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[TREE INIT] Starting tree structure initialization═
Creating the root node...
📊 [Value Update] Node 0
   ├─ Parent: ROOT
   ├─ Value: None → 0.0
   ├─ Visitation: None → 0.0
   ├─ Subtree Value: None → 0.0
   └─ Subtree Visits: None → 0.0

🆕 Tree initialized with root node ID: 0

🔗 [Status] Root node linked to selection system
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[NODE SELECTION] Starting Node Selection         ═

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[Final Expansion] Node 0 (depth 0)
Trigger new job with gamma=0.99
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🆕 [Job Start] Node 0
   ├─ Active Jobs: 0 → 1 (root)
   ├─ Subtree Jobs: 0 → 1
📊 [Value Update] Node 0
   ├─ Parent: ROOT
   ├─ Value: 0.0 → 0.0
   ├─ Visitation: 0.0 → 1.0
   ├─ Subtree Value: 0.0 → 0.0
   └─ Subtree Visits: 0.0 → 1.0
SELECTED NODE ID: 0

══════════════════════════════════════════════════

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[Code GEN] Start generating for Node 0           ═

📊 [States] Asset State Comparison
   ├─ Current State: [{'type_name': 'cube', 'obj_id': 0, 'pose': Pose(raw_pose=tensor([[-3.2197e-01,  3.3160e-01,  2.0000e-02,  9.9998e-01,  6.5134e-06,
         -2.4760e-06,  7.0003e-03]]))}, {'type_name': 'cube', 'obj_id': 1, 'pose': Pose(raw_pose=tensor([[-3.1712e-01, -3.1076e-01,  2.0000e-02,  9.9951e-01,  6.0188e-06,
         -2.8455e-06,  3.1272e-02]]))}, {'type_name': 'cube', 'obj_id': 2, 'pose': Pose(raw_pose=tensor([[-4.5367e-01, -3.3202e-01,  2.0000e-02,  9.9706e-01,  4.0116e-06,
         -3.3418e-06,  7.6615e-02]]))}]

📝 [Code Tracking]
   ├─ Executed Code:
 

🚫 [Code Tracking]  
├─ Prohibited Code:
 
You are a professional assistant [34mfor[39;49;00m generating code that enables dual-arm robots to perform tabletop tasks. Please generate logically structured code to execute the user-specified tasks based on the provided context.[37m[39;49;00m
======[37m[39;49;00m
Static Scene Elements:[37m[39;49;00m
The static scene elements include a robot [35mand[39;49;00m a table. The robot[33m'[39;49;00m[33ms base_link (position between torso_link and pelvis) has a pose of pose.p = [-0.85, 0, 0], pose.q = [1, 0, 0, 0]. The table surface spans x ∈ [-0.42, -0.19], y ∈ [-1.1, 1.16], z = 0.[39;49;00m[37m[39;49;00m
======[37m[39;49;00m
World Coordinate System Information:[37m[39;49;00m
Since the robot[33m'[39;49;00m[33ms base coordinate frame has pose.q = [1, 0, 0, 0], its xyz directions align with the world coordinate system: x points forward, y points to the robot[39;49;00m[33m'[39;49;00ms left, [35mand[39;49;00m z points upward.[37m[39;49;00m
======[37m[39;49;00m
Intrinsic Asset Attributes:[37m[39;49;00m
[{[33m'[39;49;00m[33mtype_name[39;49;00m[33m'[39;49;00m: [33m'[39;49;00m[33mcube[39;49;00m[33m'[39;49;00m, [33m'[39;49;00m[33mobj_id[39;49;00m[33m'[39;49;00m: [34m0[39;49;00m, [33m'[39;49;00m[33mbounding box[39;49;00m[33m'[39;49;00m: [[34m0.04[39;49;00m, [34m0.04[39;49;00m, [34m0.04[39;49;00m], [33m'[39;49;00m[33mstatus[39;49;00m[33m'[39;49;00m: {[33m'[39;49;00m[33mface_robot[39;49;00m[33m'[39;49;00m: {[33m'[39;49;00m[33mdescription[39;49;00m[33m'[39;49;00m: [33m'[39;49;00m[33mPlaced flat on the table, with the front face parallel to the body.[39;49;00m[33m'[39;49;00m, [33m'[39;49;00m[33morientation[39;49;00m[33m'[39;49;00m: [[34m1[39;49;00m, [34m0[39;49;00m, [34m0[39;49;00m, [34m0[39;49;00m]}}}, {[33m'[39;49;00m[33mtype_name[39;49;00m[33m'[39;49;00m: [33m'[39;49;00m[33mcube[39;49;00m[33m'[39;49;00m, [33m'[39;49;00m[33mobj_id[39;49;00m[33m'[39;49;00m: [34m1[39;49;00m, [33m'[39;49;00m[33mbounding box[39;49;00m[33m'[39;49;00m: [[34m0.04[39;49;00m, [34m0.04[39;49;00m, [34m0.04[39;49;00m], [33m'[39;49;00m[33mstatus[39;49;00m[33m'[39;49;00m: {[33m'[39;49;00m[33mface_robot[39;49;00m[33m'[39;49;00m: {[33m'[39;49;00m[33mdescription[39;49;00m[33m'[39;49;00m: [33m'[39;49;00m[33mPlaced flat on the table, with the front face parallel to the body.[39;49;00m[33m'[39;49;00m, [33m'[39;49;00m[33morientation[39;49;00m[33m'[39;49;00m: [[34m1[39;49;00m, [34m0[39;49;00m, [34m0[39;49;00m, [34m0[39;49;00m]}}}, {[33m'[39;49;00m[33mtype_name[39;49;00m[33m'[39;49;00m: [33m'[39;49;00m[33mcube[39;49;00m[33m'[39;49;00m, [33m'[39;49;00m[33mobj_id[39;49;00m[33m'[39;49;00m: [34m2[39;49;00m, [33m'[39;49;00m[33mbounding box[39;49;00m[33m'[39;49;00m: [[34m0.04[39;49;00m, [34m0.04[39;49;00m, [34m0.04[39;49;00m], [33m'[39;49;00m[33mstatus[39;49;00m[33m'[39;49;00m: {[33m'[39;49;00m[33mface_robot[39;49;00m[33m'[39;49;00m: {[33m'[39;49;00m[33mdescription[39;49;00m[33m'[39;49;00m: [33m'[39;49;00m[33mPlaced flat on the table, with the front face parallel to the body.[39;49;00m[33m'[39;49;00m, [33m'[39;49;00m[33morientation[39;49;00m[33m'[39;49;00m: [[34m1[39;49;00m, [34m0[39;49;00m, [34m0[39;49;00m, [34m0[39;49;00m]}}}][37m[39;49;00m
Note: The [33m'[39;49;00m[33morientation[39;49;00m[33m'[39;49;00m [35min[39;49;00m [33m'[39;49;00m[33mstatus[39;49;00m[33m'[39;49;00m represents the rotation [35min[39;49;00m the world coordinate system under its corresponding [33m'[39;49;00m[33mdescription[39;49;00m[33m'[39;49;00m.[37m[39;49;00m
======[37m[39;49;00m
Initial Asset State:[37m[39;49;00m
[{[33m'[39;49;00m[33mtype_name[39;49;00m[33m'[39;49;00m: [33m'[39;49;00m[33mcube[39;49;00m[33m'[39;49;00m, [33m'[39;49;00m[33mobj_id[39;49;00m[33m'[39;49;00m: [34m0[39;49;00m, [33m'[39;49;00m[33mpose[39;49;00m[33m'[39;49;00m: Pose(raw_pose=tensor([[-[34m3.2197e-01[39;49;00m,  [34m3.3160e-01[39;49;00m,  [34m2.0000e-02[39;49;00m,  [34m9.9998e-01[39;49;00m,  [34m6.5134e-06[39;49;00m,[37m[39;49;00m
         -[34m2.4760e-06[39;49;00m,  [34m7.0003e-03[39;49;00m]]))}, {[33m'[39;49;00m[33mtype_name[39;49;00m[33m'[39;49;00m: [33m'[39;49;00m[33mcube[39;49;00m[33m'[39;49;00m, [33m'[39;49;00m[33mobj_id[39;49;00m[33m'[39;49;00m: [34m1[39;49;00m, [33m'[39;49;00m[33mpose[39;49;00m[33m'[39;49;00m: Pose(raw_pose=tensor([[-[34m3.1712e-01[39;49;00m, -[34m3.1076e-01[39;49;00m,  [34m2.0000e-02[39;49;00m,  [34m9.9951e-01[39;49;00m,  [34m6.0188e-06[39;49;00m,[37m[39;49;00m
         -[34m2.8455e-06[39;49;00m,  [34m3.1272e-02[39;49;00m]]))}, {[33m'[39;49;00m[33mtype_name[39;49;00m[33m'[39;49;00m: [33m'[39;49;00m[33mcube[39;49;00m[33m'[39;49;00m, [33m'[39;49;00m[33mobj_id[39;49;00m[33m'[39;49;00m: [34m2[39;49;00m, [33m'[39;49;00m[33mpose[39;49;00m[33m'[39;49;00m: Pose(raw_pose=tensor([[-[34m4.5367e-01[39;49;00m, -[34m3.3202e-01[39;49;00m,  [34m2.0000e-02[39;49;00m,  [34m9.9706e-01[39;49;00m,  [34m4.0116e-06[39;49;00m,[37m[39;49;00m
         -[34m3.3418e-06[39;49;00m,  [34m7.6615e-02[39;49;00m]]))}][37m[39;49;00m
Note: The asset([36mobject[39;49;00m) state(pose) when the scene [35mis[39;49;00m just initialized, before [36many[39;49;00m actions are executed. Pose consists of Cartesian coordinates [35mand[39;49;00m a quaternion [35min[39;49;00m the world coordinate system: [x, y, z, w, x, y, z](The following [34m7[39;49;00m-dimensional poses [36mall[39;49;00m follow this [36mformat[39;49;00m).[37m[39;49;00m
======[37m[39;49;00m
Current Asset State:[37m[39;49;00m
[{[33m'[39;49;00m[33mtype_name[39;49;00m[33m'[39;49;00m: [33m'[39;49;00m[33mcube[39;49;00m[33m'[39;49;00m, [33m'[39;49;00m[33mobj_id[39;49;00m[33m'[39;49;00m: [34m0[39;49;00m, [33m'[39;49;00m[33mpose[39;49;00m[33m'[39;49;00m: Pose(raw_pose=tensor([[-[34m3.2197e-01[39;49;00m,  [34m3.3160e-01[39;49;00m,  [34m2.0000e-02[39;49;00m,  [34m9.9998e-01[39;49;00m,  [34m6.5134e-06[39;49;00m,[37m[39;49;00m
         -[34m2.4760e-06[39;49;00m,  [34m7.0003e-03[39;49;00m]]))}, {[33m'[39;49;00m[33mtype_name[39;49;00m[33m'[39;49;00m: [33m'[39;49;00m[33mcube[39;49;00m[33m'[39;49;00m, [33m'[39;49;00m[33mobj_id[39;49;00m[33m'[39;49;00m: [34m1[39;49;00m, [33m'[39;49;00m[33mpose[39;49;00m[33m'[39;49;00m: Pose(raw_pose=tensor([[-[34m3.1712e-01[39;49;00m, -[34m3.1076e-01[39;49;00m,  [34m2.0000e-02[39;49;00m,  [34m9.9951e-01[39;49;00m,  [34m6.0188e-06[39;49;00m,[37m[39;49;00m
         -[34m2.8455e-06[39;49;00m,  [34m3.1272e-02[39;49;00m]]))}, {[33m'[39;49;00m[33mtype_name[39;49;00m[33m'[39;49;00m: [33m'[39;49;00m[33mcube[39;49;00m[33m'[39;49;00m, [33m'[39;49;00m[33mobj_id[39;49;00m[33m'[39;49;00m: [34m2[39;49;00m, [33m'[39;49;00m[33mpose[39;49;00m[33m'[39;49;00m: Pose(raw_pose=tensor([[-[34m4.5367e-01[39;49;00m, -[34m3.3202e-01[39;49;00m,  [34m2.0000e-02[39;49;00m,  [34m9.9706e-01[39;49;00m,  [34m4.0116e-06[39;49;00m,[37m[39;49;00m
         -[34m3.3418e-06[39;49;00m,  [34m7.6615e-02[39;49;00m]]))}][37m[39;49;00m
Note: Current states(poses) of assets(objects) on the tabletop[37m[39;49;00m
======[37m[39;49;00m
Executed Action Code:[37m[39;49;00m
[37m[39;49;00m
Note: [37m[39;49;00m
- Code [34mfor[39;49;00m actions executed by the robot to transform the asset state on the tabletop [34mfrom[39;49;00m[37m [39;49;00m[04m[36mthe[39;49;00m initial state to the current state.[37m[39;49;00m
======[37m[39;49;00m
Prohibited Next Actions:[37m[39;49;00m
[37m[39;49;00m
Note: The [36mnext[39;49;00m step cannot execute the prohibited actions listed above. [33m'[39;49;00m[33mSame[39;49;00m[33m'[39;49;00m means completely identical. For [33m'[39;49;00m[33mmove[39;49;00m[33m'[39;49;00m, [36many[39;49;00m addition, removal, [35mor[39;49;00m modification of constraints [35mis[39;49;00m considered a different action. Applies only to the [36mnext[39;49;00m step; subsequent steps can still choose those actions.[37m[39;49;00m
======[37m[39;49;00m
Robot Attributes:[37m[39;49;00m
hand_key_point:{[37m[39;49;00m
    [33m"[39;49;00m[33mleft_hand[39;49;00m[33m"[39;49;00m:[[33m"[39;49;00m[33mbase_left_hand[39;49;00m[33m"[39;49;00m,[33m"[39;49;00m[33mgrasp_point_base_left_hand[39;49;00m[33m"[39;49;00m,[33m"[39;49;00m[33mpinch_point_base_left_hand[39;49;00m[33m"[39;49;00m],[37m[39;49;00m
    [33m"[39;49;00m[33mright_hand[39;49;00m[33m"[39;49;00m:[[33m"[39;49;00m[33mbase_right_hand[39;49;00m[33m"[39;49;00m,[33m"[39;49;00m[33mgrasp_point_base_right_hand[39;49;00m[33m"[39;49;00m,[33m"[39;49;00m[33mpinch_point_base_right_hand[39;49;00m[33m"[39;49;00m][37m[39;49;00m
}[37m[39;49;00m
hand_key_axis:{[37m[39;49;00m
