{ "date_utc": "2026-09-29", "model": "openai/gpt-6-astra", "mode": "gpt_only_staged", "source_commit": "8be137782b5083d4fb0508eb1f14a023a9cb5910", "summary": "代码控制 v4：有效回合 1 / 2，原生成功 0 条；每项仅一个 seed / layout，GPT 上限 50 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": [ "抓钥匙片身，抬升验证；把柄呈递给另一只手，接收手闭合后给出手才松开，再验证换手。", "实测物体相对手腕的变换；尖端朝下、齿侧朝锁的局部 +X，分别对齐有向朝向与尖端位置。", "每段下降 4 mm；位置或角度超差则禁止继续，连续两次停滞要求退出恢复。", "达到入孔深度后才分段转动，最终仍以原生 eval_success 为准。" ], "rule_file": "insertion_control.py", "valid": true, "success": false, "termination_reason": "planner_turn_limit", "native_steps": 299, "step_lim": 300, "planner_turns": 50, "elapsed_s": 599.5, "seed": 0, "layout_id": 0, "cost_usd": 4.145504, "finding": "50 个 GPT 回合结束，原生 299 / 300 步，未成功。能够抓起、呈递并让接收手靠近钥匙柄，但旧代码把夹爪控制值误当接触测量，阻止给出手松开；未验证换手，未进入插孔。后续修正版改用独立抬升确认换手。", "commands": [ { "native_step": 0, "action": "reset", "args": {}, "note": "" }, { "native_step": 31, "action": "insertion_stage", "args": { "object_id": "key", "stage": "next" }, "note": "STATE\n- goal: pickup todo; handover todo; insert into keyhole todo; turn todo.\n- facts: key lies left at (-0.1105,-0.2191,0.7706); slot right at (0.1102,-0.1977,0.765). Native thresholds: xy <7 mm, upright <7 degrees, depth parameter 25 mm, turned alignment <30 degrees. No final home conditions listed.\n- phase: both hands empty and home; begin recorded blade approach.\n- blockers: none.\nThe overhead image shows the flat key left of the circular keyhole fixture. I choose the next recorded stage to approach the blade for pickup.", "feedback": "key → grasp" }, { "native_step": 46, "action": "insertion_stage", "args": { "object_id": "key", "stage": "next" }, "note": "STATE\n- goal: pickup in progress; handover todo; insert todo; turn todo.\n- facts: key at (-0.1105,-0.2191,0.7706); slot at (0.1102,-0.1977,0.765). Required xy <7 mm, upright <7 degrees, depth parameter 25 mm, turned alignment <30 degrees; no final home checks. 269 native steps remain.\n- phase: left open above blade at TCP z=0.8145; right empty home; next grasp.\n- blockers: none.\nThe left wrist view centers the key between open fingers and the approach completed. Advance to blade grasp before testing the lift.", "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: key at (-0.110,-0.2192,0.7706); slot (0.1102,-0.1977,0.765). Native requirements xy <7 mm, upright <7 degrees, depth parameter 25 mm, turn alignment <30 degrees; no home checks. 254 native steps remain.\n- phase: left fingers closed on blade, grasp not verified; right empty home; next lift verification.\n- blockers: none.\nThe left wrist image shows the blade within the closed fingers, but the key is still at table height. Advance to verify that it follows the lifting hand.", "feedback": "key → present" }, { "native_step": 84, "action": "insertion_stage", "args": { "object_id": "key", "stage": "next" }, "note": "STATE\n- goal: pickup done; handover in progress; insert todo; turn todo.\n- facts: key held at (-0.1101,-0.2193,0.791); slot (0.1102,-0.1977,0.765). Grasp verified with 20.5 mm lift and 2.6 mm translation error. Native xy <7 mm, upright <7 degrees, depth parameter 25 mm, turn alignment <30 degrees; no home checks. 248 steps remain.\n- phase: left holds blade; right empty; present bow for transfer next.\n- blockers: none.\nThe key follows the left fingers and remains centered in the wrist view. Present it for the required other-hand pickup.", "feedback": "key → receive" }, { "native_step": 119, "action": "insertion_stage", "args": { "object_id": "key", "stage": "next" }, "note": "STATE\n- goal: pickup done; handover in progress; insert todo; turn todo.\n- facts: key presented at (-0.0005,-0.2084,0.9267); slot (0.1102,-0.1977,0.765). Native xy <7 mm, upright <7 degrees, depth parameter 25 mm, turn alignment <30 degrees; no home checks. 216 native steps remain.\n- phase: left holds blade with bow exposed; right empty; receive next.\n- blockers: none.\nThe elevated key remains secure in the left wrist image and its bow is exposed. Bring the right hand to the bow to prepare transfer.", "feedback": "key → handover" }, { "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: key (-0.0015,-0.2088,0.9203); slot (0.1102,-0.1977,0.765). Native xy <7 mm, upright <7 degrees, depth parameter 25 mm, turn alignment <30 degrees; no home checks. 181 native steps remain.\n- phase: left holds blade; right open around bow; transfer next.\n- blockers: none.\nThe right wrist view shows the bow between the receiving fingers. Close the receiving grasp and release the left blade grasp through the handover stage.", "feedback": "阶段阻止：receiver contact uncertain; giver remains closed；key → handover" }, { "native_step": 130, "action": "insertion_stage", "args": { "object_id": "key", "stage": "receive" }, "note": "STATE\n- goal: pickup done; handover in progress; insert todo; turn todo.\n- facts: key (-0.0028,-0.2087,0.9189); slot (0.1102,-0.1977,0.765). Native xy <7 mm, upright <7 degrees, depth parameter 25 mm, turn alignment <30 degrees; no home checks. 170 native steps remain.\n- phase: left retains verified blade grasp; right contact uncertain; reposition receiver before retrying transfer.\n- blockers: handover blocked because receiver contact uncertain; giver safely stayed closed. Do not repeat unchanged handover.\nThe right fingers appear close to the bow edge rather than securely around it. Repeat the receiving approach using the current key pose to reopen and recenter before transferring.", "feedback": "阶段阻止：expected stage handover; skipping stages is not allowed；key → handover" }, { "native_step": 130, "action": "insertion_stage", "args": { "object_id": "key", "stage": "recover" }, "note": "STATE\n- goal: pickup done; handover in progress; insert todo; turn todo.\n- facts: key (-0.0028,-0.2087,0.9189); slot (0.1102,-0.1977,0.765). Native xy <7 mm, upright <7 degrees, depth parameter 25 mm, turn alignment <30 degrees; no home checks. 170 native steps remain.\n- phase: left verified blade grasp; right contact uncertain; recover held key to repair transfer alignment.\n- blockers: handover contact uncertain; explicit receive rejected because phase remains handover. Recovery is needed rather than unchanged retry.\nThe key remains safely held by the left arm and the receiver has not verified contact. Use held-object recovery to establish a changed, checked pose before continuing.", "feedback": "阶段阻止：object slipped or was lost; restart from its observed pose；key → handover" }, { "native_step": 130, "action": "insertion_stage", "args": { "object_id": "key", "stage": "restart", "arm": "right" }, "note": "STATE\n- goal: pickup previously achieved, regrasp in progress; handover todo; insert todo; turn todo.\n- facts: key (-0.0028,-0.2087,0.9189); slot (0.1102,-0.1977,0.765). Thresholds: xy <7 mm, upright <7 degrees, depth 25 mm, turn <30 degrees. 170 native steps remain; no home requirement.\n- phase: recovery invalidated left grasp; restart pickup with right arm in same episode.\n- blockers: uncertain receiver contact; receive cannot rewind; recovery detected slip (6.1 mm, 13.5 degrees). Must restart pickup, not repeat handover.\nAlthough the key remains between the arms, its held transform failed verification. Switch the pickup arm during restart to change the failed transfer geometry.", "feedback": "key → approach" }, { "native_step": 130, "action": "insertion_stage", "args": { "object_id": "key", "stage": "next" }, "note": "STATE\n- goal: pickup regrasp in progress; handover todo; insert todo; turn todo.\n- facts: key (-0.0028,-0.2087,0.9189), slot (0.1102,-0.1977,0.765). Native thresholds xy <7 mm, upright <7 degrees, depth 25 mm, turn <30 degrees; no home requirement. 170 steps remain.\n- phase: restarted pickup controller with right arm, phase approach; neither grasp verified.\n- blockers: previous left-to-right handover uncertain and slipped; recovery rejected. Right-arm restart accepted without motion.\nThe observed key remains elevated between the grippers. Execute the new right-arm approach from its measured pose rather than repeating the blocked transfer.", "feedback": "阶段阻止：motion guard rejected: joint_path_rejected；key → approach" }, { "native_step": 130, "action": "insertion_stage", "args": { "object_id": "key", "stage": "restart", "arm": "left" }, "note": "STATE\n- goal: pickup regrasp in progress; handover todo; insert todo; turn todo.\n- facts: key (-0.0028,-0.2087,0.9189), slot (0.1102,-0.1977,0.765). Native limits: xy 7 mm, upright 7 degrees, depth 25 mm, turn 30 degrees. 170 native steps remain; no home condition.\n- phase: right approach blocked without motion; switch pickup back to left.\n- blockers: original transfer uncertain; recovery rejected slip. Right approach joint replan failed; do not repeat that path.\nThe key and arms have not moved after the rejected approach. Change to the left pickup arm, whose current fingertips remain adjacent to the blade.", "feedback": "key → approach" }, { "native_step": 140, "action": "insertion_stage", "args": { "object_id": "key", "stage": "next" }, "note": "STATE\n- goal: pickup in progress; handover todo; insertion todo; turn todo.\n- facts: key (-0.0028,-0.2087,0.9189), slot (0.1102,-0.1977,0.765). Required xy <7 mm, upright <7 degrees, depth 25 mm, turn <30 degrees. 170 native steps remain; no home requirement.\n- phase: left-arm pickup restart accepted; approach next, grasp unverified.