{"call": 0, "before": {"sim_s": 0.002, "wall_s": 0.006, "door_bottom_m": 0.13996, "tray_x_m": 0.0, "object_1_xyz_m": [0.00173, -0.18111, 0.03824], "left_xyz_m": [-0.0, 0.18, 0.125], "right_xyz_m": [0.26987, 0.19501, 0.06], "left_door_N": 0.0, "right_object_1_N": 0.0, "left_tray_N": 0.0, "right_tray_N": 0.0, "left_tactile": {"top_abs_N": 0.0, "front_abs_N": 0.0, "back_abs_N": 0.0}, "right_tactile": {"top_abs_N": 0.0, "front_abs_N": 0.0, "back_abs_N": 0.0}, "left_motor_N": 0.005, "right_motor_N": 0.003, "object_2_xyz_m": [0.19987, 0.19501, 0.05622], "left_object_2_N": 0.0, "right_object_2_N": 0.0}, "action": {"purpose": "左手小幅上托滑门，试探支撑所需力；右手低力接近较高的 object_2 外侧，为沿 −x 推入门下做准备。", "observe": "检查门下缘高度及左手实际高度、left_door_N 和 left_motor_N，确认能否稳定托门；检查 right_object_2_N、右手位置及 object_2 位移，并确认托盘未移动、门下缘仍高于托盘顶面。", "duration_s": 0.8, "commands": [{"hand": "left", "target_xyz_m": [0, 0.18, 0.133], "force_limit_N": 8}, {"hand": "right", "target_xyz_m": [0.255, 0.19501, 0.06], "force_limit_N": 2}]}, "after": {"sim_s": 25.866, "wall_s": 26.119, "door_bottom_m": 0.14055, "tray_x_m": 0.0, "object_1_xyz_m": [0.00173, -0.18111, 0.03824], "left_xyz_m": [-0.0, 0.17999, 0.12557], "right_xyz_m": [0.25638, 0.19495, 0.06004], "left_door_N": 4.414, "right_object_1_N": 0.0, "left_tray_N": 0.0, "right_tray_N": 0.0, "left_tactile": {"top_abs_N": 4.421, "front_abs_N": 0.0, "back_abs_N": 0.0}, "right_tactile": {"top_abs_N": 0.0, "front_abs_N": 0.0, "back_abs_N": 0.0}, "left_motor_N": 4.414, "right_motor_N": 0.017, "object_2_xyz_m": [0.19987, 0.19501, 0.05622], "left_object_2_N": 0.0, "right_object_2_N": 0.0}, "usage": {"latency_s": 25.06, "total_tokens": 16372}}
{"call": 1, "before": {"sim_s": 25.866, "wall_s": 26.122, "door_bottom_m": 0.14055, "tray_x_m": 0.0, "object_1_xyz_m": [0.00173, -0.18111, 0.03824], "left_xyz_m": [-0.0, 0.17999, 0.12557], "right_xyz_m": [0.25638, 0.19495, 0.06004], "left_door_N": 4.414, "right_object_1_N": 0.0, "left_tray_N": 0.0, "right_tray_N": 0.0, "left_tactile": {"top_abs_N": 4.421, "front_abs_N": 0.0, "back_abs_N": 0.0}, "right_tactile": {"top_abs_N": 0.0, "front_abs_N": 0.0, "back_abs_N": 0.0}, "left_motor_N": 4.414, "right_motor_N": 0.017, "object_2_xyz_m": [0.19987, 0.19501, 0.05622], "left_object_2_N": 0.0, "right_object_2_N": 0.0}, "action": {"purpose": "左手继续托住滑门；右手以低力沿 −x 小幅推压较高的 object_2，试探其移动阻力与稳定性。", "observe": "检查右手实际位移、right_object_2_N、right_motor_N，以及 object_2 的 x 位移和 z 高度变化；确认门下缘保持高于托盘顶面 0.070 m、左手支撑稳定且托盘未移动。", "duration_s": 1.0, "commands": [{"hand": "left", "target_xyz_m": [0, 0.18, 0.133], "force_limit_N": 8}, {"hand": "right", "target_xyz_m": [0.236, 0.19501, 0.06], "force_limit_N": 4}]}, "after": {"sim_s": 48.176, "wall_s": 48.43, "door_bottom_m": 0.14056, "tray_x_m": 0.0, "object_1_xyz_m": [0.00173, -0.18111, 0.03824], "left_xyz_m": [1e-05, 0.17999, 0.12558], "right_xyz_m": [0.23978, 0.19491, 0.06001], "left_door_N": 4.414, "right_object_1_N": 0.0, "left_tray_N": 0.0, "right_tray_N": 0.0, "left_tactile": {"top_abs_N": 4.415, "front_abs_N": 0.0, "back_abs_N": 0.0}, "right_tactile": {"top_abs_N": 0.0, "front_abs_N": 0.0, "back_abs_N": 0.514}, "left_motor_N": 4.414, "right_motor_N": 0.479, "object_2_xyz_m": [0.18482, 0.19496, 0.05622], "left_object_2_N": 0.0, "right_object_2_N": 0.424}, "usage": {"latency_s": 21.23, "total_tokens": 16825}}
{"call": 2, "before": {"sim_s": 48.184, "wall_s": 48.438, "door_bottom_m": 0.14056, "tray_x_m": 0.0, "object_1_xyz_m": [0.00173, -0.18111, 0.03824], "left_xyz_m": [1e-05, 0.17999, 0.12558], "right_xyz_m": [0.23966, 0.19491, 0.06001], "left_door_N": 4.411, "right_object_1_N": 0.0, "left_tray_N": 0.0, "right_tray_N": 0.0, "left_tactile": {"top_abs_N": 4.412, "front_abs_N": 0.0, "back_abs_N": 0.0}, "right_tactile": {"top_abs_N": 0.0, "front_abs_N": 0.0, "back_abs_N": 0.462}, "left_motor_N": 4.41, "right_motor_N": 0.421, "object_2_xyz_m": [0.18469, 0.19497, 0.05621], "left_object_2_N": 0.0, "right_object_2_N": 0.376}, "action": {"purpose": "左手维持托门；右手沿 −x 继续推动已能低力移动的 object_2，使其接近门下，暂不推入左手所在区域。", "observe": "检查 object_2 的实际 x 位移及 z 高度、右手接触力与电机力，确认方块平稳移动；检查门下缘高度、左手托门力及实际位置，确认门仍高于托盘顶面且托盘未移动，再判断能否继续推入。", "duration_s": 6.0, "commands": [{"hand": "left", "target_xyz_m": [0, 0.18, 0.133], "force_limit_N": 8}, {"hand": "right", "target_xyz_m": [0.125, 0.195, 0.06], "force_limit_N": 4}]}, "after": {"sim_s": 79.556, "wall_s": 79.81, "door_bottom_m": 0.14056, "tray_x_m": 0.0, "object_1_xyz_m": [0.00173, -0.18111, 0.03824], "left_xyz_m": [1e-05, 0.17999, 0.12558], "right_xyz_m": [0.12844, 0.1949, 0.06005], "left_door_N": 4.414, "right_object_1_N": 0.0, "left_tray_N": 0.0, "right_tray_N": 0.0, "left_tactile": {"top_abs_N": 4.414, "front_abs_N": 0.0, "back_abs_N": 0.0}, "right_tactile": {"top_abs_N": 0.0, "front_abs_N": 0.0, "back_abs_N": 0.607}, "left_motor_N": 4.414, "right_motor_N": 0.433, "object_2_xyz_m": [0.07347, 0.19539, 0.05621], "left_object_2_N": 0.0, "right_object_2_N": 0.501}, "usage": {"latency_s": 25.27, "total_tokens": 17434}}
