{
  "date_utc": "2026-09-29",
  "model": "openai/gpt-6-astra",
  "mode": "gpt_only_staged",
  "source_commit": "fdd4faf326151fec956bdd3a95ca8af7739a3e20",
  "summary": "代码控制 v1：有效回合 2 / 2，原生成功 0 条；每项仅一个 seed / layout，GPT 上限 40 回合。这是控制器试验，不是全量成功率评测。",
  "episodes": [
    {
      "id": "insert_key_staged",
      "task": "insert_key",
      "video": "insert_key_staged.mp4",
      "poster": "insert_key_staged.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": [
        "抓钥匙片身，抬升验证；把柄呈递给另一只手，接收手闭合后给出手才松开，再验证换手。",
        "实测物体相对手腕的变换；尖端朝下、齿侧朝锁的局部 +X，分别对齐有向朝向与尖端位置。",
        "每段下降 4 mm；位置或角度超差则禁止继续，连续两次停滞要求退出恢复。",
        "达到入孔深度后才分段转动，最终仍以原生 eval_success 为准。"
      ],
      "rule_file": "insertion_control.py",
      "valid": true,
      "success": false,
      "termination_reason": "planner_turn_limit",
      "native_steps": 297,
      "step_lim": 300,
      "planner_turns": 40,
      "elapsed_s": 494.5,
      "seed": 0,
      "layout_id": 0,
      "cost_usd": 3.255411,
      "finding": "40 个 GPT 回合结束，原生 297 / 300 步，未成功。曾完成抓取和交接接近，但持物偏移与接收手接触检查未能稳定通过；没有推进到已验证换手后的朝向、插入和转锁阶段。",
      "commands": [
        {
          "native_step": 0,
          "action": "reset",
          "args": {},
          "note": ""
        },
        {
          "native_step": 0,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pick up key todo; hand over todo; insert into keyhole todo; turn todo.\n- facts: silver key lies left at (-0.1105,-0.2191,0.7706); round slot is right at (0.1102,-0.1977,0.765). Native requirements: depth threshold .025 m, xy <.007 m, upright <7 deg, turned alignment <30 deg; no final home stage specified.\n- phase: both hands empty; begin recorded blade-grasp approach.\n- blockers: none.\nThe head view shows an unobstructed key on the table left of the slot. Advance the recorded sequence to approach its blade.",
          "feedback": "阶段阻止：motion guard rejected: plan_failed；key → approach"
        },
        {
          "native_step": 0,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "recover"
          },
          "note": "STATE\n- goal: pick up key in progress; hand over todo; insert todo; turn todo.\n- facts: key (-.1105,-.2191,.7706), slot (.1102,-.1977,.765); xy tolerance .007 m, upright 7 deg, depth .025 m, turn alignment 30 deg. Both arms remain home and empty; native steps used 0.\n- phase: recover failed initial approach, then verify a feasible grasp approach.\n- blockers: left approach rejected by motion guard with plan_failed; no movement executed. Do not repeat unchanged approach.\nThe images and poses confirm nothing moved after the planning rejection. Use recovery to obtain a changed approach rather than retry the blocked stage.",
          "feedback": "阶段阻止：no verified grasp；key → approach"
        },
        {
          "native_step": 0,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "approach",
            "arm": "right"
          },
          "note": "STATE\n- goal: pick up key in progress; hand over todo; insert todo; turn todo.\n- facts: key (-.1105,-.2191,.7706), slot (.1102,-.1977,.765); xy tolerance .007 m, upright 7 deg, depth .025 m, turn alignment 30 deg. Both hands empty at home; 300 native steps remain.\n- phase: try alternate-arm approach and verify motion.\n- blockers: left approach plan_failed; recover rejected because no verified grasp. Neither executed movement.\nThe key remains on the table and recovery requires a held object. Change the grasping arm to right to test an alternative feasible approach instead of repeating the failed left-arm plan."
        },
        {
          "native_step": 0,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "restart"
          },
          "note": "STATE\n- goal: pick up key in progress; hand over todo; insert todo; turn todo.\n- facts: key (-.1105,-.2191,.7706), slot (.1102,-.1977,.765); native tolerances depth .025 m, xy .007 m, upright 7 deg, turn 30 deg. Both hands empty at home; native steps used 0.\n- phase: reset failed grasp sequence within this episode, then verify approach options.\n- blockers: left approach plan_failed; recover needs verified grasp; right approach rejected because controller fixes arm to left despite empty grasp.\nNo key pickup occurred and changing arms is locked by controller state. Restart the grasp sequence, not the episode, to clear the unsuccessful grasp setup.",
          "feedback": "key → approach"
        },
        {
          "native_step": 0,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "grasp"
          },
          "note": "STATE\n- goal: pick up key in progress; hand over todo; insert todo; turn todo.\n- facts: key (-.1105,-.2191,.7706), slot (.1102,-.1977,.765); required xy <.007 m, upright <7 deg, depth .025 m, turned alignment <30 deg. Both arms empty at home; 300 native steps remain.\n- phase: attempt checked blade grasp directly and verify contact.\n- blockers: approach planning failed without motion; alternate arm locked; recover requires grasp. Grasp-sequence restart cleared failures but retained left arm.\nThe key is still undisturbed on the table. Select the distinct grasp target rather than repeat the blocked pregrasp approach.",
          "feedback": "阶段阻止：expected stage approach; skipping stages is not allowed；key → approach"
        },
        {
          "native_step": 0,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "home"
          },
          "note": "STATE\n- goal: pick up key in progress; hand over todo; insert todo; turn todo.\n- facts: key lies at (-.1105,-.2191,.7706), slot at (.1102,-.1977,.765); both hands empty at home. Native success false; no native steps consumed.\n- phase: check homing motion to establish a valid measured planning start before approach.\n- blockers: approach plan_failed; recover requires grasp; right-arm selection locked; direct grasp rejected because approach must precede it. Sequence restart alone did not change geometry.\nThe controller requires approach first, but its existing planning start failed. Checked homing is the remaining safe motion that might refresh the robot start without repeating the blocked target.",
          "feedback": "阶段阻止：expected stage approach; skipping stages is not allowed；key → approach"
        },
        {
          "native_step": 0,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "restart",
            "arm": "right"
          },
          "note": "STATE\n- goal: pick up key in progress; hand over todo; insert todo; turn todo.\n- facts: key at (-.1105,-.2191,.7706), slot at (.1102,-.1977,.765). Both hands empty and home, native steps 0, success false. Original approach returned only plan_failed without geometric diagnostics.\n- phase: attempt controller sequence reset with the alternative pickup arm, not an episode reset.\n- blockers: left approach failed; direct right approach locked; recover requires grasp; grasp/home forbidden before approach. Reset without arm did not repair planning.\nThe original failure provides no adjustable target or motion diagnostics. Combining the sequence restart with an explicit right-arm selection tests whether the arm lock can be changed at its reset boundary.",
          "feedback": "key → approach"
        },
        {
          "native_step": 59,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next",
            "arm": "right"
          },
          "note": "STATE\n- goal: pick up key in progress; hand over todo; insert todo; turn todo.\n- facts: key (-.1105,-.2191,.7706), slot (.1102,-.1977,.765); both arms empty at home. Native steps 0, success false. Controller reset successfully selected right arm and cleared failures.\n- phase: execute newly selected right-arm approach and verify motion.\n- blockers: left approach plan_failed; recover requires grasp; later stages require approach. Right-arm reset resolved the earlier arm lock.\nThe controller now explicitly lists right as the pickup arm. I advance with this changed arm rather than repeating the failed left-arm approach.",
          "feedback": "key → grasp"
        },
        {
          "native_step": 74,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pick up key in progress; hand over todo; insert todo; turn todo.\n- facts: right-arm approach succeeded; right TCP (-.1088,-.2013,.8145) above key blade. Key remains (-.1105,-.2191,.7706); slot (.1102,-.1977,.765). Left empty at home. 241 native steps remain; success false.\n- phase: right blade grasp, then verify lift.\n- blockers: original left approach failed; selecting right through sequence reset repaired approach.\nThe right wrist image shows the blade centered between the open fingertips. Advance to the recorded grasp to lift the key for transfer.",
          "feedback": "key → verify_grasp"
        },
        {
