实测插深达到 28 mm 后停止下压并转动钥匙。第 265/300 步原生 eval_success=true，深度、位置、竖直和转动四项同时通过；25 次阶段调用，无阶段阻断。本条为零 API 诊断；新开的正式 GPT v36 已在 266/300 步成功，含 34 个新 GPT 回合，结果另页记录。
具体指令与阶段结果（按钮定位视频）
{
"command": {
"object_id": "key",
"stage": "next",
"note": "Recorded stage instruction replay; diagnostic only."
},
"result": {
"stage_complete": true,
"executed_steps": 25,
"motion_trace": [
{
"arm": "left",
"target": {
"tcp_xyz": [
-0.10869258858578379,
-0.20121429984094563,
0.8145283060251679
],
"quat": [
0.5251851169949596,
-0.47347713026817945,
0.5251851169949595,
0.4734771302681793
],
"gripper": 1,
"speed_scale": 1.25
},
"native_step": 25,
"executed_steps": 25,
"planned_steps": 25,
"max_planned_joint_step_rad": 0.1326380968093872,
"joint_travel_rad": [
0.6539289951329579,
1.7687666416168224,
1.269590973854065,
1.0716209411621103,
1.4073530354867308e-06,
0.5504667758966657
],
"stop_reason": "completed",
"residual": {
"measured_at": "tcp",
"xyz_m": [
-0.0001,
0.0001,
0.0
],
"largest": "0.0001 m on x",
"rot_deg": 0.1,
"from_home": {
"xyz_m": [
0.191,
0.151,
0.038
],
"rot_deg": 90.1
}
}
}
],
"note": "Recorded stage instruction replay; diagnostic only.",
"version": "physicalrsi_v35",
"items": {
"key": {
"phase": "grasp",
"arm": "left",
"verified_grasp": false,
"handed_over": false,
"released": false,
"hole_index": null,
"failures": 0,
"evidence": {}
}
}
}
}{
"command": {
"object_id": "key",
"stage": "next",
"note": "Recorded stage instruction replay; diagnostic only."
},
"result": {
"stage_complete": true,
"executed_steps": 15,
"motion_trace": [
{
"arm": "left",
"target": {
"tcp_xyz": [
-0.10869258858578379,
-0.20121429984094563,
0.7695283060251679
],
"quat": [
0.5251851169949596,
-0.47347713026817945,
0.5251851169949595,
0.4734771302681793
],
"gripper": 1,
"speed_scale": 1.0
},
"native_step": 30,
"executed_steps": 5,
"planned_steps": 5,
"max_planned_joint_step_rad": 0.06821149587631226,
"joint_travel_rad": [
3.731250762939453e-05,
0.06113266944885254,
0.11516642570495605,
0.17613941431045532,
2.1678613393305568e-07,
3.0994415283203125e-05
],
"stop_reason": "completed",
"residual": {
"measured_at": "tcp",
"xyz_m": [
0.0006,
0.0007,
0.0083
],
"largest": "0.0083 m on z",
"rot_deg": 0.8,
"from_home": {
"xyz_m": [
0.191,
0.15,
0.001
],
"rot_deg": 89.5
}
}
},
{
"arm": "left",
"target": {
"gripper": 0,
"speed_scale": 1.0
},
"native_step": 40,
"executed_steps": 10,
"planned_steps": 10,
"max_planned_joint_step_rad": 6.0439109802246094e-05,
"joint_travel_rad": [
0.00030153989791870117,
2.86102294921875e-06,
1.3113021850585938e-06,
1.1920928955078125e-06,
1.5669502317905426e-07,
1.6093254089355469e-06
],
"stop_reason": "completed",
"residual": {
"measured_at": "eef",
"xyz_m": [
-0.0001,
0.0001,
-0.0
],
"largest": "0.0001 m on x",
"rot_deg": 0.0,
"from_home": {
"xyz_m": [
0.19,
0.15,
0.001
],
"rot_deg": 89.5
}
}
}
],
"note": "Recorded stage instruction replay; diagnostic only.",
"version": "physicalrsi_v35",
"items": {
"key": {
"phase": "verify_grasp",
"arm": "left",
"verified_grasp": false,
"handed_over": false,
"released": false,
"hole_index": null,
"failures": 0,
"evidence": {}
}
}
}
}{
"command": {
"object_id": "key",
"stage": "next",
"note": "Recorded stage instruction replay; diagnostic only."