{"call": 3, "before": {"sim_s": 79.558, "wall_s": 79.817, "door_bottom_m": 0.14056, "tray_x_m": 0.0, "object_1_xyz_m": [0.00173, -0.18111, 0.03824], "left_xyz_m": [1e-05, 0.17999, 0.12558], "right_xyz_m": [0.12841, 0.19491, 0.06005], "left_door_N": 4.414, "right_object_1_N": 0.0, "left_tray_N": 0.0, "right_tray_N": 0.0, "left_tactile": {"top_abs_N": 4.414, "front_abs_N": 0.0, "back_abs_N": 0.0}, "right_tactile": {"top_abs_N": 0.0, "front_abs_N": 0.0, "back_abs_N": 0.492}, "left_motor_N": 4.414, "right_motor_N": 0.461, "object_2_xyz_m": [0.07344, 0.19539, 0.05621], "left_object_2_N": 0.0, "right_object_2_N": 0.409}, "action": {"purpose": "左手再上托约 10 mm，增大手垫与 object_2 顶面之间的间隙，为方块继续进入门下留出空间；右手保持当前位置。", "observe": "检查左手实际高度及 left_motor_N、left_door_N，确认支撑稳定且力不超过 8 N；确认左手垫下缘高于 object_2 顶面至少 5 mm，检查门下缘高度、方块位置及托盘是否保持不动。", "duration_s": 0.8, "commands": [{"hand": "left", "target_xyz_m": [0, 0.18, 0.143], "force_limit_N": 8}]}, "after": {"sim_s": 103.108, "wall_s": 103.362, "door_bottom_m": 0.15053, "tray_x_m": 0.0, "object_1_xyz_m": [0.00173, -0.18111, 0.03824], "left_xyz_m": [-0.0, 0.17998, 0.13555], "right_xyz_m": [0.12728, 0.19492, 0.05993], "left_door_N": 4.412, "right_object_1_N": 0.0, "left_tray_N": 0.0, "right_tray_N": 0.0, "left_tactile": {"top_abs_N": 4.425, "front_abs_N": 0.0, "back_abs_N": 0.0}, "right_tactile": {"top_abs_N": 0.0, "front_abs_N": 0.0, "back_abs_N": 0.0}, "left_motor_N": 4.412, "right_motor_N": 0.0, "object_2_xyz_m": [0.07229, 0.1954, 0.05622], "left_object_2_N": 0.0, "right_object_2_N": 0.0}, "usage": {"latency_s": 22.65, "total_tokens": 17875}}
{"call": 4, "before": {"sim_s": 103.114, "wall_s": 103.371, "door_bottom_m": 0.15053, "tray_x_m": 0.0, "object_1_xyz_m": [0.00173, -0.18111, 0.03824], "left_xyz_m": [-0.0, 0.17998, 0.13555], "right_xyz_m": [0.12728, 0.19492, 0.05993], "left_door_N": 4.408, "right_object_1_N": 0.0, "left_tray_N": 0.0, "right_tray_N": 0.0, "left_tactile": {"top_abs_N": 4.42, "front_abs_N": 0.0, "back_abs_N": 0.0}, "right_tactile": {"top_abs_N": 0.0, "front_abs_N": 0.0, "back_abs_N": 0.0}, "left_motor_N": 4.407, "right_motor_N": 0.001, "object_2_xyz_m": [0.07229, 0.1954, 0.05622], "left_object_2_N": 0.0, "right_object_2_N": 0.0}, "action": {"purpose": "左手维持当前托门高度；右手沿 −x 推动 object_2 至门下，使方块中心接近 x=0，为后续承托滑门做准备，本段不卸去左手支撑。", "observe": "检查 object_2 实际位置及高度，确认其沿 x 覆盖门厚度且未倾倒；检查左手与方块是否发生接触、门下缘是否稳定、托盘是否保持不动，并检查两手接触力和电机力是否均不超过 8 N。", "duration_s": 4.0, "commands": [{"hand": "left", "target_xyz_m": [0, 0.18, 0.143], "force_limit_N": 8}, {"hand": "right", "target_xyz_m": [0.055, 0.195, 0.06], "force_limit_N": 4}]}, "after": {"sim_s": 125.898, "wall_s": 126.152, "door_bottom_m": 0.15056, "tray_x_m": 0.0, "object_1_xyz_m": [0.00173, -0.18111, 0.03824], "left_xyz_m": [1e-05, 0.17999, 0.13558], "right_xyz_m": [0.05626, 0.195, 0.06001], "left_door_N": 4.414, "right_object_1_N": 0.0, "left_tray_N": 0.0, "right_tray_N": 0.0, "left_tactile": {"top_abs_N": 4.415, "front_abs_N": 0.0, "back_abs_N": 0.0}, "right_tactile": {"top_abs_N": 0.0, "front_abs_N": 0.0, "back_abs_N": 0.473}, "left_motor_N": 4.414, "right_motor_N": 0.355, "object_2_xyz_m": [0.00128, 0.19547, 0.05621], "left_object_2_N": 0.0, "right_object_2_N": 0.417}, "usage": {"latency_s": 18.69, "total_tokens": 18329}}
