按语言分拣物体任务成功第一档

Need count objects: 3 peppers yellow far left (-.45?), yellow middle(-.15), red right .44. 2 watch center at x-.05 and .29? 2 wooden toys white small center x .055 y? and elephant .33. Need grasp good. Table z likely .75? From eef .921 fingers horizontal tips y-.195 images pepper at y-.19 etc. Need compute world coordinates plane from pixel z values known table maybe .75. Can triangulate corresponding points high/wrist for exact objects using geometry and images. All stationary. Table top could .75 from standard. We'll derive calibrated triang on basket and elephant/watch correspondences. Use py script ray inversion z=.75, high centers.

Need know table z likely .74. Objects 3 peppers,2 watches,2 toys. Need rotate down grasp orientation q [0.5,-.5,.5,.5]? Initial X +Y, localY -X, localZ +Z. Pitch +90 local Y rotates X downward so q= qZ90 * qY90 = [.5,-.5,.5,.5]. Down along -Z fingers, closing global -X (good). Orientation bounds intermediates. Approach first left pepper left and right elephant simultaneously noncrossing. Left pepper x -.448 y-.14 z.77. Right toy elephant x.32 y-.10 z.79. Need descent link6 about .93 for pads .13 down; maybe contact z .79 link z.92. Initial z .921 but fingers horizontal, rotation tips sweeping down .157 may reach table before aligned? Raise .1 to1.02 during rotation. q at 0.4 pitch [ .693,-.1405,.1405,.693]. Move x left -.35 y-.30 z.98 delta .087. right x .31 y-.29 z.98. Use 5.

Need many actions 7 objs likely 600 steps enough. Gradual actual increments ~.015 per5 early. Want topdown Rz90 Ry90 = .5,-.5,.5,.5. Change further .45 each. Move targets bound.

Actions 5 cause only .02m 0.1rad due response low. Can set dynamic .49 orientation ahead each. Need 25-40 per quarter turn. 1100 ample maybe 500. Need state more from files may exact. Head down q[.5,-.5,.5,.5]. Adjust projected positions table actual z .74? Estimate from basket. Pepper left center high [106,256] wrist [117,365] current10. Elephant high[473,233], wrist[330,298]. Can triangulate.

Object z table likely .74? triang eyeball poor pepper .819 seems table .8? Need establish with landmark basket rim. Original z assumptions .77 gave x .446 vs actual likely .4. Typical sim table z .74? Wrist pepper huge. Need triang correct matched features e.g pepper green stem high pixel (105,248) vs wrist (123,316)? images not same angle. Could geometry table infer camera o. Let's compute known planar points: watch centers high 296,262 wrist unavailable left watch beyond right. Right watch high456268 wrist253450 approx correspondence.

Table z .75? Objects peppers bottom .79? We estimated pepper xy -0.4,-.16 z .82, table .75 or .77? Need top approach link6 z grasp .92 if tips .762. Real pepper height .05, center .806 target z .932. Elephant .82 center target .955. Need orient downward q .5,-.5,.5,.5. Move gradually.

We have huge steps enough but calls many. Can move faster actual .035/5 max maybe use repeated targets near .09. Need final vertical target q .5 -.5 .5 .5 difference current tilt1.05 to1.57 .52 just too. choose .521 -.478 etc.

Need refine coords pepper x -.43? View pixel pepper at239 vs center320 current eef -.399 and optical camera to fingertip lateral. Can ray table estimate using accurate height. Pepper top .814? Previous triangulation .84 maybe .8. Need triangulate stem obs35 high(103,249) wrist(224,269).

Earlier pepper estimated .40 wrong due image matching? Actual from current backprojection known z tabletop .75? Table watch .775 top watch 1cm means table .76. Pepper top .811 yes .43 correct. Need target -0.424 y-.146 top .815 body .791 fingers at link .932? top down far .157 end .775. contact .13=>.80 =>link .93. Elephant top .825 body .799 end .777 so link .935. Need approach above at x -.426 and y-.146, right .300,-.097. q .5,-.5,.5,.5. Could use .98.

Need precision z. Pepper top now inferred .815 not .84. table .75? Watch .775. Grasp pepper center .786 link .924 if pad .135. Elephant .795 link .93. Move down to .955, settle orientation then .932.

Need actual contact depth link6 .94 gives tip .782 appropriate pepper .77-.82; pads ~.12 depth => .82 yes. Elephant top .827 body .79 and tip .80 with .955. Could .938 pepper, elephant .94.

Finger pads at z~.80 with tip .782 left, pepper top .819, bottom .755. Good. Right bottom .789 grasp upper body .81. Close.

Good holds both. Need raise to 1.08 then transport. Baskets positions now accurate from observed z. Calculate center at back y~.12? Image basket interior bottom center (190,176) z .765 gives y .086? Earlier at .79 y .065. Rim z .83 front y -.013 back .19. Basket center y .09. White x -.28. Let's inverse z .77 centroid (190,177) => -.32,.077. Basket edges x -.44,-.16? From image width 120 at depth .7 => .27. Likely x -0.3,0,.3 y .12? Compute using python eventually. Pose lift max fingers bottom .91 above rim .84 by .07 if eef1.07. Object below .18 ~ .89 safe. Elephant height grasp extends .18 bottom. Need 1.075.

Now transport baskets center actual x±.28? Initial assumed z=.79 gives x-.307 y.065. Rim z .88? Need compute via corners now view. Table z .75. Baskets exterior x maybe center ±.28 at y.15? From high back rim y140, front y207. At z .84 we can rays.

High z reach constraint forward. Need lower to1.06 ~clear object bottom .88 >.84 margin .04. Right target y-.03 z1.06 maybe.