    [33m"[39;49;00m[33mleft_hand[39;49;00m[33m"[39;49;00m:[[33m"[39;49;00m[33mleft_pinch_axis[39;49;00m[33m"[39;49;00m,[33m"[39;49;00m[33mleft_pinch_wrist_2_palm_axis[39;49;00m[33m"[39;49;00m,[33m"[39;49;00m[33mleft_ring_2_index[39;49;00m[33m"[39;49;00m,[33m"[39;49;00m[33mleft_grasp_axis[39;49;00m[33m"[39;49;00m,[33m"[39;49;00m[33mleft_grasp_wrist_2_palm_axis[39;49;00m[33m"[39;49;00m],[37m[39;49;00m
    [33m"[39;49;00m[33mright_hand[39;49;00m[33m"[39;49;00m:[[33m"[39;49;00m[33mright_pinch_axis[39;49;00m[33m"[39;49;00m,[33m"[39;49;00m[33mright_pinch_wrist_2_palm_axis[39;49;00m[33m"[39;49;00m,[33m"[39;49;00m[33mright_ring_2_index[39;49;00m[33m"[39;49;00m,[33m"[39;49;00m[33mright_grasp_axis[39;49;00m[33m"[39;49;00m,[33m"[39;49;00m[33mright_grasp_wrist_2_palm_axis[39;49;00m[33m"[39;49;00m][37m[39;49;00m
}[37m[39;49;00m
default_pose:{[37m[39;49;00m
    [33m"[39;49;00m[33mleft_hand[39;49;00m[33m"[39;49;00m:[left_hand_init_pose],[37m[39;49;00m
    [33m"[39;49;00m[33mright_hand[39;49;00m[33m"[39;49;00m:[right_hand_init_pose][37m[39;49;00m
}[37m[39;49;00m
======[37m[39;49;00m
Available Class:[37m[39;49;00m
Constraint(env,[36mtype[39;49;00m,end_effector_frame,hand_key_point,object_key_point,hand_axis,object_axis):[37m[39;49;00m
    Function: [37m[39;49;00m
        [33m"[39;49;00m[33mConstraint[39;49;00m[33m"[39;49;00m defines hard constraints that must be strictly satisfied. [37m[39;49;00m
        Establishes spatial equivalence constraints between:[37m[39;49;00m
            - (point2point) Specified end-effector point [04m[91m→[39;49;00m target point.[37m[39;49;00m
            - (parallel) Specified end-effector axis direction [04m[91m→[39;49;00m target axis direction.[37m[39;49;00m
    Args:[37m[39;49;00m
    - env (Environment, Mandatory): The planner[33m'[39;49;00m[33ms bound operating environment. Must reference the planner[39;49;00m[33m'[39;49;00ms environment instance through [04m[91m`[39;49;00mplanner.env[04m[91m`[39;49;00m [36mproperty[39;49;00m.[37m[39;49;00m
    - [36mtype[39;49;00m ([36mstr[39;49;00m, Mandatory): [33m"[39;49;00m[33mpoint2point[39;49;00m[33m"[39;49;00m [35mor[39;49;00m [33m"[39;49;00m[33mparallel[39;49;00m[33m"[39;49;00m.[37m[39;49;00m
    - end_effector_frame ([36mstr[39;49;00m, Mandatory): [33m"[39;49;00m[33ml_hand_base_link[39;49;00m[33m"[39;49;00m [35mor[39;49;00m [33m"[39;49;00m[33mr_hand_base_link[39;49;00m[33m"[39;49;00m.[37m[39;49;00m
    - hand_key_point (np.ndarray): [Required when [33m'[39;49;00m[33mtype[39;49;00m[33m'[39;49;00m [35mis[39;49;00m [33m'[39;49;00m[33mpoint2point[39;49;00m[33m'[39;49;00m] Pre-motion end-effector anchor point [35min[39;49;00m world coordinates.[37m[39;49;00m
    - object_key_point (np.ndarray): [Required when [33m'[39;49;00m[33mtype[39;49;00m[33m'[39;49;00m [35mis[39;49;00m [33m'[39;49;00m[33mpoint2point[39;49;00m[33m'[39;49;00m] Target[33m'[39;49;00m[33ms corresponding point in world coordinates.[39;49;00m[37m[39;49;00m
    - hand_axis (np.ndarray): [Required when [33m'[39;49;00m[33mtype[39;49;00m[33m'[39;49;00m [35mis[39;49;00m [33m'[39;49;00m[33mparallel[39;49;00m[33m'[39;49;00m] Pre-motion end-effector alignment axis [35min[39;49;00m world coordinates.[37m[39;49;00m
    - object_axis (np.ndarray): [Required when [33m'[39;49;00m[33mtype[39;49;00m[33m'[39;49;00m [35mis[39;49;00m [33m'[39;49;00m[33mparallel[39;49;00m[33m'[39;49;00m] Target[33m'[39;49;00m[33ms reference axis in world coordinates.[39;49;00m[37m[39;49;00m
    Example:[37m[39;49;00m
        [37m# Right palm facing down to grasp(Top-down grasping of the object)[39;49;00m[37m[39;49;00m
        Constraint([37m[39;49;00m
            env=planner.env,[37m[39;49;00m
            [36mtype[39;49;00m=[33m"[39;49;00m[33mparallel[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            end_effector_frame=[33m"[39;49;00m[33mr_hand_base_link[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            hand_axis=get_axis_in_env(planner.env,axis_name=[33m"[39;49;00m[33mright_grasp_axis[39;49;00m[33m"[39;49;00m), [37m# The back of the palm points toward the front of the palm. Pinch action is similar.[39;49;00m[37m[39;49;00m
            object_axis=np.array([[34m0[39;49;00m,[34m0[39;49;00m,-[34m1[39;49;00m]), [37m# World frame, [39;49;00m[37m[39;49;00m
        )[37m[39;49;00m
[37m[39;49;00m
        [37m# Right palm facing up to grasp(Down-Top grasping of the object). If there is a table or other objects below the target, it often causes collisions and makes it unreachable.[39;49;00m[37m[39;49;00m
        Constraint([37m[39;49;00m
            env=planner.env,[37m[39;49;00m
            [36mtype[39;49;00m=[33m"[39;49;00m[33mparallel[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            end_effector_frame=[33m"[39;49;00m[33mr_hand_base_link[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            hand_axis=get_axis_in_env(planner.env,axis_name=[33m"[39;49;00m[33mright_grasp_axis[39;49;00m[33m"[39;49;00m), [37m# The back of the palm points toward the front of the palm. Pinch action is similar.[39;49;00m[37m[39;49;00m
            object_axis=np.array([[34m0[39;49;00m,[34m0[39;49;00m,[34m1[39;49;00m]), [37m# World frame, [39;49;00m[37m[39;49;00m
        )[37m[39;49;00m
[37m[39;49;00m
        [37m# The direction from the right wrist to the palm center is facing forward.[39;49;00m[37m[39;49;00m
        Constraint([37m[39;49;00m
            env=planner.env,[37m[39;49;00m
            [36mtype[39;49;00m=[33m"[39;49;00m[33mparallel[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            end_effector_frame=[33m"[39;49;00m[33mr_hand_base_link[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            hand_axis=get_axis_in_env(planner.env,axis_name=[33m"[39;49;00m[33mright_grasp_wrist_2_palm_axis[39;49;00m[33m"[39;49;00m), [37m# The direction from the wrist to the palm center[39;49;00m[37m[39;49;00m
            object_axis=np.array([[34m1[39;49;00m,[34m0[39;49;00m,[34m0[39;49;00m]), [37m# World frame[39;49;00m[37m[39;49;00m
        )[37m[39;49;00m
[37m[39;49;00m
        [37m# The direction from the right pinky finger to the index finger is parallel to the x-axis of object0.[39;49;00m[37m[39;49;00m
        Constraint([37m[39;49;00m
            env=planner.env,[37m[39;49;00m
            [36mtype[39;49;00m=[33m"[39;49;00m[33mparallel[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            end_effector_frame=[33m"[39;49;00m[33mr_hand_base_link[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            hand_axis=get_axis_in_env(planner.env,axis_name=[33m"[39;49;00m[33mright_ring_2_index[39;49;00m[33m"[39;49;00m), [37m# The direction from the right pinky finger to the index finger[39;49;00m[37m[39;49;00m
            object_axis=get_axis_in_env(planner.env, [33m"[39;49;00m[33mx[39;49;00m[33m"[39;49;00m, obj_type=[33m"[39;49;00m[33mobject[39;49;00m[33m"[39;49;00m, obj_id=[34m0[39;49;00m), [37m# The coordinates of object0's x-axis in the world coordinate system.[39;49;00m[37m[39;49;00m
        )[37m[39;49;00m
[37m[39;49;00m
        [37m# After object0 is in hand, align its x-axis parallel to the world coordinate system's z-axis, making its x-axis point upward.[39;49;00m[37m[39;49;00m
        Constraint([37m[39;49;00m
            env=planner.env,[37m[39;49;00m
            [36mtype[39;49;00m=[33m"[39;49;00m[33mpoint2point[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            end_effector_frame=[33m"[39;49;00m[33mr_hand_base_link[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            hand_key_point=get_axis_in_env(planner.env, [33m"[39;49;00m[33mx[39;49;00m[33m"[39;49;00m, obj_type=[33m"[39;49;00m[33mobject[39;49;00m[33m"[39;49;00m, obj_id=[34m0[39;49;00m),[37m[39;49;00m
            object_key_point=object_axis=np.array([[34m0[39;49;00m,[34m0[39;49;00m,[34m1[39;49;00m]), [37m# np.array([0, 0.1, 0.1]) in the object0's coordinate system.[39;49;00m[37m[39;49;00m
        )[37m[39;49;00m
[37m[39;49;00m
        [37m# The right-hand grasp point coincides with [0, 0.1, 0.1] in the object0's coordinate system.[39;49;00m[37m[39;49;00m
        Constraint([37m[39;49;00m
            env=planner.env,[37m[39;49;00m
            [36mtype[39;49;00m=[33m"[39;49;00m[33mpoint2point[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            end_effector_frame=[33m"[39;49;00m[33mr_hand_base_link[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            hand_key_point=get_point_in_env(planner.env,point_name=[33m"[39;49;00m[33mgrasp_point_base_right_hand[39;49;00m[33m"[39;49;00m),[37m[39;49;00m
            object_key_point=get_point_in_env(planner.env,type_name=[33m"[39;49;00m[33mobject[39;49;00m[33m"[39;49;00m,obj_id=[34m0[39;49;00m,related_point=np.array([[34m0[39;49;00m, [34m0.1[39;49;00m, [34m0.1[39;49;00m])), [37m# np.array([0, 0.1, 0.1]) in the object0's coordinate system.[39;49;00m[37m[39;49;00m
        )[37m[39;49;00m
[37m[39;49;00m
        [37m# After object0 is in hand, position it 0.1m above object1.[39;49;00m[37m[39;49;00m
        Constraint([37m[39;49;00m
            env=planner.env,[37m[39;49;00m
            [36mtype[39;49;00m=[33m"[39;49;00m[33mpoint2point[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            end_effector_frame=[33m"[39;49;00m[33mr_hand_base_link[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            hand_key_point=get_point_in_env(planner.env,type_name=[33m"[39;49;00m[33mobject[39;49;00m[33m"[39;49;00m,obj_id=[34m0[39;49;00m),[37m[39;49;00m
            object_key_point=get_point_in_env(planner.env,type_name=[33m"[39;49;00m[33mobject[39;49;00m[33m"[39;49;00m,obj_id=[34m1[39;49;00m)+np.array([[34m0[39;49;00m, [34m0[39;49;00m, [34m0.1[39;49;00m]), [37m# np.array([0, 0, 0.1]) in the world(robot) coordinate system.[39;49;00m[37m[39;49;00m
        )[37m[39;49;00m
    Note: [37m[39;49;00m
        [33m'[39;49;00m[33mhand_key_point[39;49;00m[33m'[39;49;00m [35mand[39;49;00m [33m'[39;49;00m[33mobject_key_point[39;49;00m[33m'[39;49;00m represent two points [35min[39;49;00m the world coordinate system. [33m'[39;49;00m[33mhand_key_point[39;49;00m[33m'[39;49;00m moves [34mwith[39;49;00m the corresponding end-effector, [35mand[39;49;00m [36mtype[39;49;00m=[33m'[39;49;00m[33mpoint2point[39;49;00m[33m'[39;49;00m indicates the intention [34mfor[39;49;00m the two points to coincide. [37m[39;49;00m
