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-j00hbf0c/agent/annotated_1.png")→1 张图
  查看的图
  参数原文· 86 字JSON

  {"path": "/mnt/workspace/robot_workspaces/episode-j00hbf0c/agent/annotated_1.png"}
  返回原文· 314 字JSON

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

  [
    {
      "type": "input_image",
      "image_url": {
        "$image": "assets/32fa4544d1ab497a6131e5be079463935d7da4840f5cac22eac94a48d1580307.png",
        "sha256": "32fa4544d1ab497a6131e5be079463935d7da4840f5cac22eac94a48d1580307",
        "mime_type": "image/png",
        "width": 640,
        "height": 480
      }
    }
  ]

• robot_act(steps=3, obs=obs_000000)→obs_000003
  参数原文· 649 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000000",
    "reason": "The bowls are upright with clear space above them. Raise the left gripper before rotating its fingers downward for a rim grasp.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.26, -0.25, 1.08], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false},
      "right": {"position": [0.30047095, -0.35229987, 0.92150003], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000003", "native_success": false}

观测 obs_000003 · 步 3 · 剩余 797 步 · 左末端 (-0.30, -0.35, 0.94) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000003",
  "step_id": 3,
  "instruction": "Stack the three bowls together. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.297, -0.347, 0.939], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
    "right": {"position": [0.3, -0.352, 0.921], "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": 797,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=15, obs=obs_000003)→obs_000018
  参数原文· 645 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000003",
    "reason": "The raised gripper remains clear of the table objects. Continue to an overhead clearance pose before approaching the bowl.",
    "steps": 15,
    "target": {
      "left": {"position": [-0.24, -0.23, 1.09], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false},
      "right": {"position": [0.30047095, -0.35229987, 0.92150003], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000018", "native_success": false}

观测 obs_000018 · 步 18 · 剩余 782 步 · 左末端 (-0.26, -0.27, 1.04) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000018",
  "step_id": 18,
  "instruction": "Stack the three bowls together. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.262, -0.272, 1.043], "quaternion_wxyz": [0.707, 0.0, 0.0, 0.707], "gripper_opening_command": 1.0},
    "right": {"position": [0.3, -0.352, 0.921], "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": 782,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000018)→obs_000021
  参数原文· 671 字JSON

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

  {
    "observation_id": "obs_000018",
    "reason": "There is clear space above the bowls. Tilt the fingers toward the right rim of the left bowl while staying above contact height.",
    "steps": 3,
    "target": {
      "left": {
        "position": [-0.22, -0.12, 1.09],
        "quaternion_wxyz": [0.653281, -0.270598, 0.270598, 0.653281],
        "gripper_closed": false
      },
      "right": {"position": [0.30047095, -0.35229987, 0.92150003], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000021 · 步 21 · 剩余 779 步 · 左末端 (-0.26, -0.25, 1.05) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000021",
  "step_id": 21,
  "instruction": "Stack the three bowls together. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.256, -0.247, 1.048], "quaternion_wxyz": [0.705, -0.048, 0.048, 0.706], "gripper_opening_command": 1.0},
    "right": {"position": [0.3, -0.352, 0.921], "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": 779,
  "native_success": false,
  "frame": "environment_origin"
}

• exec_command(cmd="/root/miniconda3/envs/RoboDojo/bin/python - <<'PY' exec(open('geometry.py').read().split…")→退出码 0 · 147 字
  参数原文· 383 字JSON

  1 2 3 4

  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nexec(open('geometry.py').read().split('for name')[0])\nfor name,pts in [('left',[(217,163),(216,231),(172,193),(260,194)]),('middle',[(343,163),(344,230),(301,194),(387,194)]),('right',[(503,133),(512,193),(465,160),(548,169)])]:\n print(name)\n for p in pts: print(p,plane(0,p,.84))\nPY",
    "max_output_tokens": 1200
  }

  返回原文· 649 字代码

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

  Process exited with code 0
  Original token count: 147
  Output:
  left
  (217, 163) [-0.2284224  0.0573794  0.84     ]
  (216, 231) [-0.19863682 -0.11995104  0.84      ]
  (172, 193) [-0.30643707 -0.02743094  0.84      ]
  (260, 194) [-0.12395704 -0.03006452  0.84      ]
  middle
  (343, 163) [0.05100694 0.0573794  0.84      ]
  (344, 230) [ 0.045933  -0.1177005  0.84     ]
  (301, 194) [-0.03925306 -0.03006452  0.84      ]
  (387, 194) [ 0.13841869 -0.03006452  0.84      ]
  right
  (503, 133) [0.43689211 0.15516892 0.84      ]
  (512, 193) [ 0.39753998 -0.02743094  0.84      ]
  (465, 160) [0.32386756 0.06652829 0.84      ]
  (548, 169) [0.49854671 0.03946632 0.84      ]
  

