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      "api": "ctx.assemble",
      "input": "装箱任务名称",
      "work": "把任务委托给共享runtime，等待整任务结果",
      "output": "成功／失败及动作数",
      "why": "任务程序只有一个assemble调用；运行中没有逐步生成代码。"
    },
    {
      "name": "抓法准备",
      "file": "runtime/assembly.py",
      "api": "load_grasp_candidate_prior",
      "input": "CAD版本、已冻结的物体坐标系抓法列表",
      "work": "校验并装入候选抓法；需要时展开已声明的CAD对称姿态",
      "output": "抓法变换矩阵、分数、候选标识",
      "why": "本次配置使用已有抓法先验。把候选加载、任务搜索、IK和轨迹搜索统称为“抓法生成”会误导。"
    },
    {
      "name": "任务搜索",
      "file": "planning/assembly.py",
      "api": "solve → PDDLStream",
      "input": "当前事实：是否持物、已放工具、可用手臂；任务关系",
      "work": "搜索pick、prealign、place_in_recess、release_verify、retreat组合；几何stream按需提供可执行选项",
      "output": "技能序列与参数，不直接发机器人动作",
      "why": "耗时包含调用几何stream及它的RPC。19次中13次worker本身少于0.3秒；主要时间集中在少数需要几何求解的调用。"
    },
    {
      "name": "候选几何与搬运",
      "file": "planning/worker.py",
      "api": "GeometryStreams.sample → query → POST /rpc",
      "input": "物体位姿、抓法候选、槽位关系、当前关节、障碍物、夹爪范围",
      "work": "构造接近、抓取、抬升、放置前姿态。向harness_motion_plan询问IK或轨迹；成功后交给独立几何检查",
      "output": "Option：选中抓法、手臂、放置关系及高度；失败继续其他选项",
      "why": "循环嵌套：手臂×抓法×放置关系×高度，轨迹失败还会做IK／关节轨迹回退。失败样本97次RPC只覆盖两个持物起始配置。"
    },
    {
      "name": "逆运动学",
      "file": "backends/robodojo_native/robot_layer/robodojo_robot/runtime/planning.py",
      "api": "harness_motion_plan(kind=ik) → solve_ik_candidates",
      "input": "目标TCP位姿、机器人基座与工具变换、起始关节",
      "work": "将TCP目标转到法兰和求解坐标系，用32个数值种子求逆运动学，保留至多8个返回候选；失败可进行3次数值尝试",
      "output": "六个关节角的候选列表及状态",
      "why": "一次API内部可能包含多个种子和尝试。求得末端姿态的关节角，不等于有可通行轨迹。32种子等配置来自固定源码；具体内部耗时没有独立计时。"
    },
    {
      "name": "轨迹求解",
      "file": "backends/robodojo_native/robot_layer/robodojo_robot/runtime/planning.py",
      "api": "harness_motion_plan(kind=pose/joint) → plan_path",
      "input": "起始关节、目标位姿／关节、障碍物与持物几何",
      "work": "图搜索种子与轨迹优化；配置32个IK种子、16个轨迹优化种子，考虑自身、场景、持物近似几何",
      "output": "关节位置／速度序列，或Fail",
      "why": "规划器按手臂和夹爪区间缓存，首次路径会触及延迟初始化。冻结成功回合129.8秒的调用没有子段，不能追补。新r8布局24/seed0运动0000实测111.316秒：构建7.055、场景0.358、延迟初始化96.503、求解7.375秒，其他0.025秒；另一首次模型初始化77.754秒。服务端墙钟分段，非GPU内核计时。新r9配对首笔均成功返回轨迹：预热1遍73.540秒、5遍104.595秒；其中预热35.578/80.484秒。候选整回合已完成四工具释放与归位，9/9、845动作、1149.973秒；配对对照触发速度保护且末次执行未知，不能将总墙钟差全部归因于预热改动。"
    },
    {
      "name": "独立几何检查",
      "file": "adapters/collision.py",
      "api": "validate_motion_result；本地线程",
      "input": "求解器给出的路径、URDF网格、障碍与持物几何",
      "work": "沿关节路径取样检查，自碰撞／另一只手／桌面与物体，并独立核对末端目标；必要时检查夹爪扫掠",
      "output": "valid及首个冲突部件对、检查样本数",
      "why": "这部分不只是GPU求解。成功回合执行侧24次累计129.2秒，最慢17.4秒。规划子进程内也会检查，不能把执行侧总数当全局总数。"
    },
    {
      "name": "重定时",
      "file": "library/trajectory_retiming.py",
      "api": "retime；本地线程",
      "input": "已求出的关节路径及速度／加速度约束",
      "work": "重新安排轨迹时间采样",
      "output": "重采样轨迹",
      "why": "22次累计1.39秒，在这条成功回合中不是主要开销。"
    },
    {
      "name": "动作与接触",
      "file": "runtime/assembly.py",
      "api": "execute_rows → harness_execute / harness_execute_joint",
      "input": "关节／笛卡尔目标块、夹爪命令、控制周期和接触参数",
      "work": "仿真器执行目标、推进物理、运行控制器，返回实际执行数和观测；接触阶段按反馈更新目标",
      "output": "动作回执、实测关节／TCP／夹爪及新观测",
      "why": "477次请求执行840个目标行，平均每请求1.76行；累计302.3秒。33.6秒物理时间被计算、渲染、传输和等待拉长，不能称302秒都是物理计算。"
    },
    {
      "name": "视觉反馈",
      "file": "adapters/perception.py",
      "api": "分割请求；POST /track/init、/track/frame；CAD深度核验",
      "input": "RGB-D、相机标定、mask、CAD、上一位姿与帧号",
      "work": "分割物体像素；注册或跟踪三维位姿；检查可见深度一致性与身份",