Need full basket y center maybe .04. At z basket rim .81 vs .86? estimate table .75, basket rim .85? world high pixel front x etc. Native bounding typical .3,.15. Could get stereo current rim from wrist row80 high200 world z .81 via triangulate. Need margin at 1.06 object bottom .879 (initial toy .76, eef .947 diff .187) > rim likely .81. fine.

Need adjust orientation tilt forward to reach. topdown link6 x toward bottom vertical. Reach y 0.05 z1.05 total from base at -0.65 maybe .7. Can tilt away? Finger +X forward (+y) with pitch 1.3 means fingers y +.037, z -.144. link6 y target less .04 meets same object. qw .563,-.428,.428,.563 for pitch1.3. This tilts grasp 15°, must check after. Need roll preserve object? Safe above. At current left can follow with right tilt to pitch1.30 center link6 y -0.018 fingers y .038 -> object center .02. Need reach x same. At y .04 later lower enough. Basket actually center y .05. Could move tilted yaw90 pitch1.2, link6 y .005 z1.03 object z .87? bottom .85 rim .835? Need precise rim triangulate. From high basket bound x 390..497 at y140 with z likely .85. Table .75. Basket rim .85 yes. At current right z1.062 fingerbottom .904, elephant bottom ~.865 if original bottom .75 offset .947 => .197 → .865. clear 15mm only if rim .85, want 30mm. tilt pitch1.25 link6 z1.07 y-.06 object projected finger etc. reach with forward tilt can improve bend. Try right y.012 z1.07 orientation pitch1.25 (q .5735 -.4137 .4137 .5735) likely IK reaches more due wrist.

We've burned 15k? remaining 48k? token 38k? time. Need optimize ~7 objects 400 steps ~200 calls. Have 30k? budget initial 65k left shown 48? Now 48? We can do. Concern elephant slipping during tilt opening .35 vs .4 changed shape contact okay. need recheck next lift? Already image follows. Current bottoms? place over y=.08 center. right tilted x+ direction +y sin(.3) offset .04. Thus eef y=.02 gives contact .06. reach z1.02 y .02 fine orientation tilt .3. left same tilt for reach eventually.

Need basket y center accurate. Rim back y .12? At z .84 pixel v141 gives y .129; front v196 gives y -.027. Center .05. So target object y .045 left .04 right .055. Eef left y .01 + .035 offset = .045. Right eef .002+ .046=.048 already. X left -.30 (basket center -.285? Derive rim polygon left126 right255 at v180 z.85 x [-.397,-.133] center-.265? Basket true x-.28 yes). Earlier basket floor gave -.324 with z.765 but floor actually .775? Let's recalc high ray z.75 basket ~ x-.334. Wait high x center190 (130 offset) depth at surface .75 y.10 -> x-.334. Rim mid point (195,170) z.85 gives x-.265 y.028. Parallax means center floor (190,176) not true center; basket shape location compute 4 corners triangulate wrist. Could use at high front rim center190 v202 z from stereo. But likely basket x=-.28 y=.06? Right center pixel445 =x .28. We'll place -.29 and .29 y .05.

Need estimate floor actual .75. Pepper initial bottom .77? Initial grasp .94 object bottom .763 offset .177. Current rotation .23 bottom offset .173 => at .966 bottom .793 floor .767 -> .026. elephant .947 initial bottom .759 offset .188 after tilt bottom .18 => .985 bottom .805. Lower left .937 right .944.

We have 80 steps 4k? Actually tokens used huge 13k? remaining 46? We have 49k initial now 39? time not budget task has 1000. Need more efficient longer steps lower close. Pepper floor contact now z942 (original grasp940 table z .76 -> basket floor .79? should z967 but object rotated). Actually floor white .77? Descend .945.

Need five remaining. Can left pepper mid, right watch near right; then left watch left/right toy then red pepper awkward right to left cross workspace maybe handoff or left reach x.43 not possible. Need handoff at middle or transport right to left basket maybe arm reach x-.28 possible at y.04 distance base x.6 ~.7 can't. handoff later. Need accurately map objects. table z .76 pepper body .81 so middle x-.131 y-.22. Initial rough at .77 off. Use high with .8 object: pixel249,284 z.80 => -.13,-.216. Right watch x .274,-.165,.775. left watch x-.046,-.154. toy x.05,-.14 body .795. We'll approach left pepper (-.135,-.219), right watch (.274,-.164), right close y across watch? watch ring lies circle with screen elliptical no need align rotation? Watch object silver band loop diameter .043 horizontally, can grasp across outer whole ring or band top face. likely width .045 within gripper .08. Top-down grasp across x with tips at .76. link6 .913. Need don't hit table min .914. pad center .78 at .92.

Have 988 steps huge; token budget 32? currently remaining 47k initially now 26k? Need efficiency actions. Progress actual .04 per5 due near sing. need ~400 actions? already 40 calls. 7 objs manageable ~200 calls. We have 26k tokens remaining 43? tool budget analysis 27? Current watch center .274,-.165,.775. Pepper second triangulate using high and wrist obs106: high249,287; wrist498,392. Do accurate.

Need closing direction watch stable across ring diameter yes. Link6 .918 tip .760. Table .76. Watch top .79. Grip pads at .780 if link .922. Pepper .94. Need ensure y center from image pepper top wrist 377270 vs center axis projection? At down camera center gripper below center? Need compute ray table. Pepper earlier .134 .214. Fine.

Right bottom perhaps table contact at .923 (tip .765 tabletop .76). target .916 can't lower table .77 contact explains .923. Need close at .926. Pepper .938 like first .94.

