{
  "date_utc": "2026-09-29",
  "model": "openai/gpt-6-astra",
  "mode": "gpt_only",
  "source_commit": "818f4188bc21d4a8ea831e808b1d7d3ea7a341f5",
  "summary": "本次有效回合 1 条，成功 0 条；另有 2 条 API 中断记录。每个任务仅测试一个 seed / layout；本页不计算全量榜单分数。",
  "episodes": [
    {
      "id": "insert_key_retry",
      "task": "insert_key",
      "video": "insert_key_retry.mp4",
      "poster": "insert_key_retry.jpg",
      "instruction": "Pick up the key, hand it over to the other hand, insert it into the keyhole, then turn it.",
      "translation": "拿起钥匙，交给另一只手，插入锁孔，然后转动。",
      "rules": [
        "抓取后先小幅抬升，确认钥匙真实跟随；交接期间始终保持一只手支撑。",
        "柄在上、尖端朝下，扁平刀身与狭缝平面对齐；检查齿侧，避免绕长轴反向 180°。",
        "以钥匙尖端定位，补偿钥匙与手腕的偏移；对准、插入、转动分开执行。",
        "碰到孔沿先退出再校正；插入后才转动，最终以原生成功信号为准。"
      ],
      "rule_file": "insert_key.gpt-only.md",
      "valid": true,
      "success": false,
      "termination_reason": "native_step_limit",
      "native_steps": 300,
      "step_lim": 300,
      "planner_turns": 60,
      "elapsed_s": 781.3,
      "seed": 0,
      "layout_id": 0,
      "cost_usd": 4.559045,
      "finding": "原生 300 步用尽，任务未成功。最终钥匙与锁的水平误差约 71.2 mm，竖直方向误差约 43.4°；仍未完成对准和插入。",
      "commands": [
        {
          "native_step": 0,
          "action": "reset",
          "args": {},
          "note": ""
        },
        {
          "native_step": 0,
          "action": "move_to_propose",
          "args": {
            "arm": "left",
            "tcp_xyz": [
              -0.105,
              -0.186,
              0.82
            ],
            "yaw_deg": -6,
            "pitch_deg": 90,
            "roll_deg": 0
          },
          "note": "STATE\n- goal: pick in progress; handover/insert/turn todo.\n- facts: bow/root (-.1105,-.2191,.7706), blade near(-.103,-.181,.771); tip near y-.17. Slot (.1102,-.1977,.765), top .815, yaw15°. Training downward pick z .778.\n- phase: left open approach over blade, leaving bow free for right.\n- blockers: no hold yet.\nThe key lies flat and blade is exposed; approach downward with clearance."
        },
        {
          "native_step": 31,
          "action": "move_to",
          "args": {
            "proposal_id": "m1@step0"
          },
          "note": "STATE\n- goal: pick in progress; handover/insert/turn todo.\n- facts: key bow(-.1105,-.2191,.7706), blade(-.105,-.186,.771); slot(.1102,-.1977,.765), yaw15°. Success requires xy<7mm, upright<7°, depth .025 and turned alignment<30°; no home required.\n- phase: left open approach; neither hand holds key.\n- blockers: none; proposal executable guard passed.\nMove to clearance above blade to leave bow accessible."
        },
        {
          "native_step": 31,
          "action": "move_to_propose",
          "args": {
            "arm": "left",
            "tcp_xyz": [
              -0.105,
              -0.186,
              0.774
            ]
          },
          "note": "STATE\n- goal: pick in progress; handover/insert/turn todo.\n- facts: key bow(-.1105,-.2191,.7706), blade(-.105,-.186,.771); slot(.1102,-.1977,.765), yaw15°. Success xy<7mm,upright<7°,depth .025,turn<30°; 269 steps left.\n- phase: left open at blade clearance; descend for grasp.\n- blockers: no hold yet.\nWrist image shows blade centered between jaws. Descend to enclose its thin edges."
        },
        {
          "native_step": 36,
          "action": "move_to",
          "args": {
            "proposal_id": "m2@step31"
          },
          "note": "STATE\n- goal: pick in progress; handover/insert/turn todo.\n- facts: bow(-.1105,-.2191,.7706), blade(-.105,-.186,.771); slot(.1102,-.1977,.765),yaw15°;269 steps.\n- phase: left open descending; neither holds.\n- blockers: none; m2 guard passed.\nExecute short vertical approach to blade."
        },
        {
          "native_step": 36,
          "action": "move_to_propose",
          "args": {
            "arm": "left",
            "gripper": 0
          },
          "note": "STATE\n- goal: pick in progress; handover/insert/turn todo.\n- facts: key bow(-.1105,-.2191,.7706),blade(-.105,-.186,.771); slot(.1102,-.1977,.765),yaw15°;264 steps.\n- phase: left jaws at blade; close then verify lift.\n- blockers: hold not verified.\nBlade is between the jaws; close in place without carrying."
        },
        {
          "native_step": 46,
          "action": "move_to",
          "args": {
            "proposal_id": "m3@step36"
          },
          "note": "STATE\n- goal: pick in progress; handover/insert/turn todo.\n- facts: key bow(-.1105,-.2191,.7706);slot(.1102,-.1977,.765),yaw15°;264 steps.\n- phase: left jaws at blade, neither verified holding.\n- blockers: none; close guard passed.\nExecute stationary closure around the visible blade."
        },
        {
          "native_step": 46,
          "action": "move_to_propose",
          "args": {
            "arm": "left",
            "tcp_xyz": [
              -0.105,
              -0.186,
              0.84
            ]
          },
          "note": "STATE\n- goal: pick in progress; handover/insert/turn todo.\n- facts: key(-.1125,-.2194,.7706),slot(.1102,-.1977,.765),yaw15°;254 steps.\n- phase: left closed on blade; test vertical lift; right open home.\n- blockers: grasp not yet verified.\nThe blade is between closed fingers; lift 6 cm to check that the key follows."
        },
        {
          "native_step": 53,
          "action": "move_to",
          "args": {
            "proposal_id": "m4@step46"
          },
          "note": "STATE\n- goal: pick in progress; handover/insert/turn todo.\n- facts: key(-.1125,-.2194,.7706),slot(.1102,-.1977,.765),yaw15°;254 steps.\n- phase: left closed blade; right open home; checking lift.\n- blockers: hold unverified; lift guard passed.\nExecute the short vertical lift while maintaining closure."
        },
        {
          "native_step": 53,
          "action": "move_to_propose",
          "args": {
            "arm": "left",
            "tcp_xyz": [
              -0.105,
              -0.186,
              0.89
            ]
          },
          "note": "STATE\n- goal: pick in progress; handover/insert/turn todo.\n- facts: key root(-.121,-.193,.798), slot(.1102,-.1977,.765), yaw15°;247 steps.\n- phase: left closed at blade; right empty; test whether key is hanging securely.\n- blockers: key rotated on first lift; hold not established.\nThe key remains immediately below the fingers; a short further lift distinguishes a hanging hold from a slip."
        },
        {
          "native_step": 59,
          "action": "move_to",
          "args": {
            "proposal_id": "m5@step53"
          },
          "note": "STATE\n- goal: pick in progress; handover/insert/turn todo.\n- facts: key root(-.121,-.193,.798), slot(.1102,-.1977,.765), yaw15°;247 steps.\n- phase: left closed at blade; verify lift; right empty.\n- blockers: key rotated on first lift and contact uncertain.\nThe checked six-step lift has passed guards; executing it will test whether the key tracks the hand."
        },
        {
          "native_step": 59,
          "action": "move_to_propose",
          "args": {
            "arm": "left",
            "gripper": 1
          },
          "note": "STATE\n- goal: pick in progress; handover/insert/turn todo.\n- facts: key on table root(-.136,-.1732,.775), blade extends +x; slot(.1102,-.1977,.765), yaw15°;241 steps.\n- phase: left empty, opening for corrected blade grasp; right empty.\n- blockers: first grasp slipped; jaws must close across blade rather than along it.\nThe key is visibly on the table. I open at clearance before changing jaw alignment."
        },
        {
          "native_step": 69,
          "action": "move_to",
          "args": {
            "proposal_id": "m6@step59"
          },
          "note": "STATE\n- goal: pick in progress; handover, insertion, turn todo.\n- facts: key root(-.136,-.1732,.775), blade toward +x; slot(.1102,-.1977,.765) yaw15°.\n- phase: opening empty left at clearance; right empty.\n- blockers: shallow initial grasp slipped; change jaws to transverse blade.\nThe opening proposal passed its guard; execute before approaching again."
        },
        {
          "native_step": 69,
          "action": "move_to_propose",
          "args": {
            "arm": "left",
            "tcp_xyz": [
              -0.103,
              -0.168,
              0.783
            ],
            "pitch_deg": 90,
            "yaw_deg": -79,
            "roll_deg": 0
          },
          "note": "STATE\n- goal: pick in progress; handover, insertion, turn todo.\n- facts: bow(-.135,-.174,.785 surface), blade(-.103,-.168,.780 surface); slot(.1102,-.1977,.765) yaw15°; 231 steps.\n- phase: left open approaches blade; right empty.\n- blockers: previous grasp missed y by 18 mm; correct center and transverse jaws.\nDepth locates the blade farther forward than the old grasp. I align the closing axis across its narrow width."
        },
        {
          "native_step": 94,
          "action": "move_to",
          "args": {
            "proposal_id": "m7@step69"
          },
          "note": "STATE\n- goal: pick in progress; handover, insertion, turn todo.\n- facts: blade(-.103,-.168,.780); bow(-.136,-.173,.775 root); slot(.1102,-.1977,.765), yaw15°; 231 steps remain.\n- phase: left open approaching blade; right empty; verify centered contact next.\n- blockers: prior grasp missed y; corrected location and jaw direction.\nThe checked approach is executable with guard passing. I descend to the measured blade."
        },
        {
          "native_step": 94,
          "action": "move_to_propose",
          "args": {
            "arm": "left",
            "gripper": 0
          },
          "note": "STATE\n- goal: pick in progress; handover, insert, turn todo.\n- facts: blade centered between open left jaws at TCP(-.103,-.168,.783); key root(-.136,-.1733,.775); slot(.1102,-.1977,.765), yaw15°; 206 steps.\n- phase: close blade grasp, then verify lift; right empty.\n- blockers: initial missed grasp corrected by measured blade location.\nThe wrist view shows the blade centered between the jaws. I close in place before testing lift."
        },
        {
          "native_step": 104,
          "action": "move_to",
          "args": {
            "proposal_id": "m8@step94"
          },
          "note": "STATE\n- goal: pick in progress; handover, insert, turn todo.\n- facts: blade at left TCP(-.103,-.168,.783); key root(-.136,-.1733,.775); slot(.1102,-.1977,.765), yaw15°; 206 steps remain.\n- phase: close left around blade; right empty; lift test next.\n- blockers: previous missed grasp corrected by measured blade location.\nThe close preflight passes and blade remains centered. I execute the stationary close."
        },
        {
          "native_step": 104,
          "action": "move_to_propose",
          "args": {
            "arm": "left",
            "tcp_xyz": [
              -0.103,
              -0.168,
              0.85
            ]
          },
          "note": "STATE\n- goal: pick in progress; handover, insert, turn todo.\n- facts: left closed on blade at(-.103,-.168,.783); key root(-.136,-.1743,.775); slot(.1102,-.1977,.765), yaw15°; 196 steps.\n- phase: test lift 6.7cm; right empty.\n- blockers: earlier missed grasp, corrected blade grasp not yet verified.\nThe jaws now contact the blade from both sides. I lift vertically to verify the key follows."
        },
        {
          "native_step": 111,
          "action": "move_to",
          "args": {
            "proposal_id": "m9@step104"
          },
          "note": "STATE\n- goal: pick in progress; handover, insert, turn todo.\n- facts: left closed on blade TCP(-.103,-.168,.783); key root(-.136,-.1743,.775); slot(.1102,-.1977,.765), yaw15°; 196 steps.\n- phase: execute test lift, verify key follows; right empty.\n- blockers: first grasp missed; corrected grasp awaits verification.\nThe vertical lift has passed its guard. I execute while retaining the closed grasp."
        },
        {
          "native_step": 111,
          "action": "move_to_propose",
          "args": {
            "arm": "left",
            "tcp_xyz": [
              -0.065,
              -0.16,
              0.94
            ],
            "yaw_deg": -111,
            "pitch_deg": 90,
            "roll_deg": 180,
            "speed_scale": 1.25
          },
          "note": "STATE\n- goal: pick done; handover, insert, turn todo.\n- facts: verified left blade hold; key root offset(-.029,-.006,-.022); slot(.1102,-.1977,.765), yaw15°;189 steps.\n- phase: present bow toward right at .92m height; right open and empty.\n- blockers: first grasp missed; second lift verified. Receiver must grasp exposed bow, not blade.\nThe reference uses a down-pointing giver with bow exposed to the right. I rotate the held key at clearance while moving toward that presentation."
        },
        {
          "native_step": 151,
          "action": "move_to",
          "args": {
            "proposal_id": "m10@step111"
          },
          "note": "STATE\n- goal: pick done; handover, insert, turn todo.\n- facts: left blade hold verified; key root(-.1321,-.1737,.827); slot(.1102,-.1977,.765), yaw15°;189 steps.\n- phase: rotate giver presentation to expose bow to right; right empty/open.\n- blockers: initial missed grasp recovered. Transfer must retain support.\nThe checked presentation path passes the joint guard. I execute at clearance with the giver closed."
        },
        {
          "native_step": 151,
          "action": "move_to_propose",
          "args": {
            "arm": "right",
            "tcp_xyz": [
              -0.046,
              -0.167,
              0.903
            ],
            "yaw_deg": 70,
            "pitch_deg": 1,
            "roll_deg": 92
          },
          "note": "STATE\n- goal: pick done; handover, insert, turn todo.\n- facts: left closed holds key root(-.053,-.165,.900), slot(.110,-.198,.765), yaw15°;149 steps.\n- phase: open right approaches exposed lower bow from right with reference handover orientation.\n- blockers: key slipped during presentation; receiving target uses current root.\nThe bow is below the giver fingers. I approach it laterally, leaving the giver closed."
        },
        {
          "native_step": 188,
          "action": "move_to",
          "args": {
            "proposal_id": "m11@step151"
          },
          "note": "STATE\n- goal: pick done; handover, insert, turn todo.\n- facts: left holds key root(-.053,-.165,.900); slot(.110,-.198,.765), yaw15°;149 steps.\n- phase: right open approach to bow; giver remains closed.\n- blockers: presentation key axis inverted; will need reorientation after transfer.\nThe checked lateral approach passes the joint guard. I move the receiver toward the exposed key without releasing the giver."
        },
        {
          "native_step": 188,
          "action": "move_to_propose",
          "args": {
            "arm": "right",
            "tcp_xyz": [
              -0.07,
              -0.158,
              0.884
            ]
          },
          "note": "STATE\n- goal: pick done; handover in progress; insert, turn todo.\n- facts: key root(-.0731,-.1578,.8794), inverted157.5°; left closed, right open;112 steps.\n- phase: refine receiver contact at bow using measured shifted key.\n- blockers: giver contact moved key during approach; initial receiver target is high/right.\nThe wrist view shows the round bow between but beyond the open jaws. I advance the fingertips to the live bow position."
        },
        {
          "native_step": 192,
          "action": "move_to",
          "args": {
            "proposal_id": "m12@step188"
          },
          "note": "STATE\n- goal: pick done; handover in progress; insert and turn todo.\n- facts: left supports inverted key root(-.073,-.158,.879); slot(.110,-.198,.765);112 steps.\n- phase: right open bow approach, then close in place.\n- blockers: prior receiver target missed shifted bow.\nThe short correction is executable with passing guard. I place the receiving fingertips around the measured bow."
        },
        {
          "native_step": 192,
          "action": "move_to_propose",
          "args": {
            "arm": "right",
            "tcp_xyz": [
              -0.069,
              -0.154,
              0.781
            ],
            "yaw_deg": -111,
            "pitch_deg": 90,
            "roll_deg": 0
          },
          "note": "STATE\n- goal: pick done; handover incomplete; insert and turn todo.\n- facts: bow(-.070,-.154,.775), tip(-.116,-.135,.773); slot(.1102,-.1977,.765),yaw15°;108 steps.\n- phase: right recovery bow grasp; both empty.\n- blockers: key dropped; old transforms invalid.\nThe wrist depth locates the bow. I approach top-down so subsequent pitch reduction can raise the bow above the tip."
        },
        {
          "native_step": 232,
          "action": "move_to",
          "args": {
            "proposal_id": "m13@step192"
          },
          "note": "STATE\n- goal: pick done; handover incomplete; insertion and turn todo.\n- facts: bow(-.069,-.154,.770), tip extends toward negative x; slot(.1102,-.1977,.765), yaw15°;108 native steps.\n- phase: right bow recovery, neither arm holds key.\n- blockers: prior handover dropped key; regrasp needed.\nThe checked top-down approach passes the joint guard. I move the open right fingers onto the bow."