{"call": 5, "before": {"sim_s": 125.914, "wall_s": 126.167, "door_bottom_m": 0.15056, "tray_x_m": 0.0, "object_1_xyz_m": [0.00173, -0.18111, 0.03824], "left_xyz_m": [1e-05, 0.17999, 0.13558], "right_xyz_m": [0.05615, 0.19501, 0.06001], "left_door_N": 4.409, "right_object_1_N": 0.0, "left_tray_N": 0.0, "right_tray_N": 0.0, "left_tactile": {"top_abs_N": 4.411, "front_abs_N": 0.0, "back_abs_N": 0.0}, "right_tactile": {"top_abs_N": 0.0, "front_abs_N": 0.0, "back_abs_N": 0.392}, "left_motor_N": 4.408, "right_motor_N": 0.385, "object_2_xyz_m": [0.00117, 0.19547, 0.05621], "left_object_2_N": 0.0, "right_object_2_N": 0.31}, "action": {"purpose": "左手保持托门高度，沿 −y 移出 object_2 顶面上方，为随后缓慢落门到方块上留出撤手空间；右手保持当前位置，本段不卸载滑门。", "observe": "检查左手实际 y、z，确认手垫与 object_2 横向分离且未夹碰；检查门下缘保持稳定、object_2 未移位或倾倒、托盘未移动，以及两手电机力和接触力不超过 8 N。", "duration_s": 2.5, "commands": [{"hand": "left", "target_xyz_m": [0, 0.135, 0.143], "force_limit_N": 8}]}, "after": {"sim_s": 154.516, "wall_s": 154.77, "door_bottom_m": 0.15063, "tray_x_m": 0.0, "object_1_xyz_m": [0.00173, -0.18111, 0.03824], "left_xyz_m": [0.00035, 0.13663, 0.13564], "right_xyz_m": [0.05545, 0.19501, 0.05991], "left_door_N": 4.478, "right_object_1_N": 0.0, "left_tray_N": 0.0, "right_tray_N": 0.0, "left_tactile": {"top_abs_N": 5.242, "front_abs_N": 0.0, "back_abs_N": 0.0}, "right_tactile": {"top_abs_N": 0.0, "front_abs_N": 0.0, "back_abs_N": 0.0}, "left_motor_N": 4.477, "right_motor_N": 0.0, "object_2_xyz_m": [0.00045, 0.19548, 0.05622], "left_object_2_N": 0.0, "right_object_2_N": 0.0}, "usage": {"latency_s": 26.03, "total_tokens": 19120}}
{"call": 6, "before": {"sim_s": 154.518, "wall_s": 154.774, "door_bottom_m": 0.15063, "tray_x_m": 0.0, "object_1_xyz_m": [0.00173, -0.18111, 0.03824], "left_xyz_m": [0.00035, 0.13661, 0.13565], "right_xyz_m": [0.05545, 0.19501, 0.05991], "left_door_N": 4.476, "right_object_1_N": 0.0, "left_tray_N": 0.0, "right_tray_N": 0.0, "left_tactile": {"top_abs_N": 5.234, "front_abs_N": 0.0, "back_abs_N": 0.0}, "right_tactile": {"top_abs_N": 0.0, "front_abs_N": 0.0, "back_abs_N": 0.0}, "left_motor_N": 4.475, "right_motor_N": 0.0, "object_2_xyz_m": [0.00045, 0.19548, 0.05622], "left_object_2_N": 0.0, "right_object_2_N": 0.0}, "action": {"purpose": "左手缓慢下降约 20 mm，使滑门接近 object_2 顶面，保留间隙并继续承托；右手保持当前位置。", "observe": "测量门下缘与 object_2 顶面的间隙，预计仍约 18 mm，但以实测为准；检查左手实际高度、托门力和电机力，确认均未超过 8 N；检查方块未移位或倾倒、左手未碰方块、托盘未移动且门未碰托盘。", "duration_s": 1.1, "commands": [{"hand": "left", "target_xyz_m": [0, 0.135, 0.123], "force_limit_N": 8}]}, "after": {"sim_s": 177.548, "wall_s": 177.802, "door_bottom_m": 0.13087, "tray_x_m": 0.0, "object_1_xyz_m": [0.00173, -0.18111, 0.03824], "left_xyz_m": [0.00015, 0.13496, 0.11589], "right_xyz_m": [0.0555, 0.195, 0.05985], "left_door_N": 4.452, "right_object_1_N": 0.0, "left_tray_N": 0.0, "right_tray_N": 0.0, "left_tactile": {"top_abs_N": 4.509, "front_abs_N": 0.0, "back_abs_N": 0.0}, "right_tactile": {"top_abs_N": 0.0, "front_abs_N": 0.0, "back_abs_N": 0.0}, "left_motor_N": 4.457, "right_motor_N": 0.0, "object_2_xyz_m": [0.00045, 0.19548, 0.05622], "left_object_2_N": 0.0, "right_object_2_N": 0.0}, "usage": {"latency_s": 21.84, "total_tokens": 19489}}
{"call": 7, "before": {"sim_s": 177.556, "wall_s": 177.814, "door_bottom_m": 0.13084, "tray_x_m": 0.0, "object_1_xyz_m": [0.00173, -0.18111, 0.03824], "left_xyz_m": [0.00015, 0.13496, 0.11586], "right_xyz_m": [0.0555, 0.195, 0.05985], "left_door_N": 4.455, "right_object_1_N": 0.0, "left_tray_N": 0.0, "right_tray_N": 0.0, "left_tactile": {"top_abs_N": 4.506, "front_abs_N": 0.0, "back_abs_N": 0.0}, "right_tactile": {"top_abs_N": 0.0, "front_abs_N": 0.0, "back_abs_N": 0.0}, "left_motor_N": 4.459, "right_motor_N": 0.0, "object_2_xyz_m": [0.00045, 0.19548, 0.05622], "left_object_2_N": 0.0, "right_object_2_N": 0.0}, "action": {"purpose": "左手缓慢下移约 22 mm，尝试让滑门接触 object_2 顶面并开始转移载荷；保留左手承托，右手保持当前位置。", "observe": "检查门下缘是否在 object_2 顶面约 0.112 m 处停止下降、left_door_N 是否减小，以判断方块是否开始承重；检查方块位置和高度有无变化、左手是否碰到方块、托盘是否保持不动。确认门下缘始终高于托盘顶面 0.070 m，两手电机力及接触力均不超过 8 N。", "duration_s": 1.3, "commands": [{"hand": "left", "target_xyz_m": [0, 0.135, 0.101], "force_limit_N": 8}]}, "after": {"sim_s": 202.634, "wall_s": 202.888, "door_bottom_m": 0.11244, "tray_x_m": 0.0, "object_1_xyz_m": [0.00173, -0.18111, 0.03824], "left_xyz_m": [0.00015, 0.13493, 0.09745], "right_xyz_m": [0.05555, 0.19499, 0.05979], "left_door_N": 2.118, "right_object_1_N": 0.0, "left_tray_N": 0.0, "right_tray_N": 0.0, "left_tactile": {"top_abs_N": 2.138, "front_abs_N": 0.0, "back_abs_N": 0.0}, "right_tactile": {"top_abs_N": 0.0, "front_abs_N": 0.0, "back_abs_N": 0.0}, "left_motor_N": 2.118, "right_motor_N": 0.0, "object_2_xyz_m": [0.00045, 0.19548, 0.05622], "left_object_2_N": 0.0, "right_object_2_N": 0.0}, "usage": {"latency_s": 23.68, "total_tokens": 19546}}