        [33m'[39;49;00m[33mhand_axis[39;49;00m[33m'[39;49;00m [35mand[39;49;00m [33m'[39;49;00m[33mobject_axis[39;49;00m[33m'[39;49;00m have similar meanings to [33m'[39;49;00m[33mpoint[39;49;00m[33m'[39;49;00m.[37m[39;49;00m
        [33m'[39;49;00m[33mright_grasp_axis[39;49;00m[33m'[39;49;00m [35mor[39;49;00m [33m'[39;49;00m[33mright_pinch_axis[39;49;00m[33m'[39;49;00m parallel [[34m0[39;49;00m,[34m0[39;49;00m,-[34m1[39;49;00m] means executing [34mwith[39;49;00m the palm facing downward.[37m[39;49;00m
        [33m'[39;49;00m[33mright_grasp_axis[39;49;00m[33m'[39;49;00m [35mor[39;49;00m [33m'[39;49;00m[33mright_pinch_axis[39;49;00m[33m'[39;49;00m parallel [[34m1[39;49;00m,[34m0[39;49;00m,[34m0[39;49;00m] means executing [34mwith[39;49;00m the palm facing forward.[37m[39;49;00m
        [33m'[39;49;00m[33mright_grasp_axis[39;49;00m[33m'[39;49;00m [35mor[39;49;00m [33m'[39;49;00m[33mright_pinch_axis[39;49;00m[33m'[39;49;00m parallel [[34m0[39;49;00m,[34m1[39;49;00m,[34m0[39;49;00m] means executing [34mwith[39;49;00m the palm facing left.[37m[39;49;00m
        [33m'[39;49;00m[33mleft_grasp_axis[39;49;00m[33m'[39;49;00m [35mor[39;49;00m [33m'[39;49;00m[33mleft_pinch_axis[39;49;00m[33m'[39;49;00m parallel [[34m0[39;49;00m,-[34m1[39;49;00m,[34m0[39;49;00m] means executing [34mwith[39;49;00m the palm facing right.[37m[39;49;00m
[37m[39;49;00m
[37m[39;49;00m
Const(env,[36mtype[39;49;00m,end_effector_frame,hand_key_point,object_key_point,hand_axis,object_axis):[37m[39;49;00m
    The usage [35mis[39;49;00m similar to the Constraint class, but it [35mis[39;49;00m [35mnot[39;49;00m a strict constraint; it [35mis[39;49;00m an optimization objective.[37m[39;49;00m
======[37m[39;49;00m
Available functions:[37m[39;49;00m
[37m[39;49;00m
[34mdef[39;49;00m[37m [39;49;00m[32mget_point_in_env[39;49;00m(env, point_name,type_name, obj_id,related_point,openness):[37m[39;49;00m
    Function: Get specified point position [35min[39;49;00m world frame.[37m[39;49;00m
    Return: point_position (np.ndarray)[37m[39;49;00m
    Args:[37m[39;49;00m
    - env (Environment, Mandatory): The planner[33m'[39;49;00m[33ms bound operating environment. Must reference the planner[39;49;00m[33m'[39;49;00ms environment instance through [04m[91m`[39;49;00mplanner.env[04m[91m`[39;49;00m [36mproperty[39;49;00m.[37m[39;49;00m
    - point_name ([36mstr[39;49;00m, optional): The point name. Example: [33m"[39;49;00m[33mgrasp_point_base_left_hand[39;49;00m[33m"[39;49;00m.[37m[39;49;00m
    - type_name ([36mstr[39;49;00m, optional): The reference [36mobject[39;49;00m relative to the target point.[37m[39;49;00m
    - obj_id ([36mint[39;49;00m, optional): The reference [36mobject[39;49;00m [36mid[39;49;00m.[37m[39;49;00m
    - related_point (np.ndarray,optional): The coordinates of the target point relative to the [36mobject[39;49;00m center [35min[39;49;00m the [36mobject[39;49;00m coordinate system. Default: np.array([[34m0[39;49;00m,[34m0[39;49;00m,[34m0[39;49;00m])[37m[39;49;00m
    - openness ([36mint[39;49;00m, optional): Represents the openness degree of the articulated [36mobject[39;49;00m. If type_name [35mis[39;49;00m an articulated [36mobject[39;49;00m, this value can be [36mset[39;49;00m to obtain the coordinates corresponding to point_name at a specific openness degree.[37m[39;49;00m
    Example:[37m[39;49;00m
        [37m# Get the current coordinates of the right-hand pinch point in the world coordinate system.[39;49;00m[37m[39;49;00m
        get_point_in_env(planner.env,point_name=[33m"[39;49;00m[33mgrasp_point_base_pinch_hand[39;49;00m[33m"[39;49;00m)[37m[39;49;00m
[37m[39;49;00m
[34mdef[39;49;00m[37m [39;49;00m[32mget_axis_in_env[39;49;00m(env, axis_name, obj_type, obj_id):[37m[39;49;00m
    Function: Get specified direction vector [35min[39;49;00m world frame.[37m[39;49;00m
    Return: direction_vector (np.ndarray)[37m[39;49;00m
    Args:[37m[39;49;00m
    - env (Environment, Mandatory): The planner[33m'[39;49;00m[33ms bound operating environment. Must reference the planner[39;49;00m[33m'[39;49;00ms environment instance through [04m[91m`[39;49;00mplanner.env[04m[91m`[39;49;00m [36mproperty[39;49;00m.[37m[39;49;00m
    - axis_name ([36mstr[39;49;00m, Mandatory): The axis name. Example: [33m"[39;49;00m[33mright_pinch_axis[39;49;00m[33m"[39;49;00m.[37m[39;49;00m
    - obj_type ([36mstr[39;49;00m, optional): The reference [36mobject[39;49;00m relative to the target axis.[37m[39;49;00m
    - obj_id ([36mint[39;49;00m, optional): The reference [36mobject[39;49;00m [36mid[39;49;00m.[37m[39;49;00m
[37m[39;49;00m
[34mdef[39;49;00m[37m [39;49;00m[32mopen_hand[39;49;00m([36mself[39;49;00m, hand_name):[37m[39;49;00m
    Function: Control the hand to [36mopen[39;49;00m.[37m[39;49;00m
    Return: [34mNone[39;49;00m[37m[39;49;00m
    Args:[37m[39;49;00m
    - hand_name ([36mstr[39;49;00m, Mandatory): [33m"[39;49;00m[33mall[39;49;00m[33m"[39;49;00m, [33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m, [35mor[39;49;00m [33m"[39;49;00m[33mleft[39;49;00m[33m"[39;49;00m.[37m[39;49;00m
[37m[39;49;00m
[34mdef[39;49;00m[37m [39;49;00m[32mhand_pre_grasp[39;49;00m(hand_name):[37m[39;49;00m
    Function: Adjusts the thumb movement of the specified hand to position it opposite the index finger, preparing [34mfor[39;49;00m subsequent grasping operations. This should typically be called before executing [33m'[39;49;00m[33mmove_to_pose_with_screw[39;49;00m[33m'[39;49;00m to reach the pre-grasp pose.[37m[39;49;00m
    Return: [34mNone[39;49;00m[37m[39;49;00m
    Args:[37m[39;49;00m
    - hand_name ([36mstr[39;49;00m, Mandatory): [33m"[39;49;00m[33mall[39;49;00m[33m"[39;49;00m, [33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m, [35mor[39;49;00m [33m"[39;49;00m[33mleft[39;49;00m[33m"[39;49;00m. Default: [33m"[39;49;00m[33mall[39;49;00m[33m"[39;49;00m.[37m[39;49;00m
[37m[39;49;00m
[34mdef[39;49;00m[37m [39;49;00m[32mhand_grasp[39;49;00m(hand_name, grasp_object, obj_id):[37m[39;49;00m
    Function: Control the hand to close.[37m[39;49;00m
    Return: [34mNone[39;49;00m[37m[39;49;00m
    Args:[37m[39;49;00m
    - hand_name ([36mstr[39;49;00m, Mandatory): [33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m, [35mor[39;49;00m [33m"[39;49;00m[33mleft[39;49;00m[33m"[39;49;00m.[37m[39;49;00m
    - grasp_object ([36mstr[39;49;00m, Mandatory): The [36mtype[39;49;00m of the grasped [36mobject[39;49;00m. Example: [33m"[39;49;00m[33mcan[39;49;00m[33m"[39;49;00m.[37m[39;49;00m
    - obj_id ([36mint[39;49;00m, Mandatory): The [36mobject[39;49;00m [36mid[39;49;00m of the grasped [36mobject[39;49;00m. Example: If grasp_object=[33m"[39;49;00m[33mcan[39;49;00m[33m"[39;49;00m [35mand[39;49;00m obj_id=[34m0[39;49;00m, indicates the first can [36mobject[39;49;00m added to the environment.[37m[39;49;00m
[37m[39;49;00m
[34mdef[39;49;00m[37m [39;49;00m[32mhand_pre_pinch[39;49;00m(hand_name):[37m[39;49;00m
    Function: Adjusts the thumb movement of the specified hand to position it opposite the index finger, preparing [34mfor[39;49;00m subsequent pinching operations. This should typically be called before executing [33m'[39;49;00m[33mmove_to_pose_with_screw[39;49;00m[33m'[39;49;00m to reach the pre-pinch pose.[37m[39;49;00m
    Return: [34mNone[39;49;00m[37m[39;49;00m
    Args:[37m[39;49;00m
    - hand_name ([36mstr[39;49;00m, optional): [33m"[39;49;00m[33mall[39;49;00m[33m"[39;49;00m, [33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m, [35mor[39;49;00m [33m"[39;49;00m[33mleft[39;49;00m[33m"[39;49;00m. Default: [33m"[39;49;00m[33mall[39;49;00m[33m"[39;49;00m.[37m[39;49;00m
[37m[39;49;00m
[34mdef[39;49;00m[37m [39;49;00m[32mhand_pinch[39;49;00m(hand_name, pinch_object, obj_id):[37m[39;49;00m
    Function: Only control the closing operation of the thumb [35mand[39;49;00m index finger. Typically used [34mfor[39;49;00m small [35mand[39;49;00m hard-to-grasp objects.[37m[39;49;00m
    Return: [34mNone[39;49;00m[37m[39;49;00m
    Args:[37m[39;49;00m
    - hand_name ([36mstr[39;49;00m, Mandatory): [33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m, [35mor[39;49;00m [33m"[39;49;00m[33mleft[39;49;00m[33m"[39;49;00m.[37m[39;49;00m
    - pinch_object ([36mstr[39;49;00m, Mandatory): The [36mtype[39;49;00m of the pinched [36mobject[39;49;00m. Example: [33m"[39;49;00m[33mcan[39;49;00m[33m"[39;49;00m.[37m[39;49;00m
    - obj_id ([36mint[39;49;00m, Mandatory): The [36mobject[39;49;00m [36mid[39;49;00m of the pinched [36mobject[39;49;00m. Example: If pinch_object=[33m"[39;49;00m[33mcan[39;49;00m[33m"[39;49;00m [35mand[39;49;00m obj_id=[34m0[39;49;00m, indicates the first can [36mobject[39;49;00m added to the environment.[37m[39;49;00m
[37m[39;49;00m
 [34mdef[39;49;00m[37m [39;49;00m[32mgenerate_end_effector_pose[39;49;00m(constraints,hand_name):[37m[39;49;00m
    Function: Calculate the target pose that the robotic arm needs to move to [35min[39;49;00m this step based on the constraint [35mand[39;49;00m cost.[37m[39;49;00m
    Return: _,target_effector_pose[37m[39;49;00m
    Args:[37m[39;49;00m
    - constraints ([36mlist[39;49;00m, Mandatory): A [36mlist[39;49;00m of Constraint objects, [34mwith[39;49;00m the number of Constraints determined by specific requirements.[37m[39;49;00m
    - hand_name ([36mstr[39;49;00m, Mandatory): [33m"[39;49;00m[33mleft[39;49;00m[33m"[39;49;00m [35mor[39;49;00m [33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m[37m[39;49;00m
[37m[39;49;00m
[34mdef[39;49;00m[37m [39;49;00m[32mmove_to_pose_with_screw[39;49;00m(pose: sapien.Pose, hand_name, attach_obj=[34mFalse[39;49;00m, object_name=[34mNone[39;49;00m, object_id=[34m0[39;49;00m):[37m[39;49;00m
    Function: Control the robotic arm to move the end-effector of [33m'[39;49;00m[33mhand_name[39;49;00m[33m'[39;49;00m to the [33m'[39;49;00m[33mpose[39;49;00m[33m'[39;49;00m.[37m[39;49;00m
    Return: [34mNone[39;49;00m[37m[39;49;00m
    Args:[37m[39;49;00m
    - pose (sapien.Pose, Mandatory): The target pose [34mfor[39;49;00m the movement of [33m'[39;49;00m[33mhand_name[39;49;00m[33m'[39;49;00m.[37m[39;49;00m