        },
        {
          "native_step": 232,
          "action": "move_to_propose",
          "args": {
            "arm": "right",
            "tcp_xyz": [
              -0.058,
              -0.196,
              0.78
            ],
            "yaw_deg": -69,
            "pitch_deg": 90,
            "roll_deg": 0
          },
          "note": "STATE\n- goal: pick done; handover incomplete; insert/turn todo.\n- facts: bow(-.0604,-.1966,.7706), long axis yaw21;slot(.1102,-.1977,.765);68 steps.\n- phase: right bow grasp recovery; hands empty.\n- blockers: prior approach pushed key; updated coordinates.\nThe bow is outside the jaws. I shift open fingers onto it with jaws across its long axis."
        },
        {
          "native_step": 247,
          "action": "move_to",
          "args": {
            "proposal_id": "m14@step232"
          },
          "note": "STATE\n- goal: pick done; handover incomplete; insertion and turn todo.\n- facts: key root(-.0604,-.1966,.7706), slot(.1102,-.1977,.765);68 native steps before this move.\n- phase: right recovery grasp; neither arm holds key.\n- blockers: earlier sweep displaced key; target updated.\nThe open right jaws are beside the bow. The checked short correction aligns them to its current location."
        },
        {
          "native_step": 247,
          "action": "move_to_propose",
          "args": {
            "arm": "right",
            "tcp_xyz": [
              -0.058,
              -0.196,
              0.83
            ]
          },
          "note": "STATE\n- goal: pick historically done; handover incomplete; insert/turn todo.\n- facts: key(-.0237,-.2381,.770), slot(.1102,-.1977,.765);53 steps left.\n- phase: right recovery, neither hand holds key.\n- blockers: low lateral sweeps pushed key twice; use vertical clearance.\nThe key lies beside the open right jaws. Raise vertically before correcting its grasp position."
        },
        {
          "native_step": 252,
          "action": "move_to",
          "args": {
            "proposal_id": "m15@step247"
          },
          "note": "STATE\n- goal: pickup historical; handover incomplete; insertion and turn todo.\n- facts: key root(-.0237,-.2381,.770), flat; slot(.1102,-.1977,.765).53 steps remain.\n- phase: right open-jaw recovery; no verified hold.\n- blockers: low lateral approaches pushed key; lift before centering.\nThe vertical clearance plan passed its guard. Execute it to avoid another table-level sweep."
        },
        {
          "native_step": 252,
          "action": "move_to_propose",
          "args": {
            "arm": "right",
            "tcp_xyz": [
              -0.0223,
              -0.2415,
              0.829
            ]
          },
          "note": "STATE\n- goal: pickup historical; handover incomplete; insertion and turn todo.\n- facts: bow(-.0223,-.2415,.7752), tip(-.066,-.254,.7703); slot(.1102,-.1977,.765);48 steps.\n- phase: right open, no hold, aligning above bow.\n- blockers: lateral table sweeps pushed key; clearance move precedes descent.\nThe measured bow is right-forward of the gripper; align at current clearance."
        },
        {
          "native_step": 258,
          "action": "move_to",
          "args": {
            "proposal_id": "m16@step252"
          },
          "note": "STATE\n- goal: pickup historical; handover incomplete; insertion and turn todo.\n- facts: bow(-.0223,-.2415,.7752), tip(-.066,-.254,.7703); slot(.1102,-.1977,.765);48 steps.\n- phase: right open, no hold, aligning above bow.\n- blockers: earlier lateral contact pushed key; use clearance.\nThe checked six-step path aligns the open gripper over the measured bow without table contact."
        },
        {
          "native_step": 258,
          "action": "move_to_propose",
          "args": {
            "arm": "right",
            "tcp_xyz": [
              -0.0217,
              -0.2438,
              0.774
            ]
          },
          "note": "STATE\n- goal: pickup historical; handover incomplete; insertion and turn todo.\n- facts: key bow/root(-.0217,-.2438,.7706), slot(.1102,-.1977,.765);42 steps remain.\n- phase: right open above bow, descending for grasp; left empty.\n- blockers: prior sweeps displaced key; now use vertical descent.\nThe wrist image shows the bow centered between the open jaws. Descend directly to surround its edge."
        },
        {
          "native_step": 264,
          "action": "move_to",
          "args": {
            "proposal_id": "m17@step258"
          },
          "note": "STATE\n- goal: pickup historical; handover incomplete; insertion and turn todo.\n- facts: bow(-.0217,-.2438,.7706); slot(.1102,-.1977,.765);42 steps remain.\n- phase: right open descending onto bow; left empty.\n- blockers: earlier lateral sweeps pushed key; vertical approach now.\nThe six-step descent is executable with guard passed. Lower the open jaws around the bow."
        },
        {
          "native_step": 264,
          "action": "move_to_propose",
          "args": {
            "arm": "right",
            "gripper": 0
          },
          "note": "STATE\n- goal: pickup historical; handover incomplete; insertion and turn todo.\n- facts: bow(-.0217,-.2438,.7706), slot(.1102,-.1977,.765);36 native steps remain.\n- phase: right jaws surrounding bow; close then test lift; left empty.\n- blockers: prior grasp slipped and table sweeps displaced key.\nThe bow is centered in the wrist image and TCP is .7778 high. Close in place without carrying."
        },
        {
          "native_step": 274,
          "action": "move_to",
          "args": {
            "proposal_id": "m18@step264"
          },
          "note": "STATE\n- goal: pickup historical; handover incomplete; insertion and turn todo.\n- facts: key bow(-.0217,-.2438,.7706);slot(.1102,-.1977,.765);36 steps left.\n- phase: right closing around centered bow; left empty.\n- blockers: prior slips; verify lift before transfer.\nThe close-only proposal is executable and guarded. Close around the bow while keeping the wrist stationary."
        },
        {
          "native_step": 274,
          "action": "move_to_propose",
          "args": {
            "arm": "right",
            "tcp_xyz": [
              -0.0222,
              -0.2436,
              0.838
            ]
          },
          "note": "STATE\n- goal: pickup in progress; handover incomplete; insertion and turn todo.\n- facts: key bow(-.022,-.2436,.7706); slot(.1102,-.1977,.765);26 steps left; right gripper .159 contacts bow.\n- phase: test right grasp with 6cm vertical lift; left empty.\n- blockers: previous slipping grasps; no verified current hold.\nThe jaws now contact the bow on both sides. Lift vertically with the existing closed target to verify support."
        },
        {
          "native_step": 281,
          "action": "move_to",
          "args": {
            "proposal_id": "m19@step274"
          },
          "note": "STATE\n- goal: pickup in progress; handover incomplete; insertion and turn todo.\n- facts: key bow(-.022,-.2436,.7706); slot(.1102,-.1977,.765);26 steps left; right jaws contact bow.\n- phase: right test lift; left empty.\n- blockers: previous slips; current support unverified.\nThe vertical lift passed the path guard and uses seven steps. Execute without changing the closed gripper."
        },
        {
          "native_step": 281,
          "action": "move_to_propose",
          "args": {
            "arm": "right",
            "tcp_xyz": [
              0.065,
              -0.198,
              0.88
            ],
            "yaw_deg": -69,
            "pitch_deg": 0,
            "roll_deg": 0,
            "gripper": 0,
            "speed_scale": 1.25
          },
          "note": "STATE\n- goal: pickup done; handover incomplete; insertion and turn todo.\n- facts: verified right bow grasp; key root(-.022,-.244,.830), slot(.1102,-.1977,.765), slot yaw15°;19 native steps remain.\n- phase: right reorients key at clearance; left empty.\n- blockers: key horizontal and budget insufficient for complete transfer/insertion; avoid pushing sideways into slot.\nThe blade projects sideways from the held bow. Decreasing wrist pitch raises key +Z toward upright while bringing it toward the slot at clearance."
        },
        {
          "native_step": 281,
          "action": "move_to_propose",
          "args": {
            "arm": "right",
            "tcp_xyz": [
              0.03,
              -0.22,
              0.89
            ],
            "yaw_deg": -69,
            "pitch_deg": 35,
            "roll_deg": 0,
            "gripper": 0,
            "speed_scale": 1.25
          },
          "note": "STATE\n- goal: pickup done; handover incomplete; insertion and turning todo.\n- facts: right holds bow; key root(-.022,-.244,.830), slot(.1102,-.1977,.765), yaw15°;19 native steps remain; key upright error88.7°.\n- phase: reorient the right-held key at safe clearance; left empty.\n- blockers: full pitch0 entry candidate failed orientation IK; use smaller orientation change and higher clearance instead.\nThe key remains horizontal in the right grasp after the rejected plan. This intermediate pitch reduces the upright error without attempting rim contact."
        },
        {
          "native_step": 296,
          "action": "move_to",
          "args": {
            "proposal_id": "m21@step281"
          },
          "note": "STATE\n- goal: pickup done; handover incomplete; insertion and turning todo.\n- facts: right bow grasp verified; key root(-.022,-.244,.830), slot(.1102,-.1977,.765), yaw15°;19 native steps remain.\n- phase: execute intermediate right-hand orientation at clearance; left empty.\n- blockers: pitch0 failed IK; pitch35 proposal passed joint guard with15 steps; no insertion yet.\nThe key is held clear of the table and the intermediate orientation is executable. I retain the closed grasp while rotating toward upright."
        },
        {
          "native_step": 296,
          "action": "move_to_propose",
          "args": {
            "arm": "right",
            "tcp_xyz": [
              0.04,
              -0.21,
              0.89
            ],
            "gripper": 0
          },
          "note": "STATE\n- goal: pickup done; handover incomplete; insertion and turning todo.\n- facts: right holds key at(.0182,-.2134,.8696); slot(.1102,-.1977,.765); upright error32.34°, xy error.0933m;4 native steps remain.\n- phase: small clearance translation toward slot, maintaining hold; left empty.\n- blockers: remaining budget cannot complete reorientation, insertion and turn; do not descend while misaligned.\nThe key stayed with the right hand during rotation. I move a short distance toward the slot at clearance rather than push the misaligned blade into the rim."
        },
        {
          "native_step": 299,
          "action": "move_to",
          "args": {
            "proposal_id": "m22@step296"
          },
          "note": "STATE\n- goal: pickup done; handover incomplete; insertion and turning todo.\n- facts: right holds key at(.0182,-.2134,.8696); slot(.1102,-.1977,.765); upright error32.34°, xy error.0933m;4 native steps remain.\n- phase: execute checked three-step clearance translation; left empty.\n- blockers: insufficient budget for complete alignment and insertion; blade must not descend misaligned.\nThe short transfer proposal is executable and its joint guard passed. I retain the right-hand grasp while moving toward the slot at clearance."
        },
        {
          "native_step": 300,
          "action": "wait",
          "args": {
            "steps": 1
          },
          "note": "STATE\n- goal: pickup done; handover incomplete; insertion and turning todo.\n- facts: right carries key at(.0395,-.2094,.8800); slot(.1102,-.1977,.765); xy error.0716m; upright error44.10°; one native step remains; success false.\n- phase: hold both arms to assess key settling after the short transfer; left empty.\n- blockers: key orientation shifted during transfer, suggesting slipping; remaining budget cannot support recovery or insertion.\nThe key translated with the right hand but tilted further. I hold position to let its contact settle rather than descend with the blade misaligned."
        }
      ],
      "final_conditions": [
        {
          "id": "c1",
          "predicate": "is_A_depth_in_B",
          "parameters": {
            "label_A": "key",
            "label_B": "slot",
            "z_threshold": 0.025
          },
          "last_native_evaluation": {
            "value": 0.0,
            "native_step": 300
          },
          "native_evaluation_at_current_step": true,
          "measurement": {
            "available": false,
            "reason": "numeric_measurement_not_supported"
          }
        },
        {
          "id": "c2",
          "predicate": "is_AB_xy_distance_within_threshold",
          "parameters": {
            "label_A": "key",
            "label_B": "slot",
            "A_functional_point": null,
            "A_point_type": "passive",
            "threshold": 0.007,
            "axis": "world"
          },
          "last_native_evaluation": {
            "value": 0.0,
            "native_step": 278
          },
          "native_evaluation_at_current_step": false,
          "measurement": {
            "available": true,
            "metric": "xy_distance",
            "value": 0.0712149792966885,
            "unit": "m",
            "operator": "<",
            "threshold": 0.007,
            "satisfied": false,
            "object_xyz": [
              0.0399644710123539,
              -0.20930303633213043,
              0.8799353837966919
            ],
            "target_xyz": [
              0.110232874751091,
              -0.19773045182228088,
              0.7649999856948853
            ],
            "frame": "env_origin",
            "metric_frame": "env_origin",
            "reference_point": "root",
            "error_above_threshold": 0.0642149792966885
          }
        },
        {
          "id": "c3",
          "predicate": "is_axis_up",
          "parameters": {
            "label": "key",
            "axis": [
              0,
              0,
              1
            ],
            "label_args": null,
            "threshold": 7
          },
          "last_native_evaluation": null,
          "native_evaluation_at_current_step": false,
          "measurement": {
            "available": true,
            "metric": "axis_angle",
            "value": 43.396636849562725,
            "unit": "deg",
            "operator": "<",
            "threshold": 7.0,
            "satisfied": false,
            "reference_point": "root",
            "project_plane": null,
            "error_above_threshold": 36.396636849562725
          }
        },
        {
          "id": "c4",
          "predicate": "is_axis_aligned",
          "parameters": {
            "label_A": "key",
            "label_B": "slot",
            "axis_A": [
              1,
              0,
              0
            ],
            "axis_B": [
              0.5,
              -0.8660254037844386,
              0.0
            ],
            "world_axis": null,
            "align_threshold": 30,
            "functional_point_A": null,
            "functional_point_A_type": "passive",
            "functional_point_B": null,
            "functional_point_B_type": "passive",
            "project_plane": null
          },
          "last_native_evaluation": null,
          "native_evaluation_at_current_step": false,
          "measurement": {
            "available": true,
            "metric": "axis_angle",
            "value": 129.24590830909509,
            "unit": "deg",
            "operator": "<",
            "threshold": 30.0,
            "satisfied": false,
            "reference_point": "root",
            "project_plane": null,
            "error_above_threshold": 99.24590830909509
          }
        }
      ],
      "final_home_status": {
        "left": {
          "position_error_m": 0.31778581628829633,
          "rotation_error_deg": 114.12165099030055,
          "max_joint_error_rad": 2.0708889961242676,
          "at_home": false
        },
        "right": {
          "position_error_m": 0.3823883011280435,
          "rotation_error_deg": 77.19499674643242,
          "max_joint_error_rad": 2.5937972068761614,
          "at_home": false
        }
      }
    },
    {
      "id": "insert_tubes_initial",
      "task": "insert_tubes",
      "video": "insert_tubes_initial.mp4",
      "poster": "insert_tubes_initial.jpg",
      "instruction": "Insert the three tubes into the rack one by one.",
      "translation": "把三根试管逐根插入试管架。",
      "rules": [
        "抓取管身，小幅抬升验证抓牢；管帽向上、管尖朝下。",
        "用实际管尖对准空孔，保留抓取偏移；闭合夹爪，以短距离运动逐步插入。",
        "深度、孔内位置、竖直方向同时满足后，原地松手，再向上退出。",
        "给双臂回家预留步数；空闲手臂尽早回家，放手后确认试管仍稳定。"
      ],
      "rule_file": "insert_tubes.gpt-only.md",
      "valid": false,
      "success": false,
      "termination_reason": "infrastructure_error",
      "native_steps": 492,
      "step_lim": 500,
      "planner_turns": 179,
      "elapsed_s": 1758.0,
      "seed": 0,
      "layout_id": 0,
      "cost_usd": 16.6726285,
      "finding": "第 492 / 500 步遇到上游 API HTTP 503，回合无效，不计为任务失败。最终 tube0 已进入管架，tube1 仍在抓持和孔沿恢复阶段，tube2 尚未拿起；双臂未全部回家。",
      "commands": [
        {
          "native_step": 0,
          "action": "reset",
          "args": {},
          "note": ""
        },
        {
          "native_step": 0,
          "action": "move_to_propose",
          "args": {
            "arm": "right",
            "tcp_xyz": [
              0.152,
              -0.2203,
              0.85
            ],
            "yaw_deg": 34,
            "pitch_deg": 90,
            "roll_deg": 0,
            "gripper": 1
          },
          "note": "STATE\n- goal: Seat all three tubes upright inside rack, then home; 0/3 seated.\n- facts: tube0 (.152,-.2203,.7783), cap axis yaw34 from +y; tube1 left, tube2 far right; rack (0,.0206,.795), yaw6.45. Both empty; 500 steps.\n- phase: Right approaches tube0 above body; selected order 0,2,1, holes pending.\n- blockers: None; reserve completion and homing steps.\nThe lying body requires a downward grasp with jaws across its axis; I stage 7 cm above it."
        },
        {
          "native_step": 32,
          "action": "move_to",
          "args": {
            "proposal_id": "m1@step0"
          },
          "note": "STATE\n- goal: Insert all three upright, then home; 0/3 done.\n- facts: tube0 (.152,-.2203,.7783) yaw34 cap +y; tube1 left; tube2 right. Rack (0,.0206,.795) yaw6.45. Hands empty; 500 steps.\n- phase: Right staging above tube0; order 0,2,1.\n- blockers: None; hole centers need measurement.\nThe checked downward approach is executable with guard passed; moving above the body before contact."