We have 27k tokens? 39? Need efficiency no budget concern. 160 steps. Need select second pepper placement avoid first at -.29 .056. Put second at -.37,.045 separated .08. Basket extents -.43 -.16. x -.36 finger open may near wall -.43 difference .07 >.055 okay. First center -.29 .057. Plan left -.36 .024, right .042 .016. Need keep target move <.1. Transit at 1.065 slight front.

Need right reach center further tilt ~.55rad q .617 -.346 (theta1.02 rad). link x points y.52 z-.85 lowering tip clearance. z1.04 gives .90 fine. right x.06 reach origin vector arm base .3,-.?? center need. Try .09 -.03 1.055 q .602-.37 (theta1.10), left same.

Pepper contact starts .959? previous .942 for first smaller? Need don't push further. Left looks floor underside at .8? Can release .959 safe drop .015. Watch q tilt changes lowest. At .949 p contact z .819? floor .79; want .917 maybe. Need estimate actual floor .79? From first pepper at .944- initial .94 difference .004 implies floor initially table? basket thickness ~.013. Pepper first grasp bottom .775, release .799=+24mm. second grasp .944 bottom likely .78 release .959 bottom .795 correct. Good release now. Watch bottom initial .76 at eef .927 so offset .167. with tilt watch (lowest relative rotated) .18? q tilt 0.57 yields bottom ~.164 maybe at .949 bottom .785. It is nearly supported now could release stable at .944.

We have huge actions but budget fine 923. Need 3 remaining with long cross red pepper transport. Time tokens remaining 32k? now 26? Original 57k remaining says 32? Have 25k likely. Need avoid much overhead. Watch bottom at z .943 - .139? = .804, basket floor .78? Need lower .02. Top of watch local? Grasp link927 watch center775 delta152. Tilt by .56 contact offset yields z=.943-.152*.85=.814; lowest .795 vs floor .775. Need 0.925 link support. Earlier pepper floor reached at959 because pepper bottom .78? held delta .18. Watch delta .154 cos .56 + vertical radial extends .019 =.15 =>.793. so .925. Need seat.

We have 188 plenty. 3 remaining red pepper hidden behind right, watch center, toy center. Need left watch then red pepper transfer across whole width maybe handoff vs right can left basket reach? Plan left watch, right wooden center concurrent interference with x sep .10 risky. Instead left watch, right red pepper staging or transport handoff. Could use right wooden toy while left moving to watch but separate temporally. Need grab red pepper with right bring to middle front handoff left, then left to left basket. Could do left remaining watch and right red pepper then hold red while left places watch; handoff red at x0 y-.2. Then right toy. Avoid contacts. Current right x .045 near central basket, left -.35. Need left watch (-.05,-.15) right red(.44,-.14) route. Good.

We used 193 steps lots calls ~100, available 900. Need remaining 3 incl green pepper at x.43 hidden right arm. Could use right pick green and transfer to left basket tricky cross. Best next right white toy x.05, left watch -.05 close both arms could collide (10cm separation and open grippers width .11). Do sequential approach right toy while left stay -.18 then right moves to red then left watch. Or left watch first right green then handoff pepper left. Alternative right white toy, left watch both if x separation .1 too tight, sequence. Need keep actual grippers safe including arms. Current separated .38 fine. Right approach toy x .052,y-.13, left keep -.2 or raise above. Do white toy right and left stay at -.2,-.21 1.08 until right out. Then right green move central table staging left can grasp pepper from stage. Or left can reach x .43? likely no. Right carry green all way left basket not reachable. Need handoff or stage at x0,y-.20. Then left pepper to white.

We have 900 budget massive enough but context 24k? remaining 31k? Token 28k? Need next red pepper across table requiring handoff perhaps right arm can carry left? Reach x -0.2 from right difficult. Need handoff central. Could use left pick red far right likely unreachable. Right to center table set down then left. Need do 2 remaining center objects no collision separation .1. Best right wooden toy first left watch approach stay -0.18 until toy lifted. Then left watch while right moving red basket. Current left -0.294; right .051. Toy object x .05 y -.125 z .8. Watch -.049,-.15. Finger opening span .1 could clip watch if aligned toy. right toy choose close across diagonal base narrow area. Need examine front actual toy block in image white wooden plane? Body elongated diagonal y, thin with pedestal. From initial high toy looks rocking horse wooden. Now wrist white seal? Need full at close.

We have 3 objects? Right green pepper hidden behind arm from start. Need white toy dog rocking horse stable grasp body currently can across x broad board maybe. Need left watch alone after right moves. Keep left x-.2 y-.12 high. Right contact toy p .05,-.12 z .8. Can derive center toy back pixel 327,265 high 347,246.

We've used 15k tokens lots images now 20k? Remaining budget 35? Need 3 objects incl far pepper. Could finish ~250 steps. Need more efficient repeated act max 5 though small. We have 890 steps enough. Need avoid arm collision between left watch right toy. Hold left -0.216 until toy gone. Orient right grasp across toy long axis world (-? image dog from bottomleft to top right corresponding y positive and x positive; long axis x .026,y .053) pinch across x fairly fine. Top toy z .80 downlink .932. Let's go.

We have 27k? remaining token 26? Actually 29k earlier now 38? Need optimize calls ~ remaining 3 objs. Seven count initial includes red pepper still hidden right. Need toy grasp align closing x vs rotated body diagonal. White dog with base rectangle could grasp torso x width .04. eef at center body x .055 y-.125 current wrist body appears center x325 y210 (grasp at y? center projection fingers around y275 thus body too forward? camera pointing down finger center pixel around 320,280 depends height). Tool coordinate aligns .055-.125 body. z .79, grasp eef .927 (pad center at .13-.145). We can use q .5.. then eef .939. Lift confirm.