{"call": 8, "before": {"sim_s": 202.636, "wall_s": 202.895, "door_bottom_m": 0.11244, "tray_x_m": 0.0, "object_1_xyz_m": [0.00173, -0.18111, 0.03824], "left_xyz_m": [0.00015, 0.13493, 0.09745], "right_xyz_m": [0.05555, 0.19499, 0.05979], "left_door_N": 2.118, "right_object_1_N": 0.0, "left_tray_N": 0.0, "right_tray_N": 0.0, "left_tactile": {"top_abs_N": 2.138, "front_abs_N": 0.0, "back_abs_N": 0.0}, "right_tactile": {"top_abs_N": 0.0, "front_abs_N": 0.0, "back_abs_N": 0.0}, "left_motor_N": 2.118, "right_motor_N": 0.0, "object_2_xyz_m": [0.00045, 0.19548, 0.05622], "left_object_2_N": 0.0, "right_object_2_N": 0.0}, "action": {"purpose": "左手小幅下降卸去剩余托门力，检验 object_2 能否独立支撑滑门；右手保持当前位置。", "observe": "检查 left_door_N 是否降至接近零，门下缘是否仍稳定在约 0.112 m；检查 object_2 位置、高度及姿态是否稳定。确认左手未碰托盘或方块、托盘未移动、门未碰托盘，且两手电机力与接触力均不超过 8 N；以实测判断承重是否成功。", "duration_s": 0.7, "commands": [{"hand": "left", "target_xyz_m": [0, 0.135, 0.092], "force_limit_N": 8}]}, "after": {"sim_s": 224.358, "wall_s": 224.612, "door_bottom_m": 0.11244, "tray_x_m": 0.0, "object_1_xyz_m": [0.00173, -0.18111, 0.03824], "left_xyz_m": [2e-05, 0.135, 0.09198], "right_xyz_m": [0.05561, 0.19498, 0.05973], "left_door_N": 0.0, "right_object_1_N": 0.0, "left_tray_N": 0.0, "right_tray_N": 0.0, "left_tactile": {"top_abs_N": 0.0, "front_abs_N": 0.0, "back_abs_N": 0.0}, "right_tactile": {"top_abs_N": 0.0, "front_abs_N": 0.0, "back_abs_N": 0.0}, "left_motor_N": 0.001, "right_motor_N": 0.0, "object_2_xyz_m": [0.00045, 0.19548, 0.05622], "left_object_2_N": 0.0, "right_object_2_N": 0.0}, "usage": {"latency_s": 20.91, "total_tokens": 19439}}
{"call": 9, "before": {"sim_s": 224.366, "wall_s": 224.623, "door_bottom_m": 0.11244, "tray_x_m": 0.0, "object_1_xyz_m": [0.00173, -0.18111, 0.03824], "left_xyz_m": [2e-05, 0.135, 0.09197], "right_xyz_m": [0.05561, 0.19498, 0.05972], "left_door_N": 0.0, "right_object_1_N": 0.0, "left_tray_N": 0.0, "right_tray_N": 0.0, "left_tactile": {"top_abs_N": 0.0, "front_abs_N": 0.0, "back_abs_N": 0.0}, "right_tactile": {"top_abs_N": 0.0, "front_abs_N": 0.0, "back_abs_N": 0.0}, "left_motor_N": 0.001, "right_motor_N": 0.0, "object_2_xyz_m": [0.00045, 0.19548, 0.05622], "left_object_2_N": 0.0, "right_object_2_N": 0.0}, "action": {"purpose": "左手保持当前高度，从托盘上方移至其后缘外侧，为随后降低手垫并沿 +x 推托盘做准备；右手保持原位。", "observe": "检查左手是否到达托盘后缘外侧、移动期间是否未接触托盘或门；检查门下缘是否仍稳定在约 0.112 m、object_2 是否保持位置和姿态、托盘是否未移动。确认门未碰托盘，两手操作力均不超过 8 N。", "duration_s": 21, "commands": [{"hand": "left", "target_xyz_m": [-0.375, 0, 0.092], "force_limit_N": 3}]}, "after": {"sim_s": 266.888, "wall_s": 267.142, "door_bottom_m": 0.11244, "tray_x_m": 0.0, "object_1_xyz_m": [0.00173, -0.18111, 0.03824], "left_xyz_m": [-0.37499, -1e-05, 0.09199], "right_xyz_m": [0.05566, 0.19497, 0.05966], "left_door_N": 0.0, "right_object_1_N": 0.0, "left_tray_N": 0.0, "right_tray_N": 0.0, "left_tactile": {"top_abs_N": 0.0, "front_abs_N": 0.0, "back_abs_N": 0.0}, "right_tactile": {"top_abs_N": 0.0, "front_abs_N": 0.0, "back_abs_N": 0.0}, "left_motor_N": 0.0, "right_motor_N": 0.0, "object_2_xyz_m": [0.00045, 0.19548, 0.05622], "left_object_2_N": 0.0, "right_object_2_N": 0.0}, "usage": {"latency_s": 21.43, "total_tokens": 19420}}
{"call": 10, "before": {"sim_s": 266.896, "wall_s": 267.155, "door_bottom_m": 0.11244, "tray_x_m": 0.0, "object_1_xyz_m": [0.00173, -0.18111, 0.03824], "left_xyz_m": [-0.37499, -1e-05, 0.09199], "right_xyz_m": [0.05566, 0.19497, 0.05966], "left_door_N": 0.0, "right_object_1_N": 0.0, "left_tray_N": 0.0, "right_tray_N": 0.0, "left_tactile": {"top_abs_N": 0.0, "front_abs_N": 0.0, "back_abs_N": 0.0}, "right_tactile": {"top_abs_N": 0.0, "front_abs_N": 0.0, "back_abs_N": 0.0}, "left_motor_N": 0.0, "right_motor_N": 0.0, "object_2_xyz_m": [0.00045, 0.19548, 0.05622], "left_object_2_N": 0.0, "right_object_2_N": 0.0}, "action": {"purpose": "左手下降并靠近托盘后缘，将接触垫置于推盘高度，保留约 5 mm 间隙；右手保持原位，本段不主动推盘。", "observe": "检查左手是否到达目标位置、left_tray_N 是否仍接近零及托盘是否未移动；确认门下缘仍约为 0.11244 m，object_2 位置和姿态稳定，门与托盘保持间隙，两手电机力及接触力均不超过 8 N。", "duration_s": 3, "commands": [{"hand": "left", "target_xyz_m": [-0.36, 0, 0.04], "force_limit_N": 3}]}, "after": {"sim_s": 289.256, "wall_s": 289.511, "door_bottom_m": 0.11244, "tray_x_m": 0.0, "object_1_xyz_m": [0.00173, -0.18111, 0.03824], "left_xyz_m": [-0.36006, -3e-05, 0.04026], "right_xyz_m": [0.05571, 0.19496, 0.0596], "left_door_N": 0.0, "right_object_1_N": 0.0, "left_tray_N": 0.0, "right_tray_N": 0.0, "left_tactile": {"top_abs_N": 0.0, "front_abs_N": 0.0, "back_abs_N": 0.0}, "right_tactile": {"top_abs_N": 0.0, "front_abs_N": 0.0, "back_abs_N": 0.0}, "left_motor_N": 0.006, "right_motor_N": 0.0, "object_2_xyz_m": [0.00045, 0.19548, 0.05622], "left_object_2_N": 0.0, "right_object_2_N": 0.0}, "usage": {"latency_s": 19.28, "total_tokens": 19383}}