• robot_act(steps=3, obs=obs_000021)→obs_000024
  参数原文· 667 字JSON

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

  {
    "observation_id": "obs_000021",
    "reason": "The left bowl’s right rim is visible and separated from the middle bowl. Continue the overhead alignment with open fingers.",
    "steps": 3,
    "target": {
      "left": {
        "position": [-0.14, -0.06, 1.085],
        "quaternion_wxyz": [0.653281, -0.270598, 0.270598, 0.653281],
        "gripper_closed": false
      },
      "right": {"position": [0.30047095, -0.35229987, 0.92150003], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000024", "native_success": false}

观测 obs_000024 · 步 24 · 剩余 776 步 · 左末端 (-0.24, -0.22, 1.05) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000024",
  "step_id": 24,
  "instruction": "Stack the three bowls together. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.242, -0.225, 1.05], "quaternion_wxyz": [0.7, -0.095, 0.096, 0.701], "gripper_opening_command": 1.0},
    "right": {"position": [0.3, -0.352, 0.921], "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": 776,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000024)→obs_000027
  参数原文· 661 字JSON

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

  {
    "observation_id": "obs_000024",
    "reason": "The wrist view still shows the bowl and rim. Move over the right rim while continuing the downward finger alignment.",
    "steps": 3,
    "target": {
      "left": {
        "position": [-0.125, -0.03, 1.075],
        "quaternion_wxyz": [0.653281, -0.270598, 0.270598, 0.653281],
        "gripper_closed": false
      },
      "right": {"position": [0.30047095, -0.35229987, 0.92150003], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000027", "native_success": false}

观测 obs_000027 · 步 27 · 剩余 773 步 · 左末端 (-0.23, -0.20, 1.05) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000027",
  "step_id": 27,
  "instruction": "Stack the three bowls together. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.23, -0.203, 1.05], "quaternion_wxyz": [0.693, -0.14, 0.141, 0.693], "gripper_opening_command": 1.0},
    "right": {"position": [0.3, -0.352, 0.921], "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": 773,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000027)→obs_000030
  参数原文· 667 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000027",
    "reason": "The fingers are above the bowl with no contact. Increase the downward orientation so the closing direction spans the rim wall.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.125, -0.03, 1.075], "quaternion_wxyz": [0.5836, -0.399263, 0.399263, 0.5836], "gripper_closed": false},
      "right": {"position": [0.30047095, -0.35229987, 0.92150003], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000030", "native_success": false}

观测 obs_000030 · 步 30 · 剩余 770 步 · 左末端 (-0.22, -0.18, 1.05) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000030",
  "step_id": 30,
  "instruction": "Stack the three bowls together. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.218, -0.184, 1.051], "quaternion_wxyz": [0.683, -0.181, 0.182, 0.684], "gripper_opening_command": 1.0},
    "right": {"position": [0.3, -0.352, 0.921], "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": 770,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000030)→obs_000033
  参数原文· 684 字JSON

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

  {
    "observation_id": "obs_000030",
    "reason": "The bowl remains visible under the open gripper. Continue rotating downward and moving over the right rim, keeping the fingertips above it.",
    "steps": 3,
    "target": {
      "left": {
        "position": [-0.125, -0.03, 1.065],
        "quaternion_wxyz": [0.540825, -0.455531, 0.455531, 0.540825],
        "gripper_closed": false
      },
      "right": {"position": [0.30047095, -0.35229987, 0.92150003], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000033", "native_success": false}

观测 obs_000033 · 步 33 · 剩余 767 步 · 左末端 (-0.21, -0.17, 1.05) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000033",
  "step_id": 33,
  "instruction": "Stack the three bowls together. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.207, -0.165, 1.05], "quaternion_wxyz": [0.671, -0.22, 0.222, 0.672], "gripper_opening_command": 1.0},
    "right": {"position": [0.3, -0.352, 0.921], "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": 767,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000033)
  参数原文· 632 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000033",
    "reason": "The open fingertips are clear of the bowl. Finish the vertical orientation and approach the rim from above.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.125, -0.03, 1.055], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false},
      "right": {"position": [0.30047095, -0.35229987, 0.92150003], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false}
    }
  }