\n- blockers: earlier transfer slipped; right pickup approach joint path rejected. Changed pickup arm to left.\nThe blade remains beside the left fingertips and the restart changed no geometry. Execute the left approach to establish a fresh measured grasp.", "feedback": "key → grasp" }, { "native_step": 140, "action": "insertion_stage", "args": { "object_id": "key", "stage": "restart", "arm": "left" }, "note": "STATE\n- goal: pickup in progress; handover todo; insertion todo; turn todo.\n- facts: opening left released key onto table at (-0.0813,-0.2000,0.7704); slot (0.1102,-0.1977,0.765). Native limits xy 7 mm, upright 7 degrees, depth 25 mm, turn alignment 30 degrees. 160 native steps remain; no home condition.\n- phase: neither arm holds key; reset left approach for table pickup.\n- blockers: original transfer slipped; right approach rejected; previous left approach targeted airborne position before key fell.\nThe wrist views confirm the key fell when the left fingers opened. Restart pickup at its new tabletop pose rather than grasp the obsolete elevated target.", "feedback": "key → approach" }, { "native_step": 167, "action": "insertion_stage", "args": { "object_id": "key", "stage": "next" }, "note": "STATE\n- goal: pickup in progress; handover todo; insertion todo; turn todo.\n- facts: key on table (-0.0813,-0.2000,0.7704); slot (0.1102,-0.1977,0.765). Thresholds xy 7 mm, upright 7 degrees, depth 25 mm, turn 30 degrees; 160 native steps remain; no home condition.\n- phase: left approach reset, neither arm verified holding.\n- blockers: transfer slipped; right approach joint rejection; old elevated pickup invalidated by falling key.\nThe key is now on the tabletop beneath the open left hand. Approach its current measured blade region.", "feedback": "key → grasp" }, { "native_step": 182, "action": "insertion_stage", "args": { "object_id": "key", "stage": "next" }, "note": "STATE\n- goal: pickup in progress; handover todo; insertion todo; turn todo.\n- facts: key now (-0.087,-0.201,0.7706); slot (0.1102,-0.1977,0.765). Limits xy 7 mm, upright 7 degrees, depth 25 mm, turn 30 degrees. 133 native steps remain; no home requirement.\n- phase: left above blade, grasp next; neither grasp verified.\n- blockers: earlier transfer slipped; right approach rejected; reset left after key fell.\nThe left wrist image shows the blade inside the open finger span. Descend and close using the recorded grasp.", "feedback": "key → verify_grasp" }, { "native_step": 188, "action": "insertion_stage", "args": { "object_id": "key", "stage": "next" }, "note": "STATE\n- goal: pickup in progress; handover todo; insertion todo; turn todo.\n- facts: key (-0.0804,-0.1998,0.7705), slot (0.1102,-0.1977,0.765); xy limit 7 mm, upright 7 degrees, depth 25 mm, turn 30 degrees; 118 native steps remain; no home condition.\n- phase: left fingers closed around blade; verify lift next.\n- blockers: previous handover slipped; right pickup approach rejected; left reset after drop.\nThe blade appears between closed fingertips, but the root remains at table height. Lift to verify attachment before presentation.", "feedback": "key → present" }, { "native_step": 215, "action": "insertion_stage", "args": { "object_id": "key", "stage": "next" }, "note": "STATE\n- goal: pickup done; handover in progress; insertion todo; turn todo.\n- facts: key (-0.0806,-0.1999,0.7911); slot (0.1102,-0.1977,0.765). Limits xy 7 mm, upright 7 degrees, depth 25 mm, turn alignment 30 degrees. 112 native steps remain; no home requirement.\n- phase: left verified blade grasp, present next; right empty.\n- blockers: earlier transfer slipped; right pickup rejected; current left grasp verified with 2.4 mm drift.\nThe key rose with the left fingers and remains visibly captured. Present its bow to the receiving hand using the checked sequence.", "feedback": "阶段阻止：object slipped or was lost; restart from its observed pose；key → present" }, { "native_step": 215, "action": "insertion_stage", "args": { "object_id": "key", "stage": "restart", "arm": "right" }, "note": "STATE\n- goal: pickup in progress after slip; handover todo; insertion todo; turn todo.\n- facts: key (0.0086,-0.1964,0.9175), slot (0.1102,-0.1977,0.765); native limits xy 7 mm, upright 7 degrees, depth 25 mm, turn alignment 30 degrees. 85 native steps remain, no home condition.\n- phase: left grasp invalidated during presentation; restart pickup with right.\n- blockers: left presentation rotated key 35.5 degrees within grasp; earlier right approach from table failed, but key is now elevated centrally.\nThe key remains near the fingers visually, but measured slip invalidates the grasp. Restart from its current pose with the right arm rather than repeating the failed left presentation.", "feedback": "key → approach" }, { "native_step": 215, "action": "insertion_stage", "args": { "object_id": "key", "stage": "next" }, "note": "STATE\n- goal: pickup in progress; handover todo; insertion todo; turn todo.\n- facts: key (0.0086,-0.1964,0.9175), slot (0.1102,-0.1977,0.765). Limits xy 7 mm, upright 7 degrees, depth 25 mm, turn alignment 30 degrees; 85 native steps left; no home condition.\n- phase: controller reset to right approach; neither grasp verified.\n- blockers: left presentation slipped by 35.5 degrees; right table pickup previously failed, current elevated pose differs.\nRestart accepted without motion and key remains elevated between arms. Execute the new right approach to establish a valid grasp.", "feedback": "阶段阻止：motion guard rejected: joint_path_rejected；key → approach" }, { "native_step": 215, "action": "insertion_stage", "args": { "object_id": "key", "stage": "restart", "arm": "left" }, "note": "STATE\n- goal: pickup in progress; handover todo; insertion todo; turn todo.\n- facts: key (0.0086,-0.1964,0.9175), slot (0.1102,-0.1977,0.765); 85 native steps remain. Success needs depth 25 mm, xy within 7 mm, upright within 7 degrees, turned alignment within 30 degrees.\n- phase: right approach rejected without movement; switch to left pickup at current pose.\n- blockers: right nearest-equivalent joint replan failed; left previous presentation slipped 35.5 degrees. No verified grasp.\nThe right approach cannot be planned and repeating it would not change geometry. Reinitialize the left pickup using the updated key pose.", "feedback": "key → approach" }, { "native_step": 225, "action": "insertion_stage", "args": { "object_id": "key", "stage": "next" }, "note": "STATE\n- goal: pickup in progress; handover todo; insertion todo; turn todo.\n- facts: key (0.0086,-0.1964,0.9175), slot (0.1102,-0.1977,0.765); 85 native steps left. Required depth 25 mm, xy 7 mm, upright 7 degrees, turned alignment 30 degrees; no home condition.\n- phase: left approach reset accepted; neither grasp verified.\n- blockers: right approach joint replan rejected; previous left presentation slipped 35.5 degrees.\nThe key remains between the closed grippers and left approach is now selected. Execute that approach to reacquire at its current pose rather than repeat the rejected right path.", "feedback": "key → grasp" }, { "native_step": 240, "action": "insertion_stage", "args": { "object_id": "key", "stage": "next" }, "note": "STATE\n- goal: pickup in progress; handover todo; insertion todo; turn todo.\n- facts: key fell to table at (0.0117,-0.2034,0.7706) when left opened; slot (0.1102,-0.1977,0.765). 75 native steps remain. Native success requires depth 25 mm, xy under 7 mm, upright under 7 degrees and turn alignment under 30 degrees.\n- phase: left approach complete, grasp next; neither arm holds key.\n- blockers: right approach previously unplannable; earlier left presentation slipped 35.5 degrees.\nThe key is clearly exposed on the table under the left wrist. Execute the blade grasp using its measured current pose.", "feedback": "key → verify_grasp" }, { "native_step": 240, "action": "insertion_stage", "args": { "object_id": "key", "stage": "restart", "arm": "left" }, "note": "STATE\n- goal: pickup in progress; handover todo; insertion todo; turn todo.\n- facts: key on table (0.0128,-0.2045,0.7705), slot (0.1102,-0.1977,0.765); 60 native steps remain. Success requires depth 25 mm, xy under 7 mm, upright under 7 degrees, turned alignment under 30 degrees; no homing requirement.\n- phase: left closed at tcp z .9292, far above key; pickup failed, neither arm holds key.\n- blockers: last approach cached the airborne key position before it fell, causing grasp 159 mm too high. Earlier right path unplannable; left presentation slipped.\nThe key remained on the table while the fingers closed in empty space. Reset the pickup target now that the key has settled so approach uses its table pose.", "feedback": "key → approach" }, { "native_step": 252, "action": "insertion_stage", "args": { "object_id": "key", "stage": "next" }, "note": "STATE\n- goal: pickup in progress; handover todo; insertion todo; turn todo.\n- facts: key settled (0.0128,-0.2045,0.7705), slot (0.1102,-0.1977,0.765); 60 native steps remain. Native limits: depth 25 mm, xy <7 mm, upright <7 degrees, turn <30 degrees.\n- phase: left pickup reset to approach; neither arm holds key.\n- blockers: prior grasp used stale airborne target; right approach previously unplannable; previous presentation slipped.\nThe reset is complete and the key is stationary on the table. Approach its refreshed blade grasp region with the left arm.", "feedback": "key → grasp" }, { "native_step": 268, "action": "insertion_stage", "args": { "object_id": "key", "stage": "next" }, "note": "STATE\n- goal: pickup in progress; handover todo; insertion todo; turn todo.