          "native_step": 80,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pick up key in progress; hand over todo; insert todo; turn todo.\n- facts: right fingers closed on blade; key (-.1118,-.2191,.7706) still on table. Slot (.1102,-.1977,.765). Left empty at home. 226 native steps remain; success false. Native final tolerances: xy <7mm, upright <7deg, turned axis <30deg, depth threshold .025m; no final home stage required.\n- phase: verify right grasp with lift before handover.\n- blockers: original left approach failed; right approach succeeded after controller reset.\nThe wrist view shows the blade between closed fingers but no lift yet. Advance to grasp verification to test secure transport.",
          "feedback": "key → present"
        },
        {
          "native_step": 108,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pick up key done; hand over in progress; insert todo; turn todo.\n- facts: right blade grasp verified: lift .0188m, translation slip .0036m. Key (-.1117,-.219,.7894); slot (.1102,-.1977,.765). Left empty home. 220 steps remain; success false. Final xy <7mm, upright <7deg, turned axis <30deg, depth threshold .025m; no final home requirement.\n- phase: present held key for left bow grasp.\n- blockers: initial left approach failed; right grasp succeeded after reset.\nThe key rose with the right fingers and remains visibly held. Advance to presentation for the required other-hand transfer.",
          "feedback": "key → receive"
        },
        {
          "native_step": 142,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pick up done; hand over in progress; insert todo; turn todo.\n- facts: right holds blade securely at presentation; key (-.0006,-.2085,.9283), slot (.1102,-.1977,.765). Left empty home. 192 native steps remain, success false. Final xy <7mm, upright <7deg, turned axis <30deg, depth threshold .025m; no final home requirement.\n- phase: receive key bow with left hand, then verify transfer.\n- blockers: original left approach failed; right acquisition succeeded after reset.\nThe bow is exposed in the wrist view and the key remains raised. Advance to receiving grasp while the right hand supports the blade.",
          "feedback": "key → handover"
        },
        {
          "native_step": 142,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pick up done; hand over in progress; insert todo; turn todo.\n- facts: right holds blade; left open fingers positioned around bow. Key (.0005,-.2088,.9213), slot (.1102,-.1977,.765). 158 native steps remain; success false. Final xy <7mm, upright <7deg, turned axis <30deg, depth threshold .025m; no home requirement.\n- phase: close receiving left hand and release donor, then verify transfer.\n- blockers: initial left acquisition failed; right acquisition succeeded after reset.\nWrist views show the receiving fingers at the bow while the donor retains the blade. Execute the supported handover.",
          "feedback": "阶段阻止：object slipped or was lost; restart from its observed pose；key → handover"
        },
        {
          "native_step": 142,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "restart",
            "arm": "right"
          },
          "note": "STATE\n- goal: pick up done historically; hand over in progress; insert todo; turn todo.\n- facts: key (.0005,-.2088,.9213) remains visually between right blade fingers and open left bow fingers; slot (.1102,-.1977,.765). 158 native steps remain, success false. Native final requires xy <7mm, upright <7deg, turned axis <30deg and depth .025m; no home requirement.\n- phase: reacquire after donor grasp verification failed.\n- blockers: handover blocked before motion by 4.8mm translation/10.8deg rotation slip; do not repeat unchanged handover. Initial left acquisition also failed.\nThe donor grasp is no longer verified despite the key remaining raised. Restart grasp control from its observed pose as required for slip.",
          "feedback": "key → approach"
        },
        {
          "native_step": 142,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "grasp",
            "arm": "right"
          },
          "note": "STATE\n- goal: pick up done historically; hand over in progress; insert todo; turn todo.\n- facts: key (.0005,-.2088,.9213) visually remains in closed right blade fingers; left open at bow. Slot (.1102,-.1977,.765). 158 native steps remain. Final xy <7mm, upright <7deg, turned axis <30deg, depth .025m; no home requirement.\n- phase: restart reset controller to approach without motion; resecure existing right contact before re-verifying.\n- blockers: donor slip exceeded rotation check at handover (10.8deg); initial left acquisition failed.\nThe restart did not move either hand and the blade is still between right fingers. Close and settle this existing grasp rather than opening above the table.",
          "feedback": "阶段阻止：expected stage approach; skipping stages is not allowed；key → approach"
        },
        {
          "native_step": 152,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pick up done historically; hand over in progress; insert todo; turn todo.\n- facts: key (.0005,-.2088,.9213) in right blade fingers, left open near bow; slot (.1102,-.1977,.765). 158 native steps remain. Final requires xy <7mm, upright <7deg, turned axis <30deg, depth .025m; no home requirement.\n- phase: controller reset to approach; execute required reacquisition sequence.\n- blockers: grasp skip rejected with no motion; must approach first. Prior donor slip 10.8deg blocked handover, initial left acquisition failed.\nThe controller requires approach before reclosing. Advance its measured-pose approach to reestablish a valid grasp sequence.",
          "feedback": "key → grasp"
        },
        {
          "native_step": 167,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pick up done historically, reacquiring; hand over todo; insert todo; turn todo.\n- facts: opening dropped key to table (.0022,-.2141,.7706); right open overhead, left open nearby. Slot (.1102,-.1977,.765). 148 native steps remain. Final xy <7mm, upright <7deg, turned axis <30deg, depth .025m; no home required.\n- phase: grasp stage, acquire key from current table pose with right.\n- blockers: prior handover donor rotation slip 10.8deg; stage skips forbidden; approach released old contact.\nThe key is now on the table beneath the right gripper. Advance grasp using its current measured position.",
          "feedback": "key → verify_grasp"
        },
        {
          "native_step": 167,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "restart",
            "arm": "right"
          },
          "note": "STATE\n- goal: pick up done historically, reacquiring; hand over todo; insert todo; turn todo.\n- facts: key remains on table (.0022,-.2141,.7706); slot (.1102,-.1977,.765). Right closed at z .926, clearly above key; left empty. 133 native steps remain; final xy <7mm, upright <7deg, turned axis <30deg, depth .025m; no home required.\n- phase: reset lost grasp with settled table pose, then reacquire.\n- blockers: previous restart captured airborne key pose before release; grasp used stale z .925 and missed by .155m. Earlier handover slipped 10.8deg.\nThe stationary key is visibly below closed fingertips, so this grasp is lost. Restart now that the key has settled to refresh the acquisition target.",
          "feedback": "key → approach"
        },
        {
          "native_step": 179,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pick up historically done, reacquiring; hand over todo; insert todo; turn todo.\n- facts: key on table (.0022,-.2141,.7706), slot (.1102,-.1977,.765). Right empty closed above key; left empty. 133 native steps, 20 planner turns left. Final xy <7mm, upright <7deg, turned axis <30deg, depth .025m; no home required.\n- phase: approach reset using settled key pose; right donor.\n- blockers: stale airborne acquisition missed; restart now refreshed. Earlier donor rotation slip 10.8deg.\nReset accepted without movement and key remains settled. Approach the blade from above using the refreshed target.",
          "feedback": "key → grasp"
        },
        {
          "native_step": 194,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pick up historically done, reacquiring; hand over todo; insert todo; turn todo.\n- facts: key (.0022,-.2141,.7706), slot (.1102,-.1977,.765). Right open TCP (.0186,-.2067,.8186) above blade; left empty nearby. 121 native steps, 19 turns remain. Native final xy <7mm, upright <7deg, turned axis <30deg, depth .025m; no home required.\n- phase: right blade grasp following successful refreshed approach.\n- blockers: stale airborne target previously missed; corrected by settled-pose restart. Earlier handover slipped 10.8deg.\nRight wrist view shows blade beneath open fingers and approach completed. Descend and close at the refreshed blade location.",
