조립 성공은 아래 실측 결과로만 판정합니다. 단위 검증 통과나 작업 제출은 조립 성공을 뜻하지 않습니다.
이 Codex 세션이 완료된 짧은 실행의 카메라·상태·실패 원인을 보고 다음 도구 계획과 코드를 수정합니다. 별도 유료 API나 로컬 모델은 사용하지 않습니다. 각 worker는 미리 확정한 도구 계획과 관측에 따른 복구 규칙을 실행하고 종료합니다. 완료 callback은 실패 시 다음 파지 후보를 제출하고, 성공 시 다른 개발 seed에서 재확인합니다. 후보 3종을 소진하거나 코드 오류가 생기면 추가 분석 필요 상태로 남깁니다. 기존 조립 policy 실행, IK·충돌 검사·경로 계획, gripper, 복구, 경험 조회 도구를 제공합니다.
RGB뿐 아니라 시뮬레이터의 정확한 부품 pose와 조립 설계를 사용하며, 기존 task policy를 도구로 제공합니다. 따라서 zero-shot·RGB-only·Astra 재현 결과가 아닙니다. 동일 episode 도중 이 세션이 온라인 제어하는 구조는 아닙니다. 실행 중인 worker 원격 제어 없이 완료 후 다음 실험으로 이어갑니다. 충돌 검사는 보수적인 mesh bounding box 기반입니다.
공식 scorer·물리·제어 gain은 그대로입니다. 공식 누적 성공과 종료 시 동시 조립을 분리합니다. 모든 작업은 extra QOS, 한 작업당 독립 episode입니다. 현재 단계는 개발 seed 3101에서 경험 재사용을 검사하는 것이며 held-out 성능 측정이 아닙니다.
이전 Python policy 실험에서는 stool의 동일 코드 재실행이 0/2로 실패했고 drawer도 실패했습니다. 이 페이지는 새 online Agent 실험만 표시합니다.
{
"stool": {
"status": "queued",
"rank": 2,
"verify": false,
"previous": "stool_auto_g1",
"submission": {
"job_id": "134339",
"episode": "stool_auto_g2",
"rank": 2,
"verify": false,
"qos": "extra",
"callback": "134340"
}
},
"drawer": {
"status": "queued",
"rank": 2,
"verify": false,
"previous": "drawer_auto_g1",
"submission": {
"job_id": "134331",
"episode": "drawer_auto_g2",
"rank": 2,
"verify": false,
"qos": "extra",
"callback": "134332"
}
}
}| 실험 | Job | 종료 사유/상태 | 실제 실행 | 조립 판정 | 영상·기록 |
|---|---|---|---|---|---|
| drawer_auto_g0 | 134285 | recovery_budget_exhausted:workspace_blocked | 66개 호출 / 2837 steps | 공식 False / 종료 동시조립 False | 도구 실행 기록[
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "descend",
"steps": 100
},
"step": 100
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "stash_move",
"steps": 100
},
"step": 200
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "checkpoint",
"skill_phase": "recover_open",
"steps": 81
},
"step": 281
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "box_hover",
"steps": 100
},
"step": 381
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "box_push",
"steps": 100
},
"step": 481
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "box_push",
"steps": 100
},
"step": 581
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "box_retreat",
"steps": 100
},
"step": 681
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "descend",
"steps": 100
},
"step": 781
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "rotate",
"steps": 100
},
"step": 881
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "rotate",
"steps": 100
},
"step": 981
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "rotate",
"steps": 100
},
"step": 1081
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "checkpoint",
"skill_phase": "recover_high",
"steps": 37
},
"step": 1118
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "checkpoint",
"skill_phase": "recover_down",
"steps": 96
},
"step": 1214
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "collision_guard",
"contacts": [
[
"panda_hand",
"obstacle_right"
]
],
"skill_phase": "recover_down",
"proposed_command": {
"position": [
0.49941341230873215,
-0.10501422004754148,
0.019656447379486682
],
"quaternion": [
0.6006019378335011,
0.7766492680340314,
-0.012112726306220845,
-0.18959564497708553
],
"gripper": 1,
"phase": "recover_down"
}
},
"step": 1279
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 9,
"displacement_m": 0.03180369752037667
},
"step": 1288
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "collision_guard",
"contacts": [
[
"panda_hand",
"obstacle_right"
]
],
"skill_phase": "recover_down",
"proposed_command": {
"position": [
0.500331674436343,
-0.10498393135196273,
0.019596902634933508
],
"quaternion": [
0.6035039629754027,
0.7738052756038585,
-0.008946262833471651,
-0.19216744391788915
],
"gripper": 1,
"phase": "recover_down"
}
},
"step": 1301
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 9,
"displacement_m": 0.03164296292835635
},
"step": 1310
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "collision_guard",
"contacts": [
[
"panda_hand",
"obstacle_right"
]
],
"skill_phase": "recover_down",
"proposed_command": {
"position": [
0.5009394081994195,
-0.1052264646769854,
0.020120176911146814
],
"quaternion": [
0.6029443984917221,
0.772854746390507,
-0.006673287050864486,
-0.1977601085888084
],
"gripper": 1,
"phase": "recover_down"
}
},
"step": 1320
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 9,
"displacement_m": 0.03138037058079653
},
"step": 1329
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "checkpoint",
"skill_phase": "recover_open",
"steps": 8
},
"step": 1337
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "no_collision_free_grasp",
"target": "drawer_container_bottom",
"skill_phase": "clear",
"proposed_command": {
"position": [
0.47759759426116943,
-0.09353857487440109,
0.16048195958137512
],
"quaternion": [
0.8096002175889452,
0.5428684839619953,
-0.13533176206869127,
-0.17755734559888184
],
"gripper": -1,
"phase": "clear"
}
},
"step": 1362
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 7,
"displacement_m": 0.030462703039724526
},
"step": 1369
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "no_collision_free_grasp",
"target": "drawer_container_bottom",
"skill_phase": "clear",
"proposed_command": {
"position": [
0.4794161319732666,
-0.0926159992814064,
0.1908763349056244
],
"quaternion": [
0.8089748030155859,
0.5471000481966494,
-0.1246586981679785,
-0.17521847596695542
],
"gripper": -1,
"phase": "clear"
}
},
"step": 1369
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 6,
"displacement_m": 0.028047375624987724
},
"step": 1375
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "approach",
"steps": 100
},
"step": 1475
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "approach",
"steps": 100
},
"step": 1575
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "approach",
"steps": 100
},
"step": 1675
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "checkpoint",
"skill_phase": "recover_open",
"steps": 5
},
"step": 1680
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "unwind_turn",
"steps": 100
},
"step": 1780
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "unwind_turn",
"steps": 100
},
"step": 1880
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "no_collision_free_grasp",
"target": "drawer_container_bottom",
"skill_phase": "clear",
"proposed_command": {
"position": [
0.500001072883606,
-1.141718530561775e-05,
0.24000480771064758
],
"quaternion": [
0.5295497800885175,
0.8455500643929644,
-0.02440658037337983,
-0.0634542185180309
],
"gripper": -1,
"phase": "clear"
}
},
"step": 1886
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 7,
"displacement_m": 0.02899924242807384
},
"step": 1893
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "descend",
"steps": 100
},
"step": 1993
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "collision_guard",
"contacts": [
[
"drawer_container_bottom",
"table"
]
],
"skill_phase": "lift",
"proposed_command": {
"position": [
0.4426306486129761,
-0.11212588101625443,
0.04383779668807983
],
"quaternion": [
0.8665972552840786,
0.49879018628092403,
0.008791482279770125,
0.011843016645564123
],
"gripper": 1,
"phase": "lift"
}
},
"step": 2034
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 6,
"displacement_m": 0.030488129774044685
},
"step": 2040
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "collision_guard",
"contacts": [
[
"drawer_container_bottom",
"table"
]
],
"skill_phase": "lift",
"proposed_command": {
"position": [
0.4426306486129761,
-0.11212588101625443,
0.04383779668807983
],
"quaternion": [
0.8665972552840786,
0.49879018628092403,
0.008791482279770125,
0.011843016645564123
],
"gripper": 1,
"phase": "lift"
}
},
"step": 2040
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 6,
"displacement_m": 0.03035826047162774
},
"step": 2046
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "checkpoint",
"skill_phase": "recover_open",
"steps": 24
},
"step": 2070
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "no_collision_free_grasp",
"target": "drawer_container_bottom",
"skill_phase": "clear",
"proposed_command": {
"position": [
0.44436097145080566,
-0.11149553209543228,
0.22359296679496765
],
"quaternion": [
0.8642501169384937,
0.5024321041104021,
0.020366374248594554,
0.01479617960692053
],
"gripper": -1,
"phase": "clear"
}
},
"step": 2087
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 7,
"displacement_m": 0.0317587602385873
},
"step": 2094
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "approach",
"steps": 100
},
"step": 2194
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "approach",
"steps": 100
},
"step": 2294
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "approach",
"steps": 100
},
"step": 2394
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "checkpoint",
"skill_phase": "recover_open",
"steps": 5
},
"step": 2399
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "unwind_turn",
"steps": 100
},
"step": 2499
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "unwind_turn",
"steps": 100
},
"step": 2599
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "no_collision_free_grasp",
"target": "drawer_container_bottom",
"skill_phase": "clear",
"proposed_command": {
"position": [
0.5000044107437134,
-7.921466021798551e-06,
0.24000480771064758
],
"quaternion": [
0.5432090579922485,
0.8379528245819134,
-0.018549011407785546,
-0.049141807721744736
],
"gripper": -1,
"phase": "clear"
}
},
"step": 2605
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 7,
"displacement_m": 0.029095136485852362
},
"step": 2612
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "descend",
"steps": 100
},
"step": 2712
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "collision_guard",
"contacts": [
[
"drawer_container_bottom",
"table"
]
],
"skill_phase": "lift",
"proposed_command": {
"position": [
0.4373924732208252,
-0.10500659793615341,
0.04267896318435668
],
"quaternion": [
0.8792687247142291,
0.47632540543240326,
0.0004677828818819424,
0.000631710570805869
],
"gripper": 1,
"phase": "lift"
}
},
"step": 2748
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 6,
"displacement_m": 0.030641554352352
},
"step": 2754
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "collision_guard",
"contacts": [
[
"drawer_container_bottom",
"table"
]
],
"skill_phase": "lift",
"proposed_command": {
"position": [
0.4373924732208252,
-0.10500659793615341,
0.04267896318435668
],
"quaternion": [
0.8792687247142291,
0.47632540543240326,
0.0004677828818819424,
0.000631710570805869
],
"gripper": 1,
"phase": "lift"
}
},
"step": 2754
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 6,
"displacement_m": 0.030266026598792992
},
"step": 2760
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "checkpoint",
"skill_phase": "recover_open",
"steps": 24
},
"step": 2784
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "no_collision_free_grasp",
"target": "drawer_container_bottom",
"skill_phase": "clear",
"proposed_command": {
"position": [
0.4389963746070862,
-0.1044471338391304,
0.2223060429096222
],
"quaternion": [
0.8771828211156674,
0.4800019749811961,
0.011771744777577782,
0.0031350244977870136
],
"gripper": -1,
"phase": "clear"
}
},
"step": 2801
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 7,
"displacement_m": 0.03178401948669051
},
"step": 2808
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "workspace_blocked",
"skill_phase": "blocked",
"proposed_command": {
"position": [
0.4407055377960205,
-0.10404939949512482,
0.2540415823459625
],
"quaternion": [
0.8767379675891177,
0.4804226868835733,
0.02203325370584565,
0.006254106363430724
],
"gripper": -1,
"phase": "blocked"
}
},
"step": 2808
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 6,
"displacement_m": 0.028735104487619362
},
"step": 2814
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "workspace_blocked",
"skill_phase": "blocked",
"proposed_command": {
"position": [
0.44269269704818726,