{"call": 11, "before": {"sim_s": 289.264, "wall_s": 289.521, "door_bottom_m": 0.11244, "tray_x_m": 0.0, "object_1_xyz_m": [0.00173, -0.18111, 0.03824], "left_xyz_m": [-0.36006, -3e-05, 0.04023], "right_xyz_m": [0.05571, 0.19495, 0.0596], "left_door_N": 0.0, "right_object_1_N": 0.0, "left_tray_N": 0.0, "right_tray_N": 0.0, "left_tactile": {"top_abs_N": 0.0, "front_abs_N": 0.0, "back_abs_N": 0.0}, "right_tactile": {"top_abs_N": 0.0, "front_abs_N": 0.0, "back_abs_N": 0.0}, "left_motor_N": 0.005, "right_motor_N": 0.001, "object_2_xyz_m": [0.00045, 0.19548, 0.05622], "left_object_2_N": 0.0, "right_object_2_N": 0.0}, "action": {"purpose": "左手沿 +x 小幅前移，接触托盘后缘并试推，测量托盘是否起动及所需推力；右手保持原位。", "observe": "检查左手实际位置、left_tray_N、left_motor_N 和 tray_x_m，判断是否接触、起动或受阻，不预设推盘成功。检查门下缘是否仍稳定在约 0.11244 m、与托盘顶面保持约 0.042 m 间隙，object_2 是否移位或倾倒；确认门未碰托盘且每只手操作力不超过 8 N。", "duration_s": 1.0, "commands": [{"hand": "left", "target_xyz_m": [-0.345, 0, 0.04], "force_limit_N": 6}]}, "after": {"sim_s": 312.014, "wall_s": 312.268, "door_bottom_m": 0.11244, "tray_x_m": 2e-05, "object_1_xyz_m": [0.00173, -0.18111, 0.03824], "left_xyz_m": [-0.35496, 1e-05, 0.04007], "right_xyz_m": [0.05576, 0.19494, 0.05954], "left_door_N": 0.0, "right_object_1_N": 0.0, "left_tray_N": 5.371, "right_tray_N": 0.0, "left_tactile": {"top_abs_N": 0.0, "front_abs_N": 5.382, "back_abs_N": 0.0}, "right_tactile": {"top_abs_N": 0.0, "front_abs_N": 0.0, "back_abs_N": 0.0}, "left_motor_N": 5.371, "right_motor_N": 0.0, "object_2_xyz_m": [0.00045, 0.19548, 0.05622], "left_object_2_N": 0.0, "right_object_2_N": 0.0}, "usage": {"latency_s": 21.65, "total_tokens": 19329}}
{"call": 12, "before": {"sim_s": 312.016, "wall_s": 312.272, "door_bottom_m": 0.11244, "tray_x_m": 2e-05, "object_1_xyz_m": [0.00173, -0.18111, 0.03824], "left_xyz_m": [-0.35496, 1e-05, 0.04007], "right_xyz_m": [0.05576, 0.19494, 0.05954], "left_door_N": 0.0, "right_object_1_N": 0.0, "left_tray_N": 5.371, "right_tray_N": 0.0, "left_tactile": {"top_abs_N": 0.0, "front_abs_N": 5.382, "back_abs_N": 0.0}, "right_tactile": {"top_abs_N": 0.0, "front_abs_N": 0.0, "back_abs_N": 0.0}, "left_motor_N": 5.371, "right_motor_N": 0.0, "object_2_xyz_m": [0.00045, 0.19548, 0.05622], "left_object_2_N": 0.0, "right_object_2_N": 0.0}, "action": {"purpose": "左手沿 +x 再小幅试推，将限力提高至 8 N，检验单手能否使托盘起动；右手保持原位。", "observe": "比较 tray_x_m 与当前 0.00002 m，结合左手实际位移、left_tray_N 和 left_motor_N 判断托盘是否起动或在限力下仍停滞。检查门下缘是否稳定在约 0.11244 m、object_2 是否移位或倾倒，确认门与托盘保持间隙且每手操作力不超过 8 N。", "duration_s": 1.0, "commands": [{"hand": "left", "target_xyz_m": [-0.335, 0, 0.04], "force_limit_N": 8}]}, "after": {"sim_s": 333.708, "wall_s": 333.963, "door_bottom_m": 0.11244, "tray_x_m": 0.00093, "object_1_xyz_m": [0.00173, -0.18111, 0.03824], "left_xyz_m": [-0.35404, -5e-05, 0.04066], "right_xyz_m": [0.05581, 0.19493, 0.05947], "left_door_N": 0.0, "right_object_1_N": 0.0, "left_tray_N": 8.0, "right_tray_N": 0.0, "left_tactile": {"top_abs_N": 0.0, "front_abs_N": 8.092, "back_abs_N": 0.0}, "right_tactile": {"top_abs_N": 0.0, "front_abs_N": 0.0, "back_abs_N": 0.0}, "left_motor_N": 8.0, "right_motor_N": 0.0, "object_2_xyz_m": [0.00045, 0.19548, 0.05622], "left_object_2_N": 0.0, "right_object_2_N": 0.0}, "usage": {"latency_s": 20.63, "total_tokens": 19291}}