    - hand_name ([36mstr[39;49;00m, Mandatory): The specified robotic arm [34mfor[39;49;00m the movement.[37m[39;49;00m
    - attach_obj ([36mbool[39;49;00m, Mandatory): Whether there [35mis[39;49;00m an attached [36mobject[39;49;00m [35min[39;49;00m the hand during the movement.[37m[39;49;00m
    - object_name ([36mstr[39;49;00m): [Required when [33m'[39;49;00m[33mattach_obj[39;49;00m[33m'[39;49;00m [35mis[39;49;00m [34mTrue[39;49;00m] The [36mtype[39;49;00m of the attached [36mobject[39;49;00m.[37m[39;49;00m
    - obj_id ([36mint[39;49;00m, Mandatory): [Required when [33m'[39;49;00m[33mattach_obj[39;49;00m[33m'[39;49;00m [35mis[39;49;00m [34mTrue[39;49;00m] The [36mobject[39;49;00m [36mid[39;49;00m of the attached [36mobject[39;49;00m.[37m[39;49;00m
 [37m[39;49;00m
======[37m[39;49;00m
Incorrect example code:[37m[39;49;00m
[34m1.[39;49;00m The right hand grasps the can, when can on the table:[37m[39;49;00m
step [34m1[39;49;00m: Grasp can0[37m[39;49;00m
[04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00mpython[37m[39;49;00m
    [37m# Set the right hand fingers to a pre-grasp pose[39;49;00m[37m[39;49;00m
    planner.hand_pre_grasp([33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m)[37m[39;49;00m
[37m[39;49;00m
    constraints=[][37m[39;49;00m
[37m[39;49;00m
    constraints.append([37m[39;49;00m
        Constraint([37m[39;49;00m
            env=planner.env,[37m[39;49;00m
            [36mtype[39;49;00m=[33m"[39;49;00m[33mparallel[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            end_effector_frame=[33m"[39;49;00m[33mr_hand_base_link[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            hand_axis=get_axis_in_env(planner.env, axis_name=[33m"[39;49;00m[33mright_grasp_axis[39;49;00m[33m"[39;49;00m),[37m[39;49;00m
            object_axis=np.array([[34m0[39;49;00m, [34m0[39;49;00m, [34m1[39;49;00m])[37m[39;49;00m
        )[37m[39;49;00m
    )[37m[39;49;00m
    [37m# Generate the target pose for the end-effector and move the right hand to the target pose[39;49;00m[37m[39;49;00m
    _, target_effector_pose = planner.generate_end_effector_pose(constraints,hand_name=[33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m)[37m[39;49;00m
    planner.move_to_pose_with_screw(target_effector_pose,[33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m,attach_obj=[34mFalse[39;49;00m)[37m[39;49;00m
[37m[39;49;00m
    [37m# Close the right hand to grasp the can[39;49;00m[37m[39;49;00m
    planner.hand_grasp([33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m,grasp_object=[33m"[39;49;00m[33mcan[39;49;00m[33m"[39;49;00m,obj_id=[34m0[39;49;00m)[37m[39;49;00m
[04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00m[37m[39;49;00m
Reason [34mfor[39;49;00m the error: [04m[91m`[39;49;00mobject_axis=np.array([[34m0[39;49;00m, [34m0[39;49;00m, [34m1[39;49;00m])[04m[91m`[39;49;00m represents the positive z-axis [35min[39;49;00m the world coordinate system. If it [35mis[39;49;00m parallel to the grasp axis, it indicates a bottom-up grasping direction. For an [36mobject[39;49;00m on a table, the hand cannot reach below the [36mobject[39;49;00m. To perform a top-down grasp along the -z direction, use [04m[91m`[39;49;00mobject_axis=np.array([[34m0[39;49;00m, [34m0[39;49;00m, -[34m1[39;49;00m])[04m[91m`[39;49;00m.[37m[39;49;00m
[37m[39;49;00m
======[37m[39;49;00m
Correct example code:[37m[39;49;00m
[34m1.[39;49;00m The right hand grasps the can [34mfrom[39;49;00m[37m [39;49;00m[04m[36mright[39;49;00m to left, then lifts it by [34m0.1[39;49;00mm, [35mand[39;49;00m then releases it.[37m[39;49;00m
step [34m1[39;49;00m: Grasp can0[37m[39;49;00m
[04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00mpython[37m[39;49;00m
    [37m# Set the right hand fingers to a pre-grasp pose[39;49;00m[37m[39;49;00m
    planner.hand_pre_grasp([33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m)[37m[39;49;00m
[37m[39;49;00m
    constraints=[][37m[39;49;00m
    [37m# Add a point-to-point constraint to align the grasp point of the right hand with the can's center point[39;49;00m[37m[39;49;00m
    constraints.append([37m[39;49;00m
        Constraint([37m[39;49;00m
            env=planner.env,[37m[39;49;00m
            [36mtype[39;49;00m=[33m"[39;49;00m[33mpoint2point[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            end_effector_frame=[33m"[39;49;00m[33mr_hand_base_link[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            hand_key_point=get_point_in_env(planner.env,point_name=[33m"[39;49;00m[33mgrasp_point_base_right_hand[39;49;00m[33m"[39;49;00m), [37m# Grasp point on the right hand[39;49;00m[37m[39;49;00m
            object_key_point=get_point_in_env(planner.env,type_name=[33m"[39;49;00m[33mcan[39;49;00m[33m"[39;49;00m,obj_id=[34m0[39;49;00m), [37m# Center point of the can[39;49;00m[37m[39;49;00m
        )[37m[39;49;00m
    )[37m[39;49;00m
    [37m# Add a Constraint to align the pinky-to-index axis of the right hand with the world z-axis[39;49;00m[37m[39;49;00m
    constraints.append([37m[39;49;00m
        Constraint([37m[39;49;00m
            env=planner.env,[37m[39;49;00m
            [36mtype[39;49;00m=[33m"[39;49;00m[33mparallel[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            end_effector_frame=[33m"[39;49;00m[33mr_hand_base_link[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            hand_axis=get_axis_in_env(planner.env,axis_name=[33m"[39;49;00m[33mright_ring_2_index[39;49;00m[33m"[39;49;00m), [37m# The direction from the pinky finger to the index finger[39;49;00m[37m[39;49;00m
            object_axis=np.array([[34m0[39;49;00m,[34m0[39;49;00m,[34m1[39;49;00m]), [37m# World frame. Or the specific axis of the object, such as `get_axis_in_env(planner.env, axis_name="z", obj_type="can", obj_id=0)`.[39;49;00m[37m[39;49;00m
        )[37m[39;49;00m
    )[37m[39;49;00m
    [37m# Generate the target pose for the end-effector and move the right hand to the target pose[39;49;00m[37m[39;49;00m
    _, target_effector_pose = planner.generate_end_effector_pose(constraints,hand_name=[33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m)[37m[39;49;00m
    planner.move_to_pose_with_screw(target_effector_pose,[33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m,attach_obj=[34mFalse[39;49;00m)[37m[39;49;00m
[37m[39;49;00m
    [37m# Close the right hand to grasp the can[39;49;00m[37m[39;49;00m
    planner.hand_grasp([33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m,grasp_object=[33m"[39;49;00m[33mcan[39;49;00m[33m"[39;49;00m,obj_id=[34m0[39;49;00m)[37m[39;49;00m
[04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00m[37m[39;49;00m
step [34m2[39;49;00m: Lift the can by [34m0.1[39;49;00mm [34mwhile[39;49;00m keeping its pose unchanged[37m[39;49;00m
[04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00mpython[37m[39;49;00m
    constraints=[][37m[39;49;00m
    [37m# Add a point-to-point constraint to lift the can by 0.1m[39;49;00m[37m[39;49;00m
    constraints.append([37m[39;49;00m
        Constraint([37m[39;49;00m
            env=planner.env,[37m[39;49;00m
            [36mtype[39;49;00m=[33m"[39;49;00m[33mpoint2point[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            end_effector_frame=[33m"[39;49;00m[33mr_hand_base_link[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            hand_key_point=get_point_in_env(planner.env,type_name=[33m"[39;49;00m[33mcan[39;49;00m[33m"[39;49;00m,obj_id=[34m0[39;49;00m), [37m# can center point now[39;49;00m[37m[39;49;00m
            object_key_point=get_point_in_env(planner.env,type_name=[33m"[39;49;00m[33mcan[39;49;00m[33m"[39;49;00m,obj_id=[34m0[39;49;00m)+np.array([[34m0[39;49;00m,[34m0[39;49;00m,[34m0.1[39;49;00m]), [37m# can center point after being lifted by 0.1m[39;49;00m[37m[39;49;00m
        )[37m[39;49;00m
    )[37m[39;49;00m
    [37m# Add a parallel constraint to keep the x-axis of the can unchanged[39;49;00m[37m[39;49;00m
    constraints.append([37m[39;49;00m
        Constraint([37m[39;49;00m
            env=planner.env,[37m[39;49;00m
            [36mtype[39;49;00m=[33m"[39;49;00m[33mparallel[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            end_effector_frame=[33m"[39;49;00m[33mr_hand_base_link[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            hand_axis=get_axis_in_env(planner.env,axis_name=[33m"[39;49;00m[33mx[39;49;00m[33m"[39;49;00m,obj_type=[33m"[39;49;00m[33mcan[39;49;00m[33m"[39;49;00m,obj_id=[34m0[39;49;00m), [37m# The x-axis of the can[39;49;00m[37m[39;49;00m
            object_axis=get_axis_in_env(planner.env,axis_name=[33m"[39;49;00m[33mx[39;49;00m[33m"[39;49;00m,obj_type=[33m"[39;49;00m[33mcan[39;49;00m[33m"[39;49;00m,obj_id=[34m0[39;49;00m), [37m# Keep the x-axis unchanged[39;49;00m[37m[39;49;00m
        )[37m[39;49;00m
    )[37m[39;49;00m
    [37m# Add a parallel constraint to keep the y-axis of the can unchanged[39;49;00m[37m[39;49;00m
    constraints.append([37m[39;49;00m
        Constraint([37m[39;49;00m
            env=planner.env,[37m[39;49;00m
            [36mtype[39;49;00m=[33m"[39;49;00m[33mparallel[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            end_effector_frame=[33m"[39;49;00m[33mr_hand_base_link[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            hand_axis=get_axis_in_env(planner.env,axis_name=[33m"[39;49;00m[33my[39;49;00m[33m"[39;49;00m,obj_type=[33m"[39;49;00m[33mcan[39;49;00m[33m"[39;49;00m,obj_id=[34m0[39;49;00m), [37m# The y-axis of the can[39;49;00m[37m[39;49;00m
            object_axis=get_axis_in_env(planner.env,axis_name=[33m"[39;49;00m[33my[39;49;00m[33m"[39;49;00m,obj_type=[33m"[39;49;00m[33mcan[39;49;00m[33m"[39;49;00m,obj_id=[34m0[39;49;00m), [37m# Keep the y-axis unchanged[39;49;00m[37m[39;49;00m
        )[37m[39;49;00m
    )[37m[39;49;00m
    [37m# Generate the target pose for the end-effector and move the right hand to the target pose[39;49;00m[37m[39;49;00m
    _, target_effector_pose = planner.generate_end_effector_pose(constraints,hand_name=[33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m)[37m[39;49;00m