-0.10419143736362457,
0.282707542181015
],
"quaternion": [
0.8763434610346843,
0.4806212986936906,
0.029976747336400805,
0.01125611668697516
],
"gripper": -1,
"phase": "blocked"
}
},
"step": 2814
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 6,
"displacement_m": 0.030717347707927896
},
"step": 2820
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "workspace_blocked",
"skill_phase": "blocked",
"proposed_command": {
"position": [
0.44386613368988037,
-0.10448409616947174,
0.31340107321739197
],
"quaternion": [
0.8769228441855891,
0.4792053988473416,
0.033377561655237774,
0.015951471373138702
],
"gripper": -1,
"phase": "blocked"
}
},
"step": 2820
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 6,
"displacement_m": 0.029908501246343828
},
"step": 2826
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "workspace_blocked",
"skill_phase": "blocked",
"proposed_command": {
"position": [
0.44564956426620483,
-0.10472644865512848,
0.3432553708553314
],
"quaternion": [
0.877087664365345,
0.47815955322080417,
0.04013129004643483,
0.021682948162868268
],
"gripper": -1,
"phase": "blocked"
}
},
"step": 2826
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 6,
"displacement_m": 0.030385744549757406
},
"step": 2832
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "workspace_blocked",
"skill_phase": "blocked",
"proposed_command": {
"position": [
0.44706088304519653,
-0.10500871390104294,
0.37360700964927673
],
"quaternion": [
0.877331956126481,
0.47698687637426984,
0.04532476431940747,
0.02679224263457237
],
"gripper": -1,
"phase": "blocked"
}
},
"step": 2832
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 5,
"displacement_m": 0.03113583709114755
},
"step": 2837
}
] |
| drawer_auto_g1 | 134310 | recovery_budget_exhausted:workspace_blocked | 73개 호출 / 3562 steps | 공식 False / 종료 동시조립 False | 도구 실행 기록[
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "descend",
"steps": 100
},
"step": 100
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "stash_move",
"steps": 100
},
"step": 200
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "checkpoint",
"skill_phase": "recover_open",
"steps": 84
},
"step": 284
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "box_hover",
"steps": 100
},
"step": 384
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "box_push",
"steps": 100
},
"step": 484
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "box_push",
"steps": 100
},
"step": 584
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "box_retreat",
"steps": 100
},
"step": 684
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "descend",
"steps": 100
},
"step": 784
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "collision_guard",
"contacts": [
[
"panda_link7",
"drawer_box"
]
],
"skill_phase": "descend",
"proposed_command": {
"position": [
0.4913084916855682,
-0.09339419708296201,
0.01874995296282678
],
"quaternion": [
0.6359052715608358,
0.7717671187613139,
0.0,
0.0
],
"gripper": -1,
"phase": "descend"
}
},
"step": 798
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 9,
"displacement_m": 0.03252795097357506
},
"step": 807
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "lift",
"steps": 100
},
"step": 907
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "rotate",
"steps": 100
},
"step": 1007
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "rotate",
"steps": 100
},
"step": 1107
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "checkpoint",
"skill_phase": "recover_high",
"steps": 92
},
"step": 1199
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "checkpoint",
"skill_phase": "recover_down",
"steps": 96
},
"step": 1295
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "collision_guard",
"contacts": [
[
"panda_hand",
"obstacle_right"
]
],
"skill_phase": "recover_down",
"proposed_command": {
"position": [
0.4990243352596305,
-0.1111481302066376,
0.019101437959470433
],
"quaternion": [
0.5767125141695947,
0.7916918814768366,
0.0063414826153081515,
-0.2014607316627523
],
"gripper": 1,
"phase": "recover_down"
}
},
"step": 1366
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 9,
"displacement_m": 0.0315600697083766
},
"step": 1375
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "collision_guard",
"contacts": [
[
"panda_hand",
"obstacle_right"
]
],
"skill_phase": "recover_down",
"proposed_command": {
"position": [
0.4996411931024738,
-0.11140846826552338,
0.018923529075039396
],
"quaternion": [
0.6000655120846855,
0.7737367601903319,
0.017199204592288842,
-0.20237834493370457
],
"gripper": 1,
"phase": "recover_down"
}
},
"step": 1390
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 9,
"displacement_m": 0.03112682043240488
},
"step": 1399
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "checkpoint",
"skill_phase": "recover_open",
"steps": 10
},
"step": 1409
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "no_collision_free_grasp",
"target": "drawer_container_bottom",
"skill_phase": "clear",
"proposed_command": {
"position": [
0.47514277696609497,
-0.0998699739575386,
0.1582522690296173
],
"quaternion": [
0.7933040589267424,
0.5604433649040679,
-0.12940061627395374,
-0.19956799676622128
],
"gripper": -1,
"phase": "clear"
}
},
"step": 1434
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 7,
"displacement_m": 0.029437273455025472
},
"step": 1441
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "approach",
"steps": 100
},
"step": 1541
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "approach",
"steps": 100
},
"step": 1641
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "approach",
"steps": 100
},
"step": 1741
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "checkpoint",
"skill_phase": "recover_open",
"steps": 12
},
"step": 1753
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "unwind_turn",
"steps": 100
},
"step": 1853
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "unwind_turn",
"steps": 100
},
"step": 1953
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "no_collision_free_grasp",
"target": "drawer_container_bottom",
"skill_phase": "clear",
"proposed_command": {
"position": [
0.4999997615814209,
-1.1733834980987012e-05,
0.24000313878059387
],
"quaternion": [
0.5198763360666281,
0.851274785722518,
-0.025725405521552062,
-0.06631770428604267
],
"gripper": -1,
"phase": "clear"
}
},
"step": 1958
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 7,
"displacement_m": 0.028981407515679774
},
"step": 1965
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "approach",
"steps": 100
},
"step": 2065
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "approach",
"steps": 100
},
"step": 2165
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "approach",
"steps": 100
},
"step": 2265
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "checkpoint",
"skill_phase": "recover_open",
"steps": 5
},
"step": 2270
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "unwind_turn",
"steps": 100
},
"step": 2370
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "unwind_turn",
"steps": 100
},
"step": 2470
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "no_collision_free_grasp",
"target": "drawer_container_bottom",
"skill_phase": "clear",
"proposed_command": {
"position": [
0.49999868869781494,
-1.0827890946529806e-05,
0.24000170826911926
],
"quaternion": [
0.5233225787503689,
0.8494896832007952,
-0.02425091511208771,
-0.06255117762043268
],
"gripper": -1,
"phase": "clear"
}
},
"step": 2474
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 7,
"displacement_m": 0.029005431496110394
},
"step": 2481
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "approach",
"steps": 100
},
"step": 2581
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "approach",
"steps": 100
},
"step": 2681
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "approach",
"steps": 100
},
"step": 2781
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "checkpoint",
"skill_phase": "recover_open",
"steps": 5
},
"step": 2786
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "unwind_turn",
"steps": 100
},
"step": 2886
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "unwind_turn",
"steps": 100
},
"step": 2986
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "no_collision_free_grasp",
"target": "drawer_container_bottom",
"skill_phase": "clear",
"proposed_command": {
"position": [
0.4999988079071045,
-1.0745236068032682e-05,
0.2400018870830536
],
"quaternion": [
0.5233526928919643,
0.8494745064096134,
-0.0241681733269222,
-0.06253735844207507
],
"gripper": -1,
"phase": "clear"
}
},
"step": 2990
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 7,
"displacement_m": 0.029006033175231878
},
"step": 2997
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "approach",
"steps": 100
},
"step": 3097
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "approach",
"steps": 100
},
"step": 3197
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "approach",
"steps": 100
},
"step": 3297
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "checkpoint",
"skill_phase": "recover_open",
"steps": 5
},
"step": 3302
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "unwind_turn",
"steps": 100
},
"step": 3402
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "unwind_turn",
"steps": 100
},
"step": 3502
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "no_collision_free_grasp",
"target": "drawer_container_bottom",
"skill_phase": "clear",
"proposed_command": {
"position": [
0.49999889731407166,
-1.090821751859039e-05,
0.24000176787376404
],
"quaternion": [
0.5233516344304965,
0.8494749470513729,
-0.024172497192527474,
-0.06253855970896878
],
"gripper": -1,
"phase": "clear"
}
},
"step": 3506
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 7,
"displacement_m": 0.0290062913350579
},
"step": 3513
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "workspace_blocked",
"skill_phase": "blocked",
"proposed_command": {
"position": [
0.501107394695282,
0.0001869195984909311,
0.26898619532585144
],
"quaternion": [
0.5276083077861006,
0.8473539276283492,
-0.019925496832214482,
-0.05677824815796213
],
"gripper": -1,
"phase": "blocked"
}
},
"step": 3513
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 6,
"displacement_m": 0.030442411382856895
},
"step": 3519
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "workspace_blocked",
"skill_phase": "blocked",
"proposed_command": {
"position": [
0.5020318627357483,
0.0003126055235043168,
0.2994143068790436
],
"quaternion": [
0.5270258082322972,
0.8481101586375912,
-0.016579264454106426,
-0.05175021026985969
],
"gripper": -1,
"phase": "blocked"
}
},
"step": 3519
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 6,
"displacement_m": 0.029683739374780915
},
"step": 3525
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "workspace_blocked",
"skill_phase": "blocked",
"proposed_command": {
"position": [
0.5033405423164368,
0.0004202871350571513,
0.32906898856163025
],
"quaternion": [
0.5266984873240051,
0.8487642088679905,
-0.01233212038188055,
-0.045121391846725166
],
"gripper": -1,
"phase": "blocked"
}
},
"step": 3525
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 6,
"displacement_m": 0.030122364040877616
},
"step": 3531
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "workspace_blocked",
"skill_phase": "blocked",
"proposed_command": {
"position": [
0.5044711232185364,
0.0005294362781569362,
0.35916993021965027
],
"quaternion": [
0.5262853793221284,
0.8493577709911152,
-0.008548617834022469,
-0.03926827602397877
],
"gripper": -1,
"phase": "blocked"
}
},
"step": 3531
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 6,
"displacement_m": 0.031616149335873395
},
"step": 3537
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "workspace_blocked",
"skill_phase": "blocked",
"proposed_command": {
"position": [
0.5063101053237915,
0.0006653534946963191,
0.3907322585582733
],
"quaternion": [
0.5258481438672278,