        },
        {
          "native_step": 32,
          "action": "move_to_propose",
          "args": {
            "arm": "right",
            "tcp_xyz": [
              0.152,
              -0.2203,
              0.779
            ],
            "gripper": 1
          },
          "note": "STATE\n- goal: Three tubes seated upright then home; 0/3.\n- facts: tube0 (.152,-.2203,.7783), yaw34; tube1 left, tube2 right; rack yaw6.45. Right TCP above tube0 (.152,-.2203,.850), open downward. 468 steps remain.\n- phase: Descend open onto tube0 body; order 0,2,1.\n- blockers: Hole locations unmeasured; reserve homes.\nTube0 has not moved, so I lower open jaws around the body at its center height."
        },
        {
          "native_step": 40,
          "action": "move_to",
          "args": {
            "proposal_id": "m2@step32"
          },
          "note": "STATE\n- goal: Three tubes seated upright then home; 0/3.\n- facts: tube0 (.152,-.2203,.7783), yaw34; tube1 left, tube2 right; rack yaw6.45. Right open above tube0; left home. 468 steps.\n- phase: Grasp tube0; order 0,2,1.\n- blockers: Need hole measurement and verified lift.\nThe descent is executable with guard passed and costs eight steps; I approach the tube body."
        },
        {
          "native_step": 40,
          "action": "move_to_propose",
          "args": {
            "arm": "right",
            "gripper": 0
          },
          "note": "STATE\n- goal: Insert three upright tubes then home; 0/3.\n- facts: tube0 (.152,-.2203,.7783), yaw34; tube1 left, tube2 right; rack (0,.0206,.795), yaw6.45. Right TCP (.1518,-.2203,.7794) open downward; left home. 460 steps.\n- phase: Close around tube0 body then verify lift; order 0,2,1.\n- blockers: Need empty aperture coordinates and upright rotation.\nThe jaws straddle tube0 at table level; closing in place tests the grasp without dragging it."
        },
        {
          "native_step": 50,
          "action": "move_to",
          "args": {
            "proposal_id": "m3@step40"
          },
          "note": "STATE\n- goal: Insert three upright tubes then home; 0/3.\n- facts: tube0 (.152,-.2203,.7783), yaw34; tube1 left, tube2 right; rack (0,.0206,.795), yaw6.45. Right TCP (.1518,-.2203,.7794); left home. 460 steps.\n- phase: Close tube0 then lift; order 0,2,1.\n- blockers: Need empty apertures and upright rotation.\nThe close-only plan passes its guard; I execute it around the visible body."
        },
        {
          "native_step": 50,
          "action": "move_to_propose",
          "args": {
            "arm": "right",
            "tcp_xyz": [
              0.1518,
              -0.2203,
              0.87
            ],
            "gripper": 0
          },
          "note": "STATE\n- goal: Insert all three upright and home; 0/3.\n- facts: tube0 shifted to (.1421,-.2049,.7783) during close; right TCP (.1518,-.2203,.7794). Tube1 (-.2589,-.1103,.7783), tube2 (.3714,-.1073,.7783); rack (0,.0206,.795), yaw6.45. Left home; 450 steps.\n- phase: Test right grasp by lifting tube0; order 0,2,1.\n- blockers: Closure may have contacted pointed end rather than body; confirm following before rotating.\nThe tube moved slightly during closure; a vertical lift will establish whether it is retained."
        },
        {
          "native_step": 60,
          "action": "move_to",
          "args": {
            "proposal_id": "m4@step50"
          },
          "note": "STATE\n- goal: Insert three upright tubes and home; 0/3.\n- facts: tube0 (.1421,-.2049,.7783); tube1 (-.2589,-.1103,.7783), tube2 (.3714,-.1073,.7783); rack (0,.0206,.795), yaw6.45. Left home. Right closed at (.1518,-.2203,.7794); 450 steps.\n- phase: Lift tube0 to verify grasp; order 0,2,1.\n- blockers: Potential pointed-end grasp; must confirm retention.\nThe lift passes the joint guard and costs ten steps; I execute it without opening."
        },
        {
          "native_step": 60,
          "action": "move_to_propose",
          "args": {
            "arm": "right",
            "tcp_xyz": [
              0.1,
              -0.148,
              0.84
            ],
            "gripper": 1
          },
          "note": "STATE\n- goal: Insert three upright tubes and home; 0/3.\n- facts: Tube0 root is near tip (.1417,-.204,.7783); visible body surface (.100,-.148,.794), cap (.076,-.116,.798). Tube1 (-.259,-.110,.778), tube2 (.371,-.107,.778). Rack (0,.0206,.795), yaw6.45; 440 steps.\n- phase: Empty right approaches measured body; left home.\n- blockers: Prior grasp beyond tip missed; corrected body offset.\nI open and shift above the measured tube body, retaining the aligned top-down orientation."
        },
        {
          "native_step": 70,
          "action": "move_to",
          "args": {
            "proposal_id": "m5@step60"
          },
          "note": "STATE\n- goal: Three tubes upright inside rack then home; 0/3.\n- facts: Tube0 body (.100,-.148,.782); root (.142,-.204,.778); tube1 left, tube2 right; rack (0,.0206,.795) yaw6.45. 440 native steps remain.\n- phase: Right empty approaching body with open fingers; left home.\n- blockers: Initial tip grasp missed; now using measured body.\nThe checked path passes its guard and moves above the body rather than the pointed end."
        },
        {
          "native_step": 70,
          "action": "move_to_propose",
          "args": {
            "arm": "right",
            "tcp_xyz": [
              0.1,
              -0.148,
              0.78
            ],
            "gripper": 1
          },
          "note": "STATE\n- goal: Three upright insertions and home; 0/3.\n- facts: Tube0 body (.100,-.148,.782), tip root (.142,-.204,.778); tube1 left, tube2 right. Rack (0,.0206,.795), yaw6.45. 430 steps.\n- phase: Right open over tube0 body; left home.\n- blockers: Initial tip grasp missed; body now centered in wrist image.\nThe tube body lies between the open jaws; I descend to grasp its sides."
        },
        {
          "native_step": 77,
          "action": "move_to",
          "args": {
            "proposal_id": "m6@step70"
          },
          "note": "STATE\n- goal: Three upright insertions and home; 0/3.\n- facts: Tube0 body (.100,-.148,.782), tip (.142,-.204,.778); tube1 left, tube2 right; rack yaw6.45 at (0,.0206,.795). 430 steps.\n- phase: Right descending open onto tube0 body, left home.\n- blockers: Prior tip grasp missed; revised body approach passed.\nThe seven-step descent is executable and keeps the jaws open around the visible body."
        },
        {
          "native_step": 77,
          "action": "move_to_propose",
          "args": {
            "arm": "right",
            "gripper": 0
          },
          "note": "STATE\n- goal: Insert tubes0/1/2 upright, then home; all todo.\n- facts: Tube0 body at (.100,-.148,.782), root (.142,-.204,.778). Rack (0,.0206,.795) yaw6.45; tubes1 left/2 right. 423 steps.\n- phase: Right jaws surround tube0 body; left empty home; close then verify lift.\n- blockers: Earlier tip grasp missed; body approach now aligned.\nThe jaws straddle the cylindrical body, so I close in place without changing orientation."
        },
        {
          "native_step": 87,
          "action": "move_to",
          "args": {
            "proposal_id": "m7@step77"
          },
          "note": "STATE\n- goal: Insert all three upright and return home; 0/3.\n- facts: Tube0 body (.100,-.148,.782), tip (.142,-.204,.778); rack (0,.0206,.795) yaw6.45. Tube1 left, tube2 right. 423 steps.\n- phase: Closing right body grasp; left home empty.\n- blockers: Tip grasp previously missed; body grasp not yet verified.\nThe closure proposal is executable with guards passed; close at the centered body."
        },
        {
          "native_step": 87,
          "action": "move_to_propose",
          "args": {
            "arm": "right",
            "tcp_xyz": [
              0.1,
              -0.148,
              0.92
            ],
            "gripper": 0
          },
          "note": "STATE\n- goal: Three tubes inserted upright and home; 0/3.\n- facts: Tube0 tip (.140,-.206,.778), body in right jaws (.100,-.148,.781); rack (0,.0206,.795), yaw6.45. Tube1 left, tube2 right; 413 steps.\n- phase: Right closed on tube0; lift to verify before reorientation. Left home empty.\n- blockers: Earlier tip grasp missed; body closure appears good but hold unverified.\nThe gripper stopped at .238 around the body; lift vertically with closed jaws to establish carried geometry."
        },
        {
          "native_step": 101,
          "action": "move_to",
          "args": {
            "proposal_id": "m8@step87"
          },
          "note": "STATE\n- goal: Three upright insertions and home; 0/3.\n- facts: Tube0 body (.100,-.148,.781), tip (.140,-.206,.778); rack (0,.0206,.795) yaw6.45; tube1 left, tube2 right; 413 steps.\n- phase: Right lifting tube0 to verify hold; left home empty.\n- blockers: Earlier tip grasp missed; body hold verification pending.\nThe lift passes guards and costs 14 steps; raise the closed grasp clear of the table."
        },
        {
          "native_step": 101,
          "action": "move_to_propose",
          "args": {
            "arm": "right",
            "tcp_xyz": [
              0.1,
              -0.148,
              0.96
            ],
            "yaw_deg": 34,
            "pitch_deg": 0,
            "roll_deg": 0,
            "gripper": 0
          },
          "note": "STATE\n- goal: Three upright insertions and home; 0/3.\n- facts: Tube0 verified right hold; tip offset (+.040,-.058,-.002), axis cap toward (-.57,.82,.037). Rack (0,.0206,.795), yaw6.45. Tube1 left and tube2 right on table. 399 steps.\n- phase: Rotate held tube0 upright at clearance, left empty home.\n- blockers: Earlier tip grasp missed; body grasp secure; aperture not yet selected.\nThe cap axis corresponds to wrist local z; reducing pitch from90 to0 should make it upright while maintaining tip clearance."
        },
        {
          "native_step": 131,
          "action": "move_to",
          "args": {
            "proposal_id": "m9@step101"
          },
          "note": "STATE\n- goal: Three upright insertions then home; 0/3.\n- facts: Tube0 right hold verified at body; tip (.1399,-.2059,.9175), TCP(.100,-.148,.920). Rack(0,.0206,.795), yaw6.45. Tube1 left table, tube2 right table. 399 steps remain.\n- phase: Rotate tube0 cap-up; left home empty.\n- blockers: First tip grasp missed, body grasp successful; holes not selected.\nThe rotation plan passes guards for30 steps. Execute above the table to establish vertical tube orientation."
        },
        {
          "native_step": 131,
          "action": "move_to_propose",
          "args": {
            "arm": "right",
            "tcp_xyz": [
              0.0421,
              0.008,
              0.935
            ],
            "gripper": 0
          },
          "note": "STATE\n- goal: Three insertions and home;0/3.\n- facts: Tube0 held upright2.15°, tip offset(-.0007,.0022,-.0704). Rack top.82555 yaw6.45°, selected right-middle aperture approximately(.0414,.0102). Left home;369 steps.\n- phase: Carry tube0 over selected aperture with tip at.865.\n- blockers: Hole floor samples required top-plane correction; initial tip grasp missed.\nTube0 is stable and upright. Move closed with clearance above the rack to align its tip."
        },
        {
          "native_step": 148,
          "action": "move_to",
          "args": {
            "proposal_id": "m10@step131"
          },
          "note": "STATE\n- goal: Insert all three tubes then home;0/3.\n- facts: Tube0 right-held upright, tip offset(-.0007,.0022,-.0704); rack top.82555; target aperture(.0414,.0102). Tube1 left table, tube2 right table; left home;369 steps.\n- phase: Carry tube0 to rack clearance, verify alignment.\n- blockers: Initial tip grasp failed; body grasp verified.\nThe checked path is executable and the tube is upright. Carry closed above the aperture."
        },
        {
          "native_step": 148,
          "action": "move_to_propose",
          "args": {
            "arm": "right",
            "tcp_xyz": [
              0.0421,
              0.008,
              0.9
            ],
            "gripper": 0
          },
          "note": "STATE\n- goal: Insert three tubes and home;0/3.\n- facts: Tube0 held upright2.15°, tip(.0413,.0101,.8647), offset(-.0007,.0022,-.0703). Aperture(.0414,.0102), rim.82555. Tube1/2 on table;left home;352 steps.\n- phase: Approach rim closed, tip target.8297.\n- blockers: Initial tip grasp missed; stable body grasp now.\nThe tip is centered above the selected hole. Descend 35mm to just above its rim before finer insertion."
        },
        {
          "native_step": 152,
          "action": "move_to",
          "args": {
            "proposal_id": "m11@step148"
          },
          "note": "STATE\n- goal: Insert all three tubes and home;0/3.\n- facts: Tube0 upright right-held, tip offset(-.0007,.0022,-.0703), aperture(.0414,.0102), rim.82555; tube1 left table,tube2 right;352 steps;left home.\n- phase: Rim approach then inspect tip.\n- blockers: Initial tip grasp failed; current body hold stable.\nThe 4-step descent passed guards. Lower closed to rim clearance."
        },
        {
          "native_step": 152,
          "action": "move_to_propose",
          "args": {
            "arm": "right",
            "tcp_xyz": [
              0.0421,
              0.008,
              0.888
            ],
            "gripper": 0
          },
          "note": "STATE\n- goal: Three tubes inserted and home;0/3.\n- facts: Tube0 right-held upright2.18°, tip(.0412,.0103,.8313); hole(.0414,.0102), rim.8256; offset z-.0703. Tube1/2 table,left home;348 steps.\n- phase: Enter aperture closed.\n- blockers: Initial tip grasp missed; body grasp stable.\nTip is centered 6mm above rim. Lower 13mm through the opening and check motion."
        },
        {
          "native_step": 155,
          "action": "move_to",
          "args": {
            "proposal_id": "m12@step152"
          },
          "note": "STATE\n- goal: Insert three tubes and home;0/3.\n- facts: Tube0 right-held upright, tip(.0412,.0103,.8313), hole(.0414,.0102),rim.8256; tube1/2 table;left home;348 steps.\n- phase: Enter hole then measure.\n- blockers: Initial tip grasp missed; body hold stable.\nThe three-step path passed. Descend closed without lateral motion."
        },
        {
          "native_step": 155,
          "action": "move_to_propose",
          "args": {
            "arm": "right",
            "tcp_xyz": [
              0.0421,
              0.008,
              0.858
            ],
            "gripper": 0
          },
          "note": "STATE\n- goal: Three tubes inserted and home;0/3 verified.\n- facts: Tube0 held upright2.18°,tip(.0412,.0102,.8186),hole(.0414,.0102),rim.8256;tube1/2 table;left home;345 steps.\n- phase: Deepen tube0 closed.\n- blockers: Initial tip grasp missed;body grasp stable.\nTip entered without lateral shift. Lower another 30mm toward required depth."
        },
        {
          "native_step": 159,
          "action": "move_to",
          "args": {
            "proposal_id": "m13@step155"
          },
          "note": "STATE\n- goal: Three tubes inserted and home;0/3 verified.\n- facts: Tube0 held upright2.18°,tip(.0412,.0102,.8186),hole(.0414,.0102),rim.8256;tube1/2 table;left home;345 steps.\n- phase: Deepen tube0 closed.\n- blockers: Initial tip grasp missed;body grasp stable.\nChecked four-step descent passed. Maintain alignment during insertion."
        },
        {
          "native_step": 159,
          "action": "move_to_propose",
          "args": {
            "arm": "right",
            "tcp_xyz": [
              0.0412,
              0.0078,
              0.845
            ],
            "gripper": 0
          },
          "note": "STATE\n- goal: Three tubes inserted one by one and home;0/3 verified.\n- facts: Tube0 upright2.16°,tip(.0375,.0072,.7923),target hole(.0414,.0102),rim.8256;left home;tube1/2 table;341 steps.\n- phase: Right holds tube0; deepen to45mm then release.\n- blockers: Initial tip grasp missed;body grasp stable.\nTube descended26mm and remains upright. Lower15mm to satisfy depth."
        },
        {
          "native_step": 162,
          "action": "move_to",
          "args": {
            "proposal_id": "m14@step159"
          },
          "note": "STATE\n- goal: Three tubes inserted one by one and home;0/3 verified.\n- facts: Tube0 upright2.16°,tip(.0375,.0072,.7923),hole(.0414,.0102),rim.8256;left home;tube1/2 table;341 steps.\n- phase: Right holds tube0; deepen then release.\n- blockers: Initial tip grasp missed;body grasp stable.\nThe short descent passes guards. Execute to seat tube0."