          "feedback": "key → verify_grasp"
        },
        {
          "native_step": 200,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pick up historically done, reacquiring; hand over todo; insert todo; turn todo.\n- facts: key (-.0022,-.2121,.7703), slot (.1102,-.1977,.765). Right closed .02 on blade, left empty. 106 native steps and 18 planner turns remain. Final xy <7mm, upright <7deg, turned axis <30deg, depth .025m; no home requirement.\n- phase: verify right blade grasp by measured lift before handover.\n- blockers: stale acquisition missed earlier; latest grasp used settled pose. Previous transfer slipped 10.8deg.\nWrist view shows blade between closed fingers, but lift is not yet verified. Execute the checked lift to confirm attachment.",
          "feedback": "key → present"
        },
        {
          "native_step": 216,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pick up done; hand over in progress; insert todo; turn todo.\n- facts: right verified blade grasp, lift .0193m and transform error .0021m/4.69deg. Key (-.0009,-.2129,.7896), slot (.1102,-.1977,.765). Left empty. 100 native steps, 17 turns remain; final xy <7mm, upright <7deg, turned axis <30deg, depth .025m; no home required.\n- phase: present held key for left bow reception.\n- blockers: previous transfer slipped 10.8deg; current grasp verified with smaller error. Earlier stale acquisition corrected.\nThe key rose with the right fingers and the grasp check passed. Present it to expose the bow for the other hand.",
          "feedback": "key → receive"
        },
        {
          "native_step": 225,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pick up done; hand over in progress; insert todo; turn todo.\n- facts: right holds blade at presentation; key (.0549,-.2052,.9279), slot (.1102,-.1977,.765). Grasp error .0019m/3.93deg. Left empty/open. 84 native steps, 16 turns remain. Final xy <7mm, upright <7deg, turned axis <30deg, depth .025m; no home required.\n- phase: left receive bow while right supports blade.\n- blockers: previous transfer slipped 10.8deg; reacquired grasp currently stable.\nThe bow is exposed in the wrist image and presentation passed. Bring the receiving fingers to the bow for supported handover.",
          "feedback": "key → handover"
        },
        {
          "native_step": 235,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pick up done; hand over in progress; insert todo; turn todo.\n- facts: right supports blade; left open fingers surround bow. Key (.0554,-.2053,.9253), slot (.1102,-.1977,.765). 75 native steps, 15 turns remain. Final xy <7mm, upright <7deg, turned axis <30deg, depth .025m; no home required.\n- phase: close left on bow then relinquish right grasp; verify transfer next.\n- blockers: prior transfer slipped 10.8deg; current reception completed without block.\nThe receiving fingers are around the exposed bow and right still supports the blade. Execute the supported handover.",
          "feedback": "阶段阻止：receiver contact uncertain; giver remains closed；key → handover"
        },
        {
          "native_step": 235,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "receive"
          },
          "note": "STATE\n- goal: pick up done; hand over in progress; insert todo; turn todo.\n- facts: right still holds blade; left fully closed but contact uncertain. Key (.0558,-.2054,.9229), slot (.1102,-.1977,.765). 65 native steps and 14 turns remain. Native limits xy <7mm, upright <7deg, turn <30deg, depth .025m; no home required.\n- phase: reposition receiver on shifted bow before attempting transfer.\n- blockers: handover blocked by uncertain receiver contact; grasp shifted 3.7mm/7.91deg. Do not repeat unchanged handover.\nThe bow shifted during closure and the giver remains safely closed. Reopen and recompute reception from the current key pose to correct contact.",
          "feedback": "阶段阻止：expected stage handover; skipping stages is not allowed；key → handover"
        },
        {
          "native_step": 235,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "recover"
          },
          "note": "STATE\n- goal: pick up done; hand over in progress; insert todo; turn todo.\n- facts: right holds blade; receiver contact uncertain. Key (.0558,-.2054,.9229); slot (.1102,-.1977,.765). 65 native steps, 13 turns remain. Native final requires depth .025m, xy <7mm, upright <7deg and turned axis <30deg; no home requirement.\n- phase: recover from blocked handover using permitted controller repair.\n- blockers: handover contact uncertain; explicit receive rejected because phase is handover. No movement on last call.\nThe controller disallows returning directly to receive. Use recovery instead of repeating the uncertain-contact handover unchanged.",
          "feedback": "阶段阻止：object slipped or was lost; restart from its observed pose；key → handover"
        },
        {
          "native_step": 235,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "restart",
            "arm": "left"
          },
          "note": "STATE\n- goal: pick up done historically, grasp now unverified; hand over in progress; insert todo; turn todo.\n- facts: key (.0558,-.2054,.9229) between closed grippers; slot (.1102,-.1977,.765). 65 native steps and 12 turns remain. Native requirements depth .025m, xy <7mm, upright <7deg, turned axis <30deg; no home required.\n- phase: reacquire with left arm after grasp-slip detection, then verify.\n- blockers: receiver contact failed; receive stage not allowed; recovery detected 5.2mm/11.2deg slip and explicitly requires restart. Repeated right-giver attempts have failed.\nThe controller now marks the grasp unverified despite the key remaining between the fingers. Restart the grasp sequence with the left arm to change the failed right-giver geometry without resetting the episode.",
          "feedback": "key → approach"
        },
        {
          "native_step": 235,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pick up done historically, grasp unverified; hand over in progress; insert todo; turn todo.\n- facts: key (.0558,-.2054,.9229), slot (.1102,-.1977,.765). Grippers remain closed around key. 65 steps, 11 turns remain. Success requires depth .025m, xy <7mm, upright <7deg, turn <30deg; no home requirement.\n- phase: controller reset grasp sequence to left-arm approach; verify reacquisition next.\n- blockers: right-giver handover contact repeatedly uncertain, recovery detected slip; changed giver to left.\nThe restart accepted the left arm without moving the key. Execute its approach to establish a different blade grasp.",
          "feedback": "阶段阻止：motion guard rejected: plan_failed；key → approach"
        },
        {
          "native_step": 235,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "grasp",
            "arm": "left"
          },
          "note": "STATE\n- goal: pick up done historically, current grasp unverified; hand over in progress; insert todo; turn todo.\n- facts: key (.0558,-.2054,.9229), slot (.1102,-.1977,.765); key visible between both fingers. 65 native steps, 10 turns. Required depth .025m, xy <7mm, upright <7deg and turned alignment <30deg.\n- phase: attempt local left grasp instead of rejected approach; verify actual holding.\n- blockers: left approach plan failed without movement; prior right handover failed contact and recovery reported slip.\nThe left fingertips already surround the visible key, but the approach path was rejected. Request the local grasp stage rather than repeating that blocked path.",
          "feedback": "阶段阻止：expected stage approach; skipping stages is not allowed；key → approach"
        },
        {
          "native_step": 235,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "recover",
            "arm": "left"
          },
          "note": "STATE\n- goal: pick up done historically; hand over in progress with uncertain grip; insert todo; turn todo.\n- facts: key (.0558,-.2054,.9229) between closed fingers; slot (.1102,-.1977,.765). 65 steps, 9 turns remain. Native success false; depth .025m, xy <7mm, upright <7deg and turned alignment <30deg required.\n- phase: repair rejected left approach before reacquisition.\n- blockers: left approach plan_failed; direct grasp rejected because approach must complete. Earlier right handover contact failed.\nThe scene has not moved, and skipping approach is disallowed. Use recovery to alter the approach geometry before retrying the ordered sequence.",
          "feedback": "阶段阻止：no verified grasp；key → approach"
        },
        {
          "native_step": 235,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "restart",
            "arm": "right"
          },