},
"result": {
"stage_complete": true,
"executed_steps": 6,
"motion_trace": [
{
"arm": "left",
"target": {
"xyz": [
-0.1090804934501648,
-0.20213398337364197,
0.9478218197822571
],
"gripper": 0,
"speed_scale": 1.0
},
"native_step": 43,
"executed_steps": 3,
"planned_steps": 3,
"max_planned_joint_step_rad": 0.04912334680557251,
"joint_travel_rad": [
0.0003021359443664551,
0.03475213050842285,
0.06347262859344482,
0.09822404384613037,
7.008202373981476e-07,
2.2649765014648438e-06
],
"stop_reason": "completed",
"residual": {
"measured_at": "eef",
"xyz_m": [
-0.0001,
0.0001,
-0.0019
],
"largest": "0.0019 m on z",
"rot_deg": 0.0,
"from_home": {
"xyz_m": [
0.19,
0.15,
0.024
],
"rot_deg": 89.5
}
}
}
],
"note": "Recorded stage instruction replay; diagnostic only.",
"version": "physicalrsi_v35",
"items": {
"key": {
"phase": "present",
"arm": "left",
"verified_grasp": true,
"handed_over": false,
"released": false,
"hole_index": null,
"failures": 0,
"evidence": {
"verified_lift_m": 0.02030324935913086,
"grasp_translation_error_m": 0.002758498933997578,
"grasp_rotation_error_deg": 6.185598508708364
}
}
}
}
}{
"command": {
"object_id": "key",
"stage": "next",
"note": "Recorded stage instruction replay; diagnostic only."
},
"result": {
"stage_complete": true,
"executed_steps": 25,
"motion_trace": [
{
"arm": "left",
"target": {
"xyz": [
0.041849461599098775,
-0.10510921869207172,
1.039003347793657
],
"quat": [
0.07022520344071727,
0.5553723396742973,
-0.4529425530624428,
-0.6938825756219007
],
"gripper": 0,
"speed_scale": 1.0
},
"preflight_only": true,
"executable": false,
"stop_reason": "plan_failed",
"reach_probe": {
"reached_fraction": 0.62,
"blocked_by": "position",
"furthest_xyz": [
-0.0148,
-0.1415,
1.0041
],
"hint": "this direction runs out at 62% of the way; go to the point given here, or change the approach"
}
},
{
"arm": "left",
"target": {
"xyz": [
-0.08301793539710982,
-0.2834383428192833,
1.0386963153769304
],
"quat": [
0.45573481725125187,
-0.7148086968621327,
-0.053155518602898466,
0.5277582723911437
],
"gripper": 0,
"speed_scale": 1.0
},
"preflight_only": true,
"executable": true,
"stop_reason": "preflight_passed",
"reach_probe": null
},
{
"arm": "right",
"target": {
"tcp_xyz": [
0.12292013645659074,
-0.2945692160591938,
0.9500000000000001
],
"quat": [
0.2778159334694406,
0.1150751274863838,
0.3649716762170987,
0.8811195706053616
],
"gripper": 1,
"speed_scale": 1.0
},
"preflight_only": true,
"executable": true,
"stop_reason": "preflight_passed",
"reach_probe": null
},
{
"arm": "right",
"target": {
"tcp_xyz": [
0.008238850256131877,
-0.2142685149700473,
0.93
],
"quat": [
0.2778159334694406,
0.1150751274863838,
0.3649716762170987,
0.8811195706053616
],
"gripper": 1,
"speed_scale": 1.0
},
"preflight_only": true,
"executable": true,
"stop_reason": "preflight_passed",
"reach_probe": null
},
{
"arm": "right",
"target": {
"xyz": [
0.10830163746861632,
-0.19825037735423692,
1.0398467229008674
],
"quat": [
0.701002610772131,
-0.09271105484598981,
0.7010026107721308,
0.09271105484598972
],
"gripper": 0,
"speed_scale": 1.0
},
"preflight_only": true,
"executable": true,
"stop_reason": "preflight_passed",
"reach_probe": null
},
{
"arm": "left",
"target": {