\n- facts: key on table (0.0129,-0.2036,0.7706), slot (0.1102,-0.1977,0.765); 48 native steps remain. Required depth 25 mm, xy <7 mm, upright <7 degrees, turn <30 degrees.\n- phase: approach complete, left open tcp (-0.0018,-0.2025,0.8224); neither arm verified holding; grasp next.\n- blockers: previous stale airborne grasp target corrected; right approach unplannable; presentation previously slipped.\nWrist image shows the blade beneath the open left gripper, and the approach completed. Descend and close using the grasp stage.", "feedback": "key → verify_grasp" }, { "native_step": 274, "action": "insertion_stage", "args": { "object_id": "key", "stage": "next" }, "note": "STATE\n- goal: pickup in progress; handover todo; insertion todo; turn todo.\n- facts: key (0.0129,-0.2036,0.7706), slot (0.1102,-0.1977,0.765); 32 native steps remain. Native requirements depth 25 mm, xy <7 mm, upright <7 degrees, turn <30 degrees; no home requirement.\n- phase: left grasp closed to 0.257, verify_grasp next; hold unverified.\n- blockers: prior presentation slipped; right approach unplannable; actual left tcp remains 25 mm above commanded grasp height.\nThe wrist view shows the key near the fingers but simulator position has not risen. Verify grasp before attempting any transfer.", "feedback": "阶段阻止：lift did not prove a stable object-to-wrist grasp; restart；key → verify_grasp" }, { "native_step": 274, "action": "insertion_stage", "args": { "object_id": "key", "stage": "restart", "arm": "right" }, "note": "STATE\n- goal: pickup todo after failed lift; handover todo; insertion todo; turn todo.\n- facts: key remains on table (0.0129,-0.2036,0.7706), slot (0.1102,-0.1977,0.765); 26 native steps remain. Required xy <7 mm, upright <7 degrees, depth 25 mm, turn <30 degrees; success false.\n- phase: neither arm holds key; resetting pickup to right arm.\n- blockers: left lift measured zero object motion and 21.9 mm grasp drift; earlier right approach was unplannable, but left wrist has since moved upward.\nThe left wrist image confirms the key stayed on the table. Switch the pickup arm rather than repeat the failed left grasp geometry.", "feedback": "key → approach" }, { "native_step": 274, "action": "insertion_stage", "args": { "object_id": "key", "stage": "next" }, "note": "STATE\n- goal: pickup in progress; handover todo; insertion todo; turn todo.\n- facts: key on table (0.0129,-0.2036,0.7706), slot (0.1102,-0.1977,0.765); 26 native steps remain. Success false; xy error 97.5 mm, upright error 86.7 degrees.\n- phase: right pickup reset to approach; neither arm holds key.\n- blockers: left grasp produced no lift; previous right approach planning failed before the latest left movement.\nThe reset has selected the right arm without moving the scene. Execute its checked approach using the current geometry.", "feedback": "阶段阻止：planned motion exceeds remaining native budget or 60-step stage allowance；key → approach" }, { "native_step": 274, "action": "insertion_stage", "args": { "object_id": "key", "stage": "restart", "arm": "left" }, "note": "STATE\n- goal: pickup in progress; handover todo; insertion todo; turn todo.\n- facts: key on table (0.0129,-0.2036,0.7706); slot (0.1102,-0.1977,0.765). Native budget 26; success false.\n- phase: neither arm holds key; select nearer left arm for a budget-feasible pickup.\n- blockers: right approach exceeds remaining motion budget; prior left grip missed with 21.9 mm drift and zero lift.\nThe right approach executed no motion because its plan exceeds the budget. Reset to the left arm, which is already above the key, rather than repeat that blocked plan.", "feedback": "key → approach" }, { "native_step": 284, "action": "insertion_stage", "args": { "object_id": "key", "stage": "next" }, "note": "STATE\n- goal: pickup in progress; handover todo; insertion todo; turn todo.\n- facts: key lies at (0.0129,-0.2036,0.7706); slot at (0.1102,-0.1977,0.765). 26 native steps remain; success false.\n- phase: left approach selected, neither arm holds key; verify contact approach.\n- blockers: right approach over budget; earlier left grasp failed to lift with 21.9 mm drift.\nThe left wrist view shows the flat key ahead of the fingertips. Execute the newly selected left approach to re-establish its grasp alignment.", "feedback": "key → grasp" }, { "native_step": 299, "action": "insertion_stage", "args": { "object_id": "key", "stage": "next" }, "note": "STATE\n- goal: pickup in progress; handover todo; insertion todo; turn todo.\n- facts: key remains flat at (0.0129,-0.2036,0.7706), slot (0.1102,-0.1977,0.765); xy error 97.5 mm; success false; 16 native steps remain.\n- phase: left approach completed, gripper open at TCP (-0.0052,-0.2037,0.8145); grasp next; neither arm verified holding.\n- blockers: previous left pickup failed lift; right approach exceeded budget.\nThe wrist image shows the key centered between the open fingers after the checked approach. Proceed with the controller's grasp to establish contact before any transfer.", "feedback": "key → verify_grasp" }, { "native_step": 299, "action": "insertion_stage", "args": { "object_id": "key", "stage": "next" }, "note": "STATE\n- goal: pickup in progress; handover todo; insertion todo; turn todo.\n- facts: key remains at (0.0129,-0.2036,0.7706); slot at (0.1102,-0.1977,0.765); xy error 97.5 mm, upright error 86.68 degrees; success false; one native step remains.\n- phase: left gripper closed; controller requests verify_grasp; no verified holder.\n- blockers: earlier pickup failed to lift and right approach exceeded budget; remaining budget cannot complete transfer and insertion.\nThe left wrist shows closed fingers near the key bow, but the key has not moved. Advance to grasp verification rather than assume a successful pickup.", "feedback": "阶段阻止：planned motion exceeds remaining native budget or 60-step stage allowance；key → verify_grasp" }, { "native_step": 299, "action": "insertion_stage", "args": { "object_id": "key", "stage": "restart", "arm": "right" }, "note": "STATE\n- goal: pickup in progress; handover todo; insertion todo; turn todo.\n- facts: key lies at (0.0129,-0.2036,0.7706), slot at (0.1102,-0.1977,0.765); xy error 97.5 mm versus 7 mm threshold; success false; one native step remains.\n- phase: left fingers closed but grasp unverified; verification blocked without motion; request pickup reset with right arm.\n- blockers: verification exceeds remaining budget; cannot repeat it unchanged or recover without a verified grasp. Earlier left pickups failed to lift.\nThe key remains on the table and the verification motion could not run. Reset the failed pickup with the alternate arm rather than attempt insertion with an unheld key.", "feedback": "key → approach" }, { "native_step": 299, "action": "insertion_stage", "args": { "object_id": "key", "stage": "next" }, "note": "STATE\n- goal: pickup in progress; handover todo; insertion todo; turn todo.\n- facts: key remains on table at (0.0129,-0.2036,0.7706); slot (0.1102,-0.1977,0.765); native success false; one native step and 16 planner turns remain.\n- phase: pickup reset completed without motion; controller now requests right-arm approach; neither arm has a verified grasp.\n- blockers: left verification exceeded remaining motion budget; key is 97.5 mm from slot and 86.68 degrees from upright. Completion is not feasible with the remaining native budget.\nThe reset selected the right arm but left the physical scene stationary. Advance the reset controller to its checked approach, allowing its budget guard to determine whether any movement remains possible.", "feedback": "阶段阻止：planned motion exceeds remaining native budget or 60-step stage allowance；key → approach" }, { "native_step": 299, "action": "insertion_stage", "args": { "object_id": "key", "stage": "release" }, "note": "STATE\n- goal: pickup incomplete; handover todo; insertion todo; turn todo.\n- facts: key lies at (0.0129,-0.2036,0.7706), 97.5 mm from slot; success false; only one native step remains. Both grippers are closed and neither has a verified grasp.\n- phase: right approach was budget-blocked without motion; request opening rather than another infeasible approach.\n- blockers: approach and lift verification require more budget than remains; no held object permits recovery; completion cannot fit remaining budget.\nThe key is supported by the table and no insertion occurred. Request the release stage to leave the unverified contact open rather than repeat the blocked motion.", "feedback": "阶段阻止：expected stage approach; skipping stages is not allowed；key → approach" }, { "native_step": 299, "action": "insertion_stage", "args": { "object_id": "key", "stage": "restart", "arm": "left" }, "note": "STATE\n- goal: pickup in progress; handover, insertion and turn todo.\n- facts: key remains on table at (0.0129,-0.2036,0.7706), slot at (0.1102,-0.1977,0.765); native success false; one native step remains.\n- phase: neither arm has verified grasp; controller expects right approach. Left fingertips remain near the key.\n- blockers: right approach exceeds remaining budget; release was rejected because skipping stages is forbidden. No motion occurred in either attempt.