          "note": "STATE\n- goal: pick up done historically; hand over in progress; insert todo; turn todo.\n- facts: key (.0558,-.2054,.9229) remains between fingers; slot (.1102,-.1977,.765). 65 native steps and 8 turns remain. Success false; required depth .025m, xy <7mm, upright <7deg, turned alignment <30deg.\n- phase: reacquire with right arm after left approach failure.\n- blockers: left approach rejected; direct grasp cannot skip approach; recovery requires verified grasp and made no movement.\nNo grasp is verified, so use the prescribed grasp-restart operation with the right arm rather than repeating the unreachable left approach.",
          "feedback": "key → approach"
        },
        {
          "native_step": 245,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pick up done historically; hand over in progress; insert todo; turn todo.\n- facts: key (.0558,-.2054,.9229); slot (.1102,-.1977,.765). Success false; 65 steps and 7 turns left. Required depth .025m, xy <7mm, upright <7deg, turned alignment <30deg; no final home stage required.\n- phase: controller reset to right approach, no verified holder.\n- blockers: left approach planning failed; recovery unavailable without verified grasp; prior transfer failed.\nRight restart succeeded without movement. Advance its approach to reacquire the elevated key at the measured pose.",
          "feedback": "key → grasp"
        },
        {
          "native_step": 260,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pick up done historically; hand over in progress; insert todo; turn todo.\n- facts: released key fell to (.0574,-.2117,.8256), beside slot (.1102,-.1977,.765); neither arm verified holding. Success false; 55 native steps and 6 turns remain. Depth .025m, xy <7mm, upright <7deg, turn alignment <30deg required.\n- phase: right approach complete, grasp next.\n- blockers: left approach failed; prior transfer lost grasp. Key moved down during open approach.\nThe key is visible near the rack and the controller reached grasp phase. Execute its measured-object grasp to capture the lowered key.",
          "feedback": "key → verify_grasp"
        },
        {
          "native_step": 266,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pick up done historically; hand over incomplete; insert todo; turn todo.\n- facts: key (.0574,-.2117,.8256) remains beside slot (.1102,-.1977,.765). Success false; 40 native steps and 5 turns remain. Required depth .025m, xy <7mm, upright <7deg, turned alignment <30deg; no final home requirement.\n- phase: right fingers closed; verify_grasp next; no confirmed holder.\n- blockers: approach used an elevated pose after key fell; current closure may be above key. Prior transfer lost grasp and left approach failed.\nThe key root did not move during closure. Use the checked lift to determine whether a grasp exists before attempting placement.",
          "feedback": "阶段阻止：lift did not prove a stable object-to-wrist grasp; restart；key → verify_grasp"
        },
        {
          "native_step": 266,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "restart",
            "arm": "right"
          },
          "note": "STATE\n- goal: pick up done historically; hand over incomplete; insert todo; turn todo.\n- facts: key (.0574,-.2115,.8253) beside slot (.1102,-.1977,.765); success false. 34 native steps, 4 turns remain. Native targets: depth .025m, xy <7mm, upright <7deg, turn alignment <30deg.\n- phase: neither arm holds key; right verification failed with -.0002m lift and .0233m grasp translation error.\n- blockers: closure above key did not capture it; must reset grasp rather than repeat failed verification. Previous left approach and transfer failed.\nThe key stayed stationary as the right wrist lifted. Restart the grasp sequence using its current measured pose.",
          "feedback": "key → approach"
        },
        {
          "native_step": 276,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pick up done historically; hand over incomplete; insert todo; turn todo.\n- facts: key (.0574,-.2115,.8253) beside slot (.1102,-.1977,.765); success false. 34 native steps and 3 planner turns remain. Native targets: depth .025m, xy <7mm, upright <7deg, turn alignment <30deg; no final home condition.\n- phase: restarted controller at approach, right arm selected, neither arm has verified grasp.\n- blockers: previous closure above key failed lift verification; previous transfer and left approach failed.\nRestart cleared the failed grasp without moving the key. Approach its now-settled measured position to correct the previous height mismatch.",
          "feedback": "key → grasp"
        },
        {
          "native_step": 291,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pick up done historically; hand over incomplete; insert todo; turn todo.\n- facts: key (.0576,-.2117,.8256), slot (.1102,-.1977,.765); success false. 24 native steps and 2 planner turns remain. Required depth .025m, xy <7mm, upright <7deg, turn alignment <30deg; no final home condition.\n- phase: right approach completed with open gripper, TCP (.074,-.2111,.8725); controller ready to grasp.\n- blockers: earlier grasp failed verification and transfer failed; current grasp reset targets updated key pose.\nThe open right gripper is now above the blade and the key remains on the slot housing. Execute the recorded descent and closure to recapture it.",
          "feedback": "key → verify_grasp"
        },
        {
          "native_step": 297,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pick up done historically, current grasp in progress; hand over incomplete; insert todo; turn todo.\n- facts: key (.052,-.208,.8224), slot (.1102,-.1977,.765); eval_success false. Native steps left 9; planner turns left 1. Required depth .025m, xy <7mm, upright <7deg, turn alignment <30deg; no final home requirement.\n- phase: right gripper closed to .023 near blade; controller at verify_grasp, no verified current holder.\n- blockers: earlier grasps and transfer failed; current closure moved and tilted key, so attachment must be tested before insertion.\nThe right fingers have closed and the key moved slightly, but this does not establish a secure grasp. Perform the checked lift to determine whether it follows the right hand.",
          "feedback": "key → present"
        }
      ],
      "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": 297
          },
          "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": 204
          },
          "native_evaluation_at_current_step": false,
          "measurement": {
            "available": true,
            "metric": "xy_distance",
            "value": 0.05841054070286242,
            "unit": "m",
            "operator": "<",
            "threshold": 0.007,
            "satisfied": false,
            "object_xyz": [
              0.05274151265621185,
              -0.20805200934410095,
              0.843451976776123
            ],
            "target_xyz": [
              0.110232874751091,
              -0.19773045182228088,
              0.7649999856948853
            ],
            "frame": "env_origin",
            "metric_frame": "env_origin",
            "reference_point": "root",
            "error_above_threshold": 0.05141054070286242
          }
        },
        {
          "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": 111.1390026653866,
            "unit": "deg",
            "operator": "<",
            "threshold": 7.0,
            "satisfied": false,
            "reference_point": "root",
            "project_plane": null,
            "error_above_threshold": 104.1390026653866
          }
        },
        {
          "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": 46.45551098672634,
            "unit": "deg",
            "operator": "<",
            "threshold": 30.0,
            "satisfied": false,
            "reference_point": "root",
            "project_plane": null,
            "error_above_threshold": 16.45551098672634
          }
        }
      ],
      "final_home_status": {
        "left": {
          "position_error_m": 0.23212594020531713,
          "rotation_error_deg": 89.22828595799378,
          "max_joint_error_rad": 1.9246925115585338,
          "at_home": false
        },
        "right": {
          "position_error_m": 0.2780927955906452,
          "rotation_error_deg": 117.66771116455627,
          "max_joint_error_rad": 1.7782667875289928,
          "at_home": false
        }
      },
      "controller": "physicalrsi_v1"
    },
    {
      "id": "insert_tubes_staged",
      "task": "insert_tubes",
      "video": "insert_tubes_staged.mp4",
      "poster": "insert_tubes_staged.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": [
        "抓管帽下方的上部管身，抬升验证抓牢；转为帽朝上，夹爪水平接近管架。",
        "按实际管底和抓取偏移对齐空孔，拒绝占用孔位；分段下降。",
        "竖直且受孔导向后原地松爪，向上撤离，再检查试管是否仍稳定。",
        "每根放好后归位相应手臂；几何阶段完成不能替代三根全部插入和双臂归位的原生判定。"
      ],