    planner.move_to_pose_with_screw(target_effector_pose,[33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m,attach_obj=[34mTrue[39;49;00m,object_name=[33m"[39;49;00m[33mcan[39;49;00m[33m"[39;49;00m,object_id=[34m0[39;49;00m)[37m[39;49;00m
[37m[39;49;00m
    [37m# Open the right hand to release the can[39;49;00m[37m[39;49;00m
    planner.open_hand([33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m)[37m[39;49;00m
[04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00m[37m[39;49;00m
step3: Move the right hand back to its initial pose[37m[39;49;00m
[04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00mpython[37m[39;49;00m
    [37m# Move the right hand back to its initial pose[39;49;00m[37m[39;49;00m
    planner.move_to_pose_with_screw(planner.right_hand_init_pose, [33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m,attach_obj=[34mFalse[39;49;00m)[37m[39;49;00m
[04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00m[37m[39;49;00m
[37m[39;49;00m
[34m2.[39;49;00m Based on step [34m1[39;49;00m of Example [34m1[39;49;00m, place the can into the bowl after grasping it.[37m[39;49;00m
[37m[39;49;00m
step [34m2[39;49;00m: Move the can above the bowl [35mand[39;49;00m ensure the palm [35mis[39;49;00m facing downward.[37m[39;49;00m
[04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00mpython[37m[39;49;00m
    constraints=[][37m[39;49;00m
    [37m# Add a point-to-point constraint to lift the can by 0.1m[39;49;00m[37m[39;49;00m
    constraints.append([37m[39;49;00m
        Constraint([37m[39;49;00m
            env=planner.env,[37m[39;49;00m
            [36mtype[39;49;00m=[33m"[39;49;00m[33mpoint2point[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            end_effector_frame=[33m"[39;49;00m[33mr_hand_base_link[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            hand_key_point=get_point_in_env(planner.env,type_name=[33m"[39;49;00m[33mcan[39;49;00m[33m"[39;49;00m,obj_id=[34m0[39;49;00m), [37m# can center point now[39;49;00m[37m[39;49;00m
            object_key_point=get_point_in_env(planner.env,type_name=[33m"[39;49;00m[33mbowl[39;49;00m[33m"[39;49;00m,obj_id=[34m0[39;49;00m)+np.array([[34m0[39;49;00m,[34m0[39;49;00m,[34m0.1[39;49;00m]), [37m# can center point over the bowl[39;49;00m[37m[39;49;00m
        )[37m[39;49;00m
    )[37m[39;49;00m
    [37m# Palm facing down[39;49;00m[37m[39;49;00m
    constraints.append([37m[39;49;00m
        Constraint([37m[39;49;00m
            env=planner.env,[37m[39;49;00m
            [36mtype[39;49;00m=[33m"[39;49;00m[33mparallel[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            end_effector_frame=[33m"[39;49;00m[33mr_hand_base_link[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            hand_axis=get_axis_in_env(planner.env,axis_name=[33m"[39;49;00m[33mright_grasp_axis[39;49;00m[33m"[39;49;00m), [37m# The back of the palm points toward the front of the palm.[39;49;00m[37m[39;49;00m
            object_axis=np.array([[34m0[39;49;00m,[34m0[39;49;00m,-[34m1[39;49;00m]), [37m# World frame, [39;49;00m[37m[39;49;00m
        )[37m[39;49;00m
    )[37m[39;49;00m
[37m[39;49;00m
    [37m# Generate the target pose for the end-effector and move the right hand to the target pose[39;49;00m[37m[39;49;00m
    _, target_effector_pose = planner.generate_end_effector_pose(constraints,hand_name=[33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m)[37m[39;49;00m
    planner.move_to_pose_with_screw(target_effector_pose,[33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m,attach_obj=[34mTrue[39;49;00m,object_name=[33m"[39;49;00m[33mcan[39;49;00m[33m"[39;49;00m,object_id=[34m0[39;49;00m)[37m[39;49;00m
[37m[39;49;00m
    [37m# Open the right hand to release the can[39;49;00m[37m[39;49;00m
    planner.open_hand([33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m)[37m[39;49;00m
[04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00m[37m[39;49;00m
step3: Move the right hand back to its initial pose[37m[39;49;00m
[04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00mpython[37m[39;49;00m
    [37m# Move the right hand back to its initial pose[39;49;00m[37m[39;49;00m
    planner.move_to_pose_with_screw(planner.right_hand_init_pose, [33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m,attach_obj=[34mFalse[39;49;00m)[37m[39;49;00m
[04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00m[37m[39;49;00m
[37m[39;49;00m
======[37m[39;49;00m
Notes:  [37m[39;49;00m
- [04m[91m`[39;49;00mtype_id[04m[91m`[39;49;00m represents different models of the same [36mtype[39;49;00m of [36mobject[39;49;00m, [34mwhile[39;49;00m [04m[91m`[39;49;00mobj_id[04m[91m`[39;49;00m indicates the order [35min[39;49;00m which objects of the same [36mtype[39;49;00m are added.  [37m[39;49;00m
- The left hand[33m'[39;49;00m[33ms operable range is x∈[-0.42, -0.19], y∈[-0.07, 0.36]; the right hand[39;49;00m[33m'[39;49;00ms [36mrange[39;49;00m [35mis[39;49;00m x[04m[91m∈[39;49;00m[-[34m0.42[39;49;00m, -[34m0.19[39;49;00m], y[04m[91m∈[39;49;00m[-[34m0.36[39;49;00m, [34m0.07[39;49;00m]. It must be ensured that the hand moves within this [36mrange[39;49;00m. For actions such [34mas[39;49;00m grasping, pinching, [35mor[39;49;00m placing an [36mobject[39;49;00m, it must be ensured that they are [36mall[39;49;00m within the operational [36mrange[39;49;00m of the corresponding hand.[37m[39;49;00m
- The [36mobject[39;49;00m[33m'[39;49;00m[33ms bounding box (bbox) represents its dimensions in its own coordinate system (axis-aligned when the orientation quaternion is q=[1,0,0,0]). For example, a can with bbox:[39;49;00m[33m{[39;49;00m[33m"[39;49;00m[33mmin[39;49;00m[33m"[39;49;00m[33m: [-0.08,-0.08,-0.02],[39;49;00m[33m"[39;49;00m[33mmax[39;49;00m[33m"[39;49;00m[33m: [0.08,0.08,0.02]} has lengths of 0.16 units along X/Y-axes and 0.04 units along the Z-axis.[39;49;00m[37m[39;49;00m
- Please place each step [35min[39;49;00m a separate code block, enclosed within [04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00mpython [04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00m tags. The number of steps should correspond exactly to the number of [04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00mpython [04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00m blocks [35min[39;49;00m your response, [34mwith[39;49;00m no extra [35mor[39;49;00m missing blocks.[37m[39;49;00m
- Variables [35min[39;49;00m different code blocks are [35mnot[39;49;00m shared, meaning variables [34mfrom[39;49;00m[37m [39;49;00m[04m[36mprevious[39;49;00m code blocks cannot be used [35min[39;49;00m subsequent ones.[37m[39;49;00m
- When placing an [36mobject[39;49;00m, release it slightly above the target position.[37m[39;49;00m
- To avoid collisions, consider splitting a move action into multiple moves. For example, when placing a can into a bowl, first move the can to a height above the bowl, then lower it to just above the bowl before releasing it. However, ensure the height [35mis[39;49;00m neither too high nor too low to avoid inverse kinematics issues [35mor[39;49;00m collisions. Typically, an additional height of [34m0.03[39;49;00m cm [35mis[39;49;00m added.[37m[39;49;00m
- When planning, please take collision issues into account. For example, [34mif[39;49;00m the height of an [36mobject[39;49;00m relative to the table [35mis[39;49;00m z=[34m0.03[39;49;00m<[34m0.08[39;49;00m, do [35mnot[39;49;00m use the right hand to grasp [34mfrom[39;49;00m[37m [39;49;00m[04m[36mright[39;49;00m to left, [34mas[39;49;00m it will cause a collision between the hand [35mand[39;49;00m the table. Similarly, when placing the [36mobject[39;49;00m somewhere, it [35mis[39;49;00m acceptable to release it slightly above the target position.[37m[39;49;00m
- If [33m'[39;49;00m[33mExecuted Action Code[39;49;00m[33m'[39;49;00m [35mis[39;49;00m empty, it means no code has been executed. If [35mnot[39;49;00m empty, generate only the subsequent actions to be executed.[37m[39;49;00m
- If [33m'[39;49;00m[33mProhibited Next Actions[39;49;00m[33m'[39;49;00m [35mis[39;49;00m empty, there are no restrictions on the [36mnext[39;49;00m action. If [35mnot[39;49;00m empty, avoid executing [36many[39;49;00m action identical to the listed ones [35min[39;49;00m the first subsequent step.[37m[39;49;00m
- When performing operations such [34mas[39;49;00m moving an [36mobject[39;49;00m to a specific location [34mfor[39;49;00m placement, various factors should be fully considered. For example, when placing an [36mobject[39;49;00m on a table, it [35mis[39;49;00m acceptable to suspend it slightly above the table.[37m[39;49;00m
- Before executing grasp [35mor[39;49;00m pinch actions, pre-grasp [35mand[39;49;00m pre-pinch actions must be performed respectively. Before executing another grasp [35mor[39;49;00m pinch action, the corresponding pre-action must be performed again.[37m[39;49;00m
- When calling [04m[91m`[39;49;00mConstraint[04m[91m`[39;49;00m, parameter names must be explicitly specified using the [04m[91m`[39;49;00mname=value[04m[91m`[39;49;00m [36mformat[39;49;00m.[37m[39;49;00m
- Each line of code must have at least one level of indentation. [37m[39;49;00m
- [33m"[39;49;00m[33mright_hand_init_pose[39;49;00m[33m"[39;49;00m [35mand[39;49;00m [33m"[39;49;00m[33mleft_hand_init_pose[39;49;00m[33m"[39;49;00m are non-collision pose, which can avoid collisions [34mwith[39;49;00m other hand [35mor[39;49;00m [36mobject[39;49;00m.[37m[39;49;00m
======[37m[39;49;00m
Please generate the code to [34mcontinue[39;49;00m executing the task [33m'[39;49;00m[33mStack the three cubes on the table into a single pile.[39;49;00m[33m'[39;49;00m.[37m[39;49;00m
Note: [37m[39;49;00m
 -When placing the cube, it should first be positioned at a certain distance above the target cube before lowering it down(lowering it down does [35mnot[39;49;00m require a move, just [36mopen[39;49;00m the hand). [37m[39;49;00m
-It [35mis[39;49;00m necessary to keep the palm facing downward when pinching [35mand[39;49;00m moving the cube.[37m[39;49;00m
 -Use the pinch action to operate the cube. [37m[39;49;00m
 -The arms can only operate within their respective ranges.[37m[39;49;00m

================= Solve Generate!