0.8500386144707269,
-0.002864668901356527,
-0.030164170337736985
],
"gripper": -1,
"phase": "blocked"
}
},
"step": 3537
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 5,
"displacement_m": 0.029429789709782685
},
"step": 3542
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "workspace_blocked",
"skill_phase": "blocked",
"proposed_command": {
"position": [
0.5077098608016968,
0.0007703060982748866,
0.42012855410575867
],
"quaternion": [
0.525368514424957,
0.8505751307996271,
0.0019234630699439903,
-0.022498248952520276
],
"gripper": -1,
"phase": "blocked"
}
},
"step": 3542
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 5,
"displacement_m": 0.03019388586236318
},
"step": 3547
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "workspace_blocked",
"skill_phase": "blocked",
"proposed_command": {
"position": [
0.5086421370506287,
0.0008710146648809314,
0.4503078758716583
],
"quaternion": [
0.5247596505289323,
0.8510501985622998,
0.004944135903399458,
-0.017788317064629508
],
"gripper": -1,
"phase": "blocked"
}
},
"step": 3547
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 5,
"displacement_m": 0.029528899576816512
},
"step": 3552
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "workspace_blocked",
"skill_phase": "blocked",
"proposed_command": {
"position": [
0.5098544955253601,
0.0009549678070470691,
0.47981175780296326
],
"quaternion": [
0.5241483652927179,
0.8515042396343177,
0.008945715960111325,
-0.011357605897161291
],
"gripper": -1,
"phase": "blocked"
}
},
"step": 3552
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 3,
"displacement_m": 0.016774183397197964
},
"step": 3555
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "workspace_blocked",
"skill_phase": "blocked",
"proposed_command": {
"position": [
0.5115978717803955,
0.0010182884288951755,
0.49649497866630554
],
"quaternion": [
0.5237865420525575,
0.8517369583279187,
0.013066315023613904,
-0.004591687558349939
],
"gripper": -1,
"phase": "blocked"
}
},
"step": 3555
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovery_stalled",
"strategy": "vertical_separation",
"executed_steps": 1
},
"step": 3556
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 2
}
},
"result": {
"status": "recovered",
"strategy": "retreat_from_blocked_approach",
"executed_steps": 6,
"displacement_m": 0.031908133376331284
},
"step": 3562
}
] |
| drawer_auto_g2 | 134331 | 작업 제출됨; 실행/성공 미확인 | — | — | — |
| drawer_r0 | 131966 | review_required:collision_guard | 2개 호출 / 131 steps | 공식 False / 종료 동시조립 False | 도구 실행 기록[
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "descend",
"steps": 100
},
"step": 100
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "collision_guard",
"contacts": [
[
"drawer_container_top",
"table"
]
],
"skill_phase": "lift",
"proposed_command": {
"position": [
0.3806803524494171,
-0.11043621599674225,
0.024747240304946898
],
"quaternion": [
0.6831308599629801,
0.7302950020695377,
0.00116592901696435,
-0.00028058513983964976
],
"gripper": 1,
"phase": "lift"
}
},
"step": 131
}
] |
| drawer_r1 | 132245 | runtime_errorTraceback (most recent call last):
File "/home/nas_main/taewoongkang/repos/Robotics/FurnitureBench/scripts/agent_harness_session_v2/session_run.py", line 69, in main
result = executor.call(call)
File "/home/nas_main/taewoongkang/repos/Robotics/FurnitureBench/scripts/agent_harness_session_v2/executor.py", line 228, in call
elif tool=='run_skill':result=self.run_skill(args['steps'])
File "/home/nas_main/taewoongkang/repos/Robotics/FurnitureBench/scripts/agent_harness_session_v2/executor.py", line 180, in run_skill
command=self.policy.act(self.packet['obs']);phase=str(command.get('phase',''))
File "/home/nas_main/taewoongkang/repos/Robotics/FurnitureBench/results/policy_harness/20260916_native_v9/drawer/round_02/policy.py", line 280, in act
self.box_pose[2] = max(self.clearance, 0.22)
AttributeError: 'Policy' object has no attribute 'clearance'
| 6개 호출 / 478 steps | 공식 False / 종료 동시조립 False | 도구 실행 기록[
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "descend",
"steps": 100
},
"step": 100
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "stash_move",
"steps": 100
},
"step": 200
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "checkpoint",
"skill_phase": "recover_open",
"steps": 81
},
"step": 281
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "box_hover",
"steps": 100
},
"step": 381
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "collision_guard",
"contacts": [
[
"panda_hand",
"drawer_box"
]
],
"skill_phase": "box_push",
"proposed_command": {
"position": [
0.403082326088083,
0.17226298940181728,
0.025
],
"quaternion": [
0.6167758850215257,
0.7871388109195948,
0.0,
0.0
],
"gripper": 1,
"phase": "box_push"
}
},
"step": 470
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 8,
"displacement_m": 0.033577692502932285
},
"step": 478
}
] |
| drawer_r2 | 132453 | environment_terminal_or_step_budget | 53개 호출 / 5000 steps | 공식 False / 종료 동시조립 False | 도구 실행 기록[
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "descend",
"steps": 100
},
"step": 100
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "stash_move",
"steps": 100
},
"step": 200
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "checkpoint",
"skill_phase": "recover_open",
"steps": 87
},
"step": 287
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "box_hover",
"steps": 100
},
"step": 387
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "collision_guard",
"contacts": [
[
"panda_hand",
"drawer_box"
]
],
"skill_phase": "box_push",
"proposed_command": {
"position": [
0.403082326088083,
0.1722416211366653,
0.025
],
"quaternion": [
0.6167758850215257,
0.7871388109195948,
0.0,
0.0
],
"gripper": 1,
"phase": "box_push"
}
},
"step": 476
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 8,
"displacement_m": 0.033570984929561
},
"step": 484
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "collision_guard",
"contacts": [
[
"panda_hand",
"drawer_box"
]
],
"skill_phase": "box_push",
"proposed_command": {
"position": [
0.4031540785926766,
0.17096142178930956,
0.025
],
"quaternion": [
0.6167758850214198,
0.787138810919678,
0.0,
0.0
],
"gripper": 1,
"phase": "box_push"
}
},
"step": 574
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 8,
"displacement_m": 0.032185445702438434
},
"step": 582
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "select",
"steps": 100
},
"step": 682
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "select",
"steps": 100
},
"step": 782
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "select",
"steps": 100
},
"step": 882
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "select",
"steps": 100
},
"step": 982
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "select",
"steps": 100
},
"step": 1082
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "select",
"steps": 100
},
"step": 1182
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "select",
"steps": 100
},
"step": 1282
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "select",
"steps": 100
},
"step": 1382
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "select",
"steps": 100
},
"step": 1482
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "select",
"steps": 100
},
"step": 1582
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "select",
"steps": 100
},
"step": 1682
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "select",
"steps": 100
},
"step": 1782
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "select",
"steps": 100
},
"step": 1882
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "select",
"steps": 100
},
"step": 1982
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "select",
"steps": 100
},
"step": 2082
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "select",
"steps": 100
},
"step": 2182
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "select",
"steps": 100
},
"step": 2282
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "select",
"steps": 100
},
"step": 2382
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "select",
"steps": 100
},
"step": 2482
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "select",
"steps": 100
},
"step": 2582
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "select",
"steps": 100
},
"step": 2682
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "select",
"steps": 100
},
"step": 2782
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "select",
"steps": 100
},
"step": 2882
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "select",
"steps": 100
},
"step": 2982
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "select",
"steps": 100
},
"step": 3082
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "select",
"steps": 100
},
"step": 3182
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "select",
"steps": 100
},
"step": 3282
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "select",
"steps": 100
},
"step": 3382
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "select",
"steps": 100
},
"step": 3482
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "select",
"steps": 100
},
"step": 3582
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "select",
"steps": 100
},
"step": 3682
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "select",
"steps": 100
},
"step": 3782
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "select",
"steps": 100
},
"step": 3882
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "select",
"steps": 100
},
"step": 3982
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "select",
"steps": 100
},
"step": 4082
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "select",
"steps": 100
},
"step": 4182
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "select",
"steps": 100
},
"step": 4282
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "select",
"steps": 100
},
"step": 4382
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "select",
"steps": 100
},
"step": 4482
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "select",
"steps": 100
},
"step": 4582
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "select",
"steps": 100
},
"step": 4682
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "select",
"steps": 100
},
"step": 4782
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "select",
"steps": 100
},
"step": 4882
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "select",
"steps": 100
},
"step": 4982
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "select",
"steps": 100
},
"step": 5000
}
] |
| drawer_r3 | 133676 | recovery_budget_exhausted:collision_guard | 21개 호출 / 1279 steps | 공식 False / 종료 동시조립 False | 도구 실행 기록[
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "descend",
"steps": 100
},
"step": 100
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "stash_move",
"steps": 100
},
"step": 200
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "checkpoint",
"skill_phase": "recover_open",
"steps": 81
},
"step": 281
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "box_hover",
"steps": 100
},
"step": 381
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "box_push",
"steps": 100
},
"step": 481
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "box_push",
"steps": 100
},
"step": 581
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "box_retreat",
"steps": 100
},
"step": 681
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "descend",
"steps": 100
},
"step": 781
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "rotate",
"steps": 100
},
"step": 881
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "rotate",
"steps": 100
},
"step": 981
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "rotate",
"steps": 100
},
"step": 1081
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "checkpoint",
"skill_phase": "recover_high",
"steps": 37
},
"step": 1118
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "checkpoint",
"skill_phase": "recover_down",
"steps": 96
