交换积木 · swap_blocks_000000任务成功第四档

观测 obs_000000 · 步 0 · 剩余 700 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": "Swap the two blocks using the empty mat, pressing the button after each move. 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": 700,
  "remaining_steps": 700,
  "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 · 1,447 字
  参数原文· 85 字JSON

  {"cmd": "cat observations/000000/observation.json", "max_output_tokens": 16000}
  返回原文· 5,849 字代码

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  Process exited with code 0
  Original token count: 1447
  Output:
  {
    "episode_id": "e4d0a30c96ff4a79889aa973659965b8",
    "observation_id": "obs_000000",
    "step_id": 0,
    "instruction": "Swap the two blocks using the empty mat, pressing the button after each move. 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": [
      3.316737618060117e-13,
      -6.9164644714639345e-16,
      5.2025805867930944e-17,
      3.7174428464375043e-16,
      -5.522295403077859e-13,
      2.43306915413688e-12,
      1.0,
      3.316739244363376e-13,
      -6.91649464701268e-16,
      5.203215861503535e-17,
      3.7175114031666727e-16,
      -5.522286187359393e-13,
      2.433068286775142e-12,
      1.0
    ],
    "control_dt": 0.04,
    "max_episode_steps": 700,
    "remaining_steps": 700,
    "rollout_finished": false,
    "native_success": false,
    "frame": "environment_origin",
    "images": [
      {
        "camera": "cam_high",
        "path": "/mnt/workspace/robot_workspaces/episode-d_u2xik8/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-d_u2xik8/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-d_u2xik8/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-d_u2xik8/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-d_u2xik8/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 · 249 字
  参数原文· 538 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']); cam=np.linalg.inv(T)[:3,3]\nfor z in [.6,.65,.7,.75]:\n for uv in [(261,285),(320,285),(379,285),(320,333),(322,278),(380,279)]:\n  ray=np.linalg.inv(T)[:3,:3]@np.linalg.inv(K)@np.r_[uv,1]; p=cam+ray*(z-cam[2])/ray[2]\n  print(z,uv,np.round(p,4))\nPY",
    "max_output_tokens": 2000
  }

  返回原文· 1,057 字代码

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

  Process exited with code 0
  Original token count: 249
  Output:
  0.6 (261, 285) [-0.1536 -0.1365  0.6   ]
  0.6 (320, 285) [ 0.     -0.1365  0.6   ]
  0.6 (379, 285) [ 0.1536 -0.1365  0.6   ]
  0.6 (320, 333) [ 0.     -0.2581  0.6   ]
  0.6 (322, 278) [ 0.0053 -0.1169  0.6   ]
  0.6 (380, 279) [ 0.1579 -0.1197  0.6   ]
  0.65 (261, 285) [-0.1427 -0.1558  0.65  ]
  0.65 (320, 285) [ 0.     -0.1558  0.65  ]
  0.65 (379, 285) [ 0.1427 -0.1558  0.65  ]
  0.65 (320, 333) [ 0.     -0.2688  0.65  ]
  0.65 (322, 278) [ 0.0049 -0.1376  0.65  ]
  0.65 (380, 279) [ 0.1467 -0.1402  0.65  ]
  0.7 (261, 285) [-0.1319 -0.1751  0.7   ]
  0.7 (320, 285) [ 0.     -0.1751  0.7   ]
  0.7 (379, 285) [ 0.1319 -0.1751  0.7   ]
  0.7 (320, 333) [ 0.     -0.2795  0.7   ]
  0.7 (322, 278) [ 0.0045 -0.1583  0.7   ]
  0.7 (380, 279) [ 0.1356 -0.1607  0.7   ]
  0.75 (261, 285) [-0.121  -0.1944  0.75  ]
  0.75 (320, 285) [ 0.     -0.1944  0.75  ]
  0.75 (379, 285) [ 0.121  -0.1944  0.75  ]
  0.75 (320, 333) [ 0.     -0.2903  0.75  ]
  0.75 (322, 278) [ 0.0042 -0.179   0.75  ]
  0.75 (380, 279) [ 0.1244 -0.1812  0.75  ]
  