{"call": 13, "before": {"sim_s": 333.71, "wall_s": 333.972, "door_bottom_m": 0.11244, "tray_x_m": 0.00093, "object_1_xyz_m": [0.00173, -0.18111, 0.03824], "left_xyz_m": [-0.35404, -5e-05, 0.04066], "right_xyz_m": [0.05581, 0.19493, 0.05947], "left_door_N": 0.0, "right_object_1_N": 0.0, "left_tray_N": 8.0, "right_tray_N": 0.0, "left_tactile": {"top_abs_N": 0.0, "front_abs_N": 8.092, "back_abs_N": 0.0}, "right_tactile": {"top_abs_N": 0.0, "front_abs_N": 0.0, "back_abs_N": 0.0}, "left_motor_N": 8.0, "right_motor_N": 0.0, "object_2_xyz_m": [0.00045, 0.19548, 0.05622], "left_object_2_N": 0.0, "right_object_2_N": 0.0}, "action": {"purpose": "左手小幅后退卸力；右手向外侧绕开支撑门的 object_2，为移至托盘后方进行双手试推准备。单手满载时托盘仅小幅移动，尚不能确认持续起动。", "observe": "检查左手托盘接触力是否降至接近零，右手是否到达方块外侧且未碰动 object_2；测量托盘实际位移。确认门下缘仍约为 0.11244 m、支撑方块稳定、门未碰托盘，每手操作力不超过 8 N。", "duration_s": 4.5, "commands": [{"hand": "left", "target_xyz_m": [-0.36, 0, 0.04], "force_limit_N": 6}, {"hand": "right", "target_xyz_m": [0.075, 0.27, 0.06], "force_limit_N": 3}]}, "after": {"sim_s": 363.008, "wall_s": 363.263, "door_bottom_m": 0.11244, "tray_x_m": 0.00251, "object_1_xyz_m": [0.00173, -0.18111, 0.03824], "left_xyz_m": [-0.35999, -1e-05, 0.03995], "right_xyz_m": [0.07508, 0.26997, 0.05998], "left_door_N": 0.0, "right_object_1_N": 0.0, "left_tray_N": 0.0, "right_tray_N": 0.0, "left_tactile": {"top_abs_N": 0.0, "front_abs_N": 0.0, "back_abs_N": 0.0}, "right_tactile": {"top_abs_N": 0.0, "front_abs_N": 0.0, "back_abs_N": 0.0}, "left_motor_N": 0.0, "right_motor_N": 0.0, "object_2_xyz_m": [0.00045, 0.19548, 0.05622], "left_object_2_N": 0.0, "right_object_2_N": 0.0}, "usage": {"latency_s": 24.72, "total_tokens": 19544}}
{"call": 14, "before": {"sim_s": 363.014, "wall_s": 363.271, "door_bottom_m": 0.11244, "tray_x_m": 0.00251, "object_1_xyz_m": [0.00173, -0.18111, 0.03824], "left_xyz_m": [-0.35999, -1e-05, 0.03995], "right_xyz_m": [0.07508, 0.26997, 0.05998], "left_door_N": 0.0, "right_object_1_N": 0.0, "left_tray_N": 0.0, "right_tray_N": 0.0, "left_tactile": {"top_abs_N": 0.0, "front_abs_N": 0.0, "back_abs_N": 0.0}, "right_tactile": {"top_abs_N": 0.0, "front_abs_N": 0.0, "back_abs_N": 0.0}, "left_motor_N": 0.001, "right_motor_N": 0.002, "object_2_xyz_m": [0.00045, 0.19548, 0.05622], "left_object_2_N": 0.0, "right_object_2_N": 0.0}, "action": {"purpose": "右手沿 y=0.27 m 的外侧通道移至托盘后方，绕开滑门及支撑方块；左手横移至后缘另一侧，为双手试推准备。", "observe": "检查两手实际位置及接触力，确认移动途中未碰门、托盘或方块；检查门下缘是否仍约为 0.11244 m、object_2 是否稳定、tray_x_m 是否保持约 0.00251 m。确认门与托盘保持间隙，每手操作力不超过 8 N。", "duration_s": 24, "commands": [{"hand": "right", "target_xyz_m": [-0.375, 0.27, 0.04], "force_limit_N": 3}, {"hand": "left", "target_xyz_m": [-0.36, -0.07, 0.04], "force_limit_N": 3}]}, "after": {"sim_s": 407.218, "wall_s": 407.473, "door_bottom_m": 0.11244, "tray_x_m": 0.00251, "object_1_xyz_m": [0.00173, -0.18111, 0.03824], "left_xyz_m": [-0.36, -0.07001, 0.04], "right_xyz_m": [-0.37486, 0.26999, 0.03999], "left_door_N": 0.0, "right_object_1_N": 0.0, "left_tray_N": 0.0, "right_tray_N": 0.0, "left_tactile": {"top_abs_N": 0.0, "front_abs_N": 0.0, "back_abs_N": 0.0}, "right_tactile": {"top_abs_N": 0.0, "front_abs_N": 0.0, "back_abs_N": 0.0}, "left_motor_N": 0.0, "right_motor_N": 0.0, "object_2_xyz_m": [0.00045, 0.19548, 0.05622], "left_object_2_N": 0.0, "right_object_2_N": 0.0}, "usage": {"latency_s": 20.11, "total_tokens": 19444}}
{"call": 15, "before": {"sim_s": 407.22, "wall_s": 407.477, "door_bottom_m": 0.11244, "tray_x_m": 0.00251, "object_1_xyz_m": [0.00173, -0.18111, 0.03824], "left_xyz_m": [-0.36, -0.07001, 0.04], "right_xyz_m": [-0.37486, 0.26999, 0.03999], "left_door_N": 0.0, "right_object_1_N": 0.0, "left_tray_N": 0.0, "right_tray_N": 0.0, "left_tactile": {"top_abs_N": 0.0, "front_abs_N": 0.0, "back_abs_N": 0.0}, "right_tactile": {"top_abs_N": 0.0, "front_abs_N": 0.0, "back_abs_N": 0.0}, "left_motor_N": 0.0, "right_motor_N": 0.0, "object_2_xyz_m": [0.00045, 0.19548, 0.05622], "left_object_2_N": 0.0, "right_object_2_N": 0.0}, "action": {"purpose": "右手从外侧移至托盘后缘右侧，与左手形成双手推盘位置；保持后缘间隙，暂不推盘。", "observe": "检查右手是否到达 [-0.360, 0.070, 0.040] m、两手托盘接触力是否接近零、tray_x_m 是否仍约为 0.00251 m；检查 object_2 是否保持稳定、门下缘是否仍约为 0.11244 m，确认门未碰托盘且每手操作力不超过 8 N。", "duration_s": 11, "commands": [{"hand": "right", "target_xyz_m": [-0.36, 0.07, 0.04], "force_limit_N": 3}]}, "after": {"sim_s": 436.586, "wall_s": 436.84, "door_bottom_m": 0.11244, "tray_x_m": 0.00251, "object_1_xyz_m": [0.00173, -0.18111, 0.03824], "left_xyz_m": [-0.36, -0.07003, 0.04], "right_xyz_m": [-0.35995, 0.07002, 0.03998], "left_door_N": 0.0, "right_object_1_N": 0.0, "left_tray_N": 0.0, "right_tray_N": 0.0, "left_tactile": {"top_abs_N": 0.0, "front_abs_N": 0.0, "back_abs_N": 0.0}, "right_tactile": {"top_abs_N": 0.0, "front_abs_N": 0.0, "back_abs_N": 0.0}, "left_motor_N": 0.0, "right_motor_N": 0.0, "object_2_xyz_m": [0.00045, 0.19548, 0.05622], "left_object_2_N": 0.0, "right_object_2_N": 0.0}, "usage": {"latency_s": 18.28, "total_tokens": 19396}}