},
"step": 1214
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "collision_guard",
"contacts": [
[
"panda_hand",
"obstacle_right"
]
],
"skill_phase": "recover_down",
"proposed_command": {
"position": [
0.49941341230873215,
-0.10501422004754148,
0.019656447379486682
],
"quaternion": [
0.6006019378335011,
0.7766492680340314,
-0.012112726306220845,
-0.18959564497708553
],
"gripper": 1,
"phase": "recover_down"
}
},
"step": 1279
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "collision_guard",
"contacts": [
[
"drawer_container_bottom",
"obstacle_right"
]
],
"strategy": "vertical_separation",
"executed_steps": 0
},
"step": 1279
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 2
}
},
"result": {
"status": "collision_guard",
"contacts": [
[
"drawer_container_bottom",
"obstacle_right"
],
[
"drawer_container_bottom",
"table"
]
],
"strategy": "retreat_from_blocked_approach",
"executed_steps": 0
},
"step": 1279
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 3
}
},
"result": {
"status": "start_in_collision",
"contacts": [
[
"drawer_container_bottom",
"obstacle_right"
],
[
"drawer_container_bottom",
"table"
]
],
"path": [],
"strategy": "planned_retreat"
},
"step": 1279
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "collision_guard",
"contacts": [
[
"panda_hand",
"obstacle_right"
]
],
"skill_phase": "recover_down",
"proposed_command": {
"position": [
0.49941341230873215,
-0.10501422004754148,
0.019656447379486682
],
"quaternion": [
0.6006019378335011,
0.7766492680340314,
-0.012112726306220845,
-0.18959564497708553
],
"gripper": 1,
"phase": "recover_down"
}
},
"step": 1279
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "collision_guard",
"contacts": [
[
"drawer_container_bottom",
"obstacle_right"
]
],
"strategy": "vertical_separation",
"executed_steps": 0
},
"step": 1279
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 2
}
},
"result": {
"status": "collision_guard",
"contacts": [
[
"drawer_container_bottom",
"obstacle_right"
],
[
"drawer_container_bottom",
"table"
]
],
"strategy": "retreat_from_blocked_approach",
"executed_steps": 0
},
"step": 1279
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 3
}
},
"result": {
"status": "start_in_collision",
"contacts": [
[
"drawer_container_bottom",
"obstacle_right"
],
[
"drawer_container_bottom",
"table"
]
],
"path": [],
"strategy": "planned_retreat"
},
"step": 1279
}
] |
| drawer_r4 | 133688 | environment_terminal_or_step_budget | 71개 호출 / 5000 steps | 공식 False / 종료 동시조립 False | 도구 실행 기록[
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "descend",
"steps": 100
},
"step": 100
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "stash_move",
"steps": 100
},
"step": 200
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "checkpoint",
"skill_phase": "recover_open",
"steps": 87
},
"step": 287
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "box_hover",
"steps": 100
},
"step": 387
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "box_push",
"steps": 100
},
"step": 487
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "box_push",
"steps": 100
},
"step": 587
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "box_retreat",
"steps": 100
},
"step": 687
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "descend",
"steps": 100
},
"step": 787
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "rotate",
"steps": 100
},
"step": 887
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "rotate",
"steps": 100
},
"step": 987
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "rotate",
"steps": 100
},
"step": 1087
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "checkpoint",
"skill_phase": "recover_high",
"steps": 38
},
"step": 1125
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "checkpoint",
"skill_phase": "recover_down",
"steps": 96
},
"step": 1221
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "collision_guard",
"contacts": [
[
"panda_hand",
"obstacle_right"
]
],
"skill_phase": "recover_down",
"proposed_command": {
"position": [
0.49918143340463017,
-0.1048105269235545,
0.019019058641171392
],
"quaternion": [
0.5998774226782851,
0.7777322206471633,
-0.008125899342428041,
-0.18765297889446603
],
"gripper": 1,
"phase": "recover_down"
}
},
"step": 1286
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 9,
"displacement_m": 0.03183571720935191
},
"step": 1295
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "collision_guard",
"contacts": [
[
"panda_hand",
"obstacle_right"
]
],
"skill_phase": "recover_down",
"proposed_command": {
"position": [
0.500080001553931,
-0.1049220503914079,
0.019093698961105694
],
"quaternion": [
0.604124788988191,
0.7736966239175553,
-0.004815798712494071,
-0.1907972262673426
],
"gripper": 1,
"phase": "recover_down"
}
},
"step": 1308
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 9,
"displacement_m": 0.03155736303785584
},
"step": 1317
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "collision_guard",
"contacts": [
[
"panda_hand",
"obstacle_right"
]
],
"skill_phase": "recover_down",
"proposed_command": {
"position": [
0.5004597242888853,
-0.1049929936601821,
0.019141553043549506
],
"quaternion": [
0.6045102503522204,
0.7724978583548477,
-5.379406014284879e-06,
-0.19445929143996057
],
"gripper": 1,
"phase": "recover_down"
}
},
"step": 1327
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 9,
"displacement_m": 0.03132501644631342
},
"step": 1336
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "checkpoint",
"skill_phase": "recover_open",
"steps": 8
},
"step": 1344
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "approach",
"steps": 100
},
"step": 1444
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "approach",
"steps": 100
},
"step": 1544
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "approach",
"steps": 100
},
"step": 1644
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "checkpoint",
"skill_phase": "recover_open",
"steps": 43
},
"step": 1687
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "unwind_turn",
"steps": 100
},
"step": 1787
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "select",
"steps": 100
},
"step": 1887
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "approach",
"steps": 100
},
"step": 1987
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "approach",
"steps": 100
},
"step": 2087
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "approach",
"steps": 100
},
"step": 2187
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "checkpoint",
"skill_phase": "recover_open",
"steps": 5
},
"step": 2192
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "unwind_turn",
"steps": 100
},
"step": 2292
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "unwind_turn",
"steps": 100
},
"step": 2392
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "descend",
"steps": 100
},
"step": 2492
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "collision_guard",
"contacts": [
[
"panda_hand",
"drawer_box"
]
],
"skill_phase": "descend",
"proposed_command": {
"position": [
0.46261618776500213,
-0.08533091915101469,
0.06349934411048874
],
"quaternion": [
0.8621625580074566,
0.5066317435475585,
0.0,
-0.0
],
"gripper": -1,
"phase": "descend"
}
},
"step": 2496
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 8,
"displacement_m": 0.028334878852103198
},
"step": 2504
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "approach",
"steps": 100
},
"step": 2604
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "approach",
"steps": 100
},
"step": 2704
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "collision_guard",
"contacts": [
[
"panda_link7",
"drawer_box"
]
],
"skill_phase": "descend",
"proposed_command": {
"position": [
0.4514518348672585,
-0.09971612392569766,
0.011493237296733523
],
"quaternion": [
-0.5066317435475586,
0.8621625580074566,
0.0,
0.0
],
"gripper": -1,
"phase": "descend"
}
},
"step": 2796
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 9,
"displacement_m": 0.03254100437495258
},
"step": 2805
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "collision_guard",
"contacts": [
[
"panda_hand",
"drawer_box"
]
],
"skill_phase": "clear",
"proposed_command": {
"position": [
0.45389240980148315,
-0.09799810498952866,
0.06666797399520874
],
"quaternion": [
-0.5089052823631448,
0.8606893080696947,
-0.0034133506594677325,
0.014753900998499618
],
"gripper": -1,
"phase": "clear"
}
},
"step": 2805
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 6,
"displacement_m": 0.02915651184084343
},
"step": 2811
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "approach",
"steps": 100
},
"step": 2911
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "approach",
"steps": 100
},
"step": 3011
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "collision_guard",
"contacts": [
[
"panda_hand",
"drawer_box"
]
],
"skill_phase": "descend",
"proposed_command": {
"position": [
0.47458207490194004,
-0.0713922427256176,
0.06350143027305588
],
"quaternion": [
0.8621625064110369,
0.5066318313519579,
0.0,
0.0
],
"gripper": -1,
"phase": "descend"
}
},
"step": 3095
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 8,
"displacement_m": 0.028356962611472677
},
"step": 3103
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "collision_guard",
"contacts": [
[
"panda_hand",
"drawer_box"
]
],
"skill_phase": "descend",
"proposed_command": {
"position": [
0.46261618776500213,
-0.08533091915101469,
0.06332005333900437
],
"quaternion": [
0.8621625064110369,
0.5066318313519579,
0.0,
-0.0
],
"gripper": -1,
"phase": "descend"
}
},
"step": 3158
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 8,
"displacement_m": 0.028281690931509663
},
"step": 3166
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "approach",
"steps": 100
},
"step": 3266
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "approach",
"steps": 100
},
"step": 3366
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "approach",
"steps": 100
},
"step": 3466
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "checkpoint",
"skill_phase": "recover_open",
"steps": 23
},
"step": 3489
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "unwind_turn",
"steps": 100
},
"step": 3589
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "unwind_turn",
"steps": 100
},
"step": 3689
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "descend",
"steps": 100
},
"step": 3789
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "collision_guard",
"contacts": [
[
"panda_hand",
"drawer_box"
]
],
"skill_phase": "descend",
"proposed_command": {
"position": [
0.4626161725636791,
-0.08533093526106829,
0.06349976134300217
],
"quaternion": [
0.8621625580074566,
0.5066317435475585,
0.0,
-0.0
],
"gripper": -1,
"phase": "descend"
}
},
"step": 3793
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 8,
"displacement_m": 0.028336374401585308
},
"step": 3801
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "approach",
"steps": 100
},
"step": 3901
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "approach",
"steps": 100
},
"step": 4001
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "collision_guard",
"contacts": [
[
"panda_link7",
"drawer_box"
]
],
"skill_phase": "descend",
"proposed_command": {
"position": [
0.4514518271301906,
-0.0997161448356049,
0.011493193036966689
],
"quaternion": [
-0.5066318313519579,
0.8621625064110369,
0.0,
0.0
],
"gripper": -1,
"phase": "descend"
}
},
"step": 4093
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 9,
"displacement_m": 0.03254088301948142
},
"step": 4102
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "collision_guard",
"contacts": [
[
"panda_hand",
"drawer_box"
]
],
"skill_phase": "blocked",
"proposed_command": {
"position": [
0.4538932144641876,
-0.0979982241988182,
0.06666392087936401
],
"quaternion": [
-0.5089057383023567,
0.8606890343072697,
-0.0034137742710959973,
0.014754046610289789
],
"gripper": -1,
"phase": "blocked"
}
},
"step": 4102