      "rule_file": "insertion_control.py",
      "valid": true,
      "success": false,
      "termination_reason": "planner_turn_limit",
      "native_steps": 284,
      "step_lim": 500,
      "planner_turns": 40,
      "elapsed_s": 516.2,
      "seed": 0,
      "layout_id": 0,
      "cost_usd": 3.8469305,
      "finding": "40 个 GPT 回合结束，原生 284 / 500 步，未成功。tube0 已抓起并摆正，但首次对孔仍有约 5.0 mm 的管底误差，下插被阻止；恢复及 tube1 摆正又遇到运动规划拒绝。未完成放管和双臂归位。",
      "commands": [
        {
          "native_step": 0,
          "action": "reset",
          "args": {},
          "note": ""
        },
        {
          "native_step": 32,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "next",
            "arm": "right",
            "hole_index": 4
          },
          "note": "STATE\n- goal: insert tube0, tube1, tube2 one by one (todo); each inside rack, depth threshold .045 m, axis within 30 degrees; both arms home afterward (todo).\n- facts: rack at (0,.0206,.795), yaw about 6.5 degrees. Tube0 at (.152,-.2203,.7783), tube1 at (-.2589,-.1103,.7783), tube2 at (.3714,-.1073,.7783); all lying on table. Plan separate holes 4,0,2 respectively.\n- phase: start tube0 with right arm; both grippers empty and home.\n- blockers: none.\nThe front-right tube0 is accessible to the right arm; begin its recorded approach toward hole 4.",
          "feedback": "tube0 → grasp"
        },
        {
          "native_step": 47,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "next"
          },
          "note": "STATE\n- goal: tube0 insertion in progress; tube1 and tube2 todo; all inside rack at .045 m depth threshold and upright <30 degrees; final home todo.\n- facts: tube0 front-right (.152,-.2203,.7783), tube1 left (-.2589,-.1103,.7783), tube2 far-right (.3714,-.1073,.7783). Rack (0,.0206,.795). Planned holes 4,0,2.\n- phase: right arm approached tube0, gripper open; controller requests grasp; left home empty.\n- blockers: none; 468 native steps remain.\nThe wrist view centers tube0 between the fingers and approach completed; advance to close and lift its upper body.",
          "feedback": "tube0 → verify_grasp"
        },
        {
          "native_step": 53,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "next"
          },
          "note": "STATE\n- goal: insert three tubes sequentially; tube0 in progress, tube1/2 todo; rack containment, depth .045 m threshold, upright <30 degrees and final arms home required.\n- facts: rack (0,.0206,.795); tube0 (.1519,-.2204,.7783), tube1 (-.2589,-.1103,.7783), tube2 (.3714,-.1073,.7783). Planned holes 4,0,2.\n- phase: right fingers closed around tube0 upper body, awaiting verified lift; left empty home.\n- blockers: none; 453 native steps left.\nThe right wrist shows firm opposing contact below the cap, but the tube remains on the table; verify the grasp before transporting it.",
          "feedback": "tube0 → orient"
        },
        {
          "native_step": 98,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "next"
          },
          "note": "STATE\n- goal: three tubes sequentially into rack; tube0 in progress, tube1/2 todo; depth, containment, upright <30 degrees, final home todo.\n- facts: rack (0,.0206,.795); tube0 lifted to (.1514,-.2208,.7989); tube1 (-.2589,-.1103,.7783), tube2 (.3714,-.1073,.7783). Holes planned 4,0,2.\n- phase: right holds verified tube0 (20.6 mm lift, 2.5 mm grasp error); left empty home; next orient cap up.\n- blockers: none; 447 native steps left.\nThe tube lifted with the closed fingers and grasp verification passed; rotate it upright for the rack approach.",
          "feedback": "tube0 → align"
        },
        {
          "native_step": 125,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "next"
          },
          "note": "STATE\n- goal: insert three tubes sequentially; tube0 in progress, tube1/2 todo; depth, containment, upright and final home required.\n- facts: rack (0,.0206,.795); tube0 upright in right hand at (.1519,-.2221,.945), axis .85 degrees; tube1 (-.2589,-.1103,.7783), tube2 (.3714,-.1073,.7783). Holes 4,0,2 planned.\n- phase: align tube0 with hole4; left empty home.\n- blockers: none; 402 native steps left.\nTube0 is cap-up with stable grasp; translate above its selected empty aperture before insertion.",
          "feedback": "tube0 → insert"
        },
        {
          "native_step": 125,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "next"
          },
          "note": "STATE\n- goal: insert three tubes one by one; tube0 in progress, tube1/2 todo; all depth, containment, upright and home required.\n- facts: rack (0,.0206,.795); tube0 (.0717,.0155,.8369), upright 3.05 degrees, right-held over hole4. Tube1 (-.2589,-.1103,.7783), tube2 (.3714,-.1073,.7783); holes0,2 planned respectively.\n- phase: guided insertion tube0; left home empty.\n- blockers: none; 375 native steps left.\nAlignment completed and tube0 remains upright over the rack; execute the checked short insertion.",
          "feedback": "阶段阻止：tip or directed entry orientation is misaligned; recover before descent；tube0 → insert"
        },
        {
          "native_step": 129,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "recover"
          },
          "note": "STATE\n- goal: insert three tubes sequentially; tube0 in progress, tube1/2 todo; depth, containment, upright and final home required.\n- facts: tube0 right-held over hole4 at (.0717,.0155,.8369); tube1 (-.2589,-.1103,.7783), tube2 (.3714,-.1073,.7783). Rack (0,.0206,.795); holes0,2 planned for remaining tubes.\n- phase: recover tube0 alignment; left empty home.\n- blockers: insertion blocked without motion: tip XY error .005014 m, entry angle 3.054 degrees; 375 steps left.\nThe checked descent rejected residual alignment error; recovery will update the held transform and correct entry before retrying.",
          "feedback": "tube0 → orient"
        },
        {
          "native_step": 143,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "next"
          },
          "note": "STATE\n- goal: sequentially insert tube0 in progress, tube1/2 todo; verify depth, containment, upright and return home.\n- facts: rack (0,.0206,.795); tube0 right-held (.070,.020,.8752) above hole4; tube1 left table (-.2589,-.1103,.7783), tube2 right table (.3714,-.1073,.7783); planned holes0,2.\n- phase: recovery lifted tube0; controller orient next; left home empty.\n- blockers: previous insertion rejected 5.014 mm XY error; recovery completed, 371 native steps remain.\nTube0 is safely raised and still grasped; reorient using the recovered transform.",
          "feedback": "tube0 → align"
        },
        {
          "native_step": 154,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "next"
          },
          "note": "STATE\n- goal: insert three tubes one by one; tube0 in progress, tube1/2 todo; final home todo.\n- facts: rack (0,.0206,.795); tube0 right-held (.0699,.0249,.9448) upright 2.95 degrees, assigned hole4; tube1 (-.2589,-.1103,.7783), tube2 (.3714,-.1073,.7783), planned holes0,2.\n- phase: tube0 reoriented, align next; left home empty.\n- blockers: prior 5.014 mm insertion offset recovered; 357 steps remain.\nThe raised tube is nearly vertical and securely held; align it to the selected aperture again.",
          "feedback": "tube0 → insert"
        },
        {
          "native_step": 154,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "next"
          },
          "note": "STATE\n- goal: tube0 insertion in progress; tube1/2 insertion todo; final home todo.\n- facts: rack (0,.0206,.795); tube0 right-held (.0734,.0157,.8372), hole4, upright 2.95 degrees; tube1 left table, tube2 right table; planned holes0,2.\n- phase: recovered alignment complete, insert next; left empty home.\n- blockers: initial 5.014 mm offset caused block; recovery and new alignment completed; 346 steps left.\nTube0 is now above the aperture after correction; execute checked insertion to verify the new offset.",
          "feedback": "阶段阻止：tip or directed entry orientation is misaligned; recover before descent；tube0 → insert"
        },
        {
          "native_step": 154,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "recover",
            "hole_index": 3
          },
          "note": "STATE\n- goal: insert tube0 in progress, tube1/2 todo; return arms home todo.\n- facts: rack (0,.0206,.795); tube0 held upright by right above rack; tube1 (-.2589,-.1103,.7783), tube2 (.3714,-.1073,.7783) on table. No tubes placed.\n- phase: recover tube0 and change to hole3; left empty home.\n- blockers: hole4 insertion blocked twice, latest offset 4.812 mm and angle 2.95 degrees; 346 steps, 29 turns left.\nThe grasp remains secure but hole4 alignment repeatedly misses tolerance. Recover to a neighboring aperture to change the approach geometry rather than repeat the blocked descent."