Toy rotated yaw under grasp but lifted? high now bottom at262 vs266 up4, table z? actual lift21mm gives~8px object shifted. Need small another confirm because rotation settling.

We have plenty budget but tokens 30k? Initial available 58 now 32? Need efficient. Continue toy right pos choose x .36 to right of elephant x .285. Basket interior x .18-.4. Toy width ~.05 vs elephant .05. x .357. Need pitch tilt ensuring base orientation maybe long in y +/- .055, need center y .05. link y .012 plus tip .043. good. Left approach watch x -.05 while right x .22 so okay.

We have 29k? tokens remaining ~26? Actually remaining budget 31? We used 25k? Now 31? Need efficiency actions 7 objects task 2 remains after toy watch red. Need red transfer cross arms. Could use right place red at center table left pick after. Need complete in 1100 easy 400. Need avoid toy long base rim. Planning toy at x .36 y .03 vs elephant .285 .06. width .05 long .10, fits right side basket .15-.44. Place .367,.057. fingers y direction? q tilted 0.23 -> toy length y .12. keep. Need move to .365 -.01 then down. Left watch current -.115 etc to -.05 -.15 z .97.

We have 859 steps plenty but token consumption huge 20k? Need more concise control maybe 5 steps clear 2 near. Need red pepper cross arms handover maybe right can reach middle to left? Need plan right carry pepper to center transfer to left on table. We'll do later. Toy large long has head to negative y, base to +y extends ~0.1; placement x .35 y .04 grasp with tilt creates y shift +.027 so tail base .10 head .0 supports inside. Elephant x .285,y .06 head? place toy x .36 along y, fits right basket x bounds .15 .42, margins gripper width may hit right wall at x .42 open but <.40. Could use x .35 toy width .04 vs elephant .06 at .285 gap .03. fine.

Have lots budget but token consumed ~? 33k originally now 29? Time. Need efficient next ~100 calls maybe 200 steps. Final red requires transfer across workspace arm reach central. Can use right transport red to central handoff table then left grasp. Need no resetting until final. Have 858 steps, plenty. Need carefully avoid elephant in red place right x .355 y .035 body extent .055 along y. Basket x range .15-.4 so center .35 enough 4cm from rim. Fingers spread reaches .41 causing rim at release if low. Need x .348, toy halfwidth .018 and gripper open .057 total extends to .405 basket right wall .415? Initial projection red x=388..514 x-range .15 .42. At rim z .85 estimate left .15 right .395. Need toy x .355 with gripper open extends .405 possible hits wall. Use place toy x .35 z release 0.95 fingertips .795 near floor x .29,.41 exceeds. Could orient closing y along y to reduce x extent before place but toy base y big could danger. Current elephant x .285 body width .045 to .308, toy .355 width .04 min .335 gap .027. Gripper left finger x .30 could touch elephant if lower than .83. Could release gripper halfway? Boolean only open reaches gradually 2 steps to full. Need basket dimensions exact from previous white finger opened wall caused limited opening .81 but no basket move. Could choose toy x .35 y -0.007? Toy center includes y .025 + tip tilt .03 and length .12 extends -.035..08 so front rim -0.02? Need understand basket floor y .03 to .13? Estimate precise from high corners via calibration z guess. Table objects z bases .76 means table .75. Basket top front z .81? Earlier triang front basket .84 noise. White center base .025+ .03=.055. High pepper pixel x195 y170 at z .8 gives y .067, consistent. Basket front rim at pixel y193 z .79 implies y .009?

We used 27k? Remaining token 26k? Now 31? Actually have 30k? Need manage. Currently 250 steps 850 ample. Two remain watch held and red pepper. Need place toy carefully no collision with elephant. Toy long ~.1 y, basket y -0.035.. .16, our toy center .023+.03=.053, rear? ~-.0 to .1 safe. x .36 right wall .41 maybe toy half .025 and fingers opening half .045 safe margin ~.005 to .41. We should center x .35? Elephant extends .27-.32 near toy .34-.38 2cm. Currently robot x .349 aim .35 better than .36. Toy base width .06 likely x half .035, so x .354 fine. Right open fingers width .1 borderline. We can release partial bool no control endpoint but opens full. Fingers above rim if link z .995? Will be below rim at final. Need safely avoid right wall choosing x .343 and elephant is x .27-.3 yes. Gap can be .015. Maybe current elephant body center .285 (placed), width .045 ends .315; toy ends .37. Gripper inner left x .31 potentially contact elephant if open. That is concern. Need orientation maybe rotate closing along y to avoid side elephant but toy secured rotated. Could change now with clearance high above basket but costs. In reality image elephant left toy have gap at x .35, toy held fingers near front/back? Top-down q closing x yes. After release gripper x left .305 could hit elephant legs (center .285 radius .025). At .349 leftmost .30 slight. We should perhaps place toy toward front red basket, elephant rear y .06-.08, toy center .01; both separated y. Current toy y .04 and extends ±.065. Elephant .08 radius y .05 overlaps. Need use area x .35 any hand release below rim could contact wall. Basket huge internal width .23, elephant .06 and toy .04 fit. Hand open total width .1, can have x .34 from wall .424 => .034 clearance; okay.

We have many tokens but 15k used? remaining 24k? Need final pepper transfer cross-arm issue. Need plan later. Toy appears held upside? body long y roll top cylindrical to back; bottom z maybe .80 at .986. Need descend to .945 maybe toy extends .176 -> .77, yes. Need stable orientation toy might inverted but only in basket no upright requirement. Could lay securely at .96. Watch test success.