  返回原文· 661 字代码

  1 2 3 4 5

  IK precheck failed; robot_act was not executed. Neither arm nor gripper moved, and no control steps were used.
  Left arm: stalled after 98 iterations (maximum 128). At the best precheck iterate: position error 5.353 mm (tolerance 5.000 mm; exceeds tolerance); rotation error 0.025 degrees (tolerance 1.146 degrees; within tolerance).
  Change the target position or orientation, or first move to a different approach pose. Repeating the same target from the unchanged state, even with more execution steps, will not change the precheck result. This local IK failure does not prove global unreachability.
  Observation ID (unchanged): obs_000033
  native_success: false

• robot_act(steps=3, obs=obs_000033)→obs_000036
  参数原文· 679 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000033",
    "reason": "The previous vertical pose narrowly failed the local kinematic check. Use a slightly lower, near-vertical intermediate pose above the rim.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.125, -0.03, 1.035], "quaternion_wxyz": [0.52946, -0.46869, 0.46869, 0.52946], "gripper_closed": false},
      "right": {"position": [0.30047095, -0.35229987, 0.92150003], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000036 · 步 36 · 剩余 764 步 · 左末端 (-0.19, -0.15, 1.05) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000036",
  "step_id": 36,
  "instruction": "Stack the three bowls together. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.195, -0.145, 1.045], "quaternion_wxyz": [0.656, -0.261, 0.263, 0.657], "gripper_opening_command": 1.0},
    "right": {"position": [0.3, -0.352, 0.921], "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": 764,
  "native_success": false,
  "frame": "environment_origin"
}

• exec_command(cmd="/root/miniconda3/envs/RoboDojo/bin/python - <<'PY' exec(open('geometry.py').read().split…")→退出码 0 · 54 字
  参数原文· 316 字JSON

  1 2 3 4

  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nexec(open('geometry.py').read().split('for name')[0]);obs=json.load(open('observations/000036/observation.json'))\nfor a,b in [((217,164),(270,145)),((172,192),(100,285)),((259,193),(482,310))]:print(triang(0,a,1,b))\nPY",
    "max_output_tokens": 1000
  }

  返回原文· 274 字纯文本

  Process exited with code 0 Original token count: 54 Output: (array([-0.22304987, 0.05166894, 0.84562…

• robot_act(steps=3, obs=obs_000036)→obs_000039
  参数原文· 666 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000036",
    "reason": "Stereo views put the right rim near x=-0.124, y=-0.03, z=0.844. Align above it with downward fingers and leave room for a controlled descent.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.123, -0.045, 1.02], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false},
      "right": {"position": [0.30047095, -0.35229987, 0.92150003], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000039", "native_success": false}