"xyz": [
-0.08301793539710982,
-0.2834383428192833,
1.0386963153769304
],
"quat": [
0.45573481725125187,
-0.7148086968621327,
-0.053155518602898466,
0.5277582723911437
],
"gripper": 0,
"speed_scale": 1.0
},
"native_step": 71,
"executed_steps": 25,
"planned_steps": 25,
"max_planned_joint_step_rad": 0.09134876728057861,
"joint_travel_rad": [
0.2791749835014343,
0.45177364349365234,
0.1766148805618286,
0.481201708316803,
0.18657990917563438,
1.2491384148597717
],
"stop_reason": "completed",
"residual": {
"measured_at": "eef",
"xyz_m": [
-0.0,
0.0001,
-0.0002
],
"largest": "0.0002 m on z",
"rot_deg": 0.1,
"from_home": {
"xyz_m": [
0.216,
0.069,
0.117
],
"rot_deg": 91.9
}
}
}
],
"note": "Recorded stage instruction replay; diagnostic only.",
"version": "physicalrsi_v35",
"items": {
"key": {
"phase": "receiver_orient",
"arm": "left",
"verified_grasp": true,
"handed_over": false,
"released": false,
"hole_index": null,
"failures": 0,
"evidence": {
"verified_lift_m": 0.02030324935913086,
"grasp_translation_error_m": 0.0007460555645817491,
"grasp_rotation_error_deg": 1.5917526387066974,
"presentation_tilt_deg": -45,
"presentation_yaw_deg": -35,
"presentation_height_m": 0.93,
"paired_presentation_preflight": true,
"nominal_receiver_entry_preflight": true
}
}
}
}
}{
"command": {
"object_id": "key",
"stage": "next",
"note": "Recorded stage instruction replay; diagnostic only."
},
"result": {
"stage_complete": true,
"executed_steps": 19,
"motion_trace": [
{
"arm": "right",
"target": {
"tcp_xyz": [
0.12454520999310818,
-0.2918281698912787,
0.9460196327841693
],
"quat": [
0.26552518165279904,
0.12043175325122814,
0.3631428142674894,
0.8849406009235714
],
"gripper": 1,
"speed_scale": 1.25
},
"native_step": 90,
"executed_steps": 19,
"planned_steps": 19,
"max_planned_joint_step_rad": 0.08039984107017517,
"joint_travel_rad": [
0.4771170913190949,
0.06358096003542836,
0.07439019531008362,
0.012351126410007537,
0.5021582840716587,
0.796143532626626
],
"stop_reason": "completed",
"residual": {
"measured_at": "tcp",
"xyz_m": [
-0.0,
-0.0,
-0.0
],
"largest": "0.0000 m on x",
"rot_deg": 0.0,
"from_home": {
"xyz_m": [
-0.056,
-0.02,
0.022
],
"rot_deg": 71.1
}
}
}
],
"note": "Recorded stage instruction replay; diagnostic only.",
"version": "physicalrsi_v35",
"items": {
"key": {
"phase": "receive",
"arm": "left",
"verified_grasp": true,
"handed_over": false,
"released": false,
"hole_index": null,
"failures": 0,
"evidence": {
"verified_lift_m": 0.02030324935913086,
"grasp_translation_error_m": 0.0014033162035842267,
"grasp_rotation_error_deg": 3.136590543434633,
"presentation_tilt_deg": -45,
"presentation_yaw_deg": -35,
"presentation_height_m": 0.93,
"paired_presentation_preflight": true,
"nominal_receiver_entry_preflight": true,
"receiver_staging_error_m": 3.657462858775698e-05,
"receiver_staging_rotation_error_deg": 0.011352809725491188,
"receiver_staging_corrections": 0,
"receiver_closing_normal_error_deg": 1.7562113627322395,
"receiver_approach_error_deg": 1.6678691816597133,
"receiver_flip_verified": true,
"receiver_direct_staging": true
}
}
}
}
}{
"command": {
"object_id": "key",
"stage": "next",
"note": "Recorded stage instruction replay; diagnostic only."