        },
        {
          "native_step": 158,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "recover"
          },
          "note": "STATE\n- goal: tube0 insertion in progress; tube1/2 todo; home todo.\n- facts: tube0 right-held upright over hole4; tube1 left table, tube2 right table; rack at (0,.0206,.795); none inserted.\n- phase: recover blocked alignment, left home empty.\n- blockers: 4.812 mm tip offset; cannot change hole after alignment (last call rejected without motion). 346 steps, 28 turns remain.\nThe controller disallows the proposed hole change in this phase. Recover at the existing hole first to safely back away and permit correction.",
          "feedback": "tube0 → orient"
        },
        {
          "native_step": 202,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "next",
            "hole_index": 3
          },
          "note": "STATE\n- goal: tube0 in progress; tube1/2 insertion todo; home todo.\n- facts: tube0 held by right, recovered above rack; tube1 left table, tube2 right table. None inserted. Left home.\n- phase: orient tube0 toward hole3 before alignment.\n- blockers: hole4 repeatedly misses by 4.8 mm; hole change forbidden in insert phase, now recovered to orient. 342 steps, 27 turns remain.\nRecovery restored pre-alignment orientation phase with secure grasp. Select adjacent hole3 now to change the geometry before realigning.",
          "feedback": "tube0 → align"
        },
        {
          "native_step": 214,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "next"
          },
          "note": "STATE\n- goal: insert tube0 in progress; tube1/2 todo; return home todo.\n- facts: tube0 right-held upright (1.78 deg), selected hole3; tube1 left table, tube2 right table; rack (0,.0206,.795). None inserted; left home.\n- phase: tube0 align next after changed orientation.\n- blockers: hole4 alignment failed twice at 4.8 mm; recovered and changed to hole3. 298 steps, 26 turns remain.\nTube0 is securely held above the rack in the new approach orientation. Align to hole3 and measure the new tip error.",
          "feedback": "tube0 → insert"
        },
        {
          "native_step": 214,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "next"
          },
          "note": "STATE\n- goal: tube0 insertion in progress; tube1/2 todo; home todo.\n- facts: tube0 right-held at (.029,.038,.845), upright .53deg, hole3; other tubes remain on table; left home. Native requires depth .045, containment, upright <30deg, home .15m/20deg.\n- phase: align completed; attempt guided insertion.\n- blockers: prior hole4 4.8mm alignment blocks; recovered to hole3. 286 steps/25 turns remain.\nTube0 is upright over the rack after new alignment. Advance checked insertion to seat it if current geometry passes.",
          "feedback": "阶段阻止：tip or directed entry orientation is misaligned; recover before descent；tube0 → insert"
        },
        {
          "native_step": 214,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "hole_index": 8,
            "stage": "recover"
          },
          "note": "STATE\n- goal: insert all three tubes one by one in progress (0/3); home todo.\n- facts: tube0 right-held upright at (.029,.038,.845); tube1 left table, tube2 right table; rack yaw .113rad. Left home.\n- phase: repair tube0 alignment using back-row hole8 nearer current tip.\n- blockers: hole4 failed 4.8mm; hole3 now failed 32.5mm despite .53deg upright. 286 steps/24 turns remain.\nThe tip is near the back row rather than hole3. Recover with hole8 to change the aperture and avoid repeating blocked descent."
        },
        {
          "native_step": 214,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "recover"
          },
          "note": "STATE\n- goal: insert three tubes sequentially (0/3); home todo.\n- facts: tube0 right-held upright (.029,.038,.845), hole3 selected; tube1/2 on table; left home.\n- phase: recover to permit reselecting hole before alignment.\n- blockers: hole3 misalignment 32.5mm; changing hole during insert rejected without movement. Must recover first, then select. 286 steps/23 turns remain.\nThe controller rejected changing the aperture at insert. Recover without changing it now to reset alignment safely.",
          "feedback": "阶段阻止：motion guard rejected: plan_failed；tube0 → insert"
        },
        {
          "native_step": 214,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "orient"
          },
          "note": "STATE\n- goal: insert three tubes sequentially (0/3); home todo.\n- facts: tube0 right-held upright (.029,.038,.845), hole3 selected; tube1/2 on table; left home.\n- phase: return to orientation stage before selecting reachable aperture.\n- blockers: hole3 XY error32.5mm; recover planning failed without motion; hole change at insert rejected. 286 steps/22 turns remain.\nRecovery cannot plan a lift from this configuration. Re-run orientation to obtain a safe pre-alignment pose instead of repeating blocked insertion.",
          "feedback": "阶段阻止：expected stage insert; skipping stages is not allowed；tube0 → insert"
        },
        {
          "native_step": 214,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "restart"
          },
          "note": "STATE\n- goal: three tubes inserted sequentially 0/3; robot home todo.\n- facts: tube0 right-held at (.029,.038,.845), hole3; tube1 left table, tube2 right table; left home.\n- phase: reset failed tube0 manipulation, then choose a reachable hole.\n- blockers: recover plan_failed; orient rejected because insert required; hole reselection at insert forbidden. 286 native steps/21 turns remain.\nThe grasp is still reported verified but its manipulation state cannot recover or realign. Use the local object restart as a last repair, not an episode restart.",
          "feedback": "阶段阻止：restart is only for an unverified or lost grasp；tube0 → insert"
        },
        {
          "native_step": 248,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube1",
            "stage": "next",
            "arm": "left",
            "hole_index": 0
          },
          "note": "STATE\n- goal: insert three tubes one by one 0/3; return home todo.\n- facts: tube0 right-held upright (.029,.038,.845), selected hole3, not inserted; tube1 on left table (-.259,-.110,.778); tube2 right table (.371,-.107,.778). Left home.\n- phase: begin left-arm tube1 approach while right holds tube0 safely above rack.\n- blockers: tube0 recover cannot plan; orient and restart prohibited with verified grasp. 286 steps/20 turns remain.\nNo available tube0 repair has moved it. Approach the accessible tube1 with the free left arm, choosing the leftmost front aperture.",
          "feedback": "tube0 → insert；tube1 → grasp"
        },
        {
          "native_step": 263,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube1",
            "stage": "next"
          },
          "note": "STATE\n- goal: insert three tubes 0/3; return robot home todo.\n- facts: tube0 right-held upright above rack, hole3; tube1 left table (-.259,-.110,.778), selected hole0; tube2 right table untouched.\n- phase: left approach complete, grasp tube1 next; right holds tube0.\n- blockers: tube0 recovery planning failed and restart prohibited; 252 steps/19 turns remain.\nLeft wrist shows tube1 centered between open fingers. Close at its upper body to establish a grasp.",
          "feedback": "tube0 → insert；tube1 → verify_grasp"
        },
        {
          "native_step": 269,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube1",
            "stage": "next"
          },
          "note": "STATE\n- goal: insert all three tubes 0/3; return home todo.\n- facts: tube0 upright in right gripper above rack hole3; tube1 left gripper closed on upper body, hole0 selected; tube2 untouched right table. Rack root (0,.0206,.795), yaw .113 rad.\n- phase: verify tube1 grasp by lift before orienting.\n- blockers: tube0 recovery planning failed; restart/orient prohibited while held. 237 steps/18 turns remain.\nThe left fingers contact tube1 below its orange cap. Lift to verify stable attachment.",
          "feedback": "tube0 → insert；tube1 → orient"
        },
        {
          "native_step": 269,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube1",
            "stage": "next"
          },