\nThe left wrist view shows the key between nearby fingertips. Switch pickup to that closer arm through the permitted restart operation rather than repeat the blocked right approach or skip stages.", "feedback": "key → approach" }, { "native_step": 299, "action": "insertion_stage", "args": { "object_id": "key", "stage": "next" }, "note": "STATE\n- goal: pickup in progress; handover todo; insertion todo; turn todo.\n- facts: key on table at (0.0129,-0.2036,0.7706); slot at (0.1102,-0.1977,0.765); success false, one native step available.\n- phase: controller restart selected left pickup and expects approach; neither arm holds a verified object.\n- blockers: right approach was budget-blocked; release cannot skip approach; completion is not achievable within remaining budget.\nRestart changed the selected arm to the one closest to the visible key. Execute its required next stage and inspect whether that local approach is feasible.", "feedback": "阶段阻止：planned motion exceeds remaining native budget or 60-step stage allowance；key → approach" }, { "native_step": 299, "action": "insertion_stage", "args": { "object_id": "key", "stage": "grasp" }, "note": "STATE\n- goal: pickup in progress; handover todo; insertion todo; turn todo.\n- facts: native progress is 0/1 stages; success false. Key lies at (0.0129,-0.2036,0.7706); XY error 0.0975 m exceeds 0.007 m, upright error 86.68 degrees exceeds 7 degrees, turn alignment error 135.54 degrees exceeds 30 degrees.\n- phase: left fingertips are near the visible key, but neither arm has a verified grasp; controller expects approach.\n- blockers: only one native step remains; both approaches exceed budget. No unchanged blocked approach will be repeated.\nThe left wrist image shows the key between the fingertips. Request a checked grasp at the current geometry rather than another unaffordable approach; the controller must reject it if prerequisites are unmet.", "feedback": "阶段阻止：expected stage approach; skipping stages is not allowed；key → approach" }, { "native_step": 299, "action": "insertion_stage", "args": { "object_id": "key", "stage": "restart", "arm": "right" }, "note": "STATE\n- goal: pickup in progress; handover, insertion, and turning todo.\n- facts: key remains on table at (0.0129,-0.2036,0.7706). Native success false; XY error 9.75 cm, upright error 86.68 degrees, turn error 135.54 degrees. One native step remains.\n- phase: left approach required; neither arm has verified possession. The grasp request was rejected without motion.\n- blockers: left approach exceeds remaining budget; stages cannot be skipped. Previous right approach also exceeded budget, so completion is not currently feasible.\nThe cameras still show the key resting beneath the closed left fingers. Switch pickup assignment through the permitted restart operation to release the failed left pickup rather than repeat the blocked approach.", "feedback": "key → approach" }, { "native_step": 299, "action": "insertion_stage", "args": { "object_id": "key", "stage": "next" }, "note": "STATE\n- goal: pickup in progress; handover, insertion, turn todo.\n- facts: key at (0.0129,-0.2036,0.7706), slot at (0.1102,-0.1977,0.765). Success false; XY error 0.0975 m, upright error 86.68 degrees, turn error 135.54 degrees. One native step remains.\n- phase: restart reassigned pickup to right; approach is the required next stage; no verified grasp.\n- blockers: prior approaches exceeded budget; grasp skipping was rejected. Restart changed controller assignment but did not move either arm.\nThe key is still flat on the table and right pickup is now selected. Request the required next stage after this reassignment, subject to the controller's remaining-budget check.", "feedback": "阶段阻止：planned motion exceeds remaining native budget or 60-step stage allowance；key → approach" }, { "native_step": 299, "action": "insertion_stage", "args": { "object_id": "key", "stage": "home" }, "note": "STATE\n- goal: pickup incomplete; handover, insertion, and turning todo; native success false.\n- facts: key rests at (0.0129,-0.2036,0.7706), 0.0975 m from slot in XY. Upright error 86.68 degrees; turn error 135.54 degrees. One native step remains; neither arm is home.\n- phase: right approach blocked; no verified possession, no transfer, no insertion.\n- blockers: both arms' approaches exceed remaining budget; skipping grasp was rejected. No successful completion is feasible with current budget.\nThe key remains on the table, and the last approach executed zero steps. Request checked homing rather than repeating the identical blocked pickup, allowing the controller to reject any unsafe or out-of-sequence motion.", "feedback": "阶段阻止：expected stage approach; skipping stages is not allowed；key → approach" }, { "native_step": 299, "action": "insertion_stage", "args": { "object_id": "key", "stage": "restart", "arm": "left" }, "note": "STATE\n- goal: pickup incomplete; handover, insertion, turning todo; eval_success false.\n- facts: key flat at (0.0129,-0.2036,0.7706); slot at (0.1102,-0.1977,0.765). XY error 0.0975 m exceeds 0.007 m. One native step remains.\n- phase: right approach blocked; neither arm has verified grasp.\n- blockers: approach exceeds remaining budget; home and grasp cannot skip approach. No successful completion is currently feasible.\nThe left fingertips are closer to the table key than the right fingertips. Reassign pickup to left through the allowed failed-pickup restart; this changes the approach configuration rather than repeating the blocked right approach.", "feedback": "key → approach" }, { "native_step": 299, "action": "insertion_stage", "args": { "object_id": "key", "stage": "next" }, "note": "STATE\n- goal: pickup in progress; handover, insertion, turning todo; native success false.\n- facts: key flat at (0.0129,-0.2036,0.7706); slot at (0.1102,-0.1977,0.765); XY error 0.0975 m. One native step remains.\n- phase: restart accepted for left arm; expected stage approach; neither arm holds verified key.\n- blockers: right approach exceeded budget; out-of-sequence home and grasp rejected. Overall completion is infeasible within remaining budget.\nThe key remains beside the left fingertips and the controller now selects the left arm. Execute its next checked approach to determine whether this configuration permits any remaining motion.", "feedback": "阶段阻止：planned motion exceeds remaining native budget or 60-step stage allowance；key → approach" }, { "native_step": 299, "action": "insertion_stage", "args": { "object_id": "key", "stage": "release" }, "note": "STATE\n- goal: pickup incomplete; handover, insertion, turning todo; success false.\n- facts: key remains flat at (0.0129,-0.2036,0.7706), 0.0975 m from slot; native budget one step, planner budget five turns.\n- phase: left approach blocked; both grippers closed without verified grasp.\n- blockers: both arms' approaches exceed remaining motion budget; skipping to grasp/home was rejected. Do not repeat either approach.\nThe left wrist image shows the key resting near closed fingers, not lifted. Request release to leave the unheld key free rather than retrying an infeasible approach.", "feedback": "阶段阻止：expected stage approach; skipping stages is not allowed；key → approach" }, { "native_step": 299, "action": "insertion_stage", "args": { "object_id": "key", "stage": "restart", "arm": "right" }, "note": "STATE\n- goal: pickup incomplete; handover, insertion, turning todo; native success false.\n- facts: key remains on table at (0.0129,-0.2036,0.7706); slot distance 0.0975 m exceeds 0.007 m; upright error 86.68 degrees exceeds 7 degrees. One native step remains.\n- phase: no verified grasp; controller expects left approach.\n- blockers: remaining budget prevents approach; skipping to grasp, release, or home is rejected. Recovery is unavailable without a held key.\nNative progress confirms no completed stage. Reset the failed pickup to the right-arm sequence rather than repeat the unchanged blocked left approach; completion is not feasible within the remaining native budget.", "feedback": "key → approach" }, { "native_step": 299, "action": "insertion_stage", "args": { "object_id": "key", "stage": "next" }, "note": "STATE\n- goal: pickup incomplete; handover, insertion, turning todo; native success false.\n- facts: key lies at (0.0129,-0.2036,0.7706), 0.0975 m from slot; upright error 86.68 degrees. One native step and two planner turns remain.\n- phase: right-arm pickup reset accepted; approach is next; neither arm holds a verified key.\n- blockers: earlier approaches exceeded budget and no later stage can bypass pickup.