• robot_act(steps=3, obs=obs_000000)→obs_000003
  参数原文· 707 字JSON

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  {
    "observation_id": "obs_000000",
    "reason": "The empty mat is left of the two blocks. I am moving the left gripper above the middle block and tilting the fingers downward for a visible top grasp.",
    "steps": 3,
    "target": {
      "left": {
        "position": [-0.18, -0.22, 0.96],
        "quaternion_wxyz": [0.6532815, -0.2705981, 0.2705981, 0.6532815],
        "gripper_closed": false
      },
      "right": {
        "position": [0.30047095, -0.35229987, 0.92150003],
        "quaternion_wxyz": [0.70699996, 0, 0, 0.70721352],
        "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 697 步 · 左末端 (-0.29, -0.35, 0.92) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000003",
  "step_id": 3,
  "instruction": "Swap the two blocks using the empty mat, pressing the button after each move. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.294, -0.346, 0.924], "quaternion_wxyz": [0.707, -0.028, 0.03, 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": 700,
  "remaining_steps": 697,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=15, obs=obs_000003)→obs_000018
  参数原文· 686 字JSON

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  {
    "observation_id": "obs_000003",
    "reason": "The left arm remains well clear of the table and objects. I am continuing the unobstructed overhead travel toward the middle mat.",
    "steps": 15,
    "target": {
      "left": {
        "position": [-0.14, -0.2, 0.98],
        "quaternion_wxyz": [0.6532815, -0.2705981, 0.2705981, 0.6532815],
        "gripper_closed": false
      },
      "right": {
        "position": [0.30047095, -0.35229987, 0.92150003],
        "quaternion_wxyz": [0.70699996, 0, 0, 0.70721352],
        "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 682 步 · 左末端 (-0.25, -0.30, 0.94) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000018",
  "step_id": 18,
  "instruction": "Swap the two blocks using the empty mat, pressing the button after each move. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.249, -0.299, 0.941], "quaternion_wxyz": [0.683, -0.181, 0.186, 0.683], "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": 700,
  "remaining_steps": 682,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=15, obs=obs_000018)→obs_000033
  参数原文· 707 字JSON

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  {
    "observation_id": "obs_000018",
    "reason": "The overhead path is clear, and the block remains stationary on the middle mat. I am bringing the wrist over it while increasing the downward angle.",
    "steps": 15,
    "target": {
      "left": {
        "position": [-0.035, -0.19, 0.99],
        "quaternion_wxyz": [0.5520446, -0.4418827, 0.4418827, 0.5520446],
        "gripper_closed": false
      },
      "right": {
        "position": [0.30047095, -0.35229987, 0.92150003],
        "quaternion_wxyz": [0.70699996, 0, 0, 0.70721352],
        "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 667 步 · 左末端 (-0.15, -0.25, 0.96) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000033",
  "step_id": 33,
  "instruction": "Swap the two blocks using the empty mat, pressing the button after each move. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.151, -0.246, 0.957], "quaternion_wxyz": [0.593, -0.381, 0.385, 0.595], "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": 700,
  "remaining_steps": 667,
  "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 · 19 字
  参数原文· 513 字JSON

  1 2 3 4

  {
    "cmd": "/root/miniconda3/envs/RoboDojo/bin/python - <<'PY'\nimport json,numpy as np\nj=json.load(open('observations/000033/observation.json'))\ndef ray(i,uv):\n c=j['images'][i]['calibration'];T=np.linalg.inv(np.array(c['environment_to_optical'])); d=T[:3,:3]@np.linalg.inv(np.array(c['intrinsic_matrix']))@np.r_[uv,1];return T[:3,3], d/np.linalg.norm(d)\na,u=ray(0,[261.5,285]);b,v=ray(1,[430,303]);t=np.linalg.lstsq(np.c_[u,-v],b-a,rcond=None)[0];print(a+t[0]*u,b+t[1]*v)\nPY",
    "max_output_tokens": 1000
  }