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 6,
"displacement_m": 0.029156521474480127
},
"step": 4108
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "blocked",
"steps": 100
},
"step": 4208
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "blocked",
"steps": 100
},
"step": 4308
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "blocked",
"steps": 100
},
"step": 4408
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "blocked",
"steps": 100
},
"step": 4508
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "blocked",
"steps": 100
},
"step": 4608
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "blocked",
"steps": 100
},
"step": 4708
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "blocked",
"steps": 100
},
"step": 4808
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "blocked",
"steps": 100
},
"step": 4908
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "blocked",
"steps": 100
},
"step": 5000
}
] |
| stool_auto_g0 | 134287 | recovery_budget_exhausted:collision_guard | 63개 호출 / 2728 steps | 공식 False / 종료 동시조립 False | 도구 실행 기록[
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "descend",
"steps": 100
},
"step": 100
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "rotate_clear",
"steps": 100
},
"step": 200
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "rotate_clear",
"steps": 100
},
"step": 300
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "checkpoint",
"skill_phase": "recover_lift",
"steps": 9
},
"step": 309
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "checkpoint",
"skill_phase": "recover_return",
"steps": 11
},
"step": 320
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "checkpoint",
"skill_phase": "recover_open",
"steps": 86
},
"step": 406
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "no_collision_free_grasp",
"target": "stool_leg3",
"skill_phase": "pickup_clear",
"proposed_command": {
"position": [
0.4888738989830017,
0.007639430463314056,
0.2577936351299286
],
"quaternion": [
0.9589218683388497,
0.2117259675108269,
0.09439637536868388,
-0.1634940042337598
],
"gripper": -1,
"phase": "pickup_clear"
}
},
"step": 427
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 6,
"displacement_m": 0.03134244947093441
},
"step": 433
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "close",
"steps": 100
},
"step": 533
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "rotate_clear",
"steps": 100
},
"step": 633
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "checkpoint",
"skill_phase": "recover_lift",
"steps": 85
},
"step": 718
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "checkpoint",
"skill_phase": "recover_return",
"steps": 56
},
"step": 774
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "checkpoint",
"skill_phase": "recover_open",
"steps": 86
},
"step": 860
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "pregrasp",
"steps": 100
},
"step": 960
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "lift",
"steps": 100
},
"step": 1060
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "rotate_clear",
"steps": 100
},
"step": 1160
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "checkpoint",
"skill_phase": "recover_lift",
"steps": 63
},
"step": 1223
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "checkpoint",
"skill_phase": "recover_return",
"steps": 56
},
"step": 1279
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "checkpoint",
"skill_phase": "recover_open",
"steps": 86
},
"step": 1365
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "descend",
"steps": 100
},
"step": 1465
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "rotate_clear",
"steps": 100
},
"step": 1565
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "rotate_clear",
"steps": 100
},
"step": 1665
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "collision_guard",
"contacts": [
[
"panda_link7",
"obstacle_right"
]
],
"skill_phase": "insert",
"proposed_command": {
"position": [
0.5738546979897722,
-0.012810553764672767,
0.08450523111891942
],
"quaternion": [
0.5893717202146517,
0.4995402933314606,
0.36186128353267394,
-0.5216865747070998
],
"gripper": 1,
"phase": "insert"
}
},
"step": 1726
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 8,
"displacement_m": 0.028450016840916376
},
"step": 1734
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "collision_guard",
"contacts": [
[
"panda_link7",
"obstacle_right"
]
],
"skill_phase": "insert",
"proposed_command": {
"position": [
0.5738399756300969,
-0.01281054195127704,
0.08335713670471133
],
"quaternion": [
0.5894968807101448,
0.49946747706686023,
0.3617893625690931,
-0.5216647621963016
],
"gripper": 1,
"phase": "insert"
}
},
"step": 1746
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 8,
"displacement_m": 0.028251087279064568
},
"step": 1754
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "collision_guard",
"contacts": [
[
"panda_link7",
"obstacle_right"
]
],
"skill_phase": "insert",
"proposed_command": {
"position": [
0.5738132115236416,
-0.012808075032585823,
0.08401645820277391
],
"quaternion": [
0.5897917029969466,
0.4996724897824245,
0.36144328601259296,
-0.5213750099755579
],
"gripper": 1,
"phase": "insert"
}
},
"step": 1765
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 8,
"displacement_m": 0.02822851659778039
},
"step": 1773
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "collision_guard",
"contacts": [
[
"panda_link7",
"obstacle_right"
]
],
"skill_phase": "insert",
"proposed_command": {
"position": [
0.5738073576975815,
-0.012812827895749224,
0.08423120889215081
],
"quaternion": [
0.5893773193240264,
0.4994988956946342,
0.3618863944314395,
-0.5217024690296934
],
"gripper": 1,
"phase": "insert"
}
},
"step": 1784
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 8,
"displacement_m": 0.0281779977304189
},
"step": 1792
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "collision_guard",
"contacts": [
[
"panda_link7",
"obstacle_right"
]
],
"skill_phase": "insert",
"proposed_command": {
"position": [
0.5737868764276223,
-0.012811389019494376,
0.08430622837417161
],
"quaternion": [
0.5896592222595712,
0.49953422383705015,
0.36159874526555214,
-0.5215495261642287
],
"gripper": 1,
"phase": "insert"
}
},
"step": 1803
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 8,
"displacement_m": 0.028215164784023847
},
"step": 1811
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "collision_guard",
"contacts": [
[
"panda_link7",
"obstacle_right"
]
],
"skill_phase": "insert",
"proposed_command": {
"position": [
0.5737699462553761,
-0.012812668099463066,
0.08433377910044738
],
"quaternion": [
0.5895858183775499,
0.49951301825401406,
0.3616658865480171,
-0.5216062632582901
],
"gripper": 1,
"phase": "insert"
}
},
"step": 1822
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 8,
"displacement_m": 0.028188400234715735
},
"step": 1830
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "collision_guard",
"contacts": [
[
"panda_link7",
"obstacle_right"
]
],
"skill_phase": "insert",
"proposed_command": {
"position": [
0.5737455446435321,
-0.01281140217084201,
0.08429525281330864
],
"quaternion": [
0.5899053192631813,
0.4997414057215657,
0.36127254543008597,
-0.5212987527617
],
"gripper": 1,
"phase": "insert"
}
},
"step": 1841
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 8,
"displacement_m": 0.028177179560874392
},
"step": 1849
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "collision_guard",
"contacts": [
[
"panda_link7",
"obstacle_right"
]
],
"skill_phase": "insert",
"proposed_command": {
"position": [
0.5737324082823874,
-0.012811837380848607,
0.08419108467913965
],
"quaternion": [
0.5897692995742179,
0.4997079286504459,
0.3614174345240438,
-0.521384308687628
],
"gripper": 1,
"phase": "insert"
}
},
"step": 1860
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 8,
"displacement_m": 0.02820607035293648
},
"step": 1868
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "collision_guard",
"contacts": [
[
"panda_link7",
"obstacle_right"
]
],
"skill_phase": "insert",
"proposed_command": {
"position": [
0.5737221343827643,
-0.012816806170165541,
0.08410633005173886
],
"quaternion": [
0.5893795777334966,
0.49950674679915436,
0.3618720682537565,
-0.5217023379960639
],
"gripper": 1,
"phase": "insert"
}
},
"step": 1879
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 8,
"displacement_m": 0.028201170267752235
},
"step": 1887
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "collision_guard",
"contacts": [
[
"panda_link7",
"obstacle_right"
]
],
"skill_phase": "insert",
"proposed_command": {
"position": [
0.5737035432231077,
-0.012815022456205596,
0.08395226749271024
],
"quaternion": [
0.5896316593275525,
0.49951157591124146,
0.3616532505072206,
-0.5215645868412337
],
"gripper": 1,
"phase": "insert"
}
},
"step": 1898
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 8,
"displacement_m": 0.02816749471204971
},
"step": 1906
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "collision_guard",
"contacts": [
[
"panda_link7",
"obstacle_right"
]
],
"skill_phase": "insert",
"proposed_command": {
"position": [
0.5736848454311171,
-0.012813621252700183,
0.08376283443947549
],
"quaternion": [
0.589781806186106,
0.4996228685197405,
0.3614675915345347,
-0.5214169067207001
],
"gripper": 1,
"phase": "insert"
}
},
"step": 1917
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 8,
"displacement_m": 0.02819178208307513
},
"step": 1925
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "collision_guard",
"contacts": [
[
"panda_link7",
"obstacle_right"
]
],
"skill_phase": "insert",
"proposed_command": {
"position": [
0.5736654271314485,
-0.012815128632243862,
0.08365337646702947
],
"quaternion": [
0.589837528313243,
0.49960780558928825,
0.36141348772556364,
-0.5214058128536968
],
"gripper": 1,
"phase": "insert"
}
},
"step": 1936
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 8,
"displacement_m": 0.028227451276739857
},
"step": 1944
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "checkpoint",
"skill_phase": "recover_lift",
"steps": 5
},
"step": 1949
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "checkpoint",
"skill_phase": "recover_return",
"steps": 11
},
"step": 1960
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "checkpoint",
"skill_phase": "recover_open",
"steps": 86
},
"step": 2046
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "descend",
"steps": 100
},
"step": 2146
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "collision_guard",
"contacts": [
[
"panda_hand",
"stool_leg2"
]
],
"skill_phase": "descend",
"proposed_command": {
"position": [
0.4923911852052921,
0.13244168781186386,
0.005499618331037347
],
"quaternion": [
0.9721901427743713,
0.23419292536784214,
0.0,
0.0
],
"gripper": -1,
"phase": "descend"
}
},
"step": 2195
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 8,
"displacement_m": 0.030989638409231645
},
"step": 2203
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "collision_guard",
"contacts": [
[
"panda_hand",
"stool_leg2"
]
],
"skill_phase": "descend",
"proposed_command": {
"position": [
0.4817075102420758,
0.12697741452591882,
0.005499780855238057
],
"quaternion": [
0.9721901070500076,
0.23419307366806238,
0.0,
0.0
],
"gripper": -1,
"phase": "descend"
}
},
"step": 2285
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 8,
"displacement_m": 0.030969771706117363
},
"step": 2293
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "descend",
"steps": 100
},
"step": 2393
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "rotate_clear",
"steps": 100
},
"step": 2493
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "rotate_clear",
"steps": 100
},
"step": 2593
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "collision_guard",
"contacts": [
[
"panda_link7",
"stool_leg1"
]
],
"skill_phase": "insert",
"proposed_command": {
"position": [
0.563297038279558,
-0.0008878175357989321,