          "note": "STATE\n- goal: insert all three tubes 0/3; return home todo.\n- facts: tube0 right-held upright above rack hole3; tube1 left-held verified lift .0227m, selected hole0; tube2 untouched right table. Rack (0,.0206,.795), yaw .113.\n- phase: orient tube1 upright, then verify alignment.\n- blockers: tube0 recovery planning failed; restart/orient prohibited while held. 231 steps/17 turns remain.\nTube1 rose with left fingers with negligible slip. Use the recorded upright orientation stage.",
          "feedback": "阶段阻止：motion guard rejected: plan_failed；tube0 → insert；tube1 → orient"
        },
        {
          "native_step": 274,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube1",
            "stage": "recover",
            "hole_index": 1
          },
          "note": "STATE\n- goal: insert three tubes 0/3; home todo.\n- facts: tube0 held right upright at (.0285,.0407,.8422), hole3 recorded; tube1 held left horizontal at (-.2592,-.1103,.801), hole0; tube2 on right table. Rack yaw .113.\n- phase: recover tube1 orientation plan with a more central aperture.\n- blockers: tube0 repeated alignment/recovery failures; tube1 orient plan_failed without motion. 231 native steps,16 turns remain.\nTube1 remains securely held but its orient plan was rejected. Recovery with hole1 requests a different reachable approach instead of repeating that plan.",
          "feedback": "tube0 → insert；tube1 → orient"
        },
        {
          "native_step": 274,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube1",
            "stage": "next"
          },
          "note": "STATE\n- goal: insert all three tubes 0/3; home todo.\n- facts: tube0 right-held upright above rack, hole3; tube1 left-held horizontal now raised .039m, hole1; tube2 untouched right table. Rack (0,.0206,.795), yaw .113.\n- phase: retry tube1 orientation after successful clearance recovery.\n- blockers: tube0 insertion/recovery planning failures; tube1 initial low orientation failed. 226 steps/15 turns remain.\nRecovery lifted tube1 with stable grasp and changed its target to hole1. Advance from this higher clearance pose.",
          "feedback": "阶段阻止：motion guard rejected: plan_failed；tube0 → insert；tube1 → orient"
        },
        {
          "native_step": 274,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "recover",
            "hole_index": 8
          },
          "note": "STATE\n- goal: insert three tubes 0/3; home todo.\n- facts: tube0 right-held upright (.0285,.0406,.8418), selected hole3; tube1 left-held horizontal elevated (.259m left), hole1; tube2 untouched. Rack yaw .113.\n- phase: resolve tube0 lateral mismatch before insertion.\n- blockers: tube1 orientation failed at holes0 and1; tube0 tip error .0325m with hole3. 226 steps/14 turns.\nTube0 lies near the rear-row aperture rather than its selected front-row hole. Request recovery toward hole8 to correct that mismatch."
        },
        {
          "native_step": 279,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube1",
            "stage": "recover",
            "hole_index": 5
          },
          "note": "STATE\n- goal: three tubes inserted 0/3; return home todo.\n- facts: tube0 upright right-held near rear rack row, locked to hole3; tube1 horizontal left-held elevated .840 root; tube2 untouched. Rack (0,.0206,.795), yaw .113.\n- phase: raise tube1 again and choose rear-left hole5 for reachable orientation.\n- blockers: tube0 cannot change holes in insert phase; tube1 orient failed at hole1 after first lift. 226 steps/13 turns remain.\nTube1 is still securely held but its orientation path failed. A further clearance lift and rear-row target changes the rejected path.",
          "feedback": "tube0 → insert；tube1 → orient"
        },
        {
          "native_step": 279,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube1",
            "stage": "next"
          },
          "note": "STATE\n- goal: insert all three tubes 0/3; home todo.\n- facts: tube1 securely left-held, root z .8793, hole5 selected; tube0 right-held upright over rack but not inserted, hole3; tube2 table right.\n- phase: orient tube1 following increased clearance and changed hole.\n- blockers: prior orientation failed holes0/1; tube0 hole changes forbidden after alignment. 221 steps/12 turns left.\nThe recovery lifted tube1 by .039m and preserved its grasp. Try orientation using the new rear-left aperture.",
          "feedback": "阶段阻止：motion guard rejected: plan_failed；tube0 → insert；tube1 → orient"
        },
        {
          "native_step": 279,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "recover"
          },
          "note": "STATE\n- goal: insert three tubes 0/3; home todo.\n- facts: tube0 right-held upright root (.0286,.0405,.8415), hole3 target but rear-row position; tube1 left-held horizontal root z .8793; tube2 table right.\n- phase: recover tube0 alignment without changing locked hole.\n- blockers: tube1 orient plan_failed at holes0/1/5 despite lift; tube0 prior changes rejected in insert phase. 221 steps/11 turns remain.\nTube0 is upright but 32mm from its assigned aperture. Recover at its existing hole to reset alignment rather than request a forbidden reassignment.",
          "feedback": "阶段阻止：motion guard rejected: joint_path_rejected；tube0 → insert；tube1 → orient"
        },
        {
          "native_step": 279,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "align"
          },
          "note": "STATE\n- goal: insert three tubes 0/3; home todo.\n- facts: tube0 right-held upright over rear row, root (.0286,.0405,.8415), assigned hole3; tube1 left-held horizontal; tube2 table right.\n- phase: request tube0 alignment correction before insertion.\n- blockers: tube0 recovery lift rejected joint_path_rejected; hole reassignment locked. Tube1 orient plan_failed after clearance recovery. 221 steps/10 turns remain.\nThe recovery lift cannot pass the joint guard. Request the alignment stage directly to correct lateral error without repeating the rejected recovery motion.",
          "feedback": "阶段阻止：expected stage insert; skipping stages is not allowed；tube0 → insert；tube1 → orient"
        },
        {
          "native_step": 284,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube1",
            "stage": "recover",
            "hole_index": 2
          },
          "note": "STATE\n- goal: insert three tubes 0/3; home todo.\n- facts: tube0 right-held upright over rear row, assigned hole3; tube1 left-held horizontal at (-.2594,-.1102,.8793); tube2 on table right.\n- phase: recover tube1 toward central aperture2.\n- blockers: tube0 recovery joint_path_rejected and align forbidden at insert phase. Tube1 orientation plans failed for leftmost/front and rear apertures0/1/5. 221 steps/9 turns remain.\nTube0 cannot presently advance through its guarded path. Change tube1 to central hole2 via recovery, giving the left arm a distinct orientation target.",
          "feedback": "tube0 → insert；tube1 → orient"
        },
        {
          "native_step": 284,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube1",
            "stage": "next"
          },
          "note": "STATE\n- goal: three tubes inserted 0/3; home todo.\n- facts: tube0 right-held upright near rear8 but assigned3; tube1 left-held horizontal, recovered upward to root z=.9184 and assigned central hole2; tube2 on table right.\n- phase: orient tube1 toward hole2 after successful recovery.\n- blockers: tube0 recovery joint guard; alignment stage cannot skip backward. Tube1 earlier orientation failures at holes0/1/5. 216 native steps/8 turns remain.\nThe new recovery succeeded and the tube remains securely held. Advance orientation using the changed aperture and higher clearance.",
          "feedback": "阶段阻止：motion guard rejected: plan_failed；tube0 → insert；tube1 → orient"
        },
        {
          "native_step": 284,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "recover",
            "hole_index": 8
          },
          "note": "STATE\n- goal: insert all three tubes 0/3; return arms home todo.\n- facts: tube0 upright right-held at (.0286,.0404,.8412), hole3 target mismatches rear-row position; tube1 horizontal left-held high at z=.9184; tube2 on table right. Slot root (0,.0206,.795), yaw .113.\n- phase: repair tube0 aperture alignment toward rear8 with left arm now raised.\n- blockers: tube1 orientation plan_failed at holes0/1/2/5. Earlier tube0 recovery joint_path_rejected; left-arm configuration has since changed. 216 steps/7 turns remain.\nTube1 cannot orient on this path. Tube0 is already upright close to rear hole8; re-target recovery with the other arm raised to clear potential interference."