\nThe wrist image shows the key still resting flat. Request the recorded approach after the arm reset, allowing its guard to determine whether any safe progress remains.", "feedback": "阶段阻止：planned motion exceeds remaining native budget or 60-step stage allowance；key → approach" } ], "final_conditions": [ { "id": "c1", "predicate": "is_A_depth_in_B", "parameters": { "label_A": "key", "label_B": "slot", "z_threshold": 0.025 }, "last_native_evaluation": { "value": 1.0, "native_step": 299 }, "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": 299 }, "native_evaluation_at_current_step": true, "measurement": { "available": true, "metric": "xy_distance", "value": 0.09753798350456082, "unit": "m", "operator": "<", "threshold": 0.007, "satisfied": false, "object_xyz": [ 0.012872450053691864, -0.20361313223838806, 0.7705707550048828 ], "target_xyz": [ 0.110232874751091, -0.19773045182228088, 0.7649999856948853 ], "frame": "env_origin", "metric_frame": "env_origin", "reference_point": "root", "error_above_threshold": 0.09053798350456081 } }, { "id": "c3", "predicate": "is_axis_up", "parameters": { "label": "key", "axis": [ 0, 0, 1 ], "label_args": null, "threshold": 7 }, "last_native_evaluation": null, "native_evaluation_at_current_step": false, "measurement": { "available": true, "metric": "axis_angle", "value": 86.68004037549362, "unit": "deg", "operator": "<", "threshold": 7.0, "satisfied": false, "reference_point": "root", "project_plane": null, "error_above_threshold": 79.68004037549362 } }, { "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": 135.53559014368525, "unit": "deg", "operator": "<", "threshold": 30.0, "satisfied": false, "reference_point": "root", "project_plane": null, "error_above_threshold": 105.53559014368525 } } ], "final_home_status": { "left": { "position_error_m": 0.3284626499546271, "rotation_error_deg": 120.8256528851687, "max_joint_error_rad": 2.4552443027521345, "at_home": false }, "right": { "position_error_m": 0.19861792300037706, "rotation_error_deg": 86.74919527267951, "max_joint_error_rad": 2.0760428905487074, "at_home": false } }, "controller": "physicalrsi_v4" }, { "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。", "摆正与抬升合并、管底净空 45 mm；对齐空孔后每段下插最多 8 mm。", "竖直且受孔导向后原地松爪，向上撤离，再检查试管是否仍稳定。", "三根全部释放后再逐臂归位；最终仍要求全部插入和双臂归位的原生判定。" ], "rule_file": "insertion_control.py", "valid": false, "success": false, "termination_reason": "infrastructure_error", "native_steps": 460, "step_lim": 500, "planner_turns": 44, "elapsed_s": 613.0, "seed": 0, "layout_id": 0, "cost_usd": 4.519374, "finding": "原生 460 / 500 步，未完成整项。tube0 在第 147 步满足当时的原生放置条件，tube1 随后完成放置；第三根摆正后约 12.3 mm 抓取偏移触发失效判断。API 实付达到单回合 4.50 美元停止目标，下一次请求被费用保护拒绝，因此本回合标为无效中断，不计作完整评测失败。", "commands": [ { "native_step": 0, "action": "reset", "args": {}, "note": "" }, { "native_step": 32, "action": "insertion_stage", "args": { "object_id": "tube0", "stage": "next", "arm": "right", "hole_index": 4 }, "note": "STATE\n- goal: in progress — insert tube0, tube1, tube2 one by one; todo — all upright within 30 degrees, depth threshold 0.045 m, inside rack, and both arms home (0.15 m/20 degrees).\n- facts: 0/3 placed. Rack at (0,0.0206,0.795), yaw about 6.5 degrees. Tube0 lies front-right (0.152,-0.2203,0.7783), tube1 left (-0.259,-0.110,0.778), tube2 far-right (0.371,-0.107,0.778).\n- phase: approach tube0 with right arm for hole4; neither arm holds anything.\n- blockers: none.\nI see three capped tubes lying around the empty rack. I choose the nearby right arm and a right-side aperture for tube0.", "feedback": "tube0 → grasp" }, { "native_step": 47, "action": "insertion_stage", "args": { "object_id": "tube0", "stage": "next" }, "note": "STATE\n- goal: in progress — insert all three tubes sequentially; todo — each inside rack at depth threshold 0.045 m, upright <30 degrees, then both arms home within 0.15 m/20 degrees.\n- facts: 0/3 placed; tube0 front-right, tube1 left, tube2 far-right; rack (0,0.0206,0.795). Tube0 assigned hole4/right arm.\n- phase: approach complete; right gripper open above tube0 upper body, next grasp; left home.\n- blockers: none.\nThe wrist view centers tube0 between the open jaws, and its root has not moved. Proceed with the recorded grasp.", "feedback": "tube0 → verify_grasp" }, { "native_step": 53, "action": "insertion_stage", "args": { "object_id": "tube0", "stage": "next" }, "note": "STATE\n- goal: in progress — insert three tubes sequentially; todo — all inside rack, depth threshold 0.045 m, upright <30 degrees, both arms home within 0.15 m/20 degrees.\n- facts: 0/3 placed; tube0 front-right assigned right/hole4; tube1 left and tube2 far-right untouched; rack (0,0.0206,0.795).\n- phase: right jaws closed around tube0 upper body; grasp verification next; left home.\n- blockers: none.\nThe right wrist image shows contact below the cap, but the tube remains on the table. Lift and verify that it follows the gripper before orienting.", "feedback": "tube0 → orient" }, { "native_step": 83, "action": "insertion_stage", "args": { "object_id": "tube0", "stage": "next" }, "note": "STATE\n- goal: in progress — insert three tubes sequentially; todo — rack containment, depth 0.045 m, upright <30 degrees for all, both arms home within 0.15 m/20 degrees.\n- facts: 0/3 placed; tube0 right/hole4, lifted to z0.7989; tube1 left and tube2 far-right untouched; rack (0,0.0206,0.795).\n- phase: right holds verified tube0, orient next; left home.\n- blockers: none.\nTube0 followed the lift 0.0206 m with 0.0025 m grasp error, and remains between the jaws. Rotate it cap-up for insertion.", "feedback": "tube0 → align" }, { "native_step": 111, "action": "insertion_stage", "args": { "object_id": "tube0", "stage": "next" }, "note": "STATE\n- goal: in progress — insert three tubes one by one; todo — each contained/deep/upright, arms home (0.15 m/20 degrees).\n- facts: 0/3 placed; tube0 right/hole4 upright 0.578 degrees at (0.1518,-0.2217,0.87); tube1 left and tube2 far-right untouched; rack (0,0.0206,0.795).\n- phase: verified tube0 held right, aligning next; left home.\n- blockers: none.\nThe cap is up and grasp error is below 1 mm. Move the tube above the assigned rack aperture.", "feedback": "tube0 → insert" }, { "native_step": 123, "action": "insertion_stage", "args": { "object_id": "tube0", "stage": "next" }, "note": "STATE\n- goal: in progress — insert three tubes sequentially; todo — all contained, depth 0.045 m, upright <30 degrees, arms home within 0.15 m/20 degrees.\n- facts: 0/3 placed; tube0 held right above hole4, tip (0.0732,0.0113,0.8368); tube1 left/tube2 far-right untouched; rack (0,0.0206,0.795).\n- phase: tube0 aligned; insert next; left home.\n- blockers: none.\nTube0 is visibly above the rack with 0.53 mm lateral error and 0.286 degree tilt. Advance the guided insertion.", "feedback": "tube0 → insert" }, { "native_step": 129, "action": "insertion_stage", "args": { "object_id": "tube0", "stage": "next" }, "note": "STATE\n- goal: in progress — insert three tubes one by one; todo — contained/deep/upright and arms home (0.15 m/20 degrees).\n- facts: 0/3 released; tube0 right/hole4 tip z0.8069, tilt0.21 degrees; tube1 left and tube2 far-right untouched; rack (0,0.0206,0.795).\n- phase: tube0 insertion progressing; left home.\n- blockers: none; previous insert was bounded partial progress, not blocked.\nThe tube descended about 3 cm while remaining aligned. Continue the short guided insertion toward release depth.", "feedback": "tube0 → release" }, { "native_step": 137, "action": "insertion_stage", "args": { "object_id": "tube0", "stage": "next" }, "note": "STATE\n- goal: in progress — insert three tubes sequentially; todo — all contained, depth threshold 0.045 m, upright <30 degrees, arms home within 0.15 m/20 degrees.\n- facts: 0/3 released; tube0 right/hole4 root (0.0726,0.0107,0.7962), tilt0.145 degrees; tube1 left/tube2 far-right untouched; rack (0,0.0206,0.795).\n- phase: tube0 ready for release/settling; left home.\n- blockers: none.\nThe controller completed insertion with submillimetre lateral error. Open in place so the tube can settle deeper.", "feedback": "tube0 → retreat" }, { "native_step": 147, "action": "insertion_stage", "args": { "object_id": "tube0", "stage": "next" }, "note": "STATE\n- goal: in progress — insert three tubes sequentially; done 1/3; todo remaining tubes and arms home (0.15 m/20 degrees).\n- facts: tube0 released in hole4, native depth/containment/upright passed at137, tilt10 degrees; tube1 at(-0.259,-0.110,0.778), tube2 at(0.371,-0.107,0.778); rack (0,0.0206,0.795).\n- phase: right empty, tube0 retreat next; left home.\n- blockers: none.\nTube0 settled and passed native placement checks. Retreat without disturbing its cap.", "feedback": "阶段阻止：released tube did not stay seated and upright；tube0 → retreat" }, { "native_step": 147, "action": "insertion_stage", "args": { "object_id": "tube0", "stage": "home" }, "note": "STATE\n- goal: in progress — three tubes sequentially; done tube0 native placement; todo tube1,tube2 and home.\n- facts: tube0 hole4 root(0.0661,0.0053,0.7715), native containment/depth/up pass at147; tilt10.017 degrees. Tube1 left, tube2 right untouched. 353 native steps remain.\n- phase: right empty after retreat; invoke recorded home before next tube.\n- blockers: controller retreat rejected 9.3 mm drift, but native tube0 placement passes; do not repeat retreat or disturb it.\nThe tube stayed stable and satisfies native thresholds despite the tighter controller check. Use its home stage rather than repeating the blocked retreat.", "feedback": "阶段阻止：expected stage retreat; skipping stages is not allowed；tube0 → retreat" }, { "native_step": 181, "action": "insertion_stage", "args": { "object_id": "tube1", "stage": "next", "arm": "left", "hole_index": 0 }, "note": "STATE\n- goal: insert three tubes sequentially in progress; tube0 native placement done; tube1/tube2 and home todo.\n- facts: tube0 hole4 stable at(0.066,0.005,0.771),10-degree tilt; tube1(-0.259,-0.110,0.778); tube2(0.371,-0.107,0.778). 353 steps remain.\n- phase: both empty; left approaches tube1 for hole0, separated from tube0.\n- blockers: tube0 retreat controller rejects drift despite native pass; home cannot skip retreat. Preserve seated tube rather than repeat block.