        },
        {
          "native_step": 162,
          "action": "move_to_propose",
          "args": {
            "arm": "right",
            "tcp_xyz": [
              0.045,
              0.01,
              0.837
            ],
            "gripper": 0
          },
          "note": "STATE\n- goal: Insert three tubes;0/3 verified;home todo.\n- facts: Tube0 tip(.0367,.0079,.7886),upright2.76°,hole(.0414,.0102),rim.8256;TCP(.0419,.0085,.8565);338 steps;left home;tube1/2 table.\n- phase: Right holds tube0;finish depth.\n- blockers: Descent lag may reflect rack contact;small centering correction needed.\nThe tube is upright but depth remains false. Shift 3mm toward hole center while lowering target 8mm beyond the last command."
        },
        {
          "native_step": 165,
          "action": "move_to",
          "args": {
            "proposal_id": "m15@step162"
          },
          "note": "STATE\n- goal: Three insertions 0 verified;home todo.\n- facts: Tube0 upright tip(.0367,.0079,.7886),target hole(.0414,.0102);tube1/2 table;left home;338 steps.\n- phase: Right holds tube0, shallow descent.\n- blockers: Previous descent lag;centering now adjusted.\nChecked path passes;execute small centered descent with grasp maintained."
        },
        {
          "native_step": 165,
          "action": "move_to_propose",
          "args": {
            "arm": "right",
            "gripper": 1
          },
          "note": "STATE\n- goal: Insert three tubes 0/3 verified;home todo.\n- facts: Tube0 tip(.0367,.0086,.7912),upright3.4°,3.4cm below rim;hole(.0414,.0102).Tube1/2 table;left home;335 steps.\n- phase: Release supported tube0 in place,then verify seating.\n- blockers: Two descents met finger/rack contact;do not push further.\nThe tube is guided inside the aperture and upright, but fingers prevent further lowering. Open in place to let it settle onto rack support rather than forcing contact."
        },
        {
          "native_step": 172,
          "action": "move_to",
          "args": {
            "proposal_id": "m16@step165"
          },
          "note": "STATE\n- goal: Three insertions 0 verified;home todo.\n- facts: Tube0 upright guided in hole(.0414,.0102),tip z.791;other tubes table;335 steps.\n- phase: Right releases tube0 supported by aperture;left empty home.\n- blockers: Finger/rack contact limits descent.\nThe release path passes and holds wrist position. Open to allow the supported tube to settle."
        },
        {
          "native_step": 172,
          "action": "move_to_propose",
          "args": {
            "arm": "right",
            "tcp_xyz": [
              0.0454,
              0.0105,
              0.95
            ],
            "gripper": 1
          },
          "note": "STATE\n- goal: Tube0 inserted; tubes1/2 todo; home todo.\n- facts: Tube0 at(.0301,.0112,.7712),10.2° upright, depth/inside pass; hole(.0414,.0102) occupied. Tube1 left table;2 right table.328 steps.\n- phase: Right empty withdrawing vertically;left home.\n- blockers: Prior rack contact resolved by release.\nTube0 now passes depth, inside and upright checks. Withdraw vertically with open jaws to verify stability and clear the rack."
        },
        {
          "native_step": 182,
          "action": "move_to",
          "args": {
            "proposal_id": "m17@step172"
          },
          "note": "STATE\n- goal: Tube0 inserted; tubes1/2 todo; home todo.\n- facts: Tube0 depth/inside/upright pass in hole(.0414,.0102);tube1 left table,tube2 right table;328 steps.\n- phase: Right empty withdrawing;left home.\n- blockers: None active; reserve homing budget.\nThe vertical withdrawal guard passes for ten steps. Execute to clear the seated tube without lateral disturbance."
        },
        {
          "native_step": 182,
          "action": "move_to_propose",
          "args": {
            "arm": "left",
            "tcp_xyz": [
              -0.237,
              -0.05,
              0.85
            ],
            "yaw_deg": -19,
            "pitch_deg": 90,
            "roll_deg": 0,
            "gripper": 1
          },
          "note": "STATE\n- goal: Tube0 done; tube1/2 and home todo.\n- facts: Tube1 body(-.237,-.05,.782),yaw -19; tube2 at right; tube0 occupies(.0414,.0102).318 steps.\n- phase: Left approach open;right empty above rack.\n- blockers: Reserve home paths; avoid root-tip grasp.\nVisible tube1 body agrees with axis estimate. Approach above it with downward fingers aligned to its length."
        },
        {
          "native_step": 214,
          "action": "move_to",
          "args": {
            "proposal_id": "m18@step182"
          },
          "note": "STATE\n- goal: Tube0 inserted; tube1/2 insertion and both arms home todo.\n- facts: Tube1 body(-.237,-.05,.782), axis yaw -19; tube2 root(.3714,-.1073,.7783). Tube0 occupies(.0414,.0102);318 native steps.\n- phase: Left approaching tube1 open;right empty above rack.\n- blockers: Reserve homing and avoid tip grasps.\nChecked approach passes guards. Move left above tube1 body."
        },
        {
          "native_step": 214,
          "action": "move_to_propose",
          "args": {
            "arm": "left",
            "tcp_xyz": [
              -0.237,
              -0.05,
              0.78
            ],
            "gripper": 1
          },
          "note": "STATE\n- goal: Tube0 done; tube1/2 and home todo.\n- facts: Tube1 body(-.237,-.05,.782),yaw -19; tube2 root(.3714,-.1073,.7783). Tube0 hole(.0414,.0102);286 steps.\n- phase: Left above tube1 open; right empty.\n- blockers: Reserve homing.\nWrist shows tube body centered. Descend open around its body."
        },
        {
          "native_step": 222,
          "action": "move_to",
          "args": {
            "proposal_id": "m19@step214"
          },
          "note": "STATE\n- goal: Tube0 done; tube1/2 and home todo.\n- facts: Tube1 body(-.237,-.05,.782),yaw -19; tube2 root(.3714,-.1073,.7783). Tube0 hole(.0414,.0102);286 steps.\n- phase: Left descending open; right empty.\n- blockers: Reserve homing.\nApproach guard passed. Lower to grasp body."
        },
        {
          "native_step": 222,
          "action": "move_to_propose",
          "args": {
            "arm": "left",
            "gripper": 0
          },
          "note": "STATE\n- goal: Tube0 done; tube1/2 and home todo.\n- facts: Tube1 body(-.237,-.05,.782),yaw -19; tube2 root(.3714,-.1073,.7783). Tube0 hole(.0414,.0102);278 steps.\n- phase: Left around tube1 body open; right empty.\n- blockers: Reserve homing.\nTube body is between jaws. Close without translating."
        },
        {
          "native_step": 232,
          "action": "move_to",
          "args": {
            "proposal_id": "m20@step222"
          },
          "note": "STATE\n- goal: Tube0 done; tube1/2 and home todo.\n- facts: Tube1 body(-.237,-.05,.782), yaw -19; tube2 root(.3714,-.1073,.7783). Tube0 hole(.0414,.0102);278 steps.\n- phase: Left closing on tube1; right empty.\n- blockers: Reserve homing.\nChecked close is executable. Grasp the centered body."
        },
        {
          "native_step": 232,
          "action": "move_to_propose",
          "args": {
            "arm": "left",
            "tcp_xyz": [
              -0.237,
              -0.05,
              0.92
            ],
            "gripper": 0
          },
          "note": "STATE\n- goal: Tube0 done; tube1/2 and home todo.\n- facts: Tube1 root(-.2582,-.1106,.7784), grasp body(-.237,-.05,.781), yaw -19. Tube2 root(.3714,-.1073,.7783); tube0 hole(.0414,.0102).268 steps.\n- phase: Left grasp closed; lift to verify tube1 follows. Right empty.\n- blockers: Reserve homing.\nJaws contact tube1 body. Lift vertically to establish the carried transform."
        },
        {
          "native_step": 246,
          "action": "move_to",
          "args": {
            "proposal_id": "m21@step232"
          },
          "note": "STATE\n- goal: Tube0 seated; tube1/2 insertion and home todo.\n- facts: Tube1 root(-.2582,-.1106,.7784), grasp(-.237,-.05,.781), yaw -19; tube2 root(.3714,-.1073,.7783). Tube0 hole(.0414,.0102).268 steps.\n- phase: Left closed on tube1; right empty. Verify lift.\n- blockers: Reserve homing.\nLift path passes guards for 14 steps. Execute closed to verify tube follows."
        },
        {
          "native_step": 246,
          "action": "move_to_propose",
          "args": {
            "arm": "left",
            "tcp_xyz": [
              -0.237,
              -0.05,
              0.96
            ],
            "yaw_deg": -19,
            "pitch_deg": 0,
            "roll_deg": 0,
            "gripper": 0
          },
          "note": "STATE\n- goal: Tube0 seated; tube1/2 insertion and home todo.\n- facts: Tube1 lifted with left, root(-.258,-.1107,.9178), TCP(-.237,-.05,.9198); stable offset(-.021,-.061,-.002). Tube2 root(.3714,-.1073,.7783). Tube0 hole(.0414,.0102).254 steps.\n- phase: Reorient tube1 upright at clearance; right empty.\n- blockers: Reserve homing.\nTube1 followed the lift. Rotate from downward grasp to horizontal fingers, preserving yaw, to point the tube upward."
        },
        {
          "native_step": 276,
          "action": "move_to",
          "args": {
            "proposal_id": "m22@step246"
          },
          "note": "STATE\n- goal: Tube0 seated; tube1/2 insertion and home todo.\n- facts: Tube1 held left with stable root offset(-.021,-.061,-.002) before rotation; tube2 root(.3714,-.1073,.7783). Tube0 hole(.0414,.0102).254 steps.\n- phase: Rotate tube1 upright; right empty.\n- blockers: Reserve homing and third placement.\nReorientation passed guards for 30 steps. Execute closed and inspect the tube axis."
        },
        {
          "native_step": 276,
          "action": "move_to_propose",
          "args": {
            "arm": "left",
            "tcp_xyz": [
              -0.043,
              -0.001,
              0.92
            ],
            "gripper": 0
          },
          "note": "STATE\n- goal: Tube0 seated; tube1/2 and home todo.\n- facts: Tube1 upright left, root offset(.0008,.0016,-.0644). Tube0 hole(.0414,.0102); selected tube1 hole(-.042,.001) from rim samples. Tube2(.3714,-.1073,.7783);224 steps.\n- phase: Carry tube1 above separate left hole; right empty.\n- blockers: Reserve third placement and home.\nRim samples bracket a left aperture around(-.042,.001). Move closed at tip clearance above the rim."
        },
        {
          "native_step": 297,
          "action": "move_to",
          "args": {
            "proposal_id": "m23@step276"
          },
          "note": "STATE\n- goal: Tube0 seated; tube1/2 and homing todo.\n- facts: Tube1 held upright left with root offset(.0008,.0016,-.0644); target aperture(-.042,.001). Tube0 root(.0301,.0112,.7712),10° upright. Tube2(.3714,-.1073,.7783);224 steps.\n- phase: Closed transfer to left aperture; right empty.\n- blockers: Reserve final tube and homing.\nThe transfer preflight passed all guards for 21 steps. Execute above the rim with the verified hold."
        },
        {
          "native_step": 297,
          "action": "move_to_propose",
          "args": {
            "arm": "left",
            "tcp_xyz": [
              -0.043,
              -0.001,
              0.885
            ],
            "gripper": 0
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 insertion in progress; tube2/home todo.\n- facts: Tube1 root(-.0434,.0012,.8557),upright1.65°,stable offset -.0643z; target(-.042,.001). Tube2(.3714,-.1073,.7783);203 steps.\n- phase: Lower tube1 toward rim; right empty.\n- blockers: Reserve tube2 and home.\nThe carried tube follows with stable upright orientation. Descend 35mm to approach the aperture."
        },
        {
          "native_step": 301,
          "action": "move_to",
          "args": {
            "proposal_id": "m24@step297"
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 insertion in progress; tube2/home todo.\n- facts: Tube1 root(-.0434,.0012,.8557),upright1.65°,offset -.0643z; aperture(-.042,.001). Tube2(.3714,-.1073,.7783);203 steps.\n- phase: Left holds tube1; right empty.\n- blockers: Reserve tube2 and home.\nThe four-step rim approach passed its guard. Lower with the hold closed."
        },
        {
          "native_step": 301,
          "action": "move_to_propose",
          "args": {
            "arm": "left",
            "tcp_xyz": [
              -0.043,
              -0.001,
              0.873
            ],
            "gripper": 0
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 inserting; tube2 and home todo.\n- facts: Tube1 root(-.0423,.0008,.8223),upright1.67°,offset -.0643z; hole(-.042,.001). Tube2(.3714,-.1073,.7783);199 steps.\n- phase: Left holds tube1 above aperture; right empty.\n- blockers: Reserve final tube and homing.\nThe tip follows the descent and remains upright. Advance 13mm through the rim."
        },
        {
          "native_step": 304,
          "action": "move_to",
          "args": {
            "proposal_id": "m25@step301"
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 inserting; tube2 and home todo.\n- facts: Tube1 root(-.0423,.0008,.8223),upright1.67°,offset -.0643z; hole(-.042,.001). Tube2(.3714,-.1073,.7783);199 steps.\n- phase: Left holds tube1; right empty.\n- blockers: Reserve final tube and homing.\nThe 13mm descent passed its guard. Execute with a closed grasp."
        },
        {
          "native_step": 304,
          "action": "move_to_propose",
          "args": {
            "arm": "left",
            "tcp_xyz": [
              -0.043,
              -0.001,
              0.848
            ],
            "gripper": 0
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 insertion in progress; tube2 and home todo.\n- facts: Tube1 root(-.0365,-.0005,.8134),upright3°,TCP z.877; hole(-.042,.001). Tube2(.3714,-.1073,.7783);196 steps.\n- phase: Left holds tube1; right empty; deepen insertion.\n- blockers: Reserve tube2 and both returns.\nTube1 descended with the hand and remains upright. Lower another 29mm toward seated depth."
        },
        {
          "native_step": 307,
          "action": "move_to",
          "args": {
            "proposal_id": "m26@step304"
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 insertion in progress; tube2 and home todo.\n- facts: Tube1 root(-.0365,-.0005,.8134),upright3°,TCP z.877; hole(-.042,.001). Tube2(.3714,-.1073,.7783);196 steps.\n- phase: Left holds tube1; right empty; deepen insertion.\n- blockers: Reserve tube2 and both returns.\nThe closed descent passes the joint guard. Execute and check seating."
        },
        {
          "native_step": 307,
          "action": "move_to_propose",
          "args": {
            "arm": "left",
            "tcp_xyz": [
              -0.04,
              -0.001,
              0.891
            ],
            "gripper": 0
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 insertion in progress; tube2 and home todo.\n- facts: Tube1 root(-.0338,.0015,.8088),upright6.5°,hole(-.042,.001);tube2(.3714,-.1073,.7783);193 steps.\n- phase: Left holds tube1; right empty; unload rim contact.\n- blockers: Tube1 depth stalled; lift before lateral correction. Training insert reference supports near-horizontal wrist.\nThe wrist image shows tube1 against the aperture edge. Lift closed 35mm to unload before centering."
        },
        {
          "native_step": 311,
          "action": "move_to",
          "args": {
            "proposal_id": "m27@step307"
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 in progress; tube2 and home todo.\n- facts: Tube1 root(-.0338,.0015,.8088), hole(-.042,.001), upright6.5°; tube2(.3714,-.1073,.7783);193 steps.\n- phase: Left holds tube1; right empty; unloading rim.\n- blockers: Depth stalled; approved four-step lift before correction.\nThe tube is touching the aperture edge. Execute checked closed lift."
        },
        {
          "native_step": 311,
          "action": "move_to_propose",
          "args": {
            "arm": "left",
            "tcp_xyz": [
              -0.045,
              -0.0025,
              0.8893
            ],
            "gripper": 0
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 in progress; tube2 and home todo.\n- facts: Tube1 root(-.037,.0026,.8427), hole(-.042,.001), upright7°; tube2(.3714,-.1073,.7783);189 steps.\n- phase: Left holds tube1 above rim; right empty; recenter tip.\n- blockers: Initial depth stalled; lift verified tube follows, now offset correct.\nThe tube root is 5mm right and 1.6mm forward of the selected hole. Shift at clearance with grasp closed."
        },
        {
          "native_step": 314,
          "action": "move_to",
          "args": {
            "proposal_id": "m28@step311"
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 in progress; tube2 and home todo.\n- facts: Tube1 root(-.037,.0026,.8427), hole(-.042,.001), upright7°; tube2(.3714,-.1073,.7783);189 steps.\n- phase: Left holds tube1; right empty; recenter then insert.\n- blockers: Previous rim catch; lifted and correction approved.\nExecute the guarded 5mm correction while the tip is above the rim."
        },
        {
          "native_step": 314,
          "action": "move_to_propose",
          "args": {
            "arm": "left",
            "tcp_xyz": [
              -0.045,
              -0.0025,
              0.875
            ],
            "gripper": 0
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 inserting; tube2 and home todo.\n- facts: Tube1 tip(-.0419,.0012,.8426) aligned to hole(-.042,.001), tilt7°; tube2(.3714,-.1073,.7783);186 steps.\n- phase: Left holds tube1; right empty; descend toward rim.\n- blockers: Earlier rim catch corrected 5mm left.\nAligned tip now follows the hand. Lower 14mm closed and inspect contact."