  返回原文· 136 字纯文本

  Process exited with code 0 Original token count: 19 Output: [-0.11638366 -0.20091693 0.7668058 ] [-0…

• robot_act(steps=15, obs=obs_000033)→obs_000048
  参数原文· 708 字JSON

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

  {
    "observation_id": "obs_000033",
    "reason": "The wrist view now shows the empty mat; stereo geometry puts the mat row near y=-0.20 and table height near 0.76 m. I am completing the clear overhead transit to the middle block.",
    "steps": 15,
    "target": {
      "left": {"position": [0, -0.2, 0.99], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": false},
      "right": {
        "position": [0.30047095, -0.35229987, 0.92150003],
        "quaternion_wxyz": [0.70699996, 0, 0, 0.70721352],
        "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 652 步 · 左末端 (-0.03, -0.21, 0.98) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000048",
  "step_id": 48,
  "instruction": "Swap the two blocks using the empty mat, pressing the button after each move. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.035, -0.212, 0.979], "quaternion_wxyz": [0.501, -0.5, 0.5, 0.5], "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": 700,
  "remaining_steps": 652,
  "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 · 156 字
  参数原文· 853 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 as R\nj=json.load(open('observations/000048/observation.json'))\ndef ray(i,uv):\n c=j['images'][i]['calibration'];T=np.linalg.inv(np.array(c['environment_to_optical']));d=T[:3,:3]@np.linalg.inv(np.array(c['intrinsic_matrix']))@np.r_[uv,1];return T[:3,3],d/np.linalg.norm(d)\nfor uv,vv in [([322,280],[468,173]),([320,285],[428,133]),([320,333],[414,410]),([310,272],[374,112]),([327,266],[488,70]),([334,283],[550,91])]:\n a,u=ray(0,uv);b,v=ray(1,vv);t=np.linalg.lstsq(np.c_[u,-v],b-a,rcond=None)[0];p=a+t[0]*u;print(uv,vv,p,'err',np.linalg.norm(p-b-t[1]*v))\nq=R.from_quat([-.5,.5,.5,.5]);\nfor theta in [-.35,.35]:\n r=R.from_euler('z',theta)*q; print(theta,r.as_quat()[[3,0,1,2]])\nPY",
    "max_output_tokens": 2000
  }

  返回原文· 683 字代码

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

  Process exited with code 0
  Original token count: 156
  Output:
  [322, 280] [468, 173] [ 0.00383227 -0.20032653  0.7915443 ] err 0.0022334049543741913
  [320, 285] [428, 133] [ 0.         -0.19800048  0.75925681] err 0.002485126622255451
  [320, 333] [414, 410] [ 0.         -0.2991383   0.79138585] err 0.0029574016017197714
  [310, 272] [374, 112] [-0.01948903 -0.1832383   0.7905075 ] err 0.0011775859050116853
  [327, 266] [488, 70] [ 0.01382257 -0.16998166  0.78959419] err 0.007743460402960746
  [334, 283] [550, 91] [ 0.02847395 -0.19272914  0.75676454] err 0.014760150434078502
  -0.35 [ 0.57941734 -0.4053092   0.57941734  0.4053092 ]
  0.35 [ 0.4053092  -0.57941734  0.4053092   0.57941734]
  

• robot_act(steps=3, obs=obs_000048)→obs_000051
  参数原文· 727 字JSON

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

  {
    "observation_id": "obs_000048",
    "reason": "The middle block is visible in the wrist camera and is rotated relative to the mats. I am centering above it and rotating the closing direction to match its opposing faces.",
    "steps": 3,
    "target": {
      "left": {
        "position": [0, -0.2, 0.965],
        "quaternion_wxyz": [0.4053092, -0.57941734, 0.4053092, 0.57941734],
        "gripper_closed": false
      },
      "right": {
        "position": [0.30047095, -0.35229987, 0.92150003],
        "quaternion_wxyz": [0.70699996, 0, 0, 0.70721352],
        "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 649 步 · 左末端 (-0.02, -0.21, 0.97) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000051",
  "step_id": 51,
  "instruction": "Swap the two blocks using the empty mat, pressing the button after each move. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.016, -0.206, 0.971], "quaternion_wxyz": [0.472, -0.527, 0.471, 0.527], "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": 700,
  "remaining_steps": 649,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000051)→obs_000054
  参数原文· 693 字JSON