},
"result": {
"stage_complete": true,
"executed_steps": 15,
"motion_trace": [
{
"arm": "right",
"target": {
"tcp_xyz": [
0.03722690489792786,
-0.2328340366808147,
0.922867667401331
],
"quat": [
0.2525800252864933,
0.12829348675062013,
0.3653486469735999,
0.8867155565558791
],
"gripper": 1,
"speed_scale": 1.0
},
"native_step": 101,
"executed_steps": 11,
"planned_steps": 11,
"max_planned_joint_step_rad": 0.21904310584068298,
"joint_travel_rad": [
0.2854648232460022,
1.3019578158855438,
0.06586949527263641,
1.2571307066828012,
0.2670072764158249,
0.008645772933959961
],
"stop_reason": "completed",
"residual": {
"measured_at": "tcp",
"xyz_m": [
0.0001,
-0.0001,
0.0003
],
"largest": "0.0003 m on z",
"rot_deg": 0.0,
"from_home": {
"xyz_m": [
-0.141,
0.041,
-0.005
],
"rot_deg": 72.7
}
}
},
{
"arm": "right",
"target": {
"tcp_xyz": [
0.007844817052072866,
-0.21387534241604741,
0.9243712716024225
],
"quat": [
0.2525800252864933,
0.12829348675062013,
0.3653486469735999,
0.8867155565558791
],
"gripper": 1,
"speed_scale": 1.0
},
"native_step": 105,
"executed_steps": 4,
"planned_steps": 4,
"max_planned_joint_step_rad": 0.0853201150894165,
"joint_travel_rad": [
0.04047662019729614,
0.15574264526367188,
0.12537619471549988,
0.02979564666748047,
0.04047885537147522,
0.0017838478088378906
],
"stop_reason": "completed",
"residual": {
"measured_at": "tcp",
"xyz_m": [
0.001,
-0.0007,
0.0001
],
"largest": "0.0010 m on x",
"rot_deg": 0.0,
"from_home": {
"xyz_m": [
-0.17,
0.059,
-0.003
],
"rot_deg": 72.7
}
}
}
],
"note": "Recorded stage instruction replay; diagnostic only.",
"version": "physicalrsi_v35",
"items": {
"key": {
"phase": "receiver_clamp",
"arm": "left",
"verified_grasp": true,
"handed_over": false,
"released": false,
"hole_index": null,
"failures": 0,
"evidence": {
"verified_lift_m": 0.02030324935913086,
"grasp_translation_error_m": 0.0020727630973675264,
"grasp_rotation_error_deg": 4.682558863695556,
"presentation_tilt_deg": -45,
"presentation_yaw_deg": -35,
"presentation_height_m": 0.93,
"paired_presentation_preflight": true,
"nominal_receiver_entry_preflight": true,
"receiver_staging_error_m": 3.657462858775698e-05,
"receiver_staging_rotation_error_deg": 0.011352809725491188,
"receiver_staging_corrections": 0,
"receiver_closing_normal_error_deg": 1.6840386904474782,
"receiver_approach_error_deg": 1.6341942150440318,
"receiver_flip_verified": true,
"receiver_direct_staging": true
}
}
}
}
}{
"command": {
"object_id": "key",
"stage": "next",
"note": "Recorded stage instruction replay; diagnostic only."