0.07716315375938984
],
"quaternion": [
0.5692369445928726,
0.533101378861485,
0.45136765788744304,
-0.4336351671391036
],
"gripper": 1,
"phase": "insert"
}
},
"step": 2675
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 9,
"displacement_m": 0.030594975584806457
},
"step": 2684
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "collision_guard",
"contacts": [
[
"panda_link7",
"stool_leg1"
]
],
"skill_phase": "insert",
"proposed_command": {
"position": [
0.5498853634587165,
0.002443049858652369,
0.08428925381315899
],
"quaternion": [
0.5565902692488777,
0.5542499780952287,
0.43906298931784926,
-0.43616272808457
],
"gripper": 1,
"phase": "insert"
}
},
"step": 2699
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 8,
"displacement_m": 0.0285230393050943
},
"step": 2707
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "collision_guard",
"contacts": [
[
"panda_link7",
"stool_leg1"
]
],
"skill_phase": "insert",
"proposed_command": {
"position": [
0.5489103967560677,
0.0017119437075999683,
0.08524494538429751
],
"quaternion": [
0.5524492700900314,
0.5572031445670248,
0.43685169274846763,
-0.4398693649305543
],
"gripper": 1,
"phase": "insert"
}
},
"step": 2720
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 8,
"displacement_m": 0.028851595754147204
},
"step": 2728
}
] |
| stool_auto_g1 | 134314 | environment_terminal_or_step_budget | 62개 호출 / 5000 steps | 공식 False / 종료 동시조립 False | 도구 실행 기록[
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "descend",
"steps": 100
},
"step": 100
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "rotate_clear",
"steps": 100
},
"step": 200
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "rotate_clear",
"steps": 100
},
"step": 300
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "checkpoint",
"skill_phase": "recover_lift",
"steps": 9
},
"step": 309
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "checkpoint",
"skill_phase": "recover_return",
"steps": 11
},
"step": 320
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "checkpoint",
"skill_phase": "recover_open",
"steps": 86
},
"step": 406
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "no_collision_free_grasp",
"target": "stool_leg3",
"skill_phase": "pickup_clear",
"proposed_command": {
"position": [
0.5048839449882507,
0.006043396890163422,
0.2562449276447296
],
"quaternion": [
0.9526710447737742,
0.22606237008600102,
0.10788616397191317,
-0.17226218651860598
],
"gripper": -1,
"phase": "pickup_clear"
}
},
"step": 427
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 6,
"displacement_m": 0.03129715067679069
},
"step": 433
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "close",
"steps": 100
},
"step": 533
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "rotate_clear",
"steps": 100
},
"step": 633
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "checkpoint",
"skill_phase": "recover_lift",
"steps": 88
},
"step": 721
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "checkpoint",
"skill_phase": "recover_return",
"steps": 10
},
"step": 731
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "checkpoint",
"skill_phase": "recover_open",
"steps": 86
},
"step": 817
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "descend",
"steps": 100
},
"step": 917
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "rotate_clear",
"steps": 100
},
"step": 1017
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "checkpoint",
"skill_phase": "recover_lift",
"steps": 94
},
"step": 1111
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "checkpoint",
"skill_phase": "recover_return",
"steps": 56
},
"step": 1167
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "checkpoint",
"skill_phase": "recover_open",
"steps": 86
},
"step": 1253
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "pregrasp",
"steps": 100
},
"step": 1353
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "collision_guard",
"contacts": [
[
"panda_leftfinger",
"stool_seat"
]
],
"skill_phase": "descend",
"proposed_command": {
"position": [
0.49118005115454155,
0.0217794598785215,
0.0074519250392913825
],
"quaternion": [
0.7154155220537173,
0.6986992420237818,
0.0,
0.0
],
"gripper": -1,
"phase": "descend"
}
},
"step": 1447
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 8,
"displacement_m": 0.03112447261690539
},
"step": 1455
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "no_collision_free_grasp",
"target": "stool_leg3",
"skill_phase": "pickup_clear",
"proposed_command": {
"position": [
0.492698073387146,
0.02172325924038887,
0.0625313663482666
],
"quaternion": [
0.715514850957894,
0.6985571504147429,
0.005311312710621064,
0.005309954842284003
],
"gripper": -1,
"phase": "pickup_clear"
}
},
"step": 1455
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 6,
"displacement_m": 0.0302589548602956
},
"step": 1461
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "pregrasp",
"steps": 100
},
"step": 1561
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "checkpoint",
"skill_phase": "recover_lift",
"steps": 99
},
"step": 1660
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "no_collision_free_grasp",
"target": "stool_leg3",
"skill_phase": "pickup_clear",
"proposed_command": {
"position": [
0.49182581901550293,
0.021448591724038124,
0.23130807280540466
],
"quaternion": [
0.9158609018805934,
-0.4013673076465011,
0.009208009352179206,
0.004278472021072076
],
"gripper": -1,
"phase": "pickup_clear"
}
},
"step": 1670
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 6,
"displacement_m": 0.031955933074684625
},
"step": 1676
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "descend",
"steps": 100
},
"step": 1776
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "rotate_clear",
"steps": 100
},
"step": 1876
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "rotate_clear",
"steps": 100
},
"step": 1976
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "checkpoint",
"skill_phase": "release",
"steps": 95
},
"step": 2071
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "checkpoint",
"skill_phase": "verify",
"steps": 36
},
"step": 2107
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "screw_above",
"steps": 100
},
"step": 2207
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "checkpoint",
"skill_phase": "recover_lift",
"steps": 26
},
"step": 2233
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "retreat",
"steps": 100
},
"step": 2333
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "retreat",
"steps": 100
},
"step": 2433
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "retreat",
"steps": 100
},
"step": 2533
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "retreat",
"steps": 100
},
"step": 2633
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "retreat",
"steps": 100
},
"step": 2733
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "screw_turn",
"steps": 100
},
"step": 2833
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "screw_turn",
"steps": 100
},
"step": 2933
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "screw_turn",
"steps": 100
},
"step": 3033
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "screw_close",
"steps": 100
},
"step": 3133
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "screw_above",
"steps": 100
},
"step": 3233
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "screw_clear",
"steps": 100
},
"step": 3333
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "retreat",
"steps": 100
},
"step": 3433
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "screw_turn",
"steps": 100
},
"step": 3533
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "screw_turn",
"steps": 100
},
"step": 3633
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "screw_down",
"steps": 100
},
"step": 3733
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "screw_above",
"steps": 100
},
"step": 3833
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "screw_above",
"steps": 100
},
"step": 3933
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "retreat",
"steps": 100
},
"step": 4033
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "screw_turn",
"steps": 100
},
"step": 4133
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "screw_turn",
"steps": 100
},
"step": 4233
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "screw_above",
"steps": 100
},
"step": 4333
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "screw_turn",
"steps": 100
},
"step": 4433
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "screw_close",
"steps": 100
},
"step": 4533
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "screw_down",
"steps": 100
},
"step": 4633
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "screw_above",
"steps": 100
},
"step": 4733
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "screw_above",
"steps": 100
},
"step": 4833
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "screw_down",
"steps": 100
},
"step": 4933
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "retreat",
"steps": 100
},
"step": 5000
}
] |
| stool_auto_g2 | 134339 | 작업 제출됨; 실행/성공 미확인 | — | — | — |
| stool_r0 | 131967 | review_required:collision_guard | 4개 호출 / 308 steps | 공식 False / 종료 동시조립 False | 도구 실행 기록[
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "descend",
"steps": 100
},
"step": 100
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "rotate_clear",
"steps": 100
},
"step": 200
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "rotate_clear",
"steps": 100
},
"step": 300
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "collision_guard",
"contacts": [
[
"panda_leftfinger",
"stool_leg2"
]
],
"skill_phase": "recover_lift",
"proposed_command": {
"position": [
0.48269394040107727,
0.00440555065870285,
0.20222525238990785
],
"quaternion": [
0.7230258871756591,
0.45428426881485096,
0.29824046487356043,
-0.4265114238718698
],
"gripper": 1,
"phase": "recover_lift"
}
},
"step": 308
}
] |
| stool_r1 | 132246 | recovery_budget_exhausted:collision_guard | 43개 호출 / 1738 steps | 공식 False / 종료 동시조립 False | 도구 실행 기록[
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "descend",
"steps": 100
},
"step": 100
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "rotate_clear",
"steps": 100
},
"step": 200
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "rotate_clear",
"steps": 100
},
"step": 300
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "checkpoint",
"skill_phase": "recover_lift",
"steps": 9
},
"step": 309
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "checkpoint",
"skill_phase": "recover_return",
"steps": 11
},
"step": 320
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "checkpoint",
"skill_phase": "recover_open",
"steps": 86
},
"step": 406
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "descend",
"steps": 100
},
"step": 506
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "collision_guard",
"contacts": [
[
"panda_leftfinger",
"stool_leg2"
]
],
"skill_phase": "descend",
"proposed_command": {
"position": [
0.4901040405198072,
0.10277218075766556,
0.03668091034889221
],
"quaternion": [
0.9972652573906736,
-0.073905388176462,
0.0,
-0.0
],
"gripper": -1,
"phase": "descend"
}
},
"step": 523
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 8,
"displacement_m": 0.030605634810241613
},
"step": 531
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "collision_guard",
"contacts": [
[
"panda_leftfinger",
"stool_leg2"
]
],
"skill_phase": "descend",
"proposed_command": {
"position": [
0.490104025718512,
0.10277218149199076,
0.03680599069595337
],
"quaternion": [
0.9972652602668266,
-0.07390534936619038,
0.0,
-0.0
],
"gripper": -1,
"phase": "descend"
}
},
"step": 594
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 8,
"displacement_m": 0.03060951041103677
},
"step": 602
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "collision_guard",
"contacts": [
[
"panda_leftfinger",
"stool_leg2"
]
],
"skill_phase": "descend",
"proposed_command": {