Need remaining red pepper cross to left. Need use handover or right transport across center possible reach to left basket no. Plan right pick red then place at center staging for left after watch place. Could use left reach red? x .425 impossible. So right stage table center then left. Have 837 steps abundant. 263 so far can finish ~480. Need watch transport left middle tilt as analogous q619 reach x-.04. right clear raise then red approach.

We have 832 plenty, tokens 28k? left. Need red pepper transport right->left may use handoff via table center. Efficient right picks red moves center -0.05 then left grasp while right clear. Could right reach left basket? base .3 reach x-.25 far .55 possible low angle high unreachable. Safer table staging. Need do second watch and pepper partly simultaneous then stage pepper at center table x0,y-.2; release right, left regrasp then basket. 200 steps. Fine.

We have used ~19k tokens? remaining 31k budget original60? actual says33? Need think final pepper transfer cross table. Have 819 steps plenty. Right must relay on table to left easiest place center then left grasp. We can do right red to center table then left to basket. Could left reach right pepper? no. Right to left basket impossible. Relay on center avoids handover collision. We should do right pepper to center front x=-.02 y=-.23 then left acquire after right retreat. Good. Need toy stable looks on side but supported okay. Watch placement lower to .911 then release. right center refine triang if more see stem etc. From obs273 red at px528255 and wrist399350 yields point?

We have 808 steps plenty but ~17k tokens remaining? Actually remaining token budget 31k? 30? Need handoff red pepper to left basket because right arm can't far reach. Options table set down center then left grasp safer than handoff. Need plan right transport pepper center x=0 y=-.18, place supported table then left grasp once right clears; then basket. Or direct right reach left basket x=-.25 problematic. Use staged transfer via tabletop. User scope okay. Left park x=-.21 y=-.22 z1.04 to clear right transfer. Red pepper moved from .414 to -.08 via right workspace likely reachable x=-.08 at y=-.18 z1.06. Then place table x=-.06 y=-.24 z.94 right gripper. Right retract x=.12 and left approach, enough. Better right place at x=.03,-.25, then left at -.01? Toy removed so empty table. Direct handoff messy avoid. Need efficient no user update until placement.

We have 18k tokens? Actually remaining 31? We have plenty action ~80 maybe. Need finish. Need place red among peppers perhaps front empty not beyond reach. White basket two peppers around x-.33 and -.282 y .065. Third place x -.25 y -.003? Opening y front rim -.044; with object radius .024 clear if center y .008+, finger extent tilt y offset .034. Can choose link x-.235 y-.015 tilt .619 (X forward .54 offset .07) object y .06 would overlap first x-.282 distance .047 moderate. Better x-.31 y .125 back row but reach challenge. Could place red at x-.31 y -.005 front row with fingertips at .03 depending tilt and object center. First two pepper centers at y.06, x-.345,-.29. Need space maybe right basket x-.23 y.06 separate .06. White opening x~-0.40 to-.175; so choose x-.23 y.045. Finger open at x ±.055 yields -.175 right rim borderline. Could release only stays within with margin possible x-.235 extends .05 to-.185. Good. placement link x -.24 y .0 orientation .554 -> obj y.034; distance from -.29,.06 =.056, okay radius sum .05. Or front y-.015 -> obj y .016 clear front wall maybe -.01? Need basket coords from above rims. Initially computed front rim at y-.043 but assumed z.86. likely y -.001? Need accurately derive basket geometry multi views. Existing placements white at link -.29,.025 -> obj y~.06. White rim front at high pixel y204? At z.8? Let's solve calibration: top front rim pixel (195,194), z .8 -> y~- .002. We assumed .86 erroneously. Rim at z .8? Table z .75. Basket .1 height rim .85? Need determine from multi matching. Earlier red basket point frontleft image (392,187) triangulated z .841/y-.015. So rim .84 not .86. White front edge high y201 -> y-.05? quick projected. Could choose third center -.23,.06. fingers all stable. Let's proceed.

We have 15k left? Actual 30? token 29k? Remain 29? Need final leg ~35 calls. Basket third pepper empty right x-.22 original -0.29,-.35. White boundaries x-.41 to-.14 so choose x-.218 y .045. Need ensure side gap existing -0.29 body radius .018 third gap .07. Good. q .554 placement y .025 => actual y .06. Use same. Left transit (-.2,-.07,1.07). right hold can orient reset in open but don't reset till done. Steps bounded many simple.

Need placement empty x-.22. Basket right edge -.17, interior -.18. Pepper radius .029 gripper extent .06 so x-.218 open extend -.16 possibly rim top if release fingers below rim. Use x-.225 width opening max .09 pads +-.045 edge-.18 fine 1cm clearance. Existing pepper at -.29 .055, separation .065 marginal pad left -.27 possibly yellow at-.29, could contact. Could place front row x-.32 y-.014 instead? basket front y-.03. pepper r .028 leaves center y .005 boundary .03. original center .06. Need safe allocate right x-.216 y .06: center separation .074. finger left at-.26 could yellow edge -.262 ~touch. Can orient closing along y avoiding yellow sideways. That means yaw0 fingers closing y, quaternion [0.707,0,.707,0] vs current yaw90. Rotate -90 gradually in free space then tilt? Harder reach but manageable. Or place at x-.227 y .1 back right, center first -.29 .053 distance .078; finger closing x near -.272 y .1 yellow ends y.08 ~2cm good. Basket back y.13? observed rim back y.14 maybe interior back .122, pepper center .10 extends .13 too near. Need accurate basket actual bounds. Initial basket x range visual146-253 front etc. World geometry at z.86 front pixel y192 -> y-.041, back pixel141 y.105. so back rim y.105 not .15. Wait image top rim v141 transforms y.105 at z.86. Actual rim z.84 gives y.125. Basket floor z? .76. floor center y.073. Back .13, front-.015. So place y .065 and x-.215. Current yellow images x171 at y171,195 at174, right empty230? Coordinates floor z.77 x? compute. Need can put third front y .005 and x-.22. x-.22 .005 first(-.29 .06) dist .089, stable. gripper left pad at-.265 .005 first y.06 radius extends .03 => gap .025. approach tilted y 0.03 object center eff y+.03. Target eff y-.027 -> object y.005. Front rim y-.023 so pepper at -.022 ~grazing. Better y .02, dist sqrt(.07²+.04²)=