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

  {
    "observation_id": "obs_000051",
    "reason": "The open fingers remain above the block, with ample vertical clearance. I am finishing face alignment and lowering toward the grasp depth.",
    "steps": 3,
    "target": {
      "left": {
        "position": [0, -0.2, 0.938],
        "quaternion_wxyz": [0.4053092, -0.57941734, 0.4053092, 0.57941734],
        "gripper_closed": false
      },
      "right": {
        "position": [0.30047095, -0.35229987, 0.92150003],
        "quaternion_wxyz": [0.70699996, 0, 0, 0.70721352],
        "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 646 步 · 左末端 (-0.01, -0.20, 0.95) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000054",
  "step_id": 54,
  "instruction": "Swap the two blocks using the empty mat, pressing the button after each move. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.006, -0.202, 0.95], "quaternion_wxyz": [0.439, -0.555, 0.438, 0.555], "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": 700,
  "remaining_steps": 646,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000054)→obs_000057
  参数原文· 724 字JSON

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

  {
    "observation_id": "obs_000054",
    "reason": "The block’s faces are nearly aligned with the finger pads and remain visible between them. I am making the last small descent so the pads overlap the block’s side faces.",
    "steps": 3,
    "target": {
      "left": {
        "position": [0, -0.2, 0.925],
        "quaternion_wxyz": [0.4053092, -0.57941734, 0.4053092, 0.57941734],
        "gripper_closed": false
      },
      "right": {
        "position": [0.30047095, -0.35229987, 0.92150003],
        "quaternion_wxyz": [0.70699996, 0, 0, 0.70721352],
        "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 643 步 · 左末端 (-0.00, -0.20, 0.93) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000057",
  "step_id": 57,
  "instruction": "Swap the two blocks using the empty mat, pressing the button after each move. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [0.0, -0.2, 0.926], "quaternion_wxyz": [0.407, -0.579, 0.406, 0.578], "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": 700,
  "remaining_steps": 643,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000057)→obs_000060
  参数原文· 692 字JSON

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

  {
    "observation_id": "obs_000057",
    "reason": "The fingers are centered around the middle block with their closing axis aligned to its side faces. I am closing without moving the wrist.",
    "steps": 3,
    "target": {
      "left": {
        "position": [0, -0.2, 0.926],
        "quaternion_wxyz": [0.4053092, -0.57941734, 0.4053092, 0.57941734],
        "gripper_closed": true
      },
      "right": {
        "position": [0.30047095, -0.35229987, 0.92150003],
        "quaternion_wxyz": [0.70699996, 0, 0, 0.70721352],
        "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 640 步 · 左末端 (-0.00, -0.20, 0.93) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000060",
  "step_id": 60,
  "instruction": "Swap the two blocks using the empty mat, pressing the button after each move. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [0.0, -0.2, 0.926], "quaternion_wxyz": [0.405, -0.579, 0.406, 0.58], "gripper_opening_command": 0.712},
    "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": 700,
  "remaining_steps": 640,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000060)→obs_000063
  参数原文· 680 字JSON

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

  {
    "observation_id": "obs_000060",
    "reason": "The opening command is still partway through closure. I am holding the alignment while the pads finish closing onto the block.",
    "steps": 3,
    "target": {
      "left": {
        "position": [0, -0.2, 0.926],
        "quaternion_wxyz": [0.4053092, -0.57941734, 0.4053092, 0.57941734],
        "gripper_closed": true
      },
      "right": {
        "position": [0.30047095, -0.35229987, 0.92150003],
        "quaternion_wxyz": [0.70699996, 0, 0, 0.70721352],
        "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 637 步 · 左末端 (-0.00, -0.20, 0.93) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000063",
  "step_id": 63,
  "instruction": "Swap the two blocks using the empty mat, pressing the button after each move. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [0.0, -0.2, 0.926], "quaternion_wxyz": [0.405, -0.579, 0.406, 0.58], "gripper_opening_command": 0.712},
    "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": 700,
  "remaining_steps": 637,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000063)→obs_000066
  参数原文· 700 字JSON