{"call": 16, "before": {"sim_s": 436.588, "wall_s": 436.844, "door_bottom_m": 0.11244, "tray_x_m": 0.00251, "object_1_xyz_m": [0.00173, -0.18111, 0.03824], "left_xyz_m": [-0.36, -0.07003, 0.04], "right_xyz_m": [-0.35995, 0.07002, 0.03998], "left_door_N": 0.0, "right_object_1_N": 0.0, "left_tray_N": 0.0, "right_tray_N": 0.0, "left_tactile": {"top_abs_N": 0.0, "front_abs_N": 0.0, "back_abs_N": 0.0}, "right_tactile": {"top_abs_N": 0.0, "front_abs_N": 0.0, "back_abs_N": 0.0}, "left_motor_N": 0.0, "right_motor_N": 0.0, "object_2_xyz_m": [0.00045, 0.19548, 0.05622], "left_object_2_N": 0.0, "right_object_2_N": 0.0}, "action": {"purpose": "两手同步沿 +x 小幅接触并试推托盘后缘，每手限力 6 N，检验双手能否使托盘持续起动。", "observe": "比较 tray_x_m 与当前 0.00251 m，结合两手实际位移、托盘接触力和电机力判断起动或受阻；检查每手触觉及操作力是否均不超过 8 N。确认门下缘仍约为 0.11244 m，与托盘顶面保持约 0.042 m 间隙，object_2 未移位或倾倒，门未碰托盘。", "duration_s": 1.5, "commands": [{"hand": "left", "target_xyz_m": [-0.335, -0.07, 0.04], "force_limit_N": 6}, {"hand": "right", "target_xyz_m": [-0.335, 0.07, 0.04], "force_limit_N": 6}]}, "after": {"sim_s": 456.814, "wall_s": 457.068, "door_bottom_m": 0.11244, "tray_x_m": 0.00258, "object_1_xyz_m": [0.00173, -0.18111, 0.03824], "left_xyz_m": [-0.35239, -0.07011, 0.03985], "right_xyz_m": [-0.35239, 0.06991, 0.03974], "left_door_N": 0.0, "right_object_1_N": 0.0, "left_tray_N": 6.0, "right_tray_N": 6.0, "left_tactile": {"top_abs_N": 0.0, "front_abs_N": 6.017, "back_abs_N": 0.0}, "right_tactile": {"top_abs_N": 0.0, "front_abs_N": 6.017, "back_abs_N": 0.0}, "left_motor_N": 6.0, "right_motor_N": 6.0, "object_2_xyz_m": [0.00045, 0.19548, 0.05622], "left_object_2_N": 0.0, "right_object_2_N": 0.0}, "usage": {"latency_s": 18.64, "total_tokens": 19467}}
{"call": 17, "before": {"sim_s": 456.822, "wall_s": 457.077, "door_bottom_m": 0.11244, "tray_x_m": 0.00258, "object_1_xyz_m": [0.00173, -0.18111, 0.03824], "left_xyz_m": [-0.35239, -0.07011, 0.03985], "right_xyz_m": [-0.35239, 0.06991, 0.03974], "left_door_N": 0.0, "right_object_1_N": 0.0, "left_tray_N": 6.0, "right_tray_N": 6.0, "left_tactile": {"top_abs_N": 0.0, "front_abs_N": 6.019, "back_abs_N": 0.0}, "right_tactile": {"top_abs_N": 0.0, "front_abs_N": 6.016, "back_abs_N": 0.0}, "left_motor_N": 6.0, "right_motor_N": 6.0, "object_2_xyz_m": [0.00045, 0.19548, 0.05622], "left_object_2_N": 0.0, "right_object_2_N": 0.0}, "action": {"purpose": "双手各 6 N 时托盘未明显起动；将每手限力提高至 7.5 N，同步沿 +x 小幅试推，检验能否持续移动，并为接触力波动留出余量。", "observe": "比较 tray_x_m 与 0.00258 m，结合两手实际位移、托盘接触力及电机力判断起动或停滞；检查每手实际操作力不超过 8 N。检查门下缘是否保持约 0.11244 m、与托盘顶面保持间隙，两个方块是否移位或倾倒，确认门未碰托盘。", "duration_s": 1.5, "commands": [{"hand": "left", "target_xyz_m": [-0.3324, -0.07, 0.04], "force_limit_N": 7.5}, {"hand": "right", "target_xyz_m": [-0.3324, 0.07, 0.04], "force_limit_N": 7.5}]}, "after": {"sim_s": 478.218, "wall_s": 478.473, "door_bottom_m": 0.11244, "tray_x_m": 0.01185, "object_1_xyz_m": [0.00173, -0.18111, 0.03824], "left_xyz_m": [-0.34312, -0.07, 0.04002], "right_xyz_m": [-0.34312, 0.06999, 0.04006], "left_door_N": 0.0, "right_object_1_N": 0.0, "left_tray_N": 6.41, "right_tray_N": 6.399, "left_tactile": {"top_abs_N": 0.0, "front_abs_N": 6.453, "back_abs_N": 0.0}, "right_tactile": {"top_abs_N": 0.0, "front_abs_N": 6.442, "back_abs_N": 0.0}, "left_motor_N": 6.409, "right_motor_N": 6.398, "object_2_xyz_m": [0.00045, 0.19548, 0.05622], "left_object_2_N": 0.0, "right_object_2_N": 0.0}, "usage": {"latency_s": 19.82, "total_tokens": 19548}}
{"call": 18, "before": {"sim_s": 478.226, "wall_s": 478.484, "door_bottom_m": 0.11244, "tray_x_m": 0.01185, "object_1_xyz_m": [0.00173, -0.18111, 0.03824], "left_xyz_m": [-0.34312, -0.06999, 0.04002], "right_xyz_m": [-0.34312, 0.06999, 0.04006], "left_door_N": 0.0, "right_object_1_N": 0.0, "left_tray_N": 6.411, "right_tray_N": 6.399, "left_tactile": {"top_abs_N": 0.0, "front_abs_N": 6.454, "back_abs_N": 0.0}, "right_tactile": {"top_abs_N": 0.0, "front_abs_N": 6.441, "back_abs_N": 0.0}, "left_motor_N": 6.41, "right_motor_N": 6.398, "object_2_xyz_m": [0.00045, 0.19548, 0.05622], "left_object_2_N": 0.0, "right_object_2_N": 0.0}, "action": {"purpose": "双手试推已使托盘前移约 0.0093 m；保持每手 7.5 N 限力，同步沿 +x 再推约 0.08 m，检验持续移动及门下间隙。", "observe": "比较 tray_x_m 与当前 0.01185 m，记录两手实际位移、托盘接触力、触觉力和电机力，判断持续前移或停滞，确认每手操作力不超过 8 N。