        },
        {
          "native_step": 317,
          "action": "move_to",
          "args": {
            "proposal_id": "m29@step314"
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 inserting; tube2 and home todo.\n- facts: Tube1 tip(-.0419,.0012,.8426) aligned to hole(-.042,.001), tilt7°; tube2(.3714,-.1073,.7783);186 steps.\n- phase: Left holds tube1; right empty; descend toward rim.\n- blockers: Earlier rim catch corrected 5mm left.\nThe 3-step approach passes guards; execute closed to test alignment."
        },
        {
          "native_step": 317,
          "action": "move_to_propose",
          "args": {
            "arm": "left",
            "tcp_xyz": [
              -0.045,
              -0.0025,
              0.862
            ],
            "gripper": 0
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 inserting; tube2 and home todo.\n- facts: Tube1 tip(-.0422,.0012,.8293), tilt7°, TCP z.876; tube2(.3714,-.1073,.7783);183 steps.\n- phase: Left holds tube1; right empty; verify further descent.\n- blockers: Earlier rim catch corrected 5mm left.\nTube1 followed 13mm downward without tilt. Continue a short closed descent."
        },
        {
          "native_step": 320,
          "action": "move_to",
          "args": {
            "proposal_id": "m30@step317"
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 inserting; tube2 and home todo.\n- facts: Tube1 tip(-.0422,.0012,.8293), tilt7°, TCP z.876; tube2(.3714,-.1073,.7783);183 steps.\n- phase: Left holds tube1; right empty; verify descent.\n- blockers: Earlier rim catch corrected 5mm left.\nThe 3-step path is executable with passed guard. Descend closed to preserve alignment."
        },
        {
          "native_step": 320,
          "action": "move_to_propose",
          "args": {
            "arm": "left",
            "tcp_xyz": [
              -0.044,
              -0.0025,
              0.837
            ],
            "gripper": 0
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 inserting; tube2 and home todo.\n- facts: Tube1 tip(-.0396,.0016,.8187), tilt8.5°, TCP z.865; tube2(.3714,-.1073,.7783);180 steps.\n- phase: Left holds tube1; right empty; lower into aperture.\n- blockers: Previous rim catch corrected; current tube follows descent.\nThe tip has entered the aperture with upright axis. Lower another 28mm closed to approach seated depth."
        },
        {
          "native_step": 323,
          "action": "move_to",
          "args": {
            "proposal_id": "m31@step320"
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 inserting; tube2 and home todo.\n- facts: Tube1 tip(-.0396,.0016,.8187), tilt8.5°, TCP z.865; tube2(.3714,-.1073,.7783);180 steps.\n- phase: Left holds tube1; right empty; lower into aperture.\n- blockers: Previous rim catch corrected; tube follows descent.\nThe 3-step descent passed the guard. Execute closed and inspect tip depth."
        },
        {
          "native_step": 323,
          "action": "move_to_propose",
          "args": {
            "arm": "left",
            "tcp_xyz": [
              -0.043,
              -0.003,
              0.902
            ],
            "gripper": 0
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 inserting; tube2/home todo.\n- facts: Tube1 tip(-.0366,.0033,.818), tilt12.4°, TCP z.8581; tube2(.3714,-.1073,.7783);177 steps.\n- phase: Left holds tube1; right empty; lift to unload.\n- blockers: Second rim catch requires fresh aperture geometry, not further force.\nThe tube has stopped descending despite commanded depth. Lift vertically to expose the aperture and remove contact."
        },
        {
          "native_step": 328,
          "action": "move_to",
          "args": {
            "proposal_id": "m32@step323"
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 inserting; tube2/home todo.\n- facts: Tube1 tip(-.0366,.0033,.818), tilt12.4°; tube2(.3714,-.1073,.7783);177 steps.\n- phase: Left holds tube1; right empty; lift clear.\n- blockers: Rim catch twice; refine geometry after unloading.\nThe checked five-step lift has passing guards. Lift closed to inspect the hole."
        },
        {
          "native_step": 328,
          "action": "move_to_propose",
          "args": {
            "arm": "left",
            "tcp_xyz": [
              -0.042,
              0.035,
              0.901
            ],
            "gripper": 0
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 inserting; tube2/home todo.\n- facts: Tube1 tip(-.0387,.0039,.8605), offset(+.0044,+.0068,-.0402); rack large aperture near(-.04,.035), top.825;172 steps.\n- phase: Left holds tube1; right empty; shift above large aperture.\n- blockers: Prior target was between apertures; two rim catches.\nRim samples locate a large opening behind the previous target. Shift closed at clearance to center the carried tube over it."
        },
        {
          "native_step": 332,
          "action": "move_to",
          "args": {
            "proposal_id": "m33@step328"
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 insertion in progress; tube2 and home todo.\n- facts: Large hole near(-.04,.035); tube1 offset(.0044,.0068,-.0402);172 native steps.\n- phase: Left holds tube1; right empty; shift clear then descend.\n- blockers: Prior hole targeting caused rim catches.\nThe checked four-step lateral move is executable. Move closed over the new aperture while keeping the tip above the rack."
        },
        {
          "native_step": 332,
          "action": "move_to_propose",
          "args": {
            "arm": "left",
            "tcp_xyz": [
              -0.042,
              0.035,
              0.869
            ],
            "gripper": 0
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 inserting; tube2/home todo.\n- facts: Tube1 tip(-.0379,.0405,.8607), upright12deg; large hole(-.04,.035);168 steps.\n- phase: Left holds tube1, right empty; approach rim.\n- blockers: Prior target hit rack between apertures.\nThe tube followed the shift with stable offset. Lower the tip to just above the rim, keeping the grasp closed."
        },
        {
          "native_step": 336,
          "action": "move_to",
          "args": {
            "proposal_id": "m34@step332"
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 insertion in progress; tube2/home todo.\n- facts: Tube1 tip(-.0379,.0405,.8607),upright12deg;168 native steps.\n- phase: Left holds tube1 above large rear-left aperture; right empty.\n- blockers: Previous front target hit rim.\nThe four-step descent passed guards. Lower closed and inspect tip tracking."
        },
        {
          "native_step": 336,
          "action": "move_to_propose",
          "args": {
            "arm": "left",
            "tcp_xyz": [
              -0.042,
              0.035,
              0.861
            ],
            "gripper": 0
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 inserting; tube2 and home todo.\n- facts: Tube1 tip(-.0382,.0417,.8302),upright11.5deg;164 steps. Tube2 lies at(.3714,-.1073,.7783).\n- phase: Left holding tube1 over rear-left large aperture; right empty.\n- blockers: Earlier front-hole attempts caught rim; current tip tracks.\nThe tip is near rack top. Descend 9mm closed to test entry."
        },
        {
          "native_step": 339,
          "action": "move_to",
          "args": {
            "proposal_id": "m35@step336"
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 inserting; tube2/home todo.\n- facts: Tube1 tip(-.0382,.0417,.8302),upright11.5deg;164 native steps; tube2 at(.3714,-.1073,.7783).\n- phase: Left holds tube1; right empty; test rear-left entry.\n- blockers: Front aperture caught rim previously.\nThe 9mm descent passed guards. Execute closed to check entry."
        },
        {
          "native_step": 339,
          "action": "move_to_propose",
          "args": {
            "arm": "left",
            "tcp_xyz": [
              -0.042,
              0.035,
              0.846
            ],
            "gripper": 0
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 inserting; tube2/home todo.\n- facts: Tube1 tip(-.0382,.0417,.8214),upright11.5deg;161 steps. Tube2 lies(.3714,-.1073,.7783).\n- phase: Left holds tube1; right empty; rear-left entry tracks descent.\n- blockers: Earlier front-hole catches avoided.\nTube1 moved down 9mm without deflection. Advance another 15mm closed."
        },
        {
          "native_step": 342,
          "action": "move_to",
          "args": {
            "proposal_id": "m36@step339"
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 inserting; tube2 and both homes todo.\n- facts: Tube1 tip(-.0382,.0417,.8214),upright11.5deg;161 steps remain. Tube2 lies(.3714,-.1073,.7783).\n- phase: Left holds tube1 in rear-left aperture; right empty.\n- blockers: Earlier front-hole catches; now rear descent follows.\nThe closed descent passed its guard. Execute to verify deeper entry."
        },
        {
          "native_step": 342,
          "action": "move_to_propose",
          "args": {
            "arm": "left",
            "tcp_xyz": [
              -0.042,
              0.035,
              0.91
            ],
            "gripper": 0
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 pending; tube2 and homes todo.\n- facts: Tube1 tip(-.037,.044,.823), tilt13.7°, rim z.825;158 steps.\n- phase: Left holds tube1; unload before correction; right empty.\n- blockers: Rear hole catch; need upright alignment.\nLift vertically to unload the rim before rotating."
        },
        {
          "native_step": 347,
          "action": "move_to",
          "args": {
            "proposal_id": "m37@step342"
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 pending; tube2 and homes todo.\n- facts: Tube1 tip(-.037,.044,.823), tilt13.7°, rim z.825;158 steps.\n- phase: Left holds tube1, lifting to unload; right empty.\n- blockers: Repeated rim catches require orientation correction.\nThe lift proposal passes guards; execute to free the tip before rotating."
        },
        {
          "native_step": 347,
          "action": "move_to_propose",
          "args": {
            "arm": "left",
            "tcp_xyz": [
              -0.035,
              0.036,
              0.91
            ],
            "yaw_deg": -19,
            "pitch_deg": 13,
            "roll_deg": 2,
            "gripper": 0
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 pending; tube2 and homes todo.\n- facts: Tube1 axis(-.111,-.207,.972); tip offset(.0046,.0077,-.040); aperture rim center approximately(-.036,.036), z.825;153 steps.\n- phase: Left holds tube1 at clearance; right empty.\n- blockers: Tilt and off-center root caused catches.\nRotate 13° pitch and 2° roll to cancel measured tube tilt while aligning the transformed tip above the aperture."
        },
        {
          "native_step": 354,
          "action": "move_to",
          "args": {
            "proposal_id": "m38@step347"
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 pending; tube2 and homes todo.\n- facts: Tube1 held left, tip(-.0375,.0429,.8685), tilt13.6°; tube2 lies(.371,-.107,.778);153 steps remain.\n- phase: Correct tube1 tilt above estimated hole(-.036,.036); right empty.\n- blockers: Earlier insertion caught rims; use upright alignment.\nChecked rotation is executable with guard passed; perform at clearance."
        },
        {
          "native_step": 354,
          "action": "move_to_propose",
          "args": {
            "arm": "left",
            "tcp_xyz": [
              -0.0335,
              0.041,
              0.87
            ],
            "gripper": 0
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 insertion pending; tube2 and homing todo.\n- facts: Tube1 tip(-.041,.0328,.8643), offset(-.0025,-.0046,-.0407), tilt6.4°; estimated hole(-.036,.036);146 steps.\n- phase: Left holds tube1, right empty; align and approach rim.\n- blockers: Prior tilted approaches caught rim.\nThe tube is more upright; bring its measured tip to the hole at rim clearance."
        },
        {
          "native_step": 358,
          "action": "move_to",
          "args": {
            "proposal_id": "m39@step354"
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 pending; tube2 and homes todo.\n- facts: Tube1 tip(-.041,.0328,.8643), tilt6.4°; hole estimated(-.036,.036);146 steps left.\n- phase: Left holds tube1; right empty; approach rim.\n- blockers: Prior tilted approaches caught rims.\nGuard passes for four-step aligned descent; execute closed."
        },
        {
          "native_step": 358,
          "action": "move_to_propose",
          "args": {
            "arm": "left",
            "tcp_xyz": [
              -0.0335,
              0.041,
              0.859
            ],
            "gripper": 0
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 pending; tube2 and homes todo.\n- facts: Tube1 tip(-.0362,.0364,.831), tilt6.5°; aligned hole estimate(-.036,.036);142 steps left.\n- phase: Left holds tube1; right empty; insert through rim.\n- blockers: Previous approaches caught rims, current approach corrected.\nThe tip is centered at rim height; descend 13 mm closed to test entry."
        },
        {
          "native_step": 361,
          "action": "move_to",
          "args": {
            "proposal_id": "m40@step358"
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 pending; tube2 and homes todo.\n- facts: Tube1 tip(-.0362,.0364,.831), tilt6.5°; hole(-.036,.036);142 steps left.\n- phase: Left holds tube1; right empty; test entry.\n- blockers: Earlier approaches caught rims; now corrected alignment.\nThree-step descent passed guards; execute closed."
        },
        {
          "native_step": 361,
          "action": "move_to_propose",
          "args": {
            "arm": "left",
            "tcp_xyz": [
              -0.0335,
              0.041,
              0.842
            ],
            "gripper": 0
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 insertion in progress; tube2 and homes todo.\n- facts: Tube1 tip(-.0361,.0364,.8193), tilt6.6°;139 native steps left. Tube2 lies at(.371,-.107,.778).\n- phase: Left holds tube1, right empty; deepen insertion.\n- blockers: Earlier rim catches corrected; tip now follows descent.\nThe tip descended 12 mm without lateral deflection; continue 18 mm closed."
        },
        {
          "native_step": 364,
          "action": "move_to",
          "args": {
            "proposal_id": "m41@step361"
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 inserting; tube2 and homes todo.\n- facts: Tube1 tip(-.0361,.0364,.8193), tilt6.6°;139 steps left; tube2 lies at(.371,-.107,.778).\n- phase: Left holds tube1; right empty; deepen placement.\n- blockers: Earlier rim catches corrected.\nChecked descent is executable in three steps; keep grasp closed."
        },
        {
          "native_step": 364,
          "action": "move_to_propose",
          "args": {
            "arm": "left",
            "tcp_xyz": [
              -0.0335,
              0.041,
              0.832
            ],
            "gripper": 0
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 inserting; tube2 and homes todo.\n- facts: Tube1 tip(-.0392,.0298,.8086), tilt17.3°;136 steps left. Tube2 lies(.371,-.107,.778).\n- phase: Left holds tube1; right empty; check deeper seating.\n- blockers: Tube1 tilt increased during descent, so shorten motion.\nThe tip moved down 11 mm and remains upright by threshold; advance 13 mm while closed."
        },
        {
          "native_step": 367,
          "action": "move_to",
          "args": {
            "proposal_id": "m42@step364"
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 inserting; tube2 and homes todo.\n- facts: Tube1 tip(-.0392,.0298,.8086), tilt17.3°;136 steps left. Tube2 lies(.371,-.107,.778).\n- phase: Left holds tube1; right empty; deepen seating.\n- blockers: Prior rim contact; shortened descent.\nThe guarded three-step descent is executable; retain the grasp."
        },
        {
          "native_step": 367,
          "action": "move_to_propose",
          "args": {
            "arm": "left",
            "tcp_xyz": [
              -0.0318,
              0.0425,
              0.898
            ],
            "gripper": 0
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 recovery; tube2 and homes todo.\n- facts: Tube1 tip(-.0395,.028,.8086), tilt21.5°;133 steps. Tube2(.371,-.107,.778).\n- phase: Left holds tube1; right empty; lift to unload.\n- blockers: Repeated descent caught rim; change alignment rather than push.\nThe tip stalled while tilt increased; lift clear before correcting."
        },
        {
          "native_step": 373,
          "action": "move_to",
          "args": {
            "proposal_id": "m43@step367"
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 recovery; tube2 and homes todo.\n- facts: Tube1 tip(-.0395,.028,.8086), tilted21.5°;133 steps remain. Tube2 lies(.371,-.107,.778).\n- phase: Left holds tube1; right empty; unloading contact.\n- blockers: Rim stall after repeated descent; six-step lift checked.\nThe lift passes the path guard; execute to free the tip."
        },
        {
          "native_step": 373,
          "action": "move_to_propose",
          "args": {
            "arm": "left",
            "tcp_xyz": [
              -0.032,
              0.043,
              0.91
            ],
            "yaw_deg": -19,
            "pitch_deg": -9,
            "roll_deg": 2,
            "gripper": 0
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 insertion in progress; tube2 and homes todo.\n- facts: Step373,127 steps left. Left tube1 tip(-.0376,.027,.8611), axis(.137,.349,.927); tube2(.371,-.107,.778). Rack yaw6.46°.\n- phase: Left holds tube1, right empty; straighten at clearance.\n- blockers: Earlier tilted insertions caught rims; sampled hole interiors return table not rim coordinates.\nTube1 leans22° forward; reducing pitch22° should bring its axis vertical before another alignment."
        },
        {
          "native_step": 380,
          "action": "move_to",
          "args": {
            "proposal_id": "m44@step373"
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 in progress; tube2 and both homes todo.\n- facts:127 steps remain; tube1 held left above rack; right empty. Tube2 lying at(.371,-.107,.778). Rack yaw6.46°.\n- phase: Straighten tube1 at clearance then recenter tip.\n- blockers: Previous tilted attempts caught rims; hole interiors give table depth.\nThe checked seven-step rotation is executable and keeps the tube above the rack."