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

  {
    "observation_id": "obs_000063",
    "reason": "The pads appear to contact the block, but grasp stability is unverified. I am lifting 2 cm with the orientation fixed to check whether it follows.",
    "steps": 3,
    "target": {
      "left": {
        "position": [0, -0.2, 0.946],
        "quaternion_wxyz": [0.4053092, -0.57941734, 0.4053092, 0.57941734],
        "gripper_closed": true
      },
      "right": {
        "position": [0.30047095, -0.35229987, 0.92150003],
        "quaternion_wxyz": [0.70699996, 0, 0, 0.70721352],
        "gripper_closed": false
      }
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000066", "native_success": false}

观测 obs_000066 · 步 66 · 剩余 634 步 · 左末端 (-0.00, -0.20, 0.95) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000066",
  "step_id": 66,
  "instruction": "Swap the two blocks using the empty mat, pressing the button after each move. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [0.0, -0.2, 0.946], "quaternion_wxyz": [0.405, -0.579, 0.405, 0.579], "gripper_opening_command": 0.291},
    "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": 700,
  "remaining_steps": 634,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000066)→obs_000069
  参数原文· 723 字JSON

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

  {
    "observation_id": "obs_000066",
    "reason": "The block is between the closing pads, though the first lift is visually inconclusive. I am raising another 2 cm at fixed orientation to confirm separation from the mat.",
    "steps": 3,
    "target": {
      "left": {
        "position": [0, -0.2, 0.966],
        "quaternion_wxyz": [0.4053092, -0.57941734, 0.4053092, 0.57941734],
        "gripper_closed": true
      },
      "right": {
        "position": [0.30047095, -0.35229987, 0.92150003],
        "quaternion_wxyz": [0.70699996, 0, 0, 0.70721352],
        "gripper_closed": false
      }
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000069", "native_success": false}

观测 obs_000069 · 步 69 · 剩余 631 步 · 左末端 (-0.00, -0.20, 0.97) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000069",
  "step_id": 69,
  "instruction": "Swap the two blocks using the empty mat, pressing the button after each move. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [0.0, -0.2, 0.966], "quaternion_wxyz": [0.405, -0.579, 0.406, 0.579], "gripper_opening_command": 0.298},
    "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": 700,
  "remaining_steps": 631,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=6, obs=obs_000069)→obs_000075
  参数原文· 717 字JSON

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

  {
    "observation_id": "obs_000069",
    "reason": "The block stays fixed between the pads while the mat moves away in the wrist view, confirming the grasp. I am lifting to a safe transport height before moving left.",
    "steps": 6,
    "target": {
      "left": {
        "position": [0, -0.2, 1.02],
        "quaternion_wxyz": [0.4053092, -0.57941734, 0.4053092, 0.57941734],
        "gripper_closed": true
      },
      "right": {
        "position": [0.30047095, -0.35229987, 0.92150003],
        "quaternion_wxyz": [0.70699996, 0, 0, 0.70721352],
        "gripper_closed": false
      }
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000075", "native_success": false}

观测 obs_000075 · 步 75 · 剩余 625 步 · 左末端 (-0.00, -0.20, 1.02) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000075",
  "step_id": 75,
  "instruction": "Swap the two blocks using the empty mat, pressing the button after each move. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [0.0, -0.2, 1.019], "quaternion_wxyz": [0.405, -0.579, 0.406, 0.579], "gripper_opening_command": 0.298},
    "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": 700,
  "remaining_steps": 625,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=12, obs=obs_000075)→obs_000087
  参数原文· 700 字JSON