},
"result": {
"stage_complete": true,
"executed_steps": 11,
"motion_trace": [
{
"arm": "right",
"target": {
"tcp_xyz": [
0.00746235502607733,
-0.21381978210432118,
0.9207070673404063
],
"quat": [
0.23991062587023715,
0.13582020371736755,
0.36659337152228333,
0.8885972449949691
],
"gripper": 1,
"speed_scale": 1.0
},
"native_step": 106,
"executed_steps": 1,
"planned_steps": 1,
"max_planned_joint_step_rad": 0.10292458534240723,
"joint_travel_rad": [
0.012074649333953857,
0.07541239261627197,
0.004026949405670166,
0.10292458534240723,
0.029471799731254578,
0.01344919204711914
],
"stop_reason": "completed",
"residual": {
"measured_at": "tcp",
"xyz_m": [
0.0001,
-0.0001,
0.0002
],
"largest": "0.0002 m on z",
"rot_deg": 0.3,
"from_home": {
"xyz_m": [
-0.17,
0.062,
-0.01
],
"rot_deg": 73.9
}
}
},
{
"arm": "right",
"target": {
"gripper": 0,
"speed_scale": 1.0
},
"native_step": 116,
"executed_steps": 10,
"planned_steps": 10,
"max_planned_joint_step_rad": 5.996227264404297e-05,
"joint_travel_rad": [
0.0003007054328918457,
1.430511474609375e-06,
2.980232238769531e-07,
1.0728836059570312e-06,
6.705522537231445e-07,
7.748603820800781e-07
],
"stop_reason": "completed",
"residual": {
"measured_at": "eef",
"xyz_m": [
-0.0,
-0.0001,
-0.0001
],
"largest": "0.0001 m on z",
"rot_deg": 0.1,
"from_home": {
"xyz_m": [
-0.17,
0.062,
-0.01
],
"rot_deg": 73.9
}
}
}
],
"note": "Recorded stage instruction replay; diagnostic only.",
"version": "physicalrsi_v35",
"items": {
"key": {
"phase": "handover",
"arm": "left",
"verified_grasp": true,
"handed_over": false,
"released": false,
"hole_index": null,
"failures": 0,
"evidence": {
"verified_lift_m": 0.02030324935913086,
"grasp_translation_error_m": 0.0016272903162421366,
"grasp_rotation_error_deg": 4.2763468008901375,
"presentation_tilt_deg": -45,
"presentation_yaw_deg": -35,
"presentation_height_m": 0.93,
"paired_presentation_preflight": true,
"nominal_receiver_entry_preflight": true,
"receiver_staging_error_m": 3.657462858775698e-05,
"receiver_staging_rotation_error_deg": 0.011352809725491188,
"receiver_staging_corrections": 0,
"receiver_closing_normal_error_deg": 0.15653327887369117,
"receiver_approach_error_deg": 0.20383391833269524,
"receiver_flip_verified": true,
"receiver_direct_staging": true,
"receiver_finger_joint_positions_m": [
0.0037085541989654303,
0.004692832473665476
],
"receiver_clamp_observed": true
}
}
}
}
}{
"command": {
"object_id": "key",
"stage": "next",
"note": "Recorded stage instruction replay; diagnostic only."
},
"result": {
"stage_complete": true,
"executed_steps": 10,
"motion_trace": [
{
"arm": "left",
"target": {
"gripper": 1,
"speed_scale": 1.0
},
"native_step": 126,
"executed_steps": 10,
"planned_steps": 10,
"max_planned_joint_step_rad": 6.0498714447021484e-05,
"joint_travel_rad": [
0.0003018975257873535,
8.344650268554688e-07,
4.76837158203125e-07,
8.940696716308594e-07,
5.364418029785156e-07,
4.76837158203125e-07
],
"stop_reason": "completed",
"residual": {
"measured_at": "eef",
"xyz_m": [
-0.0001,
0.0001,
-0.0
],
"largest": "0.0001 m on y",
"rot_deg": 0.1,
"from_home": {
"xyz_m": [
0.216,
0.069,
0.111
],
"rot_deg": 91.5
}
}
}
],
"note": "Recorded stage instruction replay; diagnostic only.",
"version": "physicalrsi_v35",
"items": {
"key": {
"phase": "verify_transfer",
"arm": "right",
"verified_grasp": false,
"handed_over": false,
"released": false,
"hole_index": null,
"failures": 0,
"evidence": {
"verified_lift_m": 0.02030324935913086,
"grasp_translation_error_m": 0.0016272903162421366,
"grasp_rotation_error_deg": 4.2763468008901375,
"presentation_tilt_deg": -45,
"presentation_yaw_deg": -35,
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