      "output": "4×4物体位姿、测量帧、质量信息",
      "why": "192次带完整组件计时的估计：分割59.5秒、位姿29.6秒、深度检查68.5秒。其余固定物体、其他视角、观测采集及恢复不能由这组数完全解释。"
    },
    {
      "name": "完成与释放",
      "file": "runtime/axial_seat.py",
      "api": "support_release_ready／release_verify／retreat",
      "input": "当前视觉放置几何、夹持关系、动作回执",
      "work": "接触下降、到位判断、松夹、卸载与撤手，然后回到初始位",
      "output": "四次完整释放和最终归位的可核验记录",
      "why": "两条后续失败再次出现到位测量被同帧检查跳过、继续接触后真实滑移；这些实际版本未包含此前确认补丁。旧批确认分支零触发不证明补丁无效；新成功基线上已接入当前帧确认，完整对照待验收。"
    }
  ],
  "code": [
    {
      "file": "runtime/assembly.py",
      "lines": 2516,
      "nonblank_lines": 2455,
      "sha256": "321333e1367e8894f306f2b9b7ad312704f3a867b33dbfec5d2e39468260867b"
    },
    {
      "file": "runtime/episode.py",
      "lines": 995,
      "nonblank_lines": 946,
      "sha256": "0976eba4bb24f53fc8ccdc92809e4094dd68f0c4f9be6dc988978d3632d8f636"
    },
    {
      "file": "runtime/axial_seat.py",
      "lines": 322,
      "nonblank_lines": 310,
      "sha256": "190bf7cde0fc1ed6e60c1f0b3c23934fec55685e2716476f9742f04f1da88156"
    },
    {
      "file": "planning/worker.py",
      "lines": 417,
      "nonblank_lines": 402,
      "sha256": "c26ce6dccd3d98cd55aaaa6df7e376ad6de5a62419b5fd6f84f340449471f815"
    },
    {
      "file": "planning/assembly.py",
      "lines": 152,
      "nonblank_lines": 141,
      "sha256": "50a1e0db21f583ab4817899e0738abce49e4ed2cc4df35832b1fee5ebdda91cd"
    },
    {
      "file": "adapters/perception.py",
      "lines": 754,
      "nonblank_lines": 722,
      "sha256": "ac06b57a4773fea6475cb9ece8d1f32290197cb73cd7d858fa0a30bdfca82cf9"
    },
    {
      "file": "adapters/collision.py",
      "lines": 650,
      "nonblank_lines": 593,
      "sha256": "19040deb5b6c9d045fba31bdb0e1056db0f3a498c2950c30c2f87d9521c8d128"
    }
  ],
  "task_code": "\"\"\"Task relation only; all skills and planning stay shared in Runtime.\"\"\"\nasync def run(ctx):\n    return await ctx.assemble('store_tools_in_toolbox')\n",
  "counts": {
    "observation": 478,
    "request_finished": 560,
    "episode_started": 1,
    "program_started": 1,
    "operation_started": 1,
    "object_estimate": 396,
    "support_plane_measured": 1,
    "motion_solver": 32,
    "assembly_action": 384,
    "grasp_state": 135,
    "gripper_commands_confirmed": 477,
    "pick_aperture_prepared": 1,
    "task_plan": 19,
    "assembly_skill_selected": 20,
    "open_grasp_source_clearance": 4,
    "grasp_search_hint_started": 4,
    "grasp_search_hint_ended": 4,
    "assembly_effect_verified": 20,
    "placement_release_recertified": 4,
    "measured_placement_verification": 24,
    "axial_impedance_started": 4,
    "axial_pipeline_enabled": 3,
    "axial_release_staging_reached": 1,
    "measured_release_readiness": 8,
    "contact_release_permitted": 1,
    "cartesian_action": 93,
    "gripper_open_measured": 4,
    "release_open_unloaded_measured": 4,
    "released_contact_withdrawal_started": 4,
    "released_exit_clearance_checked": 2,
    "released_contact_withdrawal_completed": 4,
    "retreat_effect_reused": 4,
    "task_interest_identity_renewed": 3,
    "idle_arm_parking_requested": 2,
    "motion_effect_measured": 3,
    "pose_goal_fallback_started": 5,
    "pick_clearance_remeasured": 3,
    "contact_pipeline_wait": 2,
    "axial_impedance_completed": 3,
    "held_release_descent_started": 1,
    "grasp_feedback_checked": 33,
    "loaded_grasp_recertified": 1,
    "prealign_height_rejected": 2,
    "recess_descent_recovered_with_contact": 1,