\nTube1 is accessible on the left and hole0 is clear. Begin its recorded pickup using the nearby left arm.", "feedback": "tube0 → retreat；tube1 → grasp" }, { "native_step": 196, "action": "insertion_stage", "args": { "object_id": "tube1", "stage": "next" }, "note": "STATE\n- goal: three sequential insertions in progress; tube0 native placement done; tube1/tube2/home todo.\n- facts: tube0 stable hole4,10-degree tilt; tube1 left table at(-0.259,-0.110,0.778); tube2 right table. 319 steps remain.\n- phase: left aligned over tube1 upper body, open; next grasp for hole0. Right empty near rack.\n- blockers: tube0 retreat drift rejected; home skip rejected. Preserve it while handling remaining tubes.\nThe left wrist view shows tube1 centered between fingers. Advance to the checked grasp.", "feedback": "tube0 → retreat；tube1 → verify_grasp" }, { "native_step": 202, "action": "insertion_stage", "args": { "object_id": "tube1", "stage": "next" }, "note": "STATE\n- goal: insert three sequentially in progress; tube0 placed; tube1/tube2 and home todo.\n- facts: tube0 native depth/inside/upright passed, hole4; tube1 grasped on left table for hole0; tube2 remains right table. 304 steps left.\n- phase: left closed around tube1 upper body, verification next; right empty by rack.\n- blockers: tube0 retreat drift rejected and home skip rejected; do not disturb native-valid placement.\nFingers contact tube1 below the orange cap. Lift briefly to verify the grasp before carrying it.", "feedback": "tube0 → retreat；tube1 → orient" }, { "native_step": 234, "action": "insertion_stage", "args": { "object_id": "tube1", "stage": "next" }, "note": "STATE\n- goal: sequential insertion of three in progress; tube0 placed; tube1/tube2 and home todo.\n- facts: tube0 hole4 native-valid at 10-degree tilt; tube1 lifted 0.0225m with 0.0005m grasp error; tube2 on right table. 298 steps remain.\n- phase: left verified holding tube1 for hole0; orient next. Right empty near rack.\n- blockers: tube0 retreat drift and home skip rejected; preserve its placement.\nTube1 moved with the left fingers and grasp verification passed. Orient cap upward for insertion.", "feedback": "tube0 → retreat；tube1 → align" }, { "native_step": 259, "action": "insertion_stage", "args": { "object_id": "tube1", "stage": "next" }, "note": "STATE\n- goal: three sequential insertions in progress; tube0 placed; tube1/tube2 and home todo.\n- facts: tube0 hole4 native-valid; tube1 upright 0.34deg, root (-.260,-.110,.870), secure left grasp; tube2 on right table. 266 steps remain.\n- phase: align left-held tube1 to hole0; right empty near rack.\n- blockers: tube0 retreat drift and home skip rejected; preserve placement.\nTube1 is vertical with cap up and the grasp remains stable. Move its tip over the selected leftmost aperture.", "feedback": "tube0 → retreat；tube1 → insert" }, { "native_step": 271, "action": "insertion_stage", "args": { "object_id": "tube1", "stage": "next" }, "note": "STATE\n- goal: three sequential insertions in progress; tube0 placed; tube1/tube2 and home todo.\n- facts: tube0 hole4 native-valid; tube1 tip aligned hole0 within .0002m, upright .10deg, .0119m above entry. Tube2 at (.371,-.107,.778). 241 steps remain.\n- phase: left holds tube1 aligned for insertion; right empty.\n- blockers: tube0 retreat drift and home skip rejected; preserve placement.\nThe tube tip is centered over hole0 and vertical. Execute the guided insertion.", "feedback": "tube0 → retreat；tube1 → insert" }, { "native_step": 277, "action": "insertion_stage", "args": { "object_id": "tube1", "stage": "next" }, "note": "STATE\n- goal: three sequential insertions in progress; tube0 placed; tube1/tube2 and home todo.\n- facts: tube0 hole4 native-valid; tube1 hole0 tip z=.807, upright .08deg, secure left grasp. Tube2 on right table. 229 steps remain.\n- phase: continue tube1 insertion; right empty.\n- blockers: tube0 retreat drift and home skip rejected; preserve placement.\nTube1 has descended smoothly without a block but needs more depth. Continue the bounded insertion stroke.", "feedback": "tube0 → retreat；tube1 → release" }, { "native_step": 285, "action": "insertion_stage", "args": { "object_id": "tube1", "stage": "next" }, "note": "STATE\n- goal: insert three tubes sequentially in progress; tube0 placed, tube1 release pending, tube2 todo; home todo.\n- facts: tube0 hole4 stable; tube1 hole0 upright .08deg, tip z=.7962 and XY error .001m; tube2 on right table. 223 steps remain.\n- phase: left holds tube1 at release depth; right empty.\n- blockers: tube0 retreat drift and home skip rejected; preserve placement.\nThe insertion stage finished with tube1 centered in its aperture. Open in place so it can settle to native depth.", "feedback": "tube0 → retreat；tube1 → retreat" }, { "native_step": 295, "action": "insertion_stage", "args": { "object_id": "tube1", "stage": "next" }, "note": "STATE\n- goal: three sequential insertions: tube0/tube1 done, tube2 todo; home todo.\n- facts: tube0 hole4 depth/in-rack/upright passed; tube1 hole0 settled z=.7707, 1.55deg upright, native placement passed. Tube2 right table. 215 steps remain.\n- phase: both hands open, left ready to retreat from tube1.\n- blockers: tube0 retreat drift and home skip rejected; preserve placement.\nTube1 settled correctly after release. Retreat with open fingers to clear the rack before the last tube.", "feedback": "tube0 → retreat；tube1 → home" }, { "native_step": 295, "action": "insertion_stage", "args": { "object_id": "tube1", "stage": "home" }, "note": "STATE\n- goal: insert three tubes sequentially: tube0/tube1 done, tube2 todo; home todo.\n- facts: tube0 hole4 native placement passes despite .0093m controller drift; tube1 hole0 stable depth .0543m, angle1.54deg. Tube2 right table at [.3714,-.1073,.7783]. 205 steps remain.\n- phase: hands empty; tube1 retreat passed, home phase ready.\n- blockers: tube0 retreat drift and premature home rejected; do not repeat unchanged.\nTube1 is stable and fingers clear. Execute its required home stage, which may defer until the last tube.", "feedback": "tube0 → retreat；tube1 → complete" }, { "native_step": 324, "action": "insertion_stage", "args": { "object_id": "tube2", "stage": "next", "arm": "right", "hole_index": 2 }, "note": "STATE\n- goal: sequential insertion tube0/tube1 done, tube2 todo; both arms home todo.\n- facts: tube0 in hole4 native passes with .0093m controller drift; tube1 in hole0 stable and complete, home deferred. Tube2 lying at [.3714,-.1073,.7783]. 205 steps remain; middle hole2 free.\n- phase: hands empty; approach final tube with right arm.\n- blockers: tube0 retreat drift and premature home rejected; preserve existing placements.\nImages and real_xyz show the remaining tube on the right. Choose right-arm pickup and middle hole2, clear of both inserted tubes.", "feedback": "tube0 → retreat；tube1 → complete；tube2 → grasp" }, { "native_step": 339, "action": "insertion_stage", "args": { "object_id": "tube2", "stage": "next" }, "note": "STATE\n- goal: tube0/tube1 inserted done; tube2 insertion in progress; both arms home todo.\n- facts: tube0 hole4 native passes at 13.8deg tilt; tube1 hole0 stable, home deferred. Tube2 [.3714,-.1073,.7783], selected hole2. 176 native steps remain.\n- phase: right hand open above tube2, approach passed; grasp next. Left empty beside rack.\n- blockers: tube0 controller retreat drift; avoid repeating blocked stage or disturbing placements.\nRight wrist image centers the tube between open fingers and approach succeeded. Close the stock upper-body grasp before verifying lift.", "feedback": "tube0 → retreat；tube1 → complete；tube2 → verify_grasp" }, { "native_step": 345, "action": "insertion_stage", "args": { "object_id": "tube2", "stage": "next" }, "note": "STATE\n- goal: tube0/tube1 insertion done; tube2 in progress; both arms home todo.\n- facts: tube0 hole4 passes native tilt/depth/location; tube1 hole0 stable. Tube2 selected hole2, root [.3713,-.1073,.7783]. 161 steps remain.\n- phase: right fingers closed around tube2 upper body, grasp unverified; left empty. Verify lift next.\n- blockers: tube0 retreat drift previously blocked controller; leave placed tubes undisturbed.\nWrist image shows contact below tube2 cap and gripper is .239. The verification stage tests retention before carrying toward the rack.", "feedback": "tube0 → retreat；tube1 → complete；tube2 → orient" }, { "native_step": 377, "action": "insertion_stage", "args": { "object_id": "tube2", "stage": "next" }, "note": "STATE\n- goal: tube0/tube1 insertion done; tube2 insertion in progress; both arms home todo.\n- facts: tube0 hole4 at 13.8deg tilt; tube1 hole0 stable. Tube2 hole2 selected, lifted 22.7mm with .3mm grasp translation error. 155 native steps remain.\n- phase: right holds verified tube2; orient cap up next. Left empty near rack.\n- blockers: tube0 retreat drift previously blocked; avoid disturbing placed tubes.\nImages show tube2 held horizontally clear of the table, matching its root z=.801. Orienting the verified grasp prepares upright entry.", "feedback": "阶段阻止：object slipped or was lost; restart from its observed pose；tube0 → retreat；tube1 → complete；tube2 → orient" }, { "native_step": 377, "action": "insertion_stage", "args": { "object_id": "tube2", "stage": "restart", "arm": "right" }, "note": "STATE\n- goal: tube0/tube1 inserted done; tube2 insertion in progress; both arms home todo.\n- facts: tube0 hole4 and tube1 hole0 remain stable. Tube2 root [.4116,-.0496,.8733], upright 4.72deg, hole2 selected. 123 native steps remain.\n- phase: right contact with tube2 lost verification during orient; left empty. Restart pickup from current pose.