Need basket spacing. Three peppers x -.35,-.29 then red -.23. Outer rim -0.155? basket high at x250 z rim .8? We computed basket center -.29 half .13 so right bound-.16. red -.23 pad outer -.17 safe margin .01, okay x-.22 perhaps too close. Choose -.225 y .02 but yellow first -.29 .055, separation .065 maybe pepper diam .054 leaves .011 okay. Need fingers opening hitting yellow if along x finger left at -.27 yellow at -.29 -> possible. Prior release second pepper too near first resulted gripper limit .814 but no collision? Need set red different y front .0 vs yellow .055 distance .07. We can place x-.235 y -.005? rim front-.04 z.8, pepper radius .027 plus center -.005 -> extends -.032 margin 8mm; not sufficient. Better y .09 back vs yellow .055 separated .07 with x.235, grip facing? y target at link .08 contact .115 (angle). Back boundary y .15? Basket actual likely center .08 half.1. Could choose red center -.235, .11 with x gap .055 and y gap .055 gives .078 margin. Then wrist target y .075 z final .94. Reach at .075 may require theta.35 or .5 giving offset .055. link y .055 q.586 angle .4 yields center y .112. x-.24 slightly more .075 from yellow at -.29,.059. This good. Basket back wall actual .14? Need calibrate basket back rim pix (251,142) z .825? We can stereo to determine actual. We have good depth initial computed basket rim .844 with mismatches. Images high basket is rectangle projects back at (150,142)-(252,142); bottom front (126,189)-(244,191). Native table .75, basket floor likely .78 rim .83. Need table support earlier pepper bottom .75, link .935, center contact .8. Place floor .78 => link .965. Actual first at .942 had support? Orientation causes body contact center moved? We should locate floors and rims via image and calibration with wrist ready. Could use exact matched corners now image left wrist top back? Better high model plane z.82 rays back row y: compute.

We now have ~ budget 29k? Actually remaining token 29? We have 22k? Need finish efficient. Left basket bounds x-.42 -.16 y0-.15 floor .77. Existing centers -.29 .06 & -.35 .06. Red target -.225 .024+ .03+.01 offset = .06. Distance .065 to first pepper, fine gripper opening touches first pepper when release unless shift y .1 maybe. Need pads spans .09 and yellow has radius .03, left jaw at-.272, first right surface -.26; close .012 margin release might contact. Current first release second pepper left side had interference opening 0.814 but no push. Could place red x-.221 y .12 away existing y .06 ~.09 distance; arm target y .07 too high unreachable at z1.06? Can tilt .62 makes object y+.08 -> .1 with eef .02. Existing yellow y .06 means can place red y .11 x-.224. Need red centered x-.222, y .04? Final from q554 body pad xlocal .13 -> y .03 plus actual object offset ~.005. So choose eef y .065 z desc from1.04 local reach could fail. Better q573 angle .31 y .044 and eef .032 giving y .076. Fine x-.222 vs-.29 delta .068 enough bodies 0.05. Fingers on left x-.26 can touch first atx-.26. Could reorient closing world y for red after transit to avoid neighboring pepper. Q with yaw0 base rotYpi/2 w.707 0 .7070. Hard big rotation but over table possible 4 calls. No need maybe release controlled at .95 and withdraw full opening at1.0 high. Choose x-.218 gives gap from first .072. Open pad inner .05? Original opening gap ~.11, at x-.27 reaches yellow -.263 overlap~.007. Move red y .09 vs yellow .06 yields 3cm difference enough pad ywidth1cm could avoid. Q554 body local .13 projects y.03 + eef .05= .08 maybe yellow .065 difference .015. Need y .11 via eef .08. Feasible at z.94 with tilt .554 yes but high1.065 precheck y.08 fails maybe approach then lower along+forward to place. Could set q619 to forward .56 xprojection .54