Task prompt text: [{'role': 'user', 'content': 'You are a professional assistant for generating code that enables dual-arm robots to perform tabletop tasks. Please generate logically structured code to execute the user-specified tasks based on the provided context.\n======\nStatic Scene Elements:\nThe static scene elements include a robot and a table. The robot\'s base_link (position between torso_link and pelvis) has a pose of pose.p = [-0.85, 0, 0], pose.q = [1, 0, 0, 0]. The table surface spans x ∈ [-0.42, -0.19], y ∈ [-1.1, 1.16], z = 0.\n======\nWorld Coordinate System Information:\nSince the robot\'s base coordinate frame has pose.q = [1, 0, 0, 0], its xyz directions align with the world coordinate system: x points forward, y points to the robot\'s left, and z points upward.\n======\nIntrinsic Asset Attributes:\n[{\'type_name\': \'cube\', \'obj_id\': 0, \'bounding box\': [0.04, 0.04, 0.04], \'status\': {\'face_robot\': {\'description\': \'Placed flat on the table, with the front face parallel to the body.\', \'orientation\': [1, 0, 0, 0]}}}, {\'type_name\': \'cube\', \'obj_id\': 1, \'bounding box\': [0.04, 0.04, 0.04], \'status\': {\'face_robot\': {\'description\': \'Placed flat on the table, with the front face parallel to the body.\', \'orientation\': [1, 0, 0, 0]}}}, {\'type_name\': \'cube\', \'obj_id\': 2, \'bounding box\': [0.04, 0.04, 0.04], \'status\': {\'face_robot\': {\'description\': \'Placed flat on the table, with the front face parallel to the body.\', \'orientation\': [1, 0, 0, 0]}}}]\nNote: The \'orientation\' in \'status\' represents the rotation in the world coordinate system under its corresponding \'description\'.\n======\nInitial Asset State:\n[{\'type_name\': \'cube\', \'obj_id\': 0, \'pose\': Pose(raw_pose=tensor([[-3.2197e-01,  3.3160e-01,  2.0000e-02,  9.9998e-01,  6.5134e-06,\n         -2.4760e-06,  7.0003e-03]]))}, {\'type_name\': \'cube\', \'obj_id\': 1, \'pose\': Pose(raw_pose=tensor([[-3.1712e-01, -3.1076e-01,  2.0000e-02,  9.9951e-01,  6.0188e-06,\n         -2.8455e-06,  3.1272e-02]]))}, {\'type_name\': \'cube\', \'obj_id\': 2, \'pose\': Pose(raw_pose=tensor([[-4.5367e-01, -3.3202e-01,  2.0000e-02,  9.9706e-01,  4.0116e-06,\n         -3.3418e-06,  7.6615e-02]]))}]\nNote: The asset(object) state(pose) when the scene is just initialized, before any actions are executed. Pose consists of Cartesian coordinates and a quaternion in the world coordinate system: [x, y, z, w, x, y, z](The following 7-dimensional poses all follow this format).\n======\nCurrent Asset State:\n[{\'type_name\': \'cube\', \'obj_id\': 0, \'pose\': Pose(raw_pose=tensor([[-3.2197e-01,  3.3160e-01,  2.0000e-02,  9.9998e-01,  6.5134e-06,\n         -2.4760e-06,  7.0003e-03]]))}, {\'type_name\': \'cube\', \'obj_id\': 1, \'pose\': Pose(raw_pose=tensor([[-3.1712e-01, -3.1076e-01,  2.0000e-02,  9.9951e-01,  6.0188e-06,\n         -2.8455e-06,  3.1272e-02]]))}, {\'type_name\': \'cube\', \'obj_id\': 2, \'pose\': Pose(raw_pose=tensor([[-4.5367e-01, -3.3202e-01,  2.0000e-02,  9.9706e-01,  4.0116e-06,\n         -3.3418e-06,  7.6615e-02]]))}]\nNote: Current states(poses) of assets(objects) on the tabletop\n======\nExecuted Action Code:\n\nNote: \n- Code for actions executed by the robot to transform the asset state on the tabletop from the initial state to the current state.\n======\nProhibited Next Actions:\n\nNote: The next step cannot execute the prohibited actions listed above. \'Same\' means completely identical. For \'move\', any addition, removal, or modification of constraints is considered a different action. Applies only to the next step; subsequent steps can still choose those actions.\n======\nRobot Attributes:\nhand_key_point:{\n    "left_hand":["base_left_hand","grasp_point_base_left_hand","pinch_point_base_left_hand"],\n    "right_hand":["base_right_hand","grasp_point_base_right_hand","pinch_point_base_right_hand"]\n}\nhand_key_axis:{\n    "left_hand":["left_pinch_axis","left_pinch_wrist_2_palm_axis","left_ring_2_index","left_grasp_axis","left_grasp_wrist_2_palm_axis"],\n    "right_hand":["right_pinch_axis","right_pinch_wrist_2_palm_axis","right_ring_2_index","right_grasp_axis","right_grasp_wrist_2_palm_axis"]\n}\ndefault_pose:{\n    "left_hand":[left_hand_init_pose],\n    "right_hand":[right_hand_init_pose]\n}\n======\nAvailable Class:\nConstraint(env,type,end_effector_frame,hand_key_point,object_key_point,hand_axis,object_axis):\n    Function: \n        "Constraint" defines hard constraints that must be strictly satisfied. \n        Establishes spatial equivalence constraints between:\n            - (point2point) Specified end-effector point → target point.\n            - (parallel) Specified end-effector axis direction → target axis direction.\n    Args:\n    - env (Environment, Mandatory): The planner\'s bound operating environment. Must reference the planner\'s environment instance through `planner.env` property.\n    - type (str, Mandatory): "point2point" or "parallel".\n    - end_effector_frame (str, Mandatory): "l_hand_base_link" or "r_hand_base_link".\n    - hand_key_point (np.ndarray): [Required when \'type\' is \'point2point\'] Pre-motion end-effector anchor point in world coordinates.\n    - object_key_point (np.ndarray): [Required when \'type\' is \'point2point\'] Target\'s corresponding point in world coordinates.\n    - hand_axis (np.ndarray): [Required when \'type\' is \'parallel\'] Pre-motion end-effector alignment axis in world coordinates.\n    - object_axis (np.ndarray): [Required when \'type\' is \'parallel\'] Target\'s reference axis in world coordinates.\n    Example:\n        # Right palm facing down to grasp(Top-down grasping of the object)\n        Constraint(\n            env=planner.env,\n            type="parallel",\n            end_effector_frame="r_hand_base_link",\n            hand_axis=get_axis_in_env(planner.env,axis_name="right_grasp_axis"), # The back of the palm points toward the front of the palm. Pinch action is similar.\n            object_axis=np.array([0,0,-1]), # World frame, \n        )\n\n        # Right palm facing up to grasp(Down-Top grasping of the object). If there is a table or other objects below the target, it often causes collisions and makes it unreachable.\n        Constraint(\n            env=planner.env,\n            type="parallel",\n            end_effector_frame="r_hand_base_link",\n            hand_axis=get_axis_in_env(planner.env,axis_name="right_grasp_axis"), # The back of the palm points toward the front of the palm. Pinch action is similar.\n            object_axis=np.array([0,0,1]), # World frame, \n        )\n\n        # The direction from the right wrist to the palm center is facing forward.\n        Constraint(\n            env=planner.env,\n            type="parallel",\n            end_effector_frame="r_hand_base_link",\n            hand_axis=get_axis_in_env(planner.env,axis_name="right_grasp_wrist_2_palm_axis"), # The direction from the wrist to the palm center\n            object_axis=np.array([1,0,0]), # World frame\n        )\n\n        # The direction from the right pinky finger to the index finger is parallel to the x-axis of object0.\n        Constraint(\n            env=planner.env,\n            type="parallel",\n            end_effector_frame="r_hand_base_link",\n            hand_axis=get_axis_in_env(planner.env,axis_name="right_ring_2_index"), # The direction from the right pinky finger to the index finger\n            object_axis=get_axis_in_env(planner.env, "x", obj_type="object", obj_id=0), # The coordinates of object0\'s x-axis in the world coordinate system.\n        )\n\n        # After object0 is in hand, align its x-axis parallel to the world coordinate system\'s z-axis, making its x-axis point upward.\n        Constraint(\n            env=planner.env,\n            type="point2point",\n            end_effector_frame="r_hand_base_link",\n            hand_key_point=get_axis_in_env(planner.env, "x", obj_type="object", obj_id=0),\n            object_key_point=object_axis=np.array([0,0,1]), # np.array([0, 0.1, 0.1]) in the object0\'s coordinate system.\n        )\n\n        # The right-hand grasp point coincides with [0, 0.1, 0.1] in the object0\'s coordinate system.\n        Constraint(\n            env=planner.env,\n            type="point2point",\n            end_effector_frame="r_hand_base_link",\n            hand_key_point=get_point_in_env(planner.env,point_name="grasp_point_base_right_hand"),\n            object_key_point=get_point_in_env(planner.env,type_name="object",obj_id=0,related_point=np.array([0, 0.1, 0.1])), # np.array([0, 0.1, 0.1]) in the object0\'s coordinate system.\n        )\n\n        # After object0 is in hand, position it 0.1m above object1.\n        Constraint(\n            env=planner.env,\n            type="point2point",\n            end_effector_frame="r_hand_base_link",\n            hand_key_point=get_point_in_env(planner.env,type_name="object",obj_id=0),\n            object_key_point=get_point_in_env(planner.env,type_name="object",obj_id=1)+np.array([0, 0, 0.1]), # np.array([0, 0, 0.1]) in the world(robot) coordinate system.\n        )\n    Note: \n        \'hand_key_point\' and \'object_key_point\' represent two points in the world coordinate system. \'hand_key_point\' moves with the corresponding end-effector, and type=\'point2point\' indicates the intention for the two points to coincide. \n        \'hand_axis\' and \'object_axis\' have similar meanings to \'point\'.\n        \'right_grasp_axis\' or \'right_pinch_axis\' parallel [0,0,-1] means executing with the palm facing downward.\n        \'right_grasp_axis\' or \'right_pinch_axis\' parallel [1,0,0] means executing with the palm facing forward.\n        \'right_grasp_axis\' or \'right_pinch_axis\' parallel [0,1,0] means executing with the palm facing left.\n        \'left_grasp_axis\' or \'left_pinch_axis\' parallel [0,-1,0] means executing with the palm facing right.\n\n\nConst(env,type,end_effector_frame,hand_key_point,object_key_point,hand_axis,object_axis):\n    The usage is similar to the Constraint class, but it is not a strict constraint; it is an optimization objective.\n======\nAvailable functions:\n\ndef get_point_in_env(env, point_name,type_name, obj_id,related_point,openness):\n    Function: Get specified point position in world frame.\n    Return: point_position (np.ndarray)\n    Args:\n    - env (Environment, Mandatory): The planner\'s bound operating environment. Must reference the planner\'s environment instance through `planner.env` property.\n    - point_name (str, optional): The point name. Example: "grasp_point_base_left_hand".\n    - type_name (str, optional): The reference object relative to the target point.\n    - obj_id (int, optional): The reference object id.\n    - related_point (np.ndarray,optional): The coordinates of the target point relative to the object center in the object coordinate system. Default: np.array([0,0,0])\n    - openness (int, optional): Represents the openness degree of the articulated object. If type_name is an articulated object, this value can be set to obtain the coordinates corresponding to point_name at a specific openness degree.\n    Example:\n        # Get the current coordinates of the right-hand pinch point in the world coordinate system.\n        get_point_in_env(planner.env,point_name="grasp_point_base_pinch_hand")\n\ndef get_axis_in_env(env, axis_name, obj_type, obj_id):\n    Function: Get specified direction vector in world frame.\n    Return: direction_vector (np.ndarray)\n    Args:\n    - env (Environment, Mandatory): The planner\'s bound operating environment. Must reference the planner\'s environment instance through `planner.env` property.\n    - axis_name (str, Mandatory): The axis name. Example: "right_pinch_axis".\n    - obj_type (str, optional): The reference object relative to the target axis.\n    - obj_id (int, optional): The reference object id.\n\ndef open_hand(self, hand_name):\n    Function: Control the hand to open.\n    Return: None\n    Args:\n    - hand_name (str, Mandatory): "all", "right", or "left".\n\ndef hand_pre_grasp(hand_name):\n    Function: Adjusts the thumb movement of the specified hand to position it opposite the index finger, preparing for subsequent grasping operations. This should typically be called before executing \'move_to_pose_with_screw\' to reach the pre-grasp pose.\n    Return: None\n    Args:\n    - hand_name (str, Mandatory): "all", "right", or "left". Default: "all".\n\ndef hand_grasp(hand_name, grasp_object, obj_id):\n    Function: Control the hand to close.\n    Return: None\n    Args:\n    - hand_name (str, Mandatory): "right", or "left".\n    - grasp_object (str, Mandatory): The type of the grasped object. Example: "can".