        },
        {
          "native_step": 380,
          "action": "move_to_propose",
          "args": {
            "arm": "left",
            "tcp_xyz": [
              -0.024,
              0.061,
              0.872
            ],
            "gripper": 0
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 in progress; tube2 and homes todo.\n- facts:120 steps remain. Tube1 upright1.62°, tip offset(-.0014,-.0024,-.0393). Rack yaw6.46°; visible empty rear aperture rim spans x[-.033,-.013],y[.048,.065]. Tube2(.371,-.107,.778) lying.\n- phase: Left holds tube1; right empty. Align lower tip over rear aperture at clearance.\n- blockers: Previous y.041 approach targeted front edge, not aperture center.\nThe rim samples locate the rear aperture near(-.025,.059). I shift the upright tube and lower only to a tip height above the rim."
        },
        {
          "native_step": 385,
          "action": "move_to",
          "args": {
            "proposal_id": "m45@step380"
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 in progress; tube2 and homes todo.\n- facts:120 steps remain. Tube1 upright1.62°, tip offset(-.0014,-.0024,-.0393). Rear aperture estimated(-.025,.059). Tube2(.371,-.107,.778) lying.\n- phase: Left holds tube1; right empty; align above rear aperture.\n- blockers: Previous y.041 approach contacted front rim.\nThe five-step path passes guards. I move the tip above the identified rear opening."
        },
        {
          "native_step": 385,
          "action": "move_to_propose",
          "args": {
            "arm": "left",
            "tcp_xyz": [
              -0.024,
              0.061,
              0.857
            ],
            "gripper": 0
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 inserting; tube2 and homes todo.\n- facts:115 steps remain. Tube1 tip(-.0256,.0584,.8339), upright1.59°, offset(-.0013,-.0024,-.0393). Aperture near(-.025,.059). Tube2 lying(.371,-.107,.778).\n- phase: Left holds tube1; right empty; lower into aperture.\n- blockers: Earlier approaches hit forward rim; revised center untested.\nThe tip remains centered over the rear opening. I lower 15mm to test entrance without releasing."
        },
        {
          "native_step": 388,
          "action": "move_to",
          "args": {
            "proposal_id": "m46@step385"
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 inserting; tube2 and homes todo.\n- facts:115 steps remain; aperture(-.025,.059); tube1 upright1.59°, tip(-.0256,.0584,.8339). Tube2 lying(.371,-.107,.778).\n- phase: Left holds tube1; right empty; controlled descent.\n- blockers: Prior forward-rim collisions; using rear center.\nThe descent passed its guard for three steps. I execute it with the grasp closed."
        },
        {
          "native_step": 388,
          "action": "move_to_propose",
          "args": {
            "arm": "left",
            "tcp_xyz": [
              -0.024,
              0.061,
              0.91
            ],
            "gripper": 0
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 in progress; tube2 and homes todo.\n- facts:112 steps; tube1 tip(-.024,.060,.835), upright1.37°; tube2(.371,-.107,.778) lying.\n- phase: Left holds tube1, right empty; unload rim.\n- blockers: Rear target blocked 17mm above commanded pose; identify opening after lift.\nTube1 remains above the rack despite descent. I lift vertically while preserving its grasp."
        },
        {
          "native_step": 392,
          "action": "move_to",
          "args": {
            "proposal_id": "m47@step388"
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 insertion in progress; tube2 and homes todo.\n- facts:112 steps; tube1 tip(-.024,.060,.835), upright1.37°; tube2(.371,-.107,.778) lying; rack yaw6.45°.\n- phase: Left holds tube1, right empty; lift to expose rim.\n- blockers: Rear target blocked; executable lift costs4 steps.\nThe tube remains upright against the rack. I execute the checked vertical withdrawal."
        },
        {
          "native_step": 392,
          "action": "move_to_propose",
          "args": {
            "arm": "left",
            "tcp_xyz": [
              -0.019,
              0.0555,
              0.879
            ],
            "gripper": 0
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 in progress; tube2 and homes todo.\n- facts:108 steps; tube1 upright1.4°, tip offset(-.0007,-.0012,-.0393); empty hole center approximately(-.020,.0545), rim z.825; tube2 lies(.371,-.107,.778).\n- phase: Left holds tube1; right empty. Recenter actual tip over measured aperture.\n- blockers: Earlier rear target was 6mm off center.\nThe newly sampled opposing rim points identify a better center. I align above it with the tip still 15mm clear."
        },
        {
          "native_step": 396,
          "action": "move_to",
          "args": {
            "proposal_id": "m48@step392"
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 in progress; tube2 and homes todo.\n- facts:108 steps; tube1 tip offset(-.0007,-.0012,-.0393), upright1.4°; target aperture(-.020,.0545); tube2 lies(.371,-.107,.778).\n- phase: Left holds tube1, right empty; execute checked recenter.\n- blockers: Prior target near rim; changed center by6mm.\nThe four-step checked path keeps the tip above the rim. I execute before a separate insertion."
        },
        {
          "native_step": 396,
          "action": "move_to_propose",
          "args": {
            "arm": "left",
            "tcp_xyz": [
              -0.019,
              0.0555,
              0.86
            ],
            "gripper": 0
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 insertion ongoing; tube2 and homes todo.\n- facts:104 steps; tube1 tip(-.020,.0547,.8411), upright1.46°, offset(-.0007,-.0012,-.0393); aperture(-.020,.0545) rim.825; tube2(.371,-.107,.778).\n- phase: Left holds tube1; right empty; approach rim closed.\n- blockers: Earlier rim strikes prompted new measured center.\nThe actual tip aligns with the selected hole. I lower 19mm to enter its mouth."
        },
        {
          "native_step": 399,
          "action": "move_to",
          "args": {
            "proposal_id": "m49@step396"
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 insertion ongoing; tube2 and homes todo.\n- facts:104 steps; tube1 tip(-.020,.0547,.8411), upright1.46°, offset(-.0007,-.0012,-.0393); aperture(-.020,.0545); tube2(.371,-.107,.778).\n- phase: Left holds tube1; right empty; verify entry.\n- blockers: Earlier rim strikes; new center now aligned.\nThe path is executable with valid guard. I execute the short closed descent."
        },
        {
          "native_step": 399,
          "action": "move_to_propose",
          "args": {
            "arm": "left",
            "tcp_xyz": [
              -0.019,
              0.0555,
              0.85
            ],
            "gripper": 0
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 insertion ongoing; tube2 and homes todo.\n- facts:101 steps; tube1 tip(-.0191,.0559,.8369), upright3°; selected aperture(-.020,.0545), rim.825; tube2(.371,-.107,.778).\n- phase: Left holds tube1 low on body; right empty; verify further descent.\n- blockers: TCP lags target16mm; possible fingers near rack.\nThe tip moved down4mm and remains upright. I make a further short descent to distinguish tracking lag from contact."
        },
        {
          "native_step": 402,
          "action": "move_to",
          "args": {
            "proposal_id": "m50@step399"
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 insertion ongoing; tube2 and homes todo.\n- facts:101 steps; tube1 tip(-.0191,.0559,.8369), upright3°; aperture(-.020,.0545), rim.825; tube2(.371,-.107,.778).\n- phase: Left holds tube1; right empty; descent checked for3 steps.\n- blockers:16mm vertical lag, possible finger contact.\nGuard passed. I execute the short closed descent and inspect actual tube motion."
        },
        {
          "native_step": 402,
          "action": "move_to_propose",
          "args": {
            "arm": "left",
            "gripper": 1
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 ongoing; tube2 and homes todo.\n- facts:98 steps; tube1 tip(-.0173,.0575,.8433), upright6.5° above aperture(-.020,.0545); tube2(.371,-.107,.778).\n- phase: Left holds tube1 centered over aperture; right empty.\n- blockers: Low grasp prevents descent; freeing jaws may let centered tube settle, with immediate inspection.\nThe tube is centered nearly upright just above the aperture and jaws obstruct further descent. I open in place to remove the obstruction."
        },
        {
          "native_step": 410,
          "action": "move_to",
          "args": {
            "proposal_id": "m51@step402"
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 ongoing; tube2 and homes todo.\n- facts:98 steps remain; tube1 tip(-.0173,.0575,.8433), upright6.5° over aperture(-.020,.0545); tube2(.371,-.107,.778).\n- phase: Releasing tube1 to settle into aperture; right empty.\n- blockers: Low grasp prevents further descent; opening removes jaw obstruction.\nChecked open-in-place path is executable. I release the centered tube and inspect its settling."
        },
        {
          "native_step": 410,
          "action": "move_to_propose",
          "args": {
            "arm": "left",
            "tcp_xyz": [
              -0.035,
              0.027,
              0.881
            ],
            "gripper": 0
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 pending; tube2 and homes todo.\n- facts:90 steps; tube1 tip(-.0207,.0586,.8223), tilted30.4°, upper body(-.035,.027,.881); tube2(.371,-.107,.778).\n- phase: Left regrasp upper tube1; right empty.\n- blockers: Previous low grasp blocked descent; release caught rim and tilted.\nI target the upper body with the horizontal gripper to establish a higher grasp for recovery."
        },
        {
          "native_step": 420,
          "action": "move_to",
          "args": {
            "proposal_id": "m52@step410"
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 pending; tube2 and both homes todo.\n- facts:90 steps remain; tube1 tip(-.0207,.0586,.8223), tilted30.4°; tube2 on table(.371,-.107,.778).\n- phase: Regrasp tube1 upper body with left; right empty.\n- blockers: Low grasp caused rim obstruction; upper grasp proposed passes guards, costs10 steps.\nThe checked approach reaches the visible upper body. Closing there should provide clearance below the fingers."
        },
        {
          "native_step": 420,
          "action": "move_to_propose",
          "args": {
            "arm": "left",
            "tcp_xyz": [
              -0.035,
              0.027,
              0.935
            ],
            "gripper": 0
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 recovery in progress; tube2 and homes todo.\n- facts:80 steps; tube1 tip(-.0304,.0402,.8255), tilt38.5° after regrasp; tube2(.371,-.107,.778) horizontal.\n- phase: Left closed on tube1; lift to verify hold and clear rack; right empty.\n- blockers: Previous low grip obstructed insertion; current grasp must be verified before rotation.\nTube1 moved during closing. I lift vertically to clear the rim and measure its carried pose."
        },
        {
          "native_step": 426,
          "action": "move_to",
          "args": {
            "proposal_id": "m53@step420"
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 recovery in progress; tube2 and homes todo.\n- facts:80 steps; tube1 tip(-.0304,.0402,.8255), tilt38.5°; tube2(.371,-.107,.778) horizontal.\n- phase: Left lifting tube1 for verification; right empty.\n- blockers: Low grasp obstructed earlier insertion; current hold unverified.\nThe lift passes guards and costs six steps. Raising closed avoids dragging the tip across the rim."
        },
        {
          "native_step": 426,
          "action": "move_to_propose",
          "args": {
            "arm": "left",
            "tcp_xyz": [
              -0.041,
              0.062,
              0.935
            ],
            "yaw_deg": -19,
            "pitch_deg": 29,
            "roll_deg": 2,
            "gripper": 0
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 in progress; tube2 and homing todo.\n- facts:74 steps; verified tube1 follows 53mm lift, tip(-.0305,.0401,.8784), tilt38.5°; tube2 horizontal at(.371,-.107,.778).\n- phase: Left holds tube1 above rack, correcting tilt before insertion; right empty.\n- blockers: Earlier low grasp obstructed insertion. New hold is stable; must align actual tip after rotation.\nThe tube followed the lift without slip. I rotate at clearance and compensate the tip offset to make the tube upright."
        },
        {
          "native_step": 442,
          "action": "move_to",
          "args": {
            "proposal_id": "m54@step426"
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 in progress; tube2 and homes todo.\n- facts:74 native steps; tube1 held with tip(-.0305,.0401,.8784), tilt38.5°; tube2 remains horizontal(.371,-.107,.778).\n- phase: Left correcting tube1 orientation; right empty.\n- blockers: Low initial grasp failed insertion; regrasp lifted reliably. Correction costs16 steps, leaving58 for seating/release and homes; third tube may exceed budget.\nThe checked rotation is executable with passing guards. I keep the grasp closed during correction above the rack."
        },
        {
          "native_step": 442,
          "action": "move_to_propose",
          "args": {
            "arm": "left",
            "tcp_xyz": [
              -0.028,
              0.062,
              0.886
            ],
            "gripper": 0
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 insertion in progress; tube2 and homes todo.\n- facts:58 steps; tube1 tilt7.15°, tip offset(-.0111,-.0278,-.0488). Empty aperture near(-.039,.034,.8255), estimated from head ray and rack top. Tube2 horizontal(.371,-.107,.778).\n- phase: Left holds tube1, aligning tip above selected aperture; right empty.\n- blockers: Earlier insertion used tilted low grasp. Corrected grasp now upright; short approach will test centering.\nThe rim plane is at .8255m. I position the actual tip about 12mm above it before insertion."
        },
        {
          "native_step": 447,
          "action": "move_to",
          "args": {
            "proposal_id": "m55@step442"
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 insertion in progress; tube2 and homing todo.\n- facts:58 steps left; tube1 upright7.15°, tip offset(-.0111,-.0278,-.0488); selected hole near(-.039,.034,.8255). Tube2 horizontal(.371,-.107,.778).\n- phase: Left carrying tube1 toward aperture; right empty above rack.\n- blockers: Limited budget; previous tilted approaches failed, corrected grasp now upright.\nThe checked five-step approach passes guards. I lower the tip to clearance above the selected hole."
        },
        {
          "native_step": 447,
          "action": "move_to_propose",
          "args": {
            "arm": "left",
            "tcp_xyz": [
              -0.028,
              0.062,
              0.869
            ],
            "gripper": 0
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 insertion in progress; tube2 and homes todo.\n- facts:53 steps; tube1 tip(-.0395,.0344,.8383), tilt7.13°, held offset(-.011,-.028,-.049). Hole near(-.039,.034,.8255). Tube2 horizontal at(.371,-.107,.778).\n- phase: Left lowering held tube1 through rim; right empty.\n- blockers: Earlier tilted contacts failed; current upright tip centered but aperture estimate unverified.\nThe tip tracked the last descent without slipping. I lower 18mm to begin entry, retaining the closed grasp."
        },
        {
          "native_step": 449,
          "action": "move_to",
          "args": {
            "proposal_id": "m56@step447"
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 insertion in progress; tube2 and homing todo.\n- facts:53 steps; tube1 tip(-.0395,.0344,.8383), tilt7.13°, offset(-.011,-.028,-.049). Hole near(-.039,.034,.8255). Tube2 horizontal(.371,-.107,.778).\n- phase: Left holds tube1; right empty; verify rim entry.\n- blockers: Earlier tilted contacts failed; current grasp upright.\nThe two-step descent passes guards. I execute entry while holding tube1 closed."
        },
        {
          "native_step": 449,
          "action": "move_to_propose",
          "args": {
            "arm": "left",
            "tcp_xyz": [
              -0.028,
              0.062,
              0.863
            ],
            "gripper": 0
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 insertion in progress; tube2 and homes todo.\n- facts:51 steps; tube1 tip(-.0391,.0345,.8231), tilt7.07°, offset(-.011,-.028,-.049); rim .8255. Tube2 horizontal(.371,-.107,.778).\n- phase: Left holds tube1 at rim; right empty; verify unobstructed descent.\n- blockers: Past tilted rim contacts; current tip appears centered.\nThe tip advanced below rim while staying upright. I lower another 9mm to check continued entry."
        },
        {
          "native_step": 451,
          "action": "move_to",
          "args": {
            "proposal_id": "m57@step449"
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 insertion in progress; tube2 and homing todo.\n- facts:51 steps remain; tube1 tip(-.0391,.0345,.8231), tilt7.07°, offset(-.011,-.028,-.049). Hole rim .8255; tube2 horizontal(.371,-.107,.778).\n- phase: Left holds tube1; right empty; verify descent.\n- blockers: Prior tilted contacts; current entry centered.\nThe 9mm descent passes guards for two steps. I execute closed-gripper insertion."
        },
        {
          "native_step": 451,
          "action": "move_to_propose",
          "args": {
            "arm": "left",
            "tcp_xyz": [
              -0.028,
              0.062,
              0.851
            ],
            "gripper": 0
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 insertion in progress; tube2 insertion and homes todo.\n- facts:49 steps remain. Tube1 tip(-.0391,.0344,.8155), tilt7.06°, follows TCP with offset(-.011,-.028,-.049). Tube2 lies at(.371,-.107,.778); right empty.\n- phase: Left holds tube1 inside aperture, checking deeper descent.\n- blockers: Budget insufficient for leisurely recovery; prior rim catches avoided with current alignment.\nTube1 advanced 7.6mm without changing tilt. I continue 13mm down with the grasp closed."
        },
        {
          "native_step": 453,
          "action": "move_to",
          "args": {
            "proposal_id": "m58@step451"
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 insertion in progress; tube2 and homes todo.\n- facts:49 steps left; tube1 tip(-.0391,.0344,.8155), tilt7.06°, TCP offset(-.011,-.028,-.049); tube2 horizontal(.371,-.107,.778).\n- phase: Left holds tube1; right empty; descend and inspect.\n- blockers: Limited budget; current alignment avoids previous rim catches.\nThe descent passes guards for two steps. I execute it while keeping the tube grasped."