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

  {
    "observation_id": "obs_000075",
    "reason": "The held block has clear separation from the table and other block. I am carrying it directly over the left empty mat at the same safe height.",
    "steps": 12,
    "target": {
      "left": {
        "position": [-0.12, -0.2, 1.02],
        "quaternion_wxyz": [0.4053092, -0.57941734, 0.4053092, 0.57941734],
        "gripper_closed": true
      },
      "right": {
        "position": [0.30047095, -0.35229987, 0.92150003],
        "quaternion_wxyz": [0.70699996, 0, 0, 0.70721352],
        "gripper_closed": false
      }
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000087", "native_success": false}

观测 obs_000087 · 步 87 · 剩余 613 步 · 左末端 (-0.12, -0.20, 1.02) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000087",
  "step_id": 87,
  "instruction": "Swap the two blocks using the empty mat, pressing the button after each move. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.12, -0.2, 1.02], "quaternion_wxyz": [0.405, -0.579, 0.405, 0.579], "gripper_opening_command": 0.3},
    "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": 700,
  "remaining_steps": 613,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=5, obs=obs_000087)→obs_000092
  参数原文· 712 字JSON

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

  {
    "observation_id": "obs_000087",
    "reason": "The block is centered over the left mat and the vertical descent is unobstructed. I am lowering it toward support while preserving its upright orientation.",
    "steps": 5,
    "target": {
      "left": {
        "position": [-0.12, -0.2, 0.95],
        "quaternion_wxyz": [0.4053092, -0.57941734, 0.4053092, 0.57941734],
        "gripper_closed": true
      },
      "right": {
        "position": [0.30047095, -0.35229987, 0.92150003],
        "quaternion_wxyz": [0.70699996, 0, 0, 0.70721352],
        "gripper_closed": false
      }
    }
  }

  返回原文· 57 字JSON

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

观测 obs_000092 · 步 92 · 剩余 608 步 · 左末端 (-0.12, -0.20, 0.96) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000092",
  "step_id": 92,
  "instruction": "Swap the two blocks using the empty mat, pressing the button after each move. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.12, -0.2, 0.964], "quaternion_wxyz": [0.405, -0.579, 0.406, 0.579], "gripper_opening_command": 0.298},
    "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": 700,
  "remaining_steps": 608,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000092)→obs_000095
  参数原文· 685 字JSON

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

  {
    "observation_id": "obs_000092",
    "reason": "The block remains steady during descent. I am lowering through the last few centimeters to its original supported grasp height.",
    "steps": 3,
    "target": {
      "left": {
        "position": [-0.12, -0.2, 0.926],
        "quaternion_wxyz": [0.4053092, -0.57941734, 0.4053092, 0.57941734],
        "gripper_closed": true
      },
      "right": {
        "position": [0.30047095, -0.35229987, 0.92150003],
        "quaternion_wxyz": [0.70699996, 0, 0, 0.70721352],
        "gripper_closed": false
      }
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000095", "native_success": false}

观测 obs_000095 · 步 95 · 剩余 605 步 · 左末端 (-0.12, -0.20, 0.93) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000095",
  "step_id": 95,
  "instruction": "Swap the two blocks using the empty mat, pressing the button after each move. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.12, -0.2, 0.932], "quaternion_wxyz": [0.406, -0.579, 0.404, 0.579], "gripper_opening_command": 0.304},
    "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": 700,
  "remaining_steps": 605,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000095)→obs_000098
  参数原文· 677 字JSON

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

  {
    "observation_id": "obs_000095",
    "reason": "The block is at the left mat with only a small final height error. I am gently settling it onto the mat before release.",
    "steps": 3,
    "target": {
      "left": {
        "position": [-0.12, -0.2, 0.926],
        "quaternion_wxyz": [0.4053092, -0.57941734, 0.4053092, 0.57941734],
        "gripper_closed": true
      },
      "right": {
        "position": [0.30047095, -0.35229987, 0.92150003],
        "quaternion_wxyz": [0.70699996, 0, 0, 0.70721352],
        "gripper_closed": false
      }
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000098", "native_success": false}