\n    - obj_id (int, Mandatory): The object id of the grasped object. Example: If grasp_object="can" and obj_id=0, indicates the first can object added to the environment.\n\ndef hand_pre_pinch(hand_name):\n    Function: Adjusts the thumb movement of the specified hand to position it opposite the index finger, preparing for subsequent pinching operations. This should typically be called before executing \'move_to_pose_with_screw\' to reach the pre-pinch pose.\n    Return: None\n    Args:\n    - hand_name (str, optional): "all", "right", or "left". Default: "all".\n\ndef hand_pinch(hand_name, pinch_object, obj_id):\n    Function: Only control the closing operation of the thumb and index finger. Typically used for small and hard-to-grasp objects.\n    Return: None\n    Args:\n    - hand_name (str, Mandatory): "right", or "left".\n    - pinch_object (str, Mandatory): The type of the pinched object. Example: "can".\n    - obj_id (int, Mandatory): The object id of the pinched object. Example: If pinch_object="can" and obj_id=0, indicates the first can object added to the environment.\n\n def generate_end_effector_pose(constraints,hand_name):\n    Function: Calculate the target pose that the robotic arm needs to move to in this step based on the constraint and cost.\n    Return: _,target_effector_pose\n    Args:\n    - constraints (list, Mandatory): A list of Constraint objects, with the number of Constraints determined by specific requirements.\n    - hand_name (str, Mandatory): "left" or "right"\n\ndef move_to_pose_with_screw(pose: sapien.Pose, hand_name, attach_obj=False, object_name=None, object_id=0):\n    Function: Control the robotic arm to move the end-effector of \'hand_name\' to the \'pose\'.\n    Return: None\n    Args:\n    - pose (sapien.Pose, Mandatory): The target pose for the movement of \'hand_name\'.\n    - hand_name (str, Mandatory): The specified robotic arm for the movement.\n    - attach_obj (bool, Mandatory): Whether there is an attached object in the hand during the movement.\n    - object_name (str): [Required when \'attach_obj\' is True] The type of the attached object.\n    - obj_id (int, Mandatory): [Required when \'attach_obj\' is True] The object id of the attached object.\n \n======\nIncorrect example code:\n1. The right hand grasps the can, when can on the table:\nstep 1: Grasp can0\n```python\n    # Set the right hand fingers to a pre-grasp pose\n    planner.hand_pre_grasp("right")\n\n    constraints=[]\n\n    constraints.append(\n        Constraint(\n            env=planner.env,\n            type="parallel",\n            end_effector_frame="r_hand_base_link",\n            hand_axis=get_axis_in_env(planner.env, axis_name="right_grasp_axis"),\n            object_axis=np.array([0, 0, 1])\n        )\n    )\n    # Generate the target pose for the end-effector and move the right hand to the target pose\n    _, target_effector_pose = planner.generate_end_effector_pose(constraints,hand_name="right")\n    planner.move_to_pose_with_screw(target_effector_pose,"right",attach_obj=False)\n\n    # Close the right hand to grasp the can\n    planner.hand_grasp("right",grasp_object="can",obj_id=0)\n```\nReason for the error: `object_axis=np.array([0, 0, 1])` represents the positive z-axis in the world coordinate system. If it is parallel to the grasp axis, it indicates a bottom-up grasping direction. For an object on a table, the hand cannot reach below the object. To perform a top-down grasp along the -z direction, use `object_axis=np.array([0, 0, -1])`.\n\n======\nCorrect example code:\n1. The right hand grasps the can from right to left, then lifts it by 0.1m, and then releases it.\nstep 1: Grasp can0\n```python\n    # Set the right hand fingers to a pre-grasp pose\n    planner.hand_pre_grasp("right")\n\n    constraints=[]\n    # Add a point-to-point constraint to align the grasp point of the right hand with the can\'s center point\n    constraints.append(\n        Constraint(\n            env=planner.env,\n            type="point2point",\n            end_effector_frame="r_hand_base_link",\n            hand_key_point=get_point_in_env(planner.env,point_name="grasp_point_base_right_hand"), # Grasp point on the right hand\n            object_key_point=get_point_in_env(planner.env,type_name="can",obj_id=0), # Center point of the can\n        )\n    )\n    # Add a Constraint to align the pinky-to-index axis of the right hand with the world z-axis\n    constraints.append(\n        Constraint(\n            env=planner.env,\n            type="parallel",\n            end_effector_frame="r_hand_base_link",\n            hand_axis=get_axis_in_env(planner.env,axis_name="right_ring_2_index"), # The direction from the pinky finger to the index finger\n            object_axis=np.array([0,0,1]), # World frame. Or the specific axis of the object, such as `get_axis_in_env(planner.env, axis_name="z", obj_type="can", obj_id=0)`.\n        )\n    )\n    # Generate the target pose for the end-effector and move the right hand to the target pose\n    _, target_effector_pose = planner.generate_end_effector_pose(constraints,hand_name="right")\n    planner.move_to_pose_with_screw(target_effector_pose,"right",attach_obj=False)\n\n    # Close the right hand to grasp the can\n    planner.hand_grasp("right",grasp_object="can",obj_id=0)\n```\nstep 2: Lift the can by 0.1m while keeping its pose unchanged\n```python\n    constraints=[]\n    # Add a point-to-point constraint to lift the can by 0.1m\n    constraints.append(\n        Constraint(\n            env=planner.env,\n            type="point2point",\n            end_effector_frame="r_hand_base_link",\n            hand_key_point=get_point_in_env(planner.env,type_name="can",obj_id=0), # can center point now\n            object_key_point=get_point_in_env(planner.env,type_name="can",obj_id=0)+np.array([0,0,0.1]), # can center point after being lifted by 0.1m\n        )\n    )\n    # Add a parallel constraint to keep the x-axis of the can unchanged\n    constraints.append(\n        Constraint(\n            env=planner.env,\n            type="parallel",\n            end_effector_frame="r_hand_base_link",\n            hand_axis=get_axis_in_env(planner.env,axis_name="x",obj_type="can",obj_id=0), # The x-axis of the can\n            object_axis=get_axis_in_env(planner.env,axis_name="x",obj_type="can",obj_id=0), # Keep the x-axis unchanged\n        )\n    )\n    # Add a parallel constraint to keep the y-axis of the can unchanged\n    constraints.append(\n        Constraint(\n            env=planner.env,\n            type="parallel",\n            end_effector_frame="r_hand_base_link",\n            hand_axis=get_axis_in_env(planner.env,axis_name="y",obj_type="can",obj_id=0), # The y-axis of the can\n            object_axis=get_axis_in_env(planner.env,axis_name="y",obj_type="can",obj_id=0), # Keep the y-axis unchanged\n        )\n    )\n    # Generate the target pose for the end-effector and move the right hand to the target pose\n    _, target_effector_pose = planner.generate_end_effector_pose(constraints,hand_name="right")\n    planner.move_to_pose_with_screw(target_effector_pose,"right",attach_obj=True,object_name="can",object_id=0)\n\n    # Open the right hand to release the can\n    planner.open_hand("right")\n```\nstep3: Move the right hand back to its initial pose\n```python\n    # Move the right hand back to its initial pose\n    planner.move_to_pose_with_screw(planner.right_hand_init_pose, "right",attach_obj=False)\n```\n\n2. Based on step 1 of Example 1, place the can into the bowl after grasping it.\n\nstep 2: Move the can above the bowl and ensure the palm is facing downward.\n```python\n    constraints=[]\n    # Add a point-to-point constraint to lift the can by 0.1m\n    constraints.append(\n        Constraint(\n            env=planner.env,\n            type="point2point",\n            end_effector_frame="r_hand_base_link",\n            hand_key_point=get_point_in_env(planner.env,type_name="can",obj_id=0), # can center point now\n            object_key_point=get_point_in_env(planner.env,type_name="bowl",obj_id=0)+np.array([0,0,0.1]), # can center point over the bowl\n        )\n    )\n    # Palm facing down\n    constraints.append(\n        Constraint(\n            env=planner.env,\n            type="parallel",\n            end_effector_frame="r_hand_base_link",\n            hand_axis=get_axis_in_env(planner.env,axis_name="right_grasp_axis"), # The back of the palm points toward the front of the palm.\n            object_axis=np.array([0,0,-1]), # World frame, \n        )\n    )\n\n    # Generate the target pose for the end-effector and move the right hand to the target pose\n    _, target_effector_pose = planner.generate_end_effector_pose(constraints,hand_name="right")\n    planner.move_to_pose_with_screw(target_effector_pose,"right",attach_obj=True,object_name="can",object_id=0)\n\n    # Open the right hand to release the can\n    planner.open_hand("right")\n```\nstep3: Move the right hand back to its initial pose\n```python\n    # Move the right hand back to its initial pose\n    planner.move_to_pose_with_screw(planner.right_hand_init_pose, "right",attach_obj=False)\n```\n\n======\nNotes:  \n- `type_id` represents different models of the same type of object, while `obj_id` indicates the order in which objects of the same type are added.  \n- The left hand\'s operable range is x∈[-0.42, -0.19], y∈[-0.07, 0.36]; the right hand\'s range is x∈[-0.42, -0.19], y∈[-0.36, 0.07]. It must be ensured that the hand moves within this range. For actions such as grasping, pinching, or placing an object, it must be ensured that they are all within the operational range of the corresponding hand.\n- The object\'s bounding box (bbox) represents its dimensions in its own coordinate system (axis-aligned when the orientation quaternion is q=[1,0,0,0]). For example, a can with bbox:{"min": [-0.08,-0.08,-0.02],"max": [0.08,0.08,0.02]} has lengths of 0.16 units along X/Y-axes and 0.04 units along the Z-axis.\n- Please place each step in a separate code block, enclosed within ```python ``` tags. The number of steps should correspond exactly to the number of ```python ``` blocks in your response, with no extra or missing blocks.\n- Variables in different code blocks are not shared, meaning variables from previous code blocks cannot be used in subsequent ones.\n- When placing an object, release it slightly above the target position.\n- To avoid collisions, consider splitting a move action into multiple moves. For example, when placing a can into a bowl, first move the can to a height above the bowl, then lower it to just above the bowl before releasing it. However, ensure the height is neither too high nor too low to avoid inverse kinematics issues or collisions. Typically, an additional height of 0.03 cm is added.\n- When planning, please take collision issues into account. For example, if the height of an object relative to the table is z=0.03<0.08, do not use the right hand to grasp from right to left, as it will cause a collision between the hand and the table. Similarly, when placing the object somewhere, it is acceptable to release it slightly above the target position.\n- If \'Executed Action Code\' is empty, it means no code has been executed. If not empty, generate only the subsequent actions to be executed.\n- If \'Prohibited Next Actions\' is empty, there are no restrictions on the next action. If not empty, avoid executing any action identical to the listed ones in the first subsequent step.\n- When performing operations such as moving an object to a specific location for placement, various factors should be fully considered. For example, when placing an object on a table, it is acceptable to suspend it slightly above the table.\n- Before executing grasp or pinch actions, pre-grasp and pre-pinch actions must be performed respectively. Before executing another grasp or pinch action, the corresponding pre-action must be performed again.\n- When calling `Constraint`, parameter names must be explicitly specified using the `name=value` format.\n- Each line of code must have at least one level of indentation. \n- "right_hand_init_pose" and "left_hand_init_pose" are non-collision pose, which can avoid collisions with other hand or object.\n======\nPlease generate the code to continue executing the task \'Stack the three cubes on the table into a single pile.\'.\nNote: \n -When placing the cube, it should first be positioned at a certain distance above the target cube before lowering it down(lowering it down does not require a move, just open the hand). \n-It is necessary to keep the palm facing downward when pinching and moving the cube.\n -Use the pinch action to operate the cube. \n -The arms can only operate within their respective ranges.'}]
calling LLM..........
model(call_llm): deepseek-reasoner
call LLM success!