        },
        {
          "native_step": 453,
          "action": "move_to_propose",
          "args": {
            "arm": "left",
            "tcp_xyz": [
              -0.028,
              0.062,
              0.843
            ],
            "gripper": 0
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 insertion in progress; tube2 and homes todo.\n- facts:47 steps left; tube1 tip(-.0401,.0329,.8093), tilt9.68°; tube2 horizontal(.371,-.107,.778).\n- phase: Left holds tube1, right empty; verify insertion depth.\n- blockers: Current descent adds slight tilt; budget tight.\nThe tip moved downward 6mm and remains upright. I request another short descent to seat it deeper."
        },
        {
          "native_step": 455,
          "action": "move_to",
          "args": {
            "proposal_id": "m59@step453"
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 insertion in progress; tube2 and homes todo.\n- facts:47 steps left; tube1 tip(-.0401,.0329,.8093), tilt9.68°; tube2 horizontal(.371,-.107,.778).\n- phase: Left holds tube1, right empty; verify insertion depth.\n- blockers: Current descent adds slight tilt; budget tight.\nThe short descent passes all guards. I execute it closed and check whether the tip continues downward."
        },
        {
          "native_step": 455,
          "action": "move_to_propose",
          "args": {
            "arm": "left",
            "tcp_xyz": [
              -0.028,
              0.062,
              0.834
            ],
            "gripper": 0
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 insertion in progress; tube2 and homes todo.\n- facts:45 steps left; tube1 tip(-.0406,.0315,.8011), tilt10.91°; tube2 horizontal(.371,-.107,.778).\n- phase: Left holds tube1, right empty; verify depth with another short descent.\n- blockers: Tight completion budget; tube1 continues to descend without a stall.\nThe tip advanced 8mm but depth still fails. I lower 12mm at the TCP while retaining the grasp."
        },
        {
          "native_step": 457,
          "action": "move_to",
          "args": {
            "proposal_id": "m60@step455"
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 insertion in progress; tube2 and homes todo.\n- facts:45 steps left; tube1 tip(-.0406,.0315,.8011), tilt10.91°; tube2 horizontal(.371,-.107,.778).\n- phase: Left holds tube1, right empty; verify depth.\n- blockers: Tight completion budget; depth not yet passed.\nThe 12mm descent is executable with passing guards. I execute it closed to advance insertion."
        },
        {
          "native_step": 457,
          "action": "move_to_propose",
          "args": {
            "arm": "left",
            "tcp_xyz": [
              -0.028,
              0.062,
              0.824
            ],
            "gripper": 0
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 insertion in progress; tube2 and homes todo.\n- facts:43 steps left; tube1 tip(-.0414,.0272,.7924), tilt14.84°; tube2 horizontal(.371,-.107,.778).\n- phase: Left holds tube1, right empty; advance depth while upright.\n- blockers: Depth still fails; completion budget severely limited.\nTube1 moved down 9mm and remains upright. I request another short closed descent."
        },
        {
          "native_step": 459,
          "action": "move_to",
          "args": {
            "proposal_id": "m61@step457"
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 insertion in progress; tube2 and homes todo.\n- facts:43 steps left; tube1 tip(-.0414,.0272,.7924), tilt14.84°; tube2 horizontal(.371,-.107,.778).\n- phase: Left holds tube1, right empty; verify depth after descent.\n- blockers: Depth fails; limited budget.\nThe short descent passed guards and costs two steps. I execute it with the grasp retained."
        },
        {
          "native_step": 459,
          "action": "move_to_propose",
          "args": {
            "arm": "left",
            "tcp_xyz": [
              -0.027,
              0.064,
              0.899
            ],
            "gripper": 0
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 pending; tube2 and homes todo.\n- facts:41 native steps remain; tube1 tip(-.041,.0264,.7925), tilt15.9°; tube2 horizontal(.371,-.107,.778).\n- phase: Left holds tube1; right empty; unload rack contact.\n- blockers: Repeated descent stalled; range consulted, reference differs from grasp.\nI lift the held tube vertically to clear the aperture before correcting its tilt."
        },
        {
          "native_step": 466,
          "action": "move_to",
          "args": {
            "proposal_id": "m62@step459"
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 pending; tube2 and homes todo.\n- facts:41 steps remain; tube1 tip(-.041,.0264,.7925), tilt15.9°; tube2 horizontal(.371,-.107,.778).\n- phase: Left holds tube1, right empty; lift before alignment repair.\n- blockers: Descent stalled against rack; checked lift costs7 steps.\nThe lift guard passed. I unload contact while retaining the grasp."
        },
        {
          "native_step": 466,
          "action": "move_to_propose",
          "args": {
            "arm": "left",
            "tcp_xyz": [
              -0.022,
              0.038,
              0.886
            ],
            "gripper": 0
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 in progress; tube2 and homes todo.\n- facts:34 steps remain; tube1 tip(-.0398,.0297,.8531), tilt11.6°, tip offset(-.0126,-.0344,-.0452). Empty middle aperture projects near(-.035,.004,.825).\n- phase: Left holds tube1; right empty; recenter above a different hole.\n- blockers: Previous y .03 alignment struck rack material.\nDepth pixels distinguish the open aperture from its rim. I shift the tip toward the aperture while retaining rim clearance."
        },
        {
          "native_step": 469,
          "action": "move_to",
          "args": {
            "proposal_id": "m63@step466"
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 in progress; tube2 and homes todo.\n- facts:34 native steps; tube1 tilt11.6°, tip offset(-.0126,-.0344,-.0452). Selected empty aperture near(-.035,.004,.825); tube2 remains horizontal at(.371,-.107,.778).\n- phase: Left holds tube1, right empty; recenter at clearance.\n- blockers: Previous y .03 descent caught rack. Full completion budget is very tight.\nThe checked three-step lateral approach passes the joint guard. I execute to position the tip above the new aperture."
        },
        {
          "native_step": 469,
          "action": "move_to_propose",
          "args": {
            "arm": "left",
            "tcp_xyz": [
              -0.022,
              0.038,
              0.864
            ],
            "gripper": 0
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 insertion in progress; tube2 and homes todo.\n- facts:31 steps remain. Tube1 tip(-.0351,.0054,.8417), tilt11.6°; selected aperture near(-.035,.004,.825). Tube2 horizontal at(.371,-.107,.778).\n- phase: Left holds tube1; right empty. Lower toward aperture.\n- blockers: Prior y .03 target hit rack; new tip is centered on selected aperture.\nThe tube followed the lateral motion without slipping. I lower to put its tip just through the rim and inspect contact."
        },
        {
          "native_step": 472,
          "action": "move_to",
          "args": {
            "proposal_id": "m64@step469"
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 in progress; tube2 and homes todo.\n- facts:31 steps remain; tube1 tip(-.0351,.0054,.8417), tilt11.6°, aperture(-.035,.004,.825). Tube2 horizontal at(.371,-.107,.778).\n- phase: Left holds tube1, right empty; begin rim approach.\n- blockers: Prior y .03 alignment failed; corrected to y .004. Insufficient time for full remaining task likely.\nThe three-step descent is executable with guard passed. I execute closed to preserve the grasp."
        },
        {
          "native_step": 472,
          "action": "move_to_propose",
          "args": {
            "arm": "left",
            "tcp_xyz": [
              -0.022,
              0.038,
              0.856
            ],
            "gripper": 0
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 insertion in progress; tube2 and homes todo.\n- facts:28 steps remain. Tube1 tip(-.0347,.0039,.8207), tilt11.6°. Tube2 horizontal at(.371,-.107,.778). Selected hole(-.035,.004).\n- phase: Left holds tube1 at rim; right empty; verify penetration.\n- blockers: Earlier y .03 alignment caught rack; new alignment has followed descent.\nThe tip is now at the aperture plane and stayed upright. I advance a short 10 mm to test entry without a large push."
        },
        {
          "native_step": 474,
          "action": "move_to",
          "args": {
            "proposal_id": "m65@step472"
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 insertion in progress; tube2 and homes todo.\n- facts:28 steps remain. Tube1 tip(-.0347,.0039,.8207), tilt11.6°. Tube2 horizontal(.371,-.107,.778); target hole(-.035,.004).\n- phase: Left holds tube1; right empty; verify penetration.\n- blockers: Old y .03 target caught rack, corrected to y .004.\nThe short closed descent passed its guard and costs two steps. I execute to check whether the tube enters freely."
        },
        {
          "native_step": 474,
          "action": "move_to_propose",
          "args": {
            "arm": "left",
            "tcp_xyz": [
              -0.022,
              0.031,
              0.85
            ],
            "gripper": 0
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 insertion in progress; tube2 and homes todo.\n- facts:26 steps remain. Tube1 tip(-.0366,-.003,.8156), tilt19.4°. Tube2 horizontal(.371,-.107,.778); selected aperture near(-.035,.004).\n- phase: Left holds tube1; right empty; verify entry and support.\n- blockers: Tip deviates toward negative y while descending; previous rearward alignment caught rack.\nTube1 descended 5 mm but tilted, so I move its upper body slightly toward its tip while lowering only 8 mm to reduce the lean."
        },
        {
          "native_step": 476,
          "action": "move_to",
          "args": {
            "proposal_id": "m66@step474"
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 insertion in progress; tube2 and homes todo.\n- facts:26 steps remain; tube1 tip(-.0366,-.003,.8156), tilt19.4°; tube2 horizontal(.371,-.107,.778). Selected hole near(-.035,.004).\n- phase: Left holds tube1; right empty; checking short entry correction.\n- blockers: Tube1 tilts on descent; budget cannot cover the distant third tube and homing.\nThe two-step correction passed the path guard. I execute it closed to retain control and inspect tip penetration."
        },
        {
          "native_step": 476,
          "action": "move_to_propose",
          "args": {
            "arm": "left",
            "tcp_xyz": [
              -0.022,
              0.031,
              0.842
            ],
            "gripper": 0
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 insertion in progress; tube2 and homes todo.\n- facts:24 steps remain; tube1 tip(-.0367,-.0085,.8093), tilt18.9°; tube2 horizontal(.371,-.107,.778). Rack root(0,.0206,.795).\n- phase: Left holds tube1; right empty; lowering to verify penetration.\n- blockers: Depth still fails; limited budget precludes distant third-tube completion.\nThe tip followed the last descent with slightly improved uprightness. I lower another 9 mm closed without lateral motion."
        },
        {
          "native_step": 478,
          "action": "move_to",
          "args": {
            "proposal_id": "m67@step476"
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 insertion in progress; tube2 and homes todo.\n- facts:24 steps remain; tube1 tip(-.0367,-.0085,.8093), tilt18.9°; tube2 horizontal(.371,-.107,.778). Rack root(0,.0206,.795).\n- phase: Left holds tube1; right empty; lowering to verify penetration.\n- blockers: Depth still fails; limited budget precludes distant third-tube completion.\nThe two-step descent is executable with the joint guard passed. I execute it closed and inspect tube response."
        },
        {
          "native_step": 478,
          "action": "move_to_propose",
          "args": {
            "arm": "left",
            "tcp_xyz": [
              -0.022,
              0.031,
              0.833
            ],
            "gripper": 0
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 insertion in progress; tube2 and homes todo.\n- facts:22 native steps remain. Tube1 tip(-.0362,-.0073,.8013), tilt16.7°; tube0 tip(.0251,.0092,.7716) stable; tube2 horizontal(.371,-.107,.778).\n- phase: Left holds tube1; right empty; verifying depth while descending.\n- blockers: Tube1 depth fails; third tube beyond feasible remaining transfer budget.\nTube1 followed downward by 8 mm without catching and became more upright. I continue a short closed descent."
        },
        {
          "native_step": 480,
          "action": "move_to",
          "args": {
            "proposal_id": "m68@step478"
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 insertion in progress; tube2 and homes todo.\n- facts:22 steps remain; tube1 tip(-.0362,-.0073,.8013), tilt16.7°; tube2 horizontal(.371,-.107,.778).\n- phase: Left holds tube1, right empty; continue insertion.\n- blockers: Depth fails; insufficient budget for distant third tube.\nThe short descent passed the guard and costs two steps. I execute closed to check depth."
        },
        {
          "native_step": 480,
          "action": "move_to_propose",
          "args": {
            "arm": "left",
            "tcp_xyz": [
              -0.022,
              0.032,
              0.87
            ],
            "gripper": 0
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 insertion in progress; tube2 and homing todo.\n- facts:20 steps remain; tube1 tip(-.0361,-.0076,.8015), tilt17.2°; tube2 horizontal(.371,-.107,.778).\n- phase: Left holds tube1; right empty. Unload rim before recentering.\n- blockers: Repeated descent did not move tip; range reference reviewed, current grasp differs.\nI lift vertically with the grasp closed to unload the caught tube before any lateral correction."
        },
        {
          "native_step": 484,
          "action": "move_to",
          "args": {
            "proposal_id": "m69@step480"
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 in progress; tube2 insertion and both-arm home todo.\n- facts:20 native steps remain. Tube1 tip(-.0361,-.0076,.8015), tilt17.2°; tube2 horizontal outside rack.\n- phase: Left holds tube1, right empty; unload rim with 4-step checked lift.\n- blockers: Repeated descent stalled; cannot complete remaining full task within budget.\nThe lift passed its guard; I execute it to free the tip for correction without lateral wedging."
        },
        {
          "native_step": 484,
          "action": "move_to_propose",
          "args": {
            "arm": "left",
            "tcp_xyz": [
              -0.0295,
              0.053,
              0.87
            ],
            "gripper": 0
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 insertion in progress; tube2 and home todo.\n- facts:16 steps remain. Tube1 followed lift: tip(-.0357,-.0069,.8335), tilt17°, TCP(-.0222,.032,.8683). Tube0 at(.0251,.0092,.7716); tube2 outside rack.\n- phase: Left holds tube1 above rack, right empty. Recenter toward left aperture, preserving measured offset.\n- blockers: Prior descent caught rim at tip z.8015; budget insufficient for whole task.\nThe tip is unloaded and above the rack; I shift it inward toward the left aperture before another short descent."
        },
        {
          "native_step": 487,
          "action": "move_to",
          "args": {
            "proposal_id": "m70@step484"
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 in progress; tube2 and homing todo.\n- facts:16 native steps remain. Tube1 tip(-.0357,-.0069,.8335), tilt17°, left TCP(-.0222,.032,.8683); tube2 horizontal outside rack.\n- phase: Left holds tube1; right empty. Execute checked 3-step recenter.\n- blockers: Previous rim contact; insufficient budget for all remaining conditions.\nThe recenter path is executable and guarded; I move the elevated tip inward before descending."
        },
        {
          "native_step": 487,
          "action": "move_to_propose",
          "args": {
            "arm": "left",
            "tcp_xyz": [
              -0.0295,
              0.053,
              0.845
            ],
            "gripper": 0
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 in progress; tube2 and homing todo.\n- facts:13 native steps remain. Tube1 tip(-.0424,.0126,.8351), tilt17.1°, TCP(-.029,.0517,.8699); tube2 outside rack, horizontal.\n- phase: Left holds tube1; right empty. Descend 25mm toward rim, then inspect tip.\n- blockers: Earlier front position caught rim; new lateral alignment untested; full completion no longer feasible.\nTube1 followed the recenter without slipping. I propose a closed-grip vertical approach with no lateral sweep."
        },
        {
          "native_step": 490,
          "action": "move_to",
          "args": {
            "proposal_id": "m71@step487"
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 in progress; tube2 and homing todo.\n- facts:13 native steps remain. Tube1 tip(-.0424,.0126,.8351), tilt17.1°; tube2 horizontal outside rack.\n- phase: Left holds tube1; right empty. Execute guarded 3-step descent and check rim interaction.\n- blockers: Prior placements caught rim; completion of all tubes impossible in remaining steps.\nThe current descent is executable with passing joint guards. I keep the grasp closed while lowering to the rack."
        },
        {
          "native_step": 490,
          "action": "move_to_propose",
          "args": {
            "arm": "left",
            "tcp_xyz": [
              -0.0295,
              0.053,
              0.841
            ],
            "gripper": 0
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 in progress; tube2 and homing todo.\n- facts:10 native steps remain. Tube1 tip(-.0424,.0136,.8263), tilt18.9°, TCP(-.0289,.0537,.8502); tube2 outside rack horizontal.\n- phase: Left holds tube1; right empty. Test short vertical insertion and measure tip motion.\n- blockers: Tip moved only 9mm during 20mm TCP descent, suggesting rim contact or slip; full completion infeasible.\nI use a short closed descent to determine whether the tube is entering rather than applying a large advance."
        },
        {
          "native_step": 492,
          "action": "move_to",
          "args": {
            "proposal_id": "m72@step490"
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 insertion in progress; tube2 and homing todo.\n- facts:10 steps remain. Tube1 tip(-.0424,.0136,.8263), tilt18.9°; tube2 horizontal outside rack.\n- phase: Left holds tube1; right empty. Execute checked 2-step insertion probe.\n- blockers: Possible rim contact; full completion infeasible within remaining budget.\nThe short descent passed guards. I maintain the closed grasp and inspect whether the tip follows."