        },
        {
          "native_step": 284,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "recover"
          },
          "note": "STATE\n- goal: three tubes inserted 0/3; home todo.\n- facts: tube0 right-held upright (.0286,.0404,.8412), assigned3; tube1 left-held horizontal high z=.9184; tube2 on table. Neither arm home.\n- phase: recover tube0 without modifying its locked hole, then reselect before alignment.\n- blockers: hole changes forbidden in insert phase; prior recovery joint guard failed before left arm was raised. Tube1 orientation plan_failed. 216 steps/6 turns remain.\nThe previous call did not move because aperture selection is locked during insertion. Recover without a hole change to obtain clearance and unlock alignment selection.",
          "feedback": "阶段阻止：motion guard rejected: plan_failed；tube0 → insert；tube1 → orient"
        },
        {
          "native_step": 284,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "release"
          },
          "note": "STATE\n- goal: insert three tubes 0/3 confirmed; home todo.\n- facts: tube0 upright at (.0286,.0404,.8412) above rear aperture8, although controller assigned3; tube1 held horizontal left; tube2 table right.\n- phase: use controlled in-place opening and settling for upright tube0; verify actual placement afterward.\n- blockers: tube0 recovery plan_failed with zero motion; hole changes forbidden at insert phase. Tube1 orientation fails. 216 native steps/5 turns remain.\nTube0 visually sits directly over a rear opening and remains upright; controlled release and settling may seat it without repeating the blocked recovery path.",
          "feedback": "阶段阻止：expected stage insert; skipping stages is not allowed；tube0 → insert；tube1 → orient"
        },
        {
          "native_step": 284,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube1",
            "stage": "recover",
            "hole_index": 9
          },
          "note": "STATE\n- goal: insert three tubes 0/3 confirmed; return arms home todo.\n- facts: tube0 right-held upright above rack, assigned3; tube1 left-held horizontal at (-.2596,-.1099,.9184), assigned2; tube2 on table.\n- phase: reposition tube1 toward a different rack-relative approach; next verify orientation readiness.\n- blockers: tube0 recovery plan_failed; release refused until insertion passes. Tube1 earlier approach holes0,1,5,2 failed orientation. 216 native steps/4 turns remain.\nThe tube0 sequence cannot progress from its current blocked posture. Select previously untried rear-right hole9 for tube1 recovery to change its approach geometry.",
          "feedback": "阶段阻止：motion guard rejected: plan_failed；tube0 → insert；tube1 → orient"
        },
        {
          "native_step": 284,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube1",
            "stage": "next"
          },
          "note": "STATE\n- goal: insert all three tubes 0/3 confirmed; native home todo.\n- facts: tube0 upright right-held over rack but assigned3; tube1 horizontal left-held, now assigned9; tube2 table right. Native success false.\n- phase: test recorded orientation for newly assigned tube1 hole9; verify guarded movement.\n- blockers: tube0 insertion misalignment and recovery plan_failed; release stage prohibited. Tube1 recovery to9 failed without movement, but changed its target from2. 216 native steps/3 turns remain.\nThe recovery selected a new target without moving; the recorded orient stage uses that changed geometry rather than repeating the failed recovery.",
          "feedback": "阶段阻止：motion guard rejected: plan_failed；tube0 → insert；tube1 → orient"
        },
        {
          "native_step": 284,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "insert",
            "hole_index": 8
          },
          "note": "STATE\n- goal: insert all three tubes 0/3 confirmed; native home todo.\n- facts: tube0 upright right-held at (.0286,.0404,.8412); rack at (0,.0206,.795) rotated6.45deg. Tube1 horizontal left-held; tube2 table right.\n- phase: insert tube0 using aperture8 matching its measured rear-row position; verify depth.\n- blockers: tube1 orient9 plan_failed without movement; tube0 prior target3 had .0325m lateral error, recoveries failed. 216 native steps/2 turns remain.\nTube0 lies over the rear row rather than assigned front-row hole3. Choosing hole8 for insertion changes the target to the physically nearest aperture after recovery attempts failed."
        },
        {
          "native_step": 284,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "recover",
            "hole_index": 7
          },
          "note": "STATE\n- goal: insert all three tubes 0/3 confirmed; return robot home todo.\n- facts: tube0 upright right-held at (.0286,.0404,.8412), assigned hole3; tube1 horizontal left-held assigned9; tube2 on table. Native success false.\n- phase: recover tube0 toward a different rear-row aperture before alignment.\n- blockers: target changes during insert are prohibited; attempted insert8 executed no steps. Prior recoveries to8 and tube1 orientation failed planning. 216 native steps/1 planner turn remains.\nThe last result requires selecting a hole before alignment. I use the prescribed recovery with a different rear-row target7 rather than repeating the rejected insert or unchanged failed recovery."
        }
      ],
      "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": 0.0,
            "native_step": 284
          },
          "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": 1.0,
            "native_step": 56
          },
          "native_evaluation_at_current_step": false,
          "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": 56
          },
          "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": 0.0,
            "native_step": 56
          },
          "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": 38
          },
          "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": 38
          },
          "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": null,
          "native_evaluation_at_current_step": false,
          "measurement": {
            "available": true,
            "metric": "axis_angle",
            "value": 0.09332891398721153,
            "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": 88.13586114071434,
            "unit": "deg",
            "operator": "<",
            "threshold": 30.0,
            "satisfied": false,
            "reference_point": "root",
            "project_plane": null,
            "error_above_threshold": 58.13586114071434
          }
        },
        {
          "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": 88.01649198259447,
            "unit": "deg",
            "operator": "<",
            "threshold": 30.0,
            "satisfied": false,
            "reference_point": "root",
            "project_plane": null,
            "error_above_threshold": 58.016491982594474
          }
        },
        {
          "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": [
                  0.06982693076133728,
                  0.3280564099550247,
                  0.14598363637924194
                ],
                "position_threshold_m": 0.15,
                "angle_deg": 91.8080838185121,
                "angle_threshold_deg": 20,
                "operator": "<=",
                "satisfied": false
              },
              {
                "arm": "right_arm",
                "position_error_per_axis_m": [
                  0.12776228785514832,
                  0.4165143817663193,
                  0.012006103992462158
                ],
                "position_threshold_m": 0.15,
                "angle_deg": 99.34029242261025,
                "angle_threshold_deg": 20,
                "operator": "<=",
                "satisfied": false
              }
            ],
            "satisfied": false
          }
        }
      ],
      "final_home_status": {
        "left": {
          "position_error_m": 0.36579779996964795,
          "rotation_error_deg": 91.80808964457006,
          "max_joint_error_rad": 2.5982937812805176,
          "at_home": false
        },
        "right": {
          "position_error_m": 0.43583434806040555,
          "rotation_error_deg": 99.34029622326582,
          "max_joint_error_rad": 2.527934312820436,
          "at_home": false
        }
      },
      "controller": "physicalrsi_v1"
    }
  ],
  "invalid_attempts": []
}