观测 obs_000039 · 步 39 · 剩余 761 步 · 左末端 (-0.18, -0.13, 1.04) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000039",
  "step_id": 39,
  "instruction": "Stack the three bowls together. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.181, -0.127, 1.038], "quaternion_wxyz": [0.639, -0.302, 0.303, 0.64], "gripper_opening_command": 1.0},
    "right": {"position": [0.3, -0.352, 0.921], "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": 761,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000039)→obs_000042
  参数原文· 642 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000039",
    "reason": "The right rim remains visible between the approach paths. Continue the alignment without closing or touching the bowl.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.123, -0.03, 1.02], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false},
      "right": {"position": [0.30047095, -0.35229987, 0.92150003], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000042 · 步 42 · 剩余 758 步 · 左末端 (-0.17, -0.11, 1.03) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000042",
  "step_id": 42,
  "instruction": "Stack the three bowls together. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.17, -0.109, 1.032], "quaternion_wxyz": [0.62, -0.339, 0.34, 0.621], "gripper_opening_command": 1.0},
    "right": {"position": [0.3, -0.352, 0.921], "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": 758,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000042)→obs_000045
  参数原文· 638 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000042",
    "reason": "The fingertips are approaching the right rim from above. Continue the near-vertical alignment at clearance height.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.123, -0.03, 1.02], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false},
      "right": {"position": [0.30047095, -0.35229987, 0.92150003], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000045 · 步 45 · 剩余 755 步 · 左末端 (-0.16, -0.09, 1.03) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000045",
  "step_id": 45,
  "instruction": "Stack the three bowls together. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.16, -0.092, 1.027], "quaternion_wxyz": [0.6, -0.373, 0.373, 0.602], "gripper_opening_command": 1.0},
    "right": {"position": [0.3, -0.352, 0.921], "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": 755,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000045)→obs_000048
  参数原文· 629 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000045",
    "reason": "The fingers remain open above the rim. Complete the alignment before descending to straddle the rim wall.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.123, -0.03, 1.02], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false},
      "right": {"position": [0.30047095, -0.35229987, 0.92150003], "quaternion_wxyz": [0.707, 0, 0, 0.707], "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 (-0.15, -0.08, 1.02) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000048",
  "step_id": 48,
  "instruction": "Stack the three bowls together. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.151, -0.078, 1.023], "quaternion_wxyz": [0.581, -0.402, 0.402, 0.582], "gripper_opening_command": 1.0},
    "right": {"position": [0.3, -0.352, 0.921], "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": 752,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000048)→obs_000051
  参数原文· 644 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000048",
    "reason": "The fingertip path is still clear and the bowl is visible in the wrist view. Finish the vertical alignment over the rim.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.123, -0.03, 1.01], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false},
      "right": {"position": [0.30047095, -0.35229987, 0.92150003], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000051 · 步 51 · 剩余 749 步 · 左末端 (-0.14, -0.06, 1.02) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000051",
  "step_id": 51,
  "instruction": "Stack the three bowls together. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.143, -0.064, 1.016], "quaternion_wxyz": [0.561, -0.431, 0.43, 0.562], "gripper_opening_command": 1.0},
    "right": {"position": [0.3, -0.352, 0.921], "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": 749,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000051)→obs_000054
  参数原文· 651 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000051",
    "reason": "The rim lies near the middle of the open finger span. Lower slightly while completing vertical alignment, without yet closing.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.123, -0.03, 0.999], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false},
      "right": {"position": [0.30047095, -0.35229987, 0.92150003], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000054 · 步 54 · 剩余 746 步 · 左末端 (-0.13, -0.05, 1.01) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000054",
  "step_id": 54,
  "instruction": "Stack the three bowls together. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.135, -0.051, 1.006], "quaternion_wxyz": [0.538, -0.459, 0.458, 0.539], "gripper_opening_command": 1.0},
    "right": {"position": [0.3, -0.352, 0.921], "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": 746,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000054)→obs_000057
  参数原文· 640 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000054",
    "reason": "The gripper is nearly vertical over the right rim. Descend so the finger pads straddle the bowl wall below its lip.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.123, -0.03, 0.974], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false},
      "right": {"position": [0.30047095, -0.35229987, 0.92150003], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000057 · 步 57 · 剩余 743 步 · 左末端 (-0.13, -0.04, 0.98) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000057",
  "step_id": 57,
  "instruction": "Stack the three bowls together. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.127, -0.038, 0.98], "quaternion_wxyz": [0.507, -0.493, 0.493, 0.507], "gripper_opening_command": 1.0},
    "right": {"position": [0.3, -0.352, 0.921], "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": 743,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000057)→obs_000060
  参数原文· 665 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000057",
    "reason": "The open fingers straddle the visible right rim, with their pads below the lip. Hold the aligned pose and close gently around the bowl wall.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.124, -0.032, 0.976], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true},
      "right": {"position": [0.30047095, -0.35229987, 0.92150003], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000060", "native_success": false}

观测 obs_000060 · 步 60 · 剩余 740 步 · 左末端 (-0.12, -0.03, 0.98) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000060",
  "step_id": 60,
  "instruction": "Stack the three bowls together. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.124, -0.032, 0.976], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 0.338},
    "right": {"position": [0.3, -0.352, 0.921], "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": 740,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000060)→obs_000063
  参数原文· 671 字JSON

  1 2 3 4 5 6 7 8 9

  {
    "observation_id": "obs_000060",
    "reason": "The fingers are closing around the rim but the opening command has not reached its endpoint. Hold position to complete closure before a test lift.",
    "steps": 3,
    "target": {
      "left": {"position": [-0.124, -0.032, 0.976], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true},
      "right": {"position": [0.30047095, -0.35229987, 0.92150003], "quaternion_wxyz": [0.707, 0, 0, 0.707], "gripper_closed": false}
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000063", "native_success": false}

观测 obs_000063 · 步 63 · 剩余 737 步 · 左末端 (-0.12, -0.03, 0.98) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000063",
  "step_id": 63,
  "instruction": "Stack the three bowls together. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.124, -0.032, 0.976], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 0.19},
    "right": {"position": [0.3, -0.352, 0.921], "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": 737,
  "native_success": false,
  "frame": "environment_origin"
}