        },
        {
          "native_step": 492,
          "action": "move_to_propose",
          "args": {
            "arm": "left",
            "tcp_xyz": [
              -0.0291,
              0.0537,
              0.9144
            ],
            "gripper": 0
          },
          "note": "STATE\n- goal: Tube0 seated; tube1 insertion pending; tube2 and homing todo.\n- facts:8 native steps remain. Tube1 tip(-.0422,.0144,.8262), tilt17.5°; tube2 horizontal outside rack. Neither arm home.\n- phase: Left holds tube1; right empty. Withdraw vertically from stalled rim contact.\n- blockers: Tip stopped descending; completion infeasible within remaining budget. Training reference reviewed but not a scene-relative target.\nThe tip remains caught while the hand descends. I choose a closed-grasp vertical lift to unload contact rather than force insertion."
        }
      ],
      "final_conditions": [
        {
          "id": "c1",
          "predicate": "is_A_depth_in_B",
          "parameters": {
            "label_A": "tube0",
            "label_B": "slot",
            "z_threshold": 0.045
          },
          "last_native_evaluation": {
            "value": 1.0,
            "native_step": 492
          },
          "native_evaluation_at_current_step": true,
          "measurement": {
            "available": false,
            "reason": "numeric_measurement_not_supported"
          }
        },
        {
          "id": "c2",
          "predicate": "is_A_depth_in_B",
          "parameters": {
            "label_A": "tube1",
            "label_B": "slot",
            "z_threshold": 0.045
          },
          "last_native_evaluation": {
            "value": 0.0,
            "native_step": 492
          },
          "native_evaluation_at_current_step": true,
          "measurement": {
            "available": false,
            "reason": "numeric_measurement_not_supported"
          }
        },
        {
          "id": "c3",
          "predicate": "is_A_depth_in_B",
          "parameters": {
            "label_A": "tube2",
            "label_B": "slot",
            "z_threshold": 0.045
          },
          "last_native_evaluation": {
            "value": 1.0,
            "native_step": 410
          },
          "native_evaluation_at_current_step": false,
          "measurement": {
            "available": false,
            "reason": "numeric_measurement_not_supported"
          }
        },
        {
          "id": "c4",
          "predicate": "is_A_in_B",
          "parameters": {
            "label_A": "tube0",
            "label_B": "slot"
          },
          "last_native_evaluation": {
            "value": 1.0,
            "native_step": 410
          },
          "native_evaluation_at_current_step": false,
          "measurement": {
            "available": false,
            "reason": "numeric_measurement_not_supported"
          }
        },
        {
          "id": "c5",
          "predicate": "is_A_in_B",
          "parameters": {
            "label_A": "tube1",
            "label_B": "slot"
          },
          "last_native_evaluation": {
            "value": 0.0,
            "native_step": 236
          },
          "native_evaluation_at_current_step": false,
          "measurement": {
            "available": false,
            "reason": "numeric_measurement_not_supported"
          }
        },
        {
          "id": "c6",
          "predicate": "is_A_in_B",
          "parameters": {
            "label_A": "tube2",
            "label_B": "slot"
          },
          "last_native_evaluation": {
            "value": 0.0,
            "native_step": 410
          },
          "native_evaluation_at_current_step": false,
          "measurement": {
            "available": false,
            "reason": "numeric_measurement_not_supported"
          }
        },
        {
          "id": "c7",
          "predicate": "is_axis_up",
          "parameters": {
            "label": "tube0",
            "axis": [
              0,
              1,
              0
            ],
            "label_args": null,
            "threshold": 30
          },
          "last_native_evaluation": {
            "value": 1.0,
            "native_step": 410
          },
          "native_evaluation_at_current_step": false,
          "measurement": {
            "available": true,
            "metric": "axis_angle",
            "value": 14.140601483680033,
            "unit": "deg",
            "operator": "<",
            "threshold": 30.0,
            "satisfied": true,
            "reference_point": "root",
            "project_plane": null,
            "error_above_threshold": 0.0
          }
        },
        {
          "id": "c8",
          "predicate": "is_axis_up",
          "parameters": {
            "label": "tube1",
            "axis": [
              0,
              1,
              0
            ],
            "label_args": null,
            "threshold": 30
          },
          "last_native_evaluation": null,
          "native_evaluation_at_current_step": false,
          "measurement": {
            "available": true,
            "metric": "axis_angle",
            "value": 17.513501760644267,
            "unit": "deg",
            "operator": "<",
            "threshold": 30.0,
            "satisfied": true,
            "reference_point": "root",
            "project_plane": null,
            "error_above_threshold": 0.0
          }
        },
        {
          "id": "c9",
          "predicate": "is_axis_up",
          "parameters": {
            "label": "tube2",
            "axis": [
              0,
              1,
              0
            ],
            "label_args": null,
            "threshold": 30
          },
          "last_native_evaluation": null,
          "native_evaluation_at_current_step": false,
          "measurement": {
            "available": true,
            "metric": "axis_angle",
            "value": 88.01647750295766,
            "unit": "deg",
            "operator": "<",
            "threshold": 30.0,
            "satisfied": false,
            "reference_point": "root",
            "project_plane": null,
            "error_above_threshold": 58.016477502957656
          }
        },
        {
          "id": "c10",
          "predicate": "all_robot_back_to_origin",
          "parameters": {
            "pos_threshold": 0.15,
            "rot_threshold": 20
          },
          "last_native_evaluation": null,
          "native_evaluation_at_current_step": false,
          "measurement": {
            "available": true,
            "metric": "home_pose",
            "arms": [
              {
                "arm": "left_arm",
                "position_error_per_axis_m": [
                  0.22819115966558456,
                  0.28277362883090973,
                  0.013414382934570312
                ],
                "position_threshold_m": 0.15,
                "angle_deg": 32.31647903227345,
                "angle_threshold_deg": 20,
                "operator": "<=",
                "satisfied": false
              },
              {
                "arm": "right_arm",
                "position_error_per_axis_m": [
                  0.1738642454147339,
                  0.24269047379493713,
                  0.05319333076477051
                ],
                "position_threshold_m": 0.15,
                "angle_deg": 35.68460218378779,
                "angle_threshold_deg": 20,
                "operator": "<=",
                "satisfied": false
              }
            ],
            "satisfied": false
          }
        }
      ],
      "final_home_status": {
        "left": {
          "position_error_m": 0.36360978559609847,
          "rotation_error_deg": 32.316522135250544,
          "max_joint_error_rad": 2.092031002044679,
          "at_home": false
        },
        "right": {
          "position_error_m": 0.303244080473628,
          "rotation_error_deg": 35.684614723563506,
          "max_joint_error_rad": 1.8629279136657726,
          "at_home": false
        }
      }
    }
  ],
  "invalid_attempts": [
    {
      "id": "insert_key_initial",
      "task": "insert_key",
      "video": "insert_key_initial.mp4",
      "poster": "insert_key_initial.jpg",
      "instruction": "Pick up the key, hand it over to the other hand, insert it into the keyhole, then turn it.",
      "translation": "拿起钥匙，交给另一只手，插入锁孔，然后转动。",
      "rules": [
        "抓取后先小幅抬升，确认钥匙真实跟随；交接期间始终保持一只手支撑。",
        "柄在上、尖端朝下，扁平刀身与狭缝平面对齐；检查齿侧，避免绕长轴反向 180°。",
        "以钥匙尖端定位，补偿钥匙与手腕的偏移；对准、插入、转动分开执行。",
        "碰到孔沿先退出再校正；插入后才转动，最终以原生成功信号为准。"
      ],
      "rule_file": "insert_key.gpt-only.md",
      "valid": false,
      "success": false,
      "termination_reason": "infrastructure_error",
      "native_steps": 56,
      "step_lim": 300,
      "planner_turns": 13,
      "elapsed_s": 160.7,
      "seed": 0,
      "layout_id": 0,
      "cost_usd": 0.9150085,
      "finding": "第 56 / 300 步遇到上游 API HTTP 503，回合提前结束；该记录无效，不计为任务失败。后续重试另列。",
      "commands": [
        {
          "native_step": 0,
          "action": "reset",
          "args": {},
          "note": ""
        },
        {
          "native_step": 0,
          "action": "move_to_propose",
          "args": {
            "arm": "left",
            "tcp_xyz": [
              -0.105,
              -0.185,
              0.82
            ],
            "yaw_deg": -6,
            "pitch_deg": 90,
            "roll_deg": 0
          },
          "note": "STATE\n- goal: pickup in progress; handover/insert/turn todo.\n- facts: bow (-.112,-.221,.776), blade (-.105,-.185,.770), tip(-.102,-.172,.770); slot(.1102,-.1977,.765), yaw15°. Targets xy7mm/upright7°/turn -45° world.\n- phase: left open down approach to blade; no verified hold.\n- blockers: none.\nKey blade is clear of bow; stage above it with down-facing jaws before descent."
        },
        {
          "native_step": 31,
          "action": "move_to",
          "args": {
            "proposal_id": "m1@step0"
          },
          "note": "STATE\n- goal: pickup in progress; handover/insert/turn todo.\n- facts: bow(-.1105,-.2191,.7706), blade(-.105,-.185,.770); slot(.1102,-.1977,.765), yaw15°. xy<7mm; upright<7°; final key +X at world -45°±30°.\n- phase: left open staging above blade; no hold.\n- blockers: none.\nThe approach passed guards; execute the clear down-facing approach."
        },
        {
          "native_step": 31,
          "action": "move_to_propose",
          "args": {
            "arm": "left",
            "tcp_xyz": [
              -0.105,
              -0.185,
              0.773
            ]
          },
          "note": "STATE\n- goal: pickup in progress; handover/insert/turn todo.\n- facts: key bow(-.1105,-.2191,.7706), blade(-.105,-.185,.770); slot(.1102,-.1977,.765), yaw15°. xy<7mm/upright<7°/final yaw-45°±30°.\n- phase: left open above blade at .820; descend then close separately.\n- blockers: none.\nWrist view shows blade between open jaws; descend to its surface."
        },
        {
          "native_step": 36,
          "action": "move_to",
          "args": {
            "proposal_id": "m2@step31"
          },
          "note": "STATE\n- goal: pickup in progress; handover/insert/turn todo.\n- facts: bow(-.1105,-.2191,.7706), blade(-.105,-.185,.770); slot(.1102,-.1977,.765), yaw15°. xy<7mm/upright<7°/final yaw-45°±30°.\n- phase: left open descending to blade; no hold.\n- blockers: none.\nThe short descent passed guards; execute before closing in place."
        },
        {
          "native_step": 36,
          "action": "move_to_propose",
          "args": {
            "arm": "left",
            "gripper": 0
          },
          "note": "STATE\n- goal: pickup in progress; handover/insert/turn todo.\n- facts: key root(-.1105,-.2191,.7706); slot(.1102,-.1977,.765) yaw15; left TCP(-.105,-.185,.778), pitch90 yaw-6. Need xy<7mm upright<7° final yaw-45±30°.\n- phase: close on blade then verify lift; right empty.\n- blockers: none.\nThe blade is centered in the jaws; close without translation."
        },
        {
          "native_step": 46,
          "action": "move_to",
          "args": {
            "proposal_id": "m3@step36"
          },
          "note": "STATE\n- goal: pickup in progress; handover/insert/turn todo.\n- facts: key root(-.1105,-.2191,.7706); slot(.1102,-.1977,.765) yaw15; left TCP(-.105,-.185,.778), pitch90 yaw-6. Need xy<7mm upright<7° final yaw-45±30°.\n- phase: left closing on blade; right empty.\n- blockers: no verified hold yet.\nClosing preflight passed; execute in place to grip the centered blade."
        },
        {
          "native_step": 46,
          "action": "move_to_propose",
          "args": {
            "arm": "left",
            "tcp_xyz": [
              -0.105,
              -0.185,
              0.845
            ]
          },
          "note": "STATE\n- goal: pickup in progress; handover/insert/turn todo.\n- facts: key root(-.1132,-.2193,.7706), q(.7258,.6858,-.0302,-.0445); slot(.1102,-.1977,.765) yaw15; left TCP(-.105,-.185,.778), pitch90 yaw-6 closed .11. Need xy<7mm upright<7° final yaw-45±30°.\n- phase: verify left blade grasp with 67mm lift; right empty.\n- blockers: hold unverified.\nThe fingers contact the blade; a vertical lift will test whether the key follows."
        },
        {
          "native_step": 53,
          "action": "move_to",
          "args": {
            "proposal_id": "m4@step46"
          },
          "note": "STATE\n- goal: pickup in progress; handover/insert/turn todo.\n- facts: key root(-.1132,-.2193,.7706); slot(.1102,-.1977,.765) yaw15; left TCP(-.105,-.185,.778), pitch90 yaw-6 closed .11. Need xy<7mm upright<7° final yaw-45±30°.\n- phase: verify blade grasp by lift; right empty.\n- blockers: hold unverified.\nLift preflight passed; execute vertical motion while keeping grip closed."
        },
        {
          "native_step": 56,
          "action": "wait",
          "args": {
            "steps": 3
          },
          "note": "STATE\n- goal: pickup in progress; handover/insert/turn todo.\n- facts: step53 key root(-.1195,-.1942,.8038) q(.1603,.8386,.3919,-.3428), rotated substantially during lift; left TCP(-.105,-.185,.844) closed; slot(.1102,-.1977,.765) yaw15. Need xy<7mm upright<7° final yaw-45±30°.\n- phase: checking whether key is retained; right empty.\n- blockers: initial blade pinch appears unstable; do not carry yet.\nThe key has rotated out of its original pinch and may be falling. Hold briefly to distinguish settling from retention."
        }
      ],
      "final_conditions": [
        {
          "id": "c1",
          "predicate": "is_A_depth_in_B",
          "parameters": {
            "label_A": "key",
            "label_B": "slot",
            "z_threshold": 0.025
          },
          "last_native_evaluation": {
            "value": 1.0,
            "native_step": 56
          },
          "native_evaluation_at_current_step": true,
          "measurement": {
            "available": false,
            "reason": "numeric_measurement_not_supported"
          }
        },
        {
          "id": "c2",
          "predicate": "is_AB_xy_distance_within_threshold",
          "parameters": {
            "label_A": "key",
            "label_B": "slot",
            "A_functional_point": null,
            "A_point_type": "passive",
            "threshold": 0.007,
            "axis": "world"
          },
          "last_native_evaluation": {
            "value": 0.0,
            "native_step": 56
          },
          "native_evaluation_at_current_step": true,
          "measurement": {
            "available": true,
            "metric": "xy_distance",
            "value": 0.23566222931294026,
            "unit": "m",
            "operator": "<",
            "threshold": 0.007,
            "satisfied": false,
            "object_xyz": [
              -0.12519939243793488,
              -0.18732209503650665,
              0.7701936960220337
            ],
            "target_xyz": [
              0.110232874751091,
              -0.19773045182228088,
              0.7649999856948853
            ],
            "frame": "env_origin",
            "metric_frame": "env_origin",
            "reference_point": "root",
            "error_above_threshold": 0.22866222931294025
          }
        },
        {
          "id": "c3",
          "predicate": "is_axis_up",
          "parameters": {
            "label": "key",
            "axis": [
              0,
              0,
              1
            ],
            "label_args": null,
            "threshold": 7
          },
          "last_native_evaluation": null,
          "native_evaluation_at_current_step": false,
          "measurement": {
            "available": true,
            "metric": "axis_angle",
            "value": 87.12549116890571,
            "unit": "deg",
            "operator": "<",
            "threshold": 7.0,
            "satisfied": false,
            "reference_point": "root",
            "project_plane": null,
            "error_above_threshold": 80.12549116890571
          }
        },
        {
          "id": "c4",
          "predicate": "is_axis_aligned",
          "parameters": {
            "label_A": "key",
            "label_B": "slot",
            "axis_A": [
              1,
              0,
              0
            ],
            "axis_B": [
              0.5,
              -0.8660254037844386,
              0.0
            ],
            "world_axis": null,
            "align_threshold": 30,
            "functional_point_A": null,
            "functional_point_A_type": "passive",
            "functional_point_B": null,
            "functional_point_B_type": "passive",
            "project_plane": null
          },
          "last_native_evaluation": null,
          "native_evaluation_at_current_step": false,
          "measurement": {
            "available": true,
            "metric": "axis_angle",
            "value": 162.53062816785598,
            "unit": "deg",
            "operator": "<",
            "threshold": 30.0,
            "satisfied": false,
            "reference_point": "root",
            "project_plane": null,
            "error_above_threshold": 132.53062816785598
          }
        }
      ],
      "final_home_status": {
        "left": {
          "position_error_m": 0.26469081624562335,
          "rotation_error_deg": 89.87893224190934,
          "max_joint_error_rad": 1.7969040870666515,
          "at_home": false
        },
        "right": {
          "position_error_m": 0.0,
          "rotation_error_deg": 0.05013758770079888,
          "max_joint_error_rad": 6.544991679700851e-10,
          "at_home": true
        }
      }
    }
  ]
}