\n- blockers: tube2 orient slipped 12.3mm, verification revoked; cannot recover a nonverified grasp. Tube0 retreat previously drift-blocked.\nAlthough images show tube2 between fingers, the measured slip invalidates the grasp. Restart with the nearby right arm to reacquire its changed pose rather than repeat the blocked orientation.", "feedback": "tube0 → retreat；tube1 → complete；tube2 → approach" }, { "native_step": 377, "action": "insertion_stage", "args": { "object_id": "tube2", "stage": "next" }, "note": "STATE\n- goal: tube0/tube1 insertion done; tube2 insertion in progress; both arms home todo.\n- facts: tube0 hole4 and tube1 hole0 remain inserted. Tube2 root [.4116,-.0496,.8733], cap up, hole2 selected. 123 native steps remain.\n- phase: tube2 restart accepted, approach pending with right arm; left empty.\n- blockers: prior orientation slipped 12.3mm; verification reset, requiring fresh pickup. Tube0 retreat previously drift-blocked.\nRestart changed the controller to approach without motion; images still show tube2 by right fingertips. Approach will reacquire the observed upper body.", "feedback": "阶段阻止：pickup template requires an object lying on the table；tube0 → retreat；tube1 → complete；tube2 → approach" }, { "native_step": 377, "action": "insertion_stage", "args": { "object_id": "tube2", "stage": "verify_grasp" }, "note": "STATE\n- goal: tube0/tube1 inserted done; tube2 insertion in progress; both arms home todo.\n- facts: tube0 hole4 and tube1 hole0 stable. Tube2 remains visibly between closed right fingers, root [.4116,-.0496,.8733], upright 4.72deg; hole2 selected. 123 native steps remain.\n- phase: check current physical tube2 contact directly before any transport; left empty.\n- blockers: orient revoked verification after 12.3mm slip; restart approach now blocks because tube is elevated rather than lying on table. Do not repeat that approach.\nThe wrist image shows an upper-body grasp still present despite stale verification. A measured grasp check can distinguish retained contact from an actual lost object without repeating the incompatible table pickup.", "feedback": "阶段阻止：expected stage approach; skipping stages is not allowed；tube0 → retreat；tube1 → complete；tube2 → approach" }, { "native_step": 388, "action": "insertion_stage", "args": { "object_id": "tube0", "stage": "retreat" }, "note": "STATE\n- goal: tube0/tube1 inserted done; tube2 insertion in progress; both arms home todo.\n- facts: tube0 hole4, tube1 hole0 meet depth; tube2 upright at [.4116,-.0496,.8733] between right fingers. 123 native steps remain.\n- phase: complete deferred tube0 retreat before attempting tube2 pickup again; left empty.\n- blockers: tube2 restart reset phase to approach; table template rejects elevated tube, and direct verify cannot skip stages. Prior tube0 retreat failed drift check before subsequent right-arm movement.\nTube0 remains in the rack after the right arm moved far clear of it. Rechecking its deferred retreat now uses changed physical geometry and may clear the used arm safely.", "feedback": "阶段阻止：released tube did not stay seated and upright；tube0 → retreat；tube1 → complete；tube2 → approach" }, { "native_step": 426, "action": "insertion_stage", "args": { "object_id": "tube2", "stage": "next" }, "note": "STATE\n- goal: tube0/tube1 inserted done under native checks; tube2 todo; both arms home todo.\n- facts: tube0 hole4 tilted 13.8deg, tube1 hole0 upright. Tube2 now lies on table at [.4291,-.0372,.7783]; right gripper open after retreat. 112 native steps remain.\n- phase: right-arm tube2 approach, then verify new pickup.\n- blockers: tube0 retreat geometric check rejects 12.8mm lateral error but native seating passes; no need to repeat. Tube2 prior approach was blocked by elevated pose, now physically changed to table resting.\nTube2 is free and horizontal in the head view, making the normal table pickup appropriate again. Advance its reset approach using the measured resting pose.", "feedback": "tube0 → retreat；tube1 → complete；tube2 → grasp" }, { "native_step": 441, "action": "insertion_stage", "args": { "object_id": "tube2", "stage": "next" }, "note": "STATE\n- goal: tube0/tube1 insertion done by native checks; tube2 in progress; both arms home todo.\n- facts: tube0 hole4, tube1 hole0 remain seated. Tube2 horizontal at [.4319,-.0387,.7781]; right TCP [.3882,-.1173,.8269] above body. 74 native steps remain.\n- phase: approach completed; close right gripper around tube2 then verify lift.\n- blockers: earlier elevated reset resolved by release; tube0 controller retreat check stricter than native placement.\nWrist view shows tube2 between the open fingers after the successful approach. Proceed with the recorded body grasp.", "feedback": "tube0 → retreat；tube1 → complete；tube2 → verify_grasp" }, { "native_step": 447, "action": "insertion_stage", "args": { "object_id": "tube2", "stage": "next" }, "note": "STATE\n- goal: tube0/tube1 inserted done; tube2 insertion in progress; both arms home todo.\n- facts: tube0 hole4 tilted 13.8deg, tube1 hole0 upright; native placements pass. Tube2 at [.4301,-.0375,.7781], right fingers closed to .251 on upper body. 59 native steps remain.\n- phase: verify tube2 lift before orienting for hole2.\n- blockers: earlier tube2 lost grasp repaired with table pickup; tube0 retreat geometry stricter than native checks.\nThe wrist image shows tube2 pinched between the fingers. A checked lift must establish retention before transport.", "feedback": "tube0 → retreat；tube1 → complete；tube2 → orient" }, { "native_step": 447, "action": "insertion_stage", "args": { "object_id": "tube2", "stage": "next" }, "note": "STATE\n- goal: tube0/tube1 insertion done; tube2 insertion in progress; both arms home todo.\n- facts: tube0 in hole4, tube1 hole0; both native placements passed. Tube2 right-held at [.4296,-.0375,.8006], verified lift .0225m with .0005m slip. 53 native steps remain.\n- phase: orient held tube2 cap-up for hole2.\n- blockers: earlier lost grasp repaired; tube0 retreat check stricter than native placement.\nThe tube stayed securely between the fingers during the measured lift. Proceed with upright orientation and rack approach.", "feedback": "阶段阻止：motion guard rejected: plan_failed；tube0 → retreat；tube1 → complete；tube2 → orient" }, { "native_step": 454, "action": "insertion_stage", "args": { "object_id": "tube2", "stage": "recover" }, "note": "STATE\n- goal: tube0/tube1 insertion done; tube2 insertion in progress; both arms home todo.\n- facts: tube0 hole4 and tube1 hole0 pass native placement; tube2 verified right-held at [.4296,-.0375,.8006]. Budget 53 native steps.\n- phase: recover held tube2 to a reachable rack-relative approach for hole2.\n- blockers: orient target x=.5754 rejected for orientation, zero motion; do not repeat that target. Prior lost grasp repaired.\nThe tube remains securely held, but orientation at the outer workspace failed planning. Recovery is appropriate to change the approach geometry without releasing it.", "feedback": "tube0 → retreat；tube1 → complete；tube2 → orient" }, { "native_step": 454, "action": "insertion_stage", "args": { "object_id": "tube2", "stage": "align" }, "note": "STATE\n- goal: tube0/tube1 insertion done; tube2 insertion in progress; both arms home todo.\n- facts: tube0 hole4 and tube1 hole0 passed native placement; tube2 right-held at [.4295,-.0374,.8706], grasp error .0015m. 46 native steps remain.\n- phase: align tube2 with hole2 from elevated recovery pose.\n- blockers: outer-workspace orient rejected; recovery lifted safely but retained orient phase. Avoid repeating outer orientation target.\nThe lifted tube has clear table clearance and remains verified held. Choose rack-relative alignment to bring the upright target into the central workspace.", "feedback": "阶段阻止：expected stage orient; skipping stages is not allowed；tube0 → retreat；tube1 → complete；tube2 → orient" }, { "native_step": 454, "action": "insertion_stage", "args": { "object_id": "tube2", "stage": "next" }, "note": "STATE\n- goal: tube0/tube1 inserted done; tube2 insertion in progress; both arms home todo.\n- facts: placed tubes occupy holes4/0; tube2 verified right-held, root [.4295,-.0374,.8706]. 46 native steps remain.\n- phase: required orientation after recovery lifted wrist by .07m.\n- blockers: alignment cannot skip orient; earlier orientation rejected before elevation recovery.\nThe controller requires orient first. Retry from the changed elevated configuration produced by recovery, rather than the previous low pose.", "feedback": "阶段阻止：motion guard rejected: plan_failed；tube0 → retreat；tube1 → complete；tube2 → orient" }, { "native_step": 457, "action": "insertion_stage", "args": { "object_id": "tube2", "stage": "recover" }, "note": "STATE\n- goal: tube0/tube1 insertion done; tube2 insertion in progress; both arms home todo.\n- facts: tube0 hole4 and tube1 hole0 satisfy placement checks; tube2 verified right-held at [.4295,-.0374,.8706]; 46 native steps remain.\n- phase: recover held tube2 before another orientation attempt.\n- blockers: orient target [.5753,-.0509,.9644] rejected for orientation; align cannot skip orient. Previous recovery raised by .07m.\nThe tube remains firmly held and clear of the rack. A further bounded recovery changes the wrist configuration and height rather than repeating the blocked target.", "feedback": "tube0 → retreat；tube1 → complete；tube2 → orient" }, { "native_step": 457, "action": "insertion_stage", "args": { "object_id": "tube2", "stage": "restart", "arm": "right" }, "note": "STATE\n- goal: tube0/tube1 inserted done; tube2 insertion in progress; both arms home todo.