Now x-.194 still target -.218. Want x-.229 for finger wall. y-.002 with tilt gives contact .05. first yellow x-.29 y .05. To avoid adjacent fingers contact pepper if gripper halfwidth .037 and pepper neighbor ext .025 gap center .06: left finger x-.263 will overlap existing .29+.025 =-.265 close 2mm. Need place in front row y .025 or at x-.225 y .05 centers .065 with pads width. Clearance maybe 1 cm if y offset -.03. Could use grasp rotation yaw 90 to finger close y and narrower x around body. But sweeping object risk. Current object width .05, gripper outer width ~.07; can fit x-.23 with left edge -.266 and existing rightmost -.267 barely. Better place x-.245 y .01 front of first x-.29 y .06 diag .067. Current tilt contact offset .05, link y=-.055 gives obj y≈0.0. basket front y=-.003 at rim but floor inside maybe y .01 so center y .035 min. Container actual dimensions maybe back .16 front -.01 floor .015. Could place x-.224 y .045 0.066 gap. Right finger x-.185 rim at -.17 gives .015 adequate. Adjacent clearance .002 not adequate but holding above until end + gripper open overlaps yellow. Could orient closing along y (yaw change) to reduce overlap with neighbors. 90 about world z then q [0.707?] eef X pointing down and yaw arbitrary. Need q for topdown fingers close world y: [0.707,0,.707,0] (local X down, Y world y). Current tilted fingers +X = [0,0.374,-.928], localY [-1,0,0]. Rotate around localX 90 makes Y~[0,.928,.374] tilted slightly upward (bad fingers heights). Can adjust to pure down q [0.707,0,.707,0]. 1.64 rad; 4 increments high safe. Maybe simply place red in front clear region x-.3 y .015 gap existing .06 diff .045 causes object &lt;.06 collision. Back row x-.23 y .095, more clearance and opening gripper x issue existing y .06 helps. Need ensure front/back distance &gt;.035, diagonal &gt;.07. x -.227 object y .108, existing x -.29 y .06 diff .063 .048 ->.079. Good. link y=.055 given tilt. precheck high y .05 maybe reach need reduce z to1.03. Can target [ -.23,.0,1.05] current [-.194,-.093,1.07] dist .102 => -.227,-.005,1.06 .094. Then forward a bit lowering when safe object above. Need keep lowest red z≥.895 over yellow top .82 enough. eef1.06 bottom~.884 (pepper .18 offset). safe. Move to link y=.03 then .04 lower. Rim back y .147, object center .09 extent .03 safe. End q .589 contact offset .05 .133; bottom original at eef .939 .76 =.179 down vertical, after tilt .17 so eef .945 to floor .775. can seat at .945. So target obj y .10 link .04. Let's do.

We at step415 huge budget but 25k? remaining context ~45? Actually now 28k? Need choose location -.225,y.04? Wrist foreground interpretation. Pepper objects placed x -.29 and -.35 y .06. Final can x -.224 y .03? Need safe gripper width open .11 => spans x -.279-.169 with wall right -.15 interior? yes .019 clearance right and yellow x -.29 overlaps left finger at -.27 close? Offset y .03 vs yellow .06 difference .03 finger contact risk. Better y .10 with x -.224? fingers close width .06 across x extends-.264 to-.184 y object ~.04 extents .06-.14, basket back .16. Yellow -.29,y .055 top stable. Their surface to moving left finger at-.266,y.1 distance .03-.04. Good small margin. Gripper open max x width ~.12 left edge-.285 at y.10 could touch yellow extents y .085 (gap .015). Need avoid enough margin by y.115. Back basket rim y.16 maybe fingertips sweep at grasp y .095-.15, supported. We could keep pitch .39 rad = local X down cos .922 with y .39. Link y .048 yields grasp y .104. Want center y.095 to .11. Link y.04. x-.222. At z .93 fingers y+.06=.10 so fine. Current y-.037, add .067 to y .03 at high z. Precheck near y .03 z1.055 may need adjust orientation. Better .04 z1.03 with q .603 -.369 rotation1.10 (down .891 y .453). Then grasp shift .061 y .101. Height pepper bottom link-.16 =>.87 high safe. Later lower stable link .93? We will do x-.225,y.04,z1.035 with q .589 keep. Need kinematics pass.

Need not overthink x -.224 seems rim right interior x-.18, object .03+ fingers outer .055 =&gt; -.169 collision wall if open at floor. In prior second toy x .35 open near wall .4 but slight contact. Need pepper third placement -.23 to .25 with enough margin x rim-.166 and yellow x-.29 -&gt; distance .06. Could choose third x-.224 y .11 where first -.29 y .061 dist .085 adequate. wrist offset contact y+.055 =&gt; EEF y .055. Current target .033 contact .09. first from first EEF .025 q0.554 contact +.03=.055. 3rd y .10 distance .086 stable. with gripper opening outward x -.224+.06=-.164 wall, at release eef z .93 fingers tips .787 below rim .82. Might keep partial opening? tool boolean open 1 but can raise at same time but requirement support. Need rotate yaw 90 closing y instead? not needed likely fingers actual outer open +-0.06? original open width in views at scale. initial right toy x .35 outer .406 wall .42 fits. basket white right wall-.16, x-.224+.056=-.168 margin .008. narrow but doable with x-.236 =&gt; right clearance .02. Then yellow -.29 separation .054 x but y .06-&gt;.11, center distance .074. fine. choose -.239 .055, at floor .943 q589 sin1.17=.921 x local down tilt, contact y .059 =&gt; .114. fits far y basket .155 with pepper radius .023 and finger tip .06 =&gt; eef y .055+.061=.116 &lt;.155. good.

We have tons budget but context 12k remaining? Actually 25? Need finish. Need avoid placement near yellow. Want positions exact held pepper. Current x -.231 y .018 link, finger body at y+.055 to .073, so pepper center -.231,.08, yellow -.29,.065 => separation .061 okay only radius .032+.025 .057 4mm, low margin. Move pepper further back y .13 will sep .087. Link y .06 -> body .116. Right inner wall x -.164, body edge -.199 margin .035. Fingers opening x edges -.295 to -.18, left finger may yellow if same y but y target .12 safe. Great. Current x -.24 desired y .054 gives body .104 maybe sufficient. At floor .925 with object offset? q0.589 means angle pitch1.175 (67deg), local X (0,.392,-.92), body center .125 offset=.049; object elongated y due tilt. Red z bottom link -.163? Our original grasp link .939 bottom .76 offset .179. Tilt yields offset .165 and y offset .07. At floor .927? Floor .775, target .94 might bottom .775. Previous first pepper .942 with q .554 pitch1.34 bottom contact. Red will floor .925 to .93. Descend.