"position": [
0.490104024810043,
0.10277216869073001,
0.03694707489013672
],
"quaternion": [
0.9972652416286166,
-0.07390560086635492,
0.0,
-0.0
],
"gripper": -1,
"phase": "descend"
}
},
"step": 665
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 8,
"displacement_m": 0.03061108919371357
},
"step": 673
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "collision_guard",
"contacts": [
[
"panda_leftfinger",
"stool_leg2"
]
],
"skill_phase": "descend",
"proposed_command": {
"position": [
0.4901040248392912,
0.10277218446919273,
0.037060502529144286
],
"quaternion": [
0.9972652449651946,
-0.07390555584332036,
0.0,
-0.0
],
"gripper": -1,
"phase": "descend"
}
},
"step": 736
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 8,
"displacement_m": 0.03061101591060385
},
"step": 744
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "collision_guard",
"contacts": [
[
"panda_leftfinger",
"stool_leg2"
]
],
"skill_phase": "descend",
"proposed_command": {
"position": [
0.4901040401383372,
0.10277217780654549,
0.0371505651473999
],
"quaternion": [
0.9972652478413687,
-0.07390551703285428,
0.0,
-0.0
],
"gripper": -1,
"phase": "descend"
}
},
"step": 807
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 8,
"displacement_m": 0.03061170889475477
},
"step": 815
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "collision_guard",
"contacts": [
[
"panda_leftfinger",
"stool_leg2"
]
],
"skill_phase": "descend",
"proposed_command": {
"position": [
0.4901040256674768,
0.102772181549282,
0.037222686767578124
],
"quaternion": [
0.9972652602668232,
-0.07390534936623715,
0.0,
-0.0
],
"gripper": -1,
"phase": "descend"
}
},
"step": 878
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 8,
"displacement_m": 0.03061179879386853
},
"step": 886
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "collision_guard",
"contacts": [
[
"panda_leftfinger",
"stool_leg2"
]
],
"skill_phase": "descend",
"proposed_command": {
"position": [
0.49010402531282155,
0.10277217722835,
0.03726506567001343
],
"quaternion": [
0.9972652449652282,
-0.0739055558428681,
0.0,
-0.0
],
"gripper": -1,
"phase": "descend"
}
},
"step": 949
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 8,
"displacement_m": 0.03061200411201355
},
"step": 957
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "collision_guard",
"contacts": [
[
"panda_leftfinger",
"stool_leg2"
]
],
"skill_phase": "descend",
"proposed_command": {
"position": [
0.4901040400033312,
0.10277217620888629,
0.03726518487930298
],
"quaternion": [
0.9972652420890514,
-0.07390559465335196,
0.0,
-0.0
],
"gripper": -1,
"phase": "descend"
}
},
"step": 1020
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 8,
"displacement_m": 0.030611972204491772
},
"step": 1028
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "collision_guard",
"contacts": [
[
"panda_leftfinger",
"stool_leg2"
]
],
"skill_phase": "descend",
"proposed_command": {
"position": [
0.49010402462077907,
0.1027721669576518,
0.03726506567001343
],
"quaternion": [
0.9972652358762932,
-0.07390567848684648,
0.0,
-0.0
],
"gripper": -1,
"phase": "descend"
}
},
"step": 1091
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 8,
"displacement_m": 0.03061209633348147
},
"step": 1099
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "collision_guard",
"contacts": [
[
"panda_leftfinger",
"stool_leg2"
]
],
"skill_phase": "descend",
"proposed_command": {
"position": [
0.490104025515759,
0.10277213842048051,
0.037264827251434325
],
"quaternion": [
0.9972652669399497,
-0.07390525932023356,
0.0,
-0.0
],
"gripper": -1,
"phase": "descend"
}
},
"step": 1162
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 8,
"displacement_m": 0.030611962512363547
},
"step": 1170
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "collision_guard",
"contacts": [
[
"panda_leftfinger",
"stool_leg2"
]
],
"skill_phase": "descend",
"proposed_command": {
"position": [
0.49010402448770596,
0.1027721745815302,
0.03726554250717163
],
"quaternion": [
0.9972652358762719,
-0.07390567848713432,
0.0,
-0.0
],
"gripper": -1,
"phase": "descend"
}
},
"step": 1233
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 8,
"displacement_m": 0.03061209798917083
},
"step": 1241
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "collision_guard",
"contacts": [
[
"panda_leftfinger",
"stool_leg2"
]
],
"skill_phase": "descend",
"proposed_command": {
"position": [
0.49010402567162625,
0.10277217408752302,
0.03726423120498657
],
"quaternion": [
0.9972652602668235,
-0.073905349366233,
0.0,
-0.0
],
"gripper": -1,
"phase": "descend"
}
},
"step": 1304
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 8,
"displacement_m": 0.030612190398307856
},
"step": 1312
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "collision_guard",
"contacts": [
[
"panda_leftfinger",
"stool_leg2"
]
],
"skill_phase": "descend",
"proposed_command": {
"position": [
0.49010405545349217,
0.10277219430699396,
0.03726435041427612
],
"quaternion": [
0.9972652511779971,
-0.07390547200908906,
0.0,
-0.0
],
"gripper": -1,
"phase": "descend"
}
},
"step": 1375
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 8,
"displacement_m": 0.030612003497996317
},
"step": 1383
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "collision_guard",
"contacts": [
[
"panda_leftfinger",
"stool_leg2"
]
],
"skill_phase": "descend",
"proposed_command": {
"position": [
0.4901040257079567,
0.10277218909354426,
0.037264588832855224
],
"quaternion": [
0.9972652607272372,
-0.07390534315349458,
0.0,
-0.0
],
"gripper": -1,
"phase": "descend"
}
},
"step": 1446
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 8,
"displacement_m": 0.030611952139843315
},
"step": 1454
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "collision_guard",
"contacts": [
[
"panda_leftfinger",
"stool_leg2"
]
],
"skill_phase": "descend",
"proposed_command": {
"position": [
0.49010404047342304,
0.10277218835697156,
0.03726554250717163
],
"quaternion": [
0.9972652578510802,
-0.07390538196382217,
0.0,
-0.0
],
"gripper": -1,
"phase": "descend"
}
},
"step": 1517
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 8,
"displacement_m": 0.030611717312787307
},
"step": 1525
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "collision_guard",
"contacts": [
[
"panda_leftfinger",
"stool_leg2"
]
],
"skill_phase": "descend",
"proposed_command": {
"position": [
0.49010404058549084,
0.10277218909778046,
0.037264827251434325
],
"quaternion": [
0.9972652607272353,
-0.07390534315351892,
0.0,
-0.0
],
"gripper": -1,
"phase": "descend"
}
},
"step": 1588
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 8,
"displacement_m": 0.030611968773542265
},
"step": 1596
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "collision_guard",
"contacts": [
[
"panda_leftfinger",
"stool_leg2"
]
],
"skill_phase": "descend",
"proposed_command": {
"position": [
0.4901040254798787,
0.10277217986390641,
0.037264946460723876
],
"quaternion": [
0.9972652545145139,
-0.07390542698680505,
0.0,
-0.0
],
"gripper": -1,
"phase": "descend"
}
},
"step": 1659
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 8,
"displacement_m": 0.03061157790016407
},
"step": 1667
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "collision_guard",
"contacts": [
[
"panda_leftfinger",
"stool_leg2"
]
],
"skill_phase": "descend",
"proposed_command": {
"position": [
0.4901040248802586,
0.10277218535254515,
0.03726506567001343
],
"quaternion": [
0.9972652478413485,
-0.07390551703312659,
0.0,
-0.0
],
"gripper": -1,
"phase": "descend"
}
},
"step": 1730
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 8,
"displacement_m": 0.03061208019375236
},
"step": 1738
}
] |
| stool_r2 | 132454 | recovery_budget_exhausted:collision_guard | 23개 호출 / 1196 steps | 공식 False / 종료 동시조립 False | 도구 실행 기록[
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "descend",
"steps": 100
},
"step": 100
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "rotate_clear",
"steps": 100
},
"step": 200
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "rotate_clear",
"steps": 100
},
"step": 300
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "checkpoint",
"skill_phase": "recover_lift",
"steps": 9
},
"step": 309
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "checkpoint",
"skill_phase": "recover_return",
"steps": 11
},
"step": 320
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "checkpoint",
"skill_phase": "recover_open",
"steps": 86
},
"step": 406
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "descend",
"steps": 100
},
"step": 506
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "rotate_clear",
"steps": 100
},
"step": 606
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "rotate_clear",
"steps": 100
},
"step": 706
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "checkpoint",
"skill_phase": "recover_lift",
"steps": 16
},
"step": 722
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "checkpoint",
"skill_phase": "recover_return",
"steps": 11
},
"step": 733
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "checkpoint",
"skill_phase": "recover_open",
"steps": 86
},
"step": 819
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "descend",
"steps": 100
},
"step": 919
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "rotate_clear",
"steps": 100
},
"step": 1019
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "rotate_clear",
"steps": 100
},
"step": 1119
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "collision_guard",
"contacts": [
[
"panda_hand",
"obstacle_right"
]
],
"skill_phase": "insert",
"proposed_command": {
"position": [
0.6081748276354595,
-0.048532637130278534,
0.059025050167055636
],
"quaternion": [
0.7825836935239613,
0.12359916059532187,
0.5562312433994459,
-0.2507843974349942
],
"gripper": 1,
"phase": "insert"
}
},
"step": 1196
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "collision_guard",
"contacts": [
[
"stool_leg1",
"stool_seat"
]
],
"strategy": "vertical_separation",
"executed_steps": 0
},
"step": 1196
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 2
}
},
"result": {
"status": "collision_guard",
"contacts": [
[
"stool_leg1",
"stool_seat"
]
],
"strategy": "retreat_from_blocked_approach",
"executed_steps": 0
},
"step": 1196
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 3
}
},
"result": {
"status": "start_in_collision",
"contacts": [
[
"stool_leg1",
"stool_seat"
]
],
"path": [],
"strategy": "planned_retreat"
},
"step": 1196
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "collision_guard",
"contacts": [
[
"panda_hand",
"obstacle_right"
]
],
"skill_phase": "insert",
"proposed_command": {
"position": [
0.6081748276354595,
-0.048532637130278534,
0.059025050167055636
],
"quaternion": [
0.7825836935239613,
0.12359916059532187,
0.5562312433994459,
-0.2507843974349942
],
"gripper": 1,
"phase": "insert"
}
},
"step": 1196
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "collision_guard",
"contacts": [
[
"stool_leg1",
"stool_seat"
]
],
"strategy": "vertical_separation",
"executed_steps": 0
},
"step": 1196
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 2
}
},
"result": {
"status": "collision_guard",
"contacts": [
[
"stool_leg1",
"stool_seat"
]
],
"strategy": "retreat_from_blocked_approach",
"executed_steps": 0
},
"step": 1196
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 3
}
},
"result": {
"status": "start_in_collision",
"contacts": [
[
"stool_leg1",
"stool_seat"
]
],
"path": [],
"strategy": "planned_retreat"
},
"step": 1196
}
] |
| stool_r3 | 133678 | environment_terminal_or_step_budget | 77개 호출 / 5000 steps | 공식 False / 종료 동시조립 False | 도구 실행 기록[
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "descend",
"steps": 100
},
"step": 100
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "rotate_clear",
"steps": 100
},
"step": 200
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "rotate_clear",
"steps": 100
},
"step": 300
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "checkpoint",