观测 obs_000098 · 步 98 · 剩余 602 步 · 左末端 (-0.12, -0.20, 0.93) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000098",
  "step_id": 98,
  "instruction": "Swap the two blocks using the empty mat, pressing the button after each move. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.12, -0.2, 0.928], "quaternion_wxyz": [0.407, -0.579, 0.404, 0.579], "gripper_opening_command": 0.309},
    "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": 700,
  "remaining_steps": 602,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000098)→obs_000101
  参数原文· 685 字JSON

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

  {
    "observation_id": "obs_000098",
    "reason": "The block is upright and supported at the center of the left mat. I am opening the fingers while holding the wrist stationary.",
    "steps": 3,
    "target": {
      "left": {
        "position": [-0.12, -0.2, 0.928],
        "quaternion_wxyz": [0.4053092, -0.57941734, 0.4053092, 0.57941734],
        "gripper_closed": false
      },
      "right": {
        "position": [0.30047095, -0.35229987, 0.92150003],
        "quaternion_wxyz": [0.70699996, 0, 0, 0.70721352],
        "gripper_closed": false
      }
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000101", "native_success": false}

观测 obs_000101 · 步 101 · 剩余 599 步 · 左末端 (-0.12, -0.20, 0.93) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000101",
  "step_id": 101,
  "instruction": "Swap the two blocks using the empty mat, pressing the button after each move. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.12, -0.2, 0.928], "quaternion_wxyz": [0.405, -0.579, 0.405, 0.579], "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": 700,
  "remaining_steps": 599,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=3, obs=obs_000101)→obs_000104
  参数原文· 667 字JSON

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

  {
    "observation_id": "obs_000101",
    "reason": "The released block remains upright on the left mat. I am withdrawing vertically before moving to the button.",
    "steps": 3,
    "target": {
      "left": {
        "position": [-0.12, -0.2, 0.978],
        "quaternion_wxyz": [0.4053092, -0.57941734, 0.4053092, 0.57941734],
        "gripper_closed": false
      },
      "right": {
        "position": [0.30047095, -0.35229987, 0.92150003],
        "quaternion_wxyz": [0.70699996, 0, 0, 0.70721352],
        "gripper_closed": false
      }
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000104", "native_success": false}

观测 obs_000104 · 步 104 · 剩余 596 步 · 左末端 (-0.12, -0.20, 0.96) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000104",
  "step_id": 104,
  "instruction": "Swap the two blocks using the empty mat, pressing the button after each move. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.121, -0.201, 0.962], "quaternion_wxyz": [0.406, -0.579, 0.405, 0.579], "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": 700,
  "remaining_steps": 596,
  "native_success": false,
  "frame": "environment_origin"
}

• robot_act(steps=12, obs=obs_000104)→obs_000116
  参数原文· 700 字JSON

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

  {
    "observation_id": "obs_000104",
    "reason": "The first block is stable on the temporary mat and the middle mat is empty. I am raising clear of it and moving above the button with closed fingers for a controlled press.",
    "steps": 12,
    "target": {
      "left": {"position": [0, -0.3, 1.02], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_closed": true},
      "right": {
        "position": [0.30047095, -0.35229987, 0.92150003],
        "quaternion_wxyz": [0.70699996, 0, 0, 0.70721352],
        "gripper_closed": false
      }
    }
  }

  返回原文· 57 字JSON

  {"observation_id": "obs_000116", "native_success": false}

观测 obs_000116 · 步 116 · 剩余 584 步 · 左末端 (-0.00, -0.30, 1.02) 米 · 右末端 (0.30, -0.35, 0.92) 米

{
  "observation_id": "obs_000116",
  "step_id": 116,
  "instruction": "Swap the two blocks using the empty mat, pressing the button after each move. Then reset the robot arm.",
  "current_eef": {
    "left": {"position": [-0.001, -0.3, 1.019], "quaternion_wxyz": [0.5, -0.5, 0.5, 0.5], "gripper_opening_command": 0.0},
    "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": 700,
  "remaining_steps": 584,
  "native_success": false,
  "frame": "environment_origin"
}