    "axial_capture_admitted": 1,
    "axial_native_geometry_reached": 1,
    "released_withdrawal_planning_started": 1,
    "stop_confirmed": 4,
    "operation_finished": 1,
    "program_finished": 1,
    "tracking_session_closed": 5,
    "episode_closed": 1
  },
  "boundary": "完成事件倒推的客户端区间；子进程内部的RPC已包含在子进程时间中。视觉组件可能与执行重叠，不加入独占分区；未覆盖时间不是已证明的视觉耗时。",
  "failure": {
    "episode": "搬运候选 · 布局12／seed2 · 最后扳手规划",
    "seconds": 180.06888378493022,
    "rpc_seconds": 139.18696301162709,
    "calls": 97,
    "held_pose_fail": 38,
    "held_ik_fail": 38,
    "grasp_pool": 128,
    "held_configurations": 2,
    "relations": 7,
    "heights": 3,
    "result": "已完成钳子、卷尺、锤子；扳手搜索超时，814动作，原生7/9，整任务失败。"
  },
  "optimization": {
    "observed_at": "2026-11-02T17:37:43.510741+00:00",
    "scope": "冻结数值输出的真实CPU几何检查；不含新IK或轨迹求解，不含物理执行",
    "queries": 27,
    "same_results": true,
    "parent_seconds": 56.80185654037632,
    "candidate_seconds": 8.385667443275452,
    "plans": [
      {
        "id": "plan-000",
        "parent_seconds": 17.79118643817492,
        "candidate_seconds": 6.708556150784716
      },
      {
        "id": "plan-004",
        "parent_seconds": 10.146982359699905,
        "candidate_seconds": 0.6708610048517585
      },
      {
        "id": "plan-005",
        "parent_seconds": 8.735422711353749,
        "candidate_seconds": 0.2865569631103426
      },
      {
        "id": "plan-009",
        "parent_seconds": 7.174622355028987,
        "candidate_seconds": 0.2475398830138147
      },
      {
        "id": "plan-013",
        "parent_seconds": 6.4261168469674885,
        "candidate_seconds": 0.21795279253274202
      },
      {
        "id": "plan-014",
        "parent_seconds": 6.527525829151273,
        "candidate_seconds": 0.25420064898207784
      }
    ],
    "status": "真实在线首个冷态规划22.094秒，已确认快速路径启用及完整几何检查。下一次符号续规划0.032秒、无数值请求，不能作为完整几何规划达标证据。原版与候选完整任务均因控制器启动失败中止；稳定低于1秒和完整任务效果保持尚未验收。",
    "modules": [
      {
        "name": "任务搜索",
        "work": "组合手臂、抓法和技能顺序",
        "finding": "原最慢请求中符号搜索0.090秒；不属于主要开销",
        "change": "保留原搜索、候选和判据"
      },
      {
        "name": "CAD与碰撞模型",
        "work": "读取三角网格并构建碰撞树",
        "finding": "单条冷态剖面中CAD构建8.39秒",
        "change": "相同顶点和三角形批量传入；每回合保留静态缓存"
      },
      {
        "name": "夹爪几何",
        "work": "构造覆盖开合范围的扫掠体",
        "finding": "同一路径重复构造188次；该剖面累计1.09秒",
        "change": "按模型和精确夹爪范围复用；不改变几何范围"
      },
      {
        "name": "独立碰撞检查",
        "work": "逐点检查桌面、双臂、持物和场景",
        "finding": "热态窄相位主要消耗在网格对桌面检测",
        "change": "包围盒确定完全分离才排除；贴近、接触和穿透仍用原精查"
      },
      {
        "name": "规划子进程",
        "work": "运行一次任务搜索及几何调用",
        "finding": "原实现每轮新建进程，静态缓存无法跨子计划复用",
        "change": "候选按回合复用进程；场景、帧号、查询缓存和预算逐请求重建"
      },
      {
        "name": "数值场景",
        "work": "把观测障碍物写入各数值碰撞模型",
        "finding": "热态IK纯求解约28毫秒，场景更新却重复花费0.84–1.06秒",
        "change": "完整场景逐字段完全相同时复用，热态场景处理实测4.4毫秒；场景变化仍更新"
      },
      {
        "name": "IK与轨迹",
        "work": "寻找目标关节解并证明路径可行",
        "finding": "首次轨迹初始化实测62.65秒；热态完整关节轨迹纯求解仍需8.24–8.81秒",
        "change": "新IK后先验证直接关节连接；完整碰撞和端点检查不变，失败保留原轨迹求解；整任务效果待验收"
      },
      {
        "name": "本机通信",
        "work": "任务搜索子进程向原生数值进程请求规划",
        "finding": "原调用使用同机回环地址；请求时间包含服务内部处理，不能全部归因于传输",
        "change": "独立记录初始化、场景、求解、导出、解码和几何验证；不以RPC总时长冒充网络耗时"
      },
      {
        "name": "视觉与动作执行",
        "work": "估计对象状态、执行机器人动作并确认效果",
        "finding": "原成功回合477个动作请求执行840动作；物理33.6秒，执行RPC累计302.3秒，内部完整分摊仍未知",