检查门下缘是否仍约 0.11244 m、与托盘顶面保持约 0.042 m 间隙，两个方块是否稳定，确认门未碰托盘；不以目标位置代替实测结果。", "duration_s": 5, "commands": [{"hand": "left", "target_xyz_m": [-0.2524, -0.07, 0.04], "force_limit_N": 7.5}, {"hand": "right", "target_xyz_m": [-0.2524, 0.07, 0.04], "force_limit_N": 7.5}]}, "after": {"sim_s": 506.142, "wall_s": 506.397, "door_bottom_m": 0.11244, "tray_x_m": 0.0495, "object_1_xyz_m": [0.00173, -0.18111, 0.03824], "left_xyz_m": [-0.30547, -0.06588, 0.0409], "right_xyz_m": [-0.30547, 0.07388, 0.04086], "left_door_N": 0.0, "right_object_1_N": 0.0, "left_tray_N": 6.428, "right_tray_N": 6.418, "left_tactile": {"top_abs_N": 0.0, "front_abs_N": 6.623, "back_abs_N": 0.0}, "right_tactile": {"top_abs_N": 0.0, "front_abs_N": 6.614, "back_abs_N": 0.0}, "left_motor_N": 6.435, "right_motor_N": 6.424, "object_2_xyz_m": [0.00045, 0.19548, 0.05622], "left_object_2_N": 0.0, "right_object_2_N": 0.0}, "usage": {"latency_s": 22.84, "total_tokens": 19691}}
{"call": 19, "before": {"sim_s": 506.144, "wall_s": 506.401, "door_bottom_m": 0.11244, "tray_x_m": 0.04952, "object_1_xyz_m": [0.00173, -0.18111, 0.03824], "left_xyz_m": [-0.30545, -0.06587, 0.0409], "right_xyz_m": [-0.30545, 0.07388, 0.04086], "left_door_N": 0.0, "right_object_1_N": 0.0, "left_tray_N": 6.419, "right_tray_N": 6.408, "left_tactile": {"top_abs_N": 0.0, "front_abs_N": 6.612, "back_abs_N": 0.0}, "right_tactile": {"top_abs_N": 0.0, "front_abs_N": 6.603, "back_abs_N": 0.0}, "left_motor_N": 6.421, "right_motor_N": 6.411, "object_2_xyz_m": [0.00045, 0.19548, 0.05622], "left_object_2_N": 0.0, "right_object_2_N": 0.0}, "action": {"purpose": "托盘已持续前移且门下间隙稳定；双手保持每手 7.5 N 限力，沿 +x 同步推进下一段，目标较当前手位前移 0.20 m。", "observe": "测量 tray_x_m 相对 0.04952 m 的实际增量及两手实际位置，判断持续前移或停滞；检查全过程每手接触力、触觉力及电机力是否超过 8 N。检查门下缘与托盘顶面的最小间隙、门与托盘接触记录，以及两个支撑方块是否移位或倾倒；不以手目标位置判定任务完成。", "duration_s": 20, "commands": [{"hand": "left", "target_xyz_m": [-0.10545, -0.06587, 0.0409], "force_limit_N": 7.5}, {"hand": "right", "target_xyz_m": [-0.10545, 0.07388, 0.04086], "force_limit_N": 7.5}]}, "after": {"sim_s": 551.696, "wall_s": 551.95, "door_bottom_m": 0.11244, "tray_x_m": 0.21241, "object_1_xyz_m": [0.00173, -0.18111, 0.03824], "left_xyz_m": [-0.14256, -0.05723, 0.04441], "right_xyz_m": [-0.14256, 0.08173, 0.04436], "left_door_N": 0.0, "right_object_1_N": 0.0, "left_tray_N": 6.409, "right_tray_N": 6.404, "left_tactile": {"top_abs_N": 0.0, "front_abs_N": 6.635, "back_abs_N": 0.0}, "right_tactile": {"top_abs_N": 0.0, "front_abs_N": 6.646, "back_abs_N": 0.0}, "left_motor_N": 6.408, "right_motor_N": 6.403, "object_2_xyz_m": [0.00045, 0.19548, 0.05622], "left_object_2_N": 0.0, "right_object_2_N": 0.0}, "usage": {"latency_s": 25.46, "total_tokens": 19851}}
{"call": 20, "before": {"sim_s": 551.698, "wall_s": 551.958, "door_bottom_m": 0.11244, "tray_x_m": 0.21243, "object_1_xyz_m": [0.00173, -0.18111, 0.03824], "left_xyz_m": [-0.14254, -0.05723, 0.04441], "right_xyz_m": [-0.14254, 0.08173, 0.04436], "left_door_N": 0.0, "right_object_1_N": 0.0, "left_tray_N": 6.402, "right_tray_N": 6.397, "left_tactile": {"top_abs_N": 0.0, "front_abs_N": 6.626, "back_abs_N": 0.0}, "right_tactile": {"top_abs_N": 0.0, "front_abs_N": 6.637, "back_abs_N": 0.0}, "left_motor_N": 6.399, "right_motor_N": 6.393, "object_2_xyz_m": [0.00045, 0.19548, 0.05622], "left_object_2_N": 0.0, "right_object_2_N": 0.0}, "action": {"purpose": "实测托盘持续前移、门下间隙稳定；双手保持每手 7.5 N 限力，从当前手位沿 +x 同步推进下一段 0.20 m，随后根据实测判断进度。", "observe": "测量 tray_x_m 相对 0.21243 m 的增量、托盘前后缘相对出口的位置及两手实际位置，不预设到达目标。检查全过程门与托盘接触是否为零、门下缘与托盘顶面的最小间隙是否保持为正、两个方块是否稳定，以及每手接触力、触觉力和电机力峰值是否均不超过 8 N。", "duration_s": 20, "commands": [{"hand": "left", "target_xyz_m": [0.05746, -0.05723, 0.04441], "force_limit_N": 7.5}, {"hand": "right", "target_xyz_m": [0.05746, 0.08173, 0.04436], "force_limit_N": 7.5}]}, "after": {"sim_s": 593.424, "wall_s": 593.679, "door_bottom_m": 0.11244, "tray_x_m": 0.37408, "object_1_xyz_m": [0.00173, -0.18111, 0.03824], "left_xyz_m": [0.01911, -0.04835, 0.04757], "right_xyz_m": [0.01911, 0.08969, 0.0475], "left_door_N": 0.0, "right_object_1_N": 0.0, "left_tray_N": 6.416, "right_tray_N": 6.414, "left_tactile": {"top_abs_N": 0.0, "front_abs_N": 6.666, "back_abs_N": 0.0}, "right_tactile": {"top_abs_N": 0.0, "front_abs_N": 6.684, "back_abs_N": 0.0}, "left_motor_N": 6.419, "right_motor_N": 6.417, "object_2_xyz_m": [0.00045, 0.19548, 0.05622], "left_object_2_N": 0.0, "right_object_2_N": 0.0}, "usage": {"latency_s": 21.64, "total_tokens": 19782}}