"skill_phase": "recover_lift",
"steps": 9
},
"step": 309
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "checkpoint",
"skill_phase": "recover_return",
"steps": 11
},
"step": 320
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "checkpoint",
"skill_phase": "recover_open",
"steps": 86
},
"step": 406
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "descend",
"steps": 100
},
"step": 506
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "collision_guard",
"contacts": [
[
"panda_leftfinger",
"stool_leg2"
]
],
"skill_phase": "descend",
"proposed_command": {
"position": [
0.4901040405198072,
0.10277218075766556,
0.03668341374397278
],
"quaternion": [
0.9972652573906736,
-0.073905388176462,
0.0,
-0.0
],
"gripper": -1,
"phase": "descend"
}
},
"step": 524
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 8,
"displacement_m": 0.030605338924728897
},
"step": 532
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "descend",
"steps": 100
},
"step": 632
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "rotate_clear",
"steps": 100
},
"step": 732
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "checkpoint",
"skill_phase": "recover_lift",
"steps": 100
},
"step": 832
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "checkpoint",
"skill_phase": "recover_return",
"steps": 12
},
"step": 844
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "checkpoint",
"skill_phase": "recover_open",
"steps": 86
},
"step": 930
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "pregrasp",
"steps": 100
},
"step": 1030
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "pregrasp",
"steps": 100
},
"step": 1130
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "checkpoint",
"skill_phase": "recover_lift",
"steps": 5
},
"step": 1135
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "pregrasp",
"steps": 100
},
"step": 1235
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "close",
"steps": 100
},
"step": 1335
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "rotate_clear",
"steps": 100
},
"step": 1435
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "checkpoint",
"skill_phase": "recover_lift",
"steps": 79
},
"step": 1514
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "checkpoint",
"skill_phase": "recover_return",
"steps": 11
},
"step": 1525
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "checkpoint",
"skill_phase": "recover_open",
"steps": 86
},
"step": 1611
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "pregrasp",
"steps": 100
},
"step": 1711
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "descend",
"steps": 100
},
"step": 1811
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "collision_guard",
"contacts": [
[
"panda_rightfinger",
"stool_leg2"
]
],
"skill_phase": "descend",
"proposed_command": {
"position": [
0.491090506006508,
0.1086357257078719,
0.03748759961128235
],
"quaternion": [
0.02441883091460906,
0.9997018158915005,
0.0,
0.0
],
"gripper": -1,
"phase": "descend"
}
},
"step": 1848
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 8,
"displacement_m": 0.03062942334837507
},
"step": 1856
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "pregrasp",
"steps": 100
},
"step": 1956
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "checkpoint",
"skill_phase": "recover_lift",
"steps": 99
},
"step": 2055
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "collision_guard",
"contacts": [
[
"panda_rightfinger",
"stool_leg3"
]
],
"skill_phase": "descend",
"proposed_command": {
"position": [
0.4870008725894044,
0.06752192431892659,
0.03736034369468689
],
"quaternion": [
0.8545805093492483,
0.5193189319102274,
0.0,
-0.0
],
"gripper": -1,
"phase": "descend"
}
},
"step": 2137
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 8,
"displacement_m": 0.030788818996037023
},
"step": 2145
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "pregrasp",
"steps": 100
},
"step": 2245
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "descend",
"steps": 100
},
"step": 2345
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "rotate_clear",
"steps": 100
},
"step": 2445
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "rotate_clear",
"steps": 100
},
"step": 2545
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "checkpoint",
"skill_phase": "recover_lift",
"steps": 16
},
"step": 2561
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "checkpoint",
"skill_phase": "recover_return",
"steps": 11
},
"step": 2572
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "checkpoint",
"skill_phase": "recover_open",
"steps": 86
},
"step": 2658
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "collision_guard",
"contacts": [
[
"panda_rightfinger",
"obstacle_right"
]
],
"skill_phase": "descend",
"proposed_command": {
"position": [
0.5415154471053887,
-0.1197958784564253,
0.03408637976646423
],
"quaternion": [
0.24619442697912572,
0.9692204620850821,
0.0,
0.0
],
"gripper": -1,
"phase": "descend"
}
},
"step": 2741
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 8,
"displacement_m": 0.030299679446899645
},
"step": 2749
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "pregrasp",
"steps": 100
},
"step": 2849
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "collision_guard",
"contacts": [
[
"panda_rightfinger",
"stool_leg3"
]
],
"skill_phase": "descend",
"proposed_command": {
"position": [
0.4870006719438761,
0.06752188459390365,
0.0371004376411438
],
"quaternion": [
0.854580404273165,
0.5193191048212206,
0.0,
0.0
],
"gripper": -1,
"phase": "descend"
}
},
"step": 2926
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 8,
"displacement_m": 0.030786630501520525
},
"step": 2934
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "pregrasp",
"steps": 100
},
"step": 3034
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "collision_guard",
"contacts": [
[
"panda_leftfinger",
"stool_leg2"
]
],
"skill_phase": "descend",
"proposed_command": {
"position": [
0.4910904911024538,
0.10863572291830113,
0.03728881812095642
],
"quaternion": [
0.9997018127797294,
-0.024418958309540727,
0.0,
0.0
],
"gripper": -1,
"phase": "descend"
}
},
"step": 3078
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 8,
"displacement_m": 0.030577212873068988
},
"step": 3086
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "pregrasp",
"steps": 100
},
"step": 3186
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "checkpoint",
"skill_phase": "recover_lift",
"steps": 47
},
"step": 3233
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "unwind_turn",
"steps": 100
},
"step": 3333
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "pregrasp",
"steps": 100
},
"step": 3433
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "descend",
"steps": 100
},
"step": 3533
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "collision_guard",
"contacts": [
[
"panda_rightfinger",
"stool_leg3"
]
],
"skill_phase": "descend",
"proposed_command": {
"position": [
0.4870008881208739,
0.06752191660675913,
0.03724256491661072
],
"quaternion": [
0.8545805242055252,
0.519318907463044,
0.0,
-0.0
],
"gripper": -1,
"phase": "descend"
}
},
"step": 3560
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 8,
"displacement_m": 0.03078681826938293
},
"step": 3568
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "pregrasp",
"steps": 100
},
"step": 3668
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "collision_guard",
"contacts": [
[
"panda_rightfinger",
"obstacle_right"
]
],
"skill_phase": "descend",
"proposed_command": {
"position": [
0.5415154471277609,
-0.11979587842481955,
0.03160623049736023
],
"quaternion": [
0.2461944269790159,
0.9692204620851099,
0.0,
0.0
],
"gripper": -1,
"phase": "descend"
}
},
"step": 3746
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 8,
"displacement_m": 0.030301320896991644
},
"step": 3754
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "collision_guard",
"contacts": [
[
"panda_rightfinger",
"obstacle_right"
]
],
"skill_phase": "descend",
"proposed_command": {
"position": [
0.5415154480124865,
-0.1197958839467629,
0.033680054903030394
],
"quaternion": [
0.24619432768105276,
0.9692204873080607,
0.0,
0.0
],
"gripper": -1,
"phase": "descend"
}
},
"step": 3820
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 8,
"displacement_m": 0.030305493689061585
},
"step": 3828
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "pregrasp",
"steps": 100
},
"step": 3928
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "collision_guard",
"contacts": [
[
"panda_rightfinger",
"stool_leg3"
]
],
"skill_phase": "descend",
"proposed_command": {
"position": [
0.48700067186201296,
0.06752188458563604,
0.03710049724578857
],
"quaternion": [
0.8545804040934566,
0.5193191051169448,
0.0,
0.0
],
"gripper": -1,
"phase": "descend"
}
},
"step": 4005
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 8,
"displacement_m": 0.030786823034898866
},
"step": 4013
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "pregrasp",
"steps": 100
},
"step": 4113
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "collision_guard",
"contacts": [
[
"panda_leftfinger",
"stool_leg2"
]
],
"skill_phase": "descend",
"proposed_command": {
"position": [
0.4910904911287006,
0.10863572473762624,
0.03729024863243103
],
"quaternion": [
0.9997018148374762,
-0.0244188740661081,
0.0,
0.0
],
"gripper": -1,
"phase": "descend"
}
},
"step": 4157
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 8,
"displacement_m": 0.03057720649403509
},
"step": 4165
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "pregrasp",
"steps": 100
},
"step": 4265
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "checkpoint",
"skill_phase": "recover_lift",
"steps": 47
},
"step": 4312
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "unwind_turn",
"steps": 100
},
"step": 4412
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "pregrasp",
"steps": 100
},
"step": 4512
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "descend",
"steps": 100
},
"step": 4612
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "collision_guard",
"contacts": [
[
"panda_rightfinger",
"stool_leg3"
]
],
"skill_phase": "descend",
"proposed_command": {
"position": [
0.4870006561054529,
0.06752188511263323,
0.037243995428085326
],
"quaternion": [
0.8545803817196298,
0.5193191419348334,
0.0,
-0.0
],
"gripper": -1,
"phase": "descend"
}
},
"step": 4639
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 8,
"displacement_m": 0.03078692366338527
},
"step": 4647
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "pregrasp",
"steps": 100
},
"step": 4747
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "collision_guard",
"contacts": [
[
"panda_rightfinger",
"obstacle_right"
]
],
"skill_phase": "descend",
"proposed_command": {
"position": [
0.5415154436036955,
-0.11979588522546342,
0.03160670733451843
],
"quaternion": [
0.24619476383177724,
0.9692203765201263,
0.0,
0.0
],
"gripper": -1,
"phase": "descend"
}
},
"step": 4825
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 8,
"displacement_m": 0.0303007518517771
},
"step": 4833
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "collision_guard",
"contacts": [
[
"panda_rightfinger",
"obstacle_right"
]
],
"skill_phase": "descend",
"proposed_command": {
"position": [
0.5415154308566282,
-0.11979588846683818,
0.033680293321609496
],
"quaternion": [
0.24619455581315508,
0.9692204293595773,
0.0,
0.0
],
"gripper": -1,
"phase": "descend"
}
},
"step": 4899
},
{
"call": {
"tool": "bounded_recovery",
"args": {
"attempt": 1
}
},
"result": {
"status": "recovered",
"strategy": "vertical_separation",
"executed_steps": 8,
"displacement_m": 0.030305198963180187
},
"step": 4907
},
{
"call": {
"tool": "run_skill",
"args": {
"steps": 100
}
},
"result": {
"status": "segment_complete",
"skill_phase": "pregrasp",
"steps": 100
},
"step": 5000
}
] |
이 세션 또는 완료 callback이 결과를 갱신합니다. 페이지를 새로고침하면 갱신된 결과를 확인할 수 있습니다.