        "change": "本次1秒目标针对单次完整规划；感知、物理执行、释放和归位另计，原验收保持"
      }
    ],
    "numerical_scope": "冻结实测状态上的新数值求解；无HTTP、无物理执行，不等于完整任务",
    "numerical": [
      {
        "kind": "ik",
        "repetition": 0,
        "seconds": 25.905558625934646,
        "status": "Success",
        "planning_timing": {
          "planner_cache_hit": false,
          "setup_s": 7.586150218034163,
          "world_update_s": 0.09416826895903796,
          "motion_planner_init_s": 6.42961822450161e-07,
          "goal_attachment_s": 0.009910079999826849,
          "solve_s": 18.215209079906344,
          "export_s": 8.541042916476727e-06,
          "server_total_s": 25.905453381012194
        }
      },
      {
        "kind": "pose",
        "repetition": 0,
        "seconds": 68.31969758193009,
        "status": "Fail",
        "planning_timing": {
          "planner_cache_hit": true,
          "setup_s": 0.00011820392683148384,
          "world_update_s": 0.1599631110439077,
          "motion_planner_init_s": 62.645829196088016,
          "goal_attachment_s": 0.045280243968591094,
          "solve_s": 5.468321316991933,
          "export_s": 1.0033021681010723e-05,
          "server_total_s": 68.31952670891769
        }
      },
      {
        "kind": "joint",
        "repetition": 0,
        "seconds": 10.966433626017533,
        "status": "Success",
        "planning_timing": {
          "planner_cache_hit": true,
          "setup_s": 0.00012660399079322815,
          "world_update_s": 1.578541315975599,
          "motion_planner_init_s": 6.092945113778114e-06,
          "goal_attachment_s": 0.0018281269585713744,
          "solve_s": 9.385745840962045,
          "export_s": 8.043309208005667e-05,
          "server_total_s": 10.966332437936217
        }
      },
      {
        "kind": "ik",
        "repetition": 1,
        "seconds": 0.8781235469505191,
        "status": "Success",
        "planning_timing": {
          "planner_cache_hit": true,
          "setup_s": 0.00019938405603170395,
          "world_update_s": 0.8359212429495528,
          "motion_planner_init_s": 7.309718057513237e-07,
          "goal_attachment_s": 0.010099075036123395,
          "solve_s": 0.03176743001677096,
          "export_s": 5.190959200263023e-06,
          "server_total_s": 0.8779961280524731
        }
      },
      {
        "kind": "pose",
        "repetition": 1,
        "seconds": 6.040716761955991,
        "status": "Fail",
        "planning_timing": {
          "planner_cache_hit": true,
          "setup_s": 9.832798969000578e-05,
          "world_update_s": 1.143175650970079,
          "motion_planner_init_s": 2.612941898405552e-06,
          "goal_attachment_s": 0.02380803390406072,
          "solve_s": 4.873514191946015,
          "export_s": 8.687959052622318e-06,
          "server_total_s": 6.040611782926135
        }
      },
      {
        "kind": "joint",
        "repetition": 1,
        "seconds": 8.413242983981036,
        "status": "Success",
        "planning_timing": {
          "planner_cache_hit": true,
          "setup_s": 0.00013741699513047934,
          "world_update_s": 0.16723566001746804,
          "motion_planner_init_s": 5.551963113248348e-06,
          "goal_attachment_s": 0.002912835101597011,
          "solve_s": 8.242785290000029,
          "export_s": 6.699096411466599e-05,
          "server_total_s": 8.413147254032083
        }
      },
      {
        "kind": "ik",
        "repetition": 2,
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