\n- facts: tube0 hole4, tube1 hole0 remain placed; tube2 right-held sideways at [.4294,-.0373,.8705]; 43 native steps remain.\n- phase: reset unusable tube2 pickup to obtain a different grasp transform.\n- blockers: orient rejected for orientation; recovery now holds the same capped height, so repeating it or orient cannot help.\nThe current grasp is mechanically stable but cannot produce a reachable upright pose. Restart the pickup rather than repeating an unchanged blocked orientation.", "feedback": "阶段阻止：restart is only for an unverified or lost grasp；tube0 → retreat；tube1 → complete；tube2 → orient" }, { "native_step": 457, "action": "insertion_stage", "args": { "object_id": "tube2", "stage": "present" }, "note": "STATE\n- goal: tube0/tube1 inserted done; tube2 insertion in progress; both arms home todo.\n- facts: tube0 hole4 and tube1 hole0 are placed; tube2 right-held sideways at [.4294,-.0373,.8705]; 43 native steps remain.\n- phase: seek a supported presentation of held tube2 to improve reachability.\n- blockers: orient unreachable; recover capped at same pose; restart prohibited while grasp verified; align requires orient.\nThe held tube is far to the right and cannot rotate upright there. A presentation, if supported for tubes, would bring it inward before orientation.", "feedback": "阶段阻止：expected stage orient; skipping stages is not allowed；tube0 → retreat；tube1 → complete；tube2 → orient" }, { "native_step": 457, "action": "insertion_stage", "args": { "object_id": "tube2", "stage": "orient", "hole_index": 7 }, "note": "STATE\n- goal: tube0/tube1 inserted done; tube2 insertion in progress; arms home todo.\n- facts: tube0 hole4, tube1 hole0 placed; tube2 right-held at [.4294,-.0373,.8705]; 43 native steps left.\n- phase: orient tube2 toward an unoccupied alternate-row central hole7.\n- blockers: prior orientation failed; restart disallowed for verified grasp; presentation not part of tube sequence; recovery alone insufficient.\nThe controller requires orientation before alignment. I change the selected aperture to hole7 for an alternate rack-relative target rather than retrying the same blocked configuration.", "feedback": "阶段阻止：motion guard rejected: plan_failed；tube0 → retreat；tube1 → complete；tube2 → orient" }, { "native_step": 460, "action": "insertion_stage", "args": { "object_id": "tube2", "stage": "recover", "hole_index": 7 }, "note": "STATE\n- goal: tube0/tube1 insertion done; tube2 insertion in progress; both arms home todo.\n- facts: two tubes remain seated; tube2 verified in right gripper, near [.4294,-.0373,.8705]; 43 native steps remain.\n- phase: checked recovery for newly selected hole7 before orientation.\n- blockers: orient target wrist [.5737,-.0625,.9643] rejected for orientation, not position; presentation/restart unavailable while held.\nThe changed aperture did not resolve the orientation guard. I request held-object recovery with this aperture to obtain any supported clearance change before another attempt.", "feedback": "tube0 → retreat；tube1 → complete；tube2 → orient" }, { "native_step": 460, "action": "insertion_stage", "args": { "object_id": "tube2", "stage": "align", "hole_index": 7 }, "note": "STATE\n- goal: tube0/tube1 inserted done; tube2 insertion in progress; home todo.\n- facts: tube0 hole4, tube1 hole0 seated; tube2 right-held sideways, verified; 40 native steps remain.\n- phase: try rack-relative alignment over alternate hole7.\n- blockers: orientation at far-right pickup position unreachable; recovery preserved pose rather than moving inward; avoid repeating orientation there.\nThe rack is substantially inward of the rejected orient target. I choose alignment to hole7, a changed target from earlier hole2 attempts, to test a reachable combined orientation and position.", "feedback": "阶段阻止：expected stage orient; skipping stages is not allowed；tube0 → retreat；tube1 → complete；tube2 → orient" }, { "native_step": 460, "action": "insertion_stage", "args": { "object_id": "tube2", "stage": "restart", "arm": "left" }, "note": "STATE\n- goal: tube0/tube1 insertion done; tube2 insertion in progress; robot home todo.\n- facts: right holds tube2 sideways at [.4293,-.0373,.8705]; tube0 hole4 and tube1 hole0 seated; 40 native steps left.\n- phase: request alternate-arm pickup recovery after repeated right-arm orientation blockage.\n- blockers: align requires orient; far-right orient failed reachability; recover did not create usable clearance; right-arm restart previously unavailable while held.\nThe controller cannot advance the current right-arm route. I request a restart with the other arm explicitly, rather than repeating the rejected right-arm target." }, { "native_step": 460, "action": "insertion_stage", "args": { "object_id": "tube2", "stage": "handover" }, "note": "STATE\n- goal: tube0/tube1 insertion done; tube2 insertion in progress; home todo.\n- facts: tube0 hole4 and tube1 hole0 seated; tube2 verified right grasp, sideways outside rack; 40 native steps remain.\n- phase: request controller-recommended handover to change the blocked grasp route.\n- blockers: right orient unreachable; align cannot skip orient; restart cannot switch arms during a grasp and explicitly recommends handover.\nThe latest controller error directs use of handover. I request that supported stage to resolve the fixed-arm constraint without repeating the blocked orientation.", "feedback": "阶段阻止：expected stage orient; skipping stages is not allowed；tube0 → retreat；tube1 → complete；tube2 → orient" } ], "final_conditions": [ { "id": "c1", "predicate": "is_A_depth_in_B", "parameters": { "label_A": "tube0", "label_B": "slot", "z_threshold": 0.045 }, "last_native_evaluation": { "value": 1.0, "native_step": 460 }, "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": 460 }, "native_evaluation_at_current_step": true, "measurement": { "available": false, "reason": "numeric_measurement_not_supported" } }, { "id": "c3", "predicate": "is_A_depth_in_B", "parameters": { "label_A": "tube2", "label_B": "slot", "z_threshold": 0.045 }, "last_native_evaluation": { "value": 0.0, "native_step": 460 }, "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": 443 }, "native_evaluation_at_current_step": false, "measurement": { "available": false, "reason": "numeric_measurement_not_supported" } }, { "id": "c5", "predicate": "is_A_in_B", "parameters": { "label_A": "tube1", "label_B": "slot" }, "last_native_evaluation": { "value": 1.0, "native_step": 443 }, "native_evaluation_at_current_step": false, "measurement": { "available": false, "reason": "numeric_measurement_not_supported" } }, { "id": "c6", "predicate": "is_A_in_B", "parameters": { "label_A": "tube2", "label_B": "slot" }, "last_native_evaluation": { "value": 0.0, "native_step": 443 }, "native_evaluation_at_current_step": false, "measurement": { "available": false, "reason": "numeric_measurement_not_supported" } }, { "id": "c7", "predicate": "is_axis_up", "parameters": { "label": "tube0", "axis": [ 0, 1, 0 ], "label_args": null, "threshold": 30 }, "last_native_evaluation": { "value": 1.0, "native_step": 432 }, "native_evaluation_at_current_step": false, "measurement": { "available": true, "metric": "axis_angle", "value": 13.804562912509462, "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": 432 }, "native_evaluation_at_current_step": false, "measurement": { "available": true, "metric": "axis_angle", "value": 1.4571377705107942, "unit": "deg", "operator": "<", "threshold": 30.0, "satisfied": true, "reference_point": "root", "project_plane": null, "error_above_threshold": 0.0 } }, { "id": "c9", "predicate": "is_axis_up", "parameters": { "label": "tube2", "axis": [ 0, 1, 0 ], "label_args": null, "threshold": 30 }, "last_native_evaluation": null, "native_evaluation_at_current_step": false, "measurement": { "available": true, "metric": "axis_angle", "value": 88.4486482624631, "unit": "deg", "operator": "<", "threshold": 30.0, "satisfied": false, "reference_point": "root", "project_plane": null, "error_above_threshold": 58.448648262463095 } }, { "id": "c10", "predicate": "all_robot_back_to_origin", "parameters": { "pos_threshold": 0.15, "rot_threshold": 20 }, "last_native_evaluation": null, "native_evaluation_at_current_step": false, "measurement": { "available": true, "metric": "home_pose", "arms": [ { "arm": "left_arm", "position_error_per_axis_m": [ 0.10146757960319519, 0.2762957066297531, 0.03298884630203247 ], "position_threshold_m": 0.15, "angle_deg": 60.885735942552465, "angle_threshold_deg": 20, "operator": "<=", "satisfied": false }, { "arm": "right_arm", "position_error_per_axis_m": [ 0.08734473586082458, 0.23535416275262833, 0.09794002771377563 ], "position_threshold_m": 0.15, "angle_deg": 93.19431240504436, "angle_threshold_deg": 20, "operator": "<=", "satisfied": false } ], "satisfied": false } } ], "final_home_status": { "left": { "position_error_m": 0.29618111214745696, "rotation_error_deg": 60.88576501919488, "max_joint_error_rad": 1.8865162134170543, "at_home": false }, "right": { "position_error_m": 0.269467871621392, "rotation_error_deg": 93.1943209739521, "max_joint_error_rad": 1.8521032333374035, "at_home": false } }, "controller": "physicalrsi_v4", "interruption_label": "费用保护中断 · 无效" } ], "invalid_attempts": [] }