Need careful target y .054 => object .113 and finger far .116, basket back inner .135? margin .019 okay pepper extent .03 => back .143 too near. Basket actual back .148 at rim, floor inner .133, pepper center .108 extends .03=.138 slight wall. Need y .042 object .101. x -.24 vs yellow -.29, .06 difference x, y difference .045 -> dist .067 gap maybe .008. fingers closing X side at -.28 can be near yellow but y diff .045 and pad length local x along down, yaw closing world X, local z extends world y? fingers depth thickness 1cm. enough if y offset .05. Current .034 object .09. choose y .042. Lower z to .984 then .96 etc. Need quaternion rotation contacts offset computes .134 local +x direction world(0,.393,-.92), y=.053, z=-.123. pepper bottom relative link6 about .165? original q90 link6 .939 bottom .759 diff .18, at tilt .92 vertical .166 plus horizontal other extents ~.014 = .18. So at z .95 bottom .77 floor .768. release there. Prior peppers floor .959 etc diff .19. Final target .949.

Need check geometry from cal perhaps enough separation x=.05 y=.03? Yellow1 x -.29 y .055? red center -.24 y .103 yes dist .069 enough diameter .05. Good. Need fingers may touch yellow at left x-.275 y .094 vs yellow center -.29,.06 separation .037 small. Now lower z .95.

Now collision? Pepper rotated and native opening decrease at z .97 earlier than floor (.93). Probably pepper back contacting back wall! We moved y .043+ .06= .103 with extent radius .035 to .138 close wall ~.15. Wrist shows pepper top touches wall due support? Need stop replan. It may be back wall contact as pixel close at top. Native gripper rotated pepper .03? Need not continue descend. Lift .02 and move y back .025 cautiously maybe red pepper will be too close yellow at x -.239 y .08 versus yellow -.29 .07 distance .051 &lt;r combined .052. Need x -.221 y .03 effective .09 leads distance .07 enough but right wall x -.17 margin gripper .06 =&gt;-.161 crossing wall. Gripper closed width .043 half .021 plus thickness maybe .025 fits -.22+ .045=-.175 edge good. Open expands half ~.06 extends beyond -.17 so at rim level .94 finger segments near wall. Could rotate yaw 90 for closing along y but risk. Easier place at x -.236 y .023 effective .083 with pepper radius .025 vs yellow x -.29 dist .054 just barely. Can put red front-right with y .005 effective .065 collinear spacing .054. Already other yellow -.29, red -.236 spacing .054 close. Table baskets narrow. Original 3 peppers fit spans .2. x -.225 gives .065 adequate. Right wall at x -.147? Earlier calibration right inner rim projection x245 at z .82 =&gt; x-.171 is wall outer? actual box x -.145 to -.435? Width ~.27. Need correct calibration interior rectangle right wall in high x250 y165 z.80 -&gt; x-.167. left front x130 y194 -&gt;-.415. likely basket center -.3 width .28. so interior x[-.43,-.17]. Gripper opened from -.225 plus .055=-.17 exact. Need release partial opening with 1 step then lift maybe avoids scrape. But safety clearance need maintain .01. x -.24 good, y -.006 + .06=.054 means distance y to yellow .015 =&gt; center .052. Could choose front row y=-.006 eff .049, x -.225 distance .066. Finger right maybe no collision because finger side extent at actual z .86 partly. Could simply gentle release current? Pepper bumped wall maybe then supported? Native height .97 base pepper .97-.17

We now have actual images previously omitted huge. Need finish sensible. Pepper at .235 .027 eef, actual center y .09 due tilt. Back wall likely .14. Before contact maybe fingers against back wall? Change inclination to vertical at eef y .065 and z .99 to keep object y .09, improve back clearance. But yellow near x-.29,y .05 gap .06. Place red x-.225,y .08 vertical, fingers extending z. Basket right interior x-.16 clearance .065 enough. left fingers x-.27 could yellow x-.29 at .05 collide. Need closing direction y rather than x could rotate yaw 90, grip held rotates pepper too. cumbersome. Could place x-.225 y .04 or .09, enough. Current red turned from wall maybe floor contact? Earlier pepper body center z .815? eef .97 - .145*.92 = .837, bottom .806 floor .76? basket floor .79? Original baskets interior .78 approx. Desired eef .93 (bottom .766). Need descend 5cm. Replan vertical approach with q .5.-.5.5.5 at eef[-.224,.074,.99] => body center z .849,y .074, safe. Correction orientation .40 within. Finger sweep collision yellow since eef x .224 y .074, open gripper closure .43 widths .042, left pad .249 etc pepper yellow center -.29, difference .066, might adequate ~6mm. Enough 0.05 separation between pepper ~.058. Alternative shift x-.22. Do vertical while lift slight and translate y maintaining object point. q new eef y .083. z1.015. IK at y .08 z1.015 likely unreachable vertical (right previously .0161.05 failed). q .554 tilt .23, eef y .05 z .99 likely reach. But local fails can adjust. Need not overthink. We can lower current position with y .023 no back contact. Red body y .08 and x-.235, valid. Visually white floor below, yellow separated left. Last contact was pepper with back wall indeed y .12. now y .08 clears. Can lower.

We have 648? plenty. Need reset after clear. Left x-.23 y.017 z1.021 fingers lowest .876 above rim .86 margin .016; need lift then back. Right fine. Act left 1.06 y-.025 q same then retreat -.12. Need not robot reset until safe. Could use raising .04 back .03 adequate.