To stack the three cubes into a single pile, we[33m'[39;49;00m[33mll use a systematic approach with pinch actions and careful positioning. The strategy involves:[39;49;00m[37m[39;49;00m
[34m1.[39;49;00m Moving cubes to a stacking location at (-[34m0.3[39;49;00m, [34m0[39;49;00m) [35min[39;49;00m the robot[33m'[39;49;00m[33ms workspace[39;49;00m[37m[39;49;00m
[34m2.[39;49;00m Using right hand [34mfor[39;49;00m cubes on the right side (y<[34m0[39;49;00m)[37m[39;49;00m
[34m3.[39;49;00m Using left hand [34mfor[39;49;00m cubes on the left side (y>[34m0[39;49;00m)[37m[39;49;00m
[34m4.[39;49;00m Maintaining palm-down orientation during pinch operations[37m[39;49;00m
[34m5.[39;49;00m Moving cubes through intermediate heights to avoid collisions[37m[39;49;00m
[37m[39;49;00m
Here[33m'[39;49;00m[33ms the complete solution:[39;49;00m[37m[39;49;00m
[37m[39;49;00m
[04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00mpython[37m[39;49;00m
[37m# Step 1: Pick cube1 (right hand) at initial position[39;49;00m[37m[39;49;00m
planner.hand_pre_pinch([33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m)[37m[39;49;00m
constraints = [][37m[39;49;00m
constraints.append([37m[39;49;00m
    Constraint([37m[39;49;00m
        env=planner.env,[37m[39;49;00m
        [36mtype[39;49;00m=[33m"[39;49;00m[33mpoint2point[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
        end_effector_frame=[33m"[39;49;00m[33mr_hand_base_link[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
        hand_key_point=get_point_in_env(planner.env, point_name=[33m"[39;49;00m[33mpinch_point_base_right_hand[39;49;00m[33m"[39;49;00m),[37m[39;49;00m
        object_key_point=get_point_in_env(planner.env, type_name=[33m"[39;49;00m[33mcube[39;49;00m[33m"[39;49;00m, obj_id=[34m1[39;49;00m)[37m[39;49;00m
    )[37m[39;49;00m
)[37m[39;49;00m
constraints.append([37m[39;49;00m
    Constraint([37m[39;49;00m
        env=planner.env,[37m[39;49;00m
        [36mtype[39;49;00m=[33m"[39;49;00m[33mparallel[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
        end_effector_frame=[33m"[39;49;00m[33mr_hand_base_link[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
        hand_axis=get_axis_in_env(planner.env, axis_name=[33m"[39;49;00m[33mright_pinch_axis[39;49;00m[33m"[39;49;00m),[37m[39;49;00m
        object_axis=np.array([[34m0[39;49;00m, [34m0[39;49;00m, -[34m1[39;49;00m])[37m[39;49;00m
    )[37m[39;49;00m
)[37m[39;49;00m
_, target_effector_pose = planner.generate_end_effector_pose(constraints, hand_name=[33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m)[37m[39;49;00m
planner.move_to_pose_with_screw(target_effector_pose, [33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m, attach_obj=[34mFalse[39;49;00m)[37m[39;49;00m
planner.hand_pinch([33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m, pinch_object=[33m"[39;49;00m[33mcube[39;49;00m[33m"[39;49;00m, obj_id=[34m1[39;49;00m)[37m[39;49;00m
[04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00m[37m[39;49;00m
[37m[39;49;00m
[04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00mpython[37m[39;49;00m
[37m# Step 2: Lift cube1 to safe height (0.07m)[39;49;00m[37m[39;49;00m
constraints = [][37m[39;49;00m
constraints.append([37m[39;49;00m
    Constraint([37m[39;49;00m
        env=planner.env,[37m[39;49;00m
        [36mtype[39;49;00m=[33m"[39;49;00m[33mpoint2point[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
        end_effector_frame=[33m"[39;49;00m[33mr_hand_base_link[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
        hand_key_point=get_point_in_env(planner.env, type_name=[33m"[39;49;00m[33mcube[39;49;00m[33m"[39;49;00m, obj_id=[34m1[39;49;00m),[37m[39;49;00m
        object_key_point=get_point_in_env(planner.env, type_name=[33m"[39;49;00m[33mcube[39;49;00m[33m"[39;49;00m, obj_id=[34m1[39;49;00m) + np.array([[34m0[39;49;00m, [34m0[39;49;00m, [34m0.05[39;49;00m])[37m[39;49;00m
    )[37m[39;49;00m
)[37m[39;49;00m
constraints.append([37m[39;49;00m
    Constraint([37m[39;49;00m
        env=planner.env,[37m[39;49;00m
        [36mtype[39;49;00m=[33m"[39;49;00m[33mparallel[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
        end_effector_frame=[33m"[39;49;00m[33mr_hand_base_link[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
        hand_axis=get_axis_in_env(planner.env, axis_name=[33m"[39;49;00m[33mz[39;49;00m[33m"[39;49;00m, obj_type=[33m"[39;49;00m[33mcube[39;49;00m[33m"[39;49;00m, obj_id=[34m1[39;49;00m),[37m[39;49;00m
        object_axis=np.array([[34m0[39;49;00m, [34m0[39;49;00m, [34m1[39;49;00m])[37m[39;49;00m
    )[37m[39;49;00m
)[37m[39;49;00m
_, target_effector_pose = planner.generate_end_effector_pose(constraints, hand_name=[33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m)[37m[39;49;00m
planner.move_to_pose_with_screw(target_effector_pose, [33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m, attach_obj=[34mTrue[39;49;00m, object_name=[33m"[39;49;00m[33mcube[39;49;00m[33m"[39;49;00m, object_id=[34m1[39;49;00m)[37m[39;49;00m
[04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00m[37m[39;49;00m
[37m[39;49;00m
[04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00mpython[37m[39;49;00m
[37m# Step 3: Move cube1 to stacking location at safe height[39;49;00m[37m[39;49;00m
constraints = [][37m[39;49;00m
constraints.append([37m[39;49;00m
    Constraint([37m[39;49;00m
        env=planner.env,[37m[39;49;00m
        [36mtype[39;49;00m=[33m"[39;49;00m[33mpoint2point[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
        end_effector_frame=[33m"[39;49;00m[33mr_hand_base_link[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
        hand_key_point=get_point_in_env(planner.env, type_name=[33m"[39;49;00m[33mcube[39;49;00m[33m"[39;49;00m, obj_id=[34m1[39;49;00m),[37m[39;49;00m
        object_key_point=np.array([-[34m0.3[39;49;00m, [34m0[39;49;00m, [34m0.07[39;49;00m])[37m[39;49;00m
    )[37m[39;49;00m
)[37m[39;49;00m
constraints.append([37m[39;49;00m
    Constraint([37m[39;49;00m
        env=planner.env,[37m[39;49;00m
        [36mtype[39;49;00m=[33m"[39;49;00m[33mparallel[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
        end_effector_frame=[33m"[39;49;00m[33mr_hand_base_link[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
        hand_axis=get_axis_in_env(planner.env, axis_name=[33m"[39;49;00m[33mz[39;49;00m[33m"[39;49;00m, obj_type=[33m"[39;49;00m[33mcube[39;49;00m[33m"[39;49;00m, obj_id=[34m1[39;49;00m),[37m[39;49;00m
        object_axis=np.array([[34m0[39;49;00m, [34m0[39;49;00m, [34m1[39;49;00m])[37m[39;49;00m
    )[37m[39;49;00m
)[37m[39;49;00m
_, target_effector_pose = planner.generate_end_effector_pose(constraints, hand_name=[33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m)[37m[39;49;00m
planner.move_to_pose_with_screw(target_effector_pose, [33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m, attach_obj=[34mTrue[39;49;00m, object_name=[33m"[39;49;00m[33mcube[39;49;00m[33m"[39;49;00m, object_id=[34m1[39;49;00m)[37m[39;49;00m
[04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00m[37m[39;49;00m
[37m[39;49;00m
[04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00mpython[37m[39;49;00m
[37m# Step 4: Place cube1 at base position and release[39;49;00m[37m[39;49;00m
constraints = [][37m[39;49;00m
constraints.append([37m[39;49;00m
    Constraint([37m[39;49;00m
        env=planner.env,[37m[39;49;00m
        [36mtype[39;49;00m=[33m"[39;49;00m[33mpoint2point[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
        end_effector_frame=[33m"[39;49;00m[33mr_hand_base_link[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
        hand_key_point=get_point_in_env(planner.env, type_name=[33m"[39;49;00m[33mcube[39;49;00m[33m"[39;49;00m, obj_id=[34m1[39;49;00m),[37m[39;49;00m
        object_key_point=np.array([-[34m0.3[39;49;00m, [34m0[39;49;00m, [34m0.02[39;49;00m])[37m[39;49;00m
    )[37m[39;49;00m
)[37m[39;49;00m
_, target_effector_pose = planner.generate_end_effector_pose(constraints, hand_name=[33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m)[37m[39;49;00m
planner.move_to_pose_with_screw(target_effector_pose, [33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m, attach_obj=[34mTrue[39;49;00m, object_name=[33m"[39;49;00m[33mcube[39;49;00m[33m"[39;49;00m, object_id=[34m1[39;49;00m)[37m[39;49;00m
planner.open_hand([33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m)[37m[39;49;00m
[04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00m[37m[39;49;00m
[37m[39;49;00m
[04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00mpython[37m[39;49;00m
[37m# Step 5: Return right hand to initial pose[39;49;00m[37m[39;49;00m
planner.move_to_pose_with_screw(planner.right_hand_init_pose, [33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m, attach_obj=[34mFalse[39;49;00m)[37m[39;49;00m
[04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00m[37m[39;49;00m
[37m[39;49;00m
[04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00mpython[37m[39;49;00m
[37m# Step 6: Pick cube0 (left hand) at initial position[39;49;00m[37m[39;49;00m
planner.hand_pre_pinch([33m"[39;49;00m[33mleft[39;49;00m[33m"[39;49;00m)[37m[39;49;00m
constraints = [][37m[39;49;00m
constraints.append([37m[39;49;00m
    Constraint([37m[39;49;00m
        env=planner.env,[37m[39;49;00m
        [36mtype[39;49;00m=[33m"[39;49;00m[33mpoint2point[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
        end_effector_frame=[33m"[39;49;00m[33ml_hand_base_link[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
        hand_key_point=get_point_in_env(planner.env, point_name=[33m"[39;49;00m[33mpinch_point_base_left_hand[39;49;00m[33m"[39;49;00m),[37m[39;49;00m
        object_key_point=get_point_in_env(planner.env, type_name=[33m"[39;49;00m[33mcube[39;49;00m[33m"[39;49;00m, obj_id=[34m0[39;49;00m)[37m[39;49;00m
    )[37m[39;49;00m
)[37m[39;49;00m
constraints.append([37m[39;49;00m
    Constraint([37m[39;49;00m
        env=planner.env,[37m[39;49;00m
        [36mtype[39;49;00m=[33m"[39;49;00m[33mparallel[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
        end_effector_frame=[33m"[39;49;00m[33ml_hand_base_link[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
        hand_axis=get_axis_in_env(planner.env, axis_name=[33m"[39;49;00m[33mleft_pinch_axis[39;49;00m[33m"[39;49;00m),[37m[39;49;00m
        object_axis=np.array([[34m0[39;49;00m, [34m0[39;49;00m, -[34m1[39;49;00m])[37m[39;49;00m
    )[37m[39;49;00m
)[37m[39;49;00m
_, target_effector_pose = planner.generate_end_effector_pose(constraints, hand_name=[33m"[39;49;00m[33mleft[39;49;00m[33m"[39;49;00m)[37m[39;49;00m
planner.move_to_pose_with_screw(target_effector_pose, [33m"[39;49;00m[33mleft[39;49;00m[33m"[39;49;00m, attach_obj=[34mFalse[39;49;00m)[37m[39;49;00m
planner.hand_pinch([33m"[39;49;00m[33mleft[39;49;00m[33m"[39;49;00m, pinch_object=[33m"[39;49;00m[33mcube[39;49;00m[33m"[39;49;00m, obj_id=[34m0[39;49;00m)[37m[39;49;00m
[04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00m[37m[39;49;00m
[37m[39;49;00m
[04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00mpython[37m[39;49;00m
[37m# Step 7: Move cube0 to stacking location at safe height[39;49;00m[37m[39;49;00m
constraints = [][37m[39;49;00m
constraints.append([37m[39;49;00m
    Constraint([37m[39;49;00m
        env=planner.env,[37m[39;49;00m
        [36mtype[39;49;00m=[33m"[39;49;00m[33mpoint2point[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
        end_effector_frame=[33m"[39;49;00m[33ml_hand_base_link[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
        hand_key_point=get_point_in_env(planner.env, type_name=[33m"[39;49;00m[33mcube[39;49;00m[33m"[39;49;00m, obj_id=[34m0[39;49;00m),[37m[39;49;00m
        object_key_point=np.array([-[34m0.3[39;49;00m, [34m0[39;49;00m, [34m0.11[39;49;00m])[37m[39;49;00m
    )[37m[39;49;00m
)[37m[39;49;00m
constraints.append([37m[39;49;00m
    Constraint([37m[39;49;00m
        env=planner.env,[37m[39;49;00m
        [36mtype[39;49;00m=[33m"[39;49;00m[33mparallel[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
        end_effector_frame=[33m"[39;49;00m[33ml_hand_base_link[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
        hand_axis=get_axis_in_env(planner.env, axis_name=[33m"[39;49;00m[33mz[39;49;00m[33m"[39;49;00m, obj_type=[33m"[39;49;00m[33mcube[39;49;00m[33m"[39;49;00m, obj_id=[34m0[39;49;00m),[37m[39;49;00m
        object_axis=np.array([[34m0[39;49;00m, [34m0[39;49;00m, [34m1[39;49;00m])[37m[39;49;00m
    )[37m[39;49;00m
)[37m[39;49;00m
_, target_effector_pose = planner.generate_end_effector_pose(constraints, hand_name=[33m"[39;49;00m[33mleft[39;49;00m[33m"[39;49;00m)[37m[39;49;00m
planner.move_to_pose_with_screw(target_effector_pose, [33m"[39;49;00m[33mleft[39;49;00m[33m"[39;49;00m, attach_obj=[34mTrue[39;49;00m, object_name=[33m"[39;49;00m[33mcube[39;49;00m[33m"[39;49;00m, object_id=[34m0[39;49;00m)[37m[39;49;00m
[04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00m[37m[39;49;00m
[37m[39;49;00m
[04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00mpython[37m[39;49;00m
[37m# Step 8: Place cube0 on cube1 and release[39;49;00m[37m[39;49;00m
constraints = [][37m[39;49;00m
constraints.append([37m[39;49;00m
    Constraint([37m[39;49;00m
        env=planner.env,[37m[39;49;00m
        [36mtype[39;49;00m=[33m"[39;49;00m[33mpoint2point[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
        end_effector_frame=[33m"[39;49;00m[33ml_hand_base_link[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
        hand_key_point=get_point_in_env(planner.env, type_name=[33m"[39;49;00m[33mcube[39;49;00m[33m"[39;49;00m, obj_id=[34m0[39;49;00m),[37m[39;49;00m
        object_key_point=np.array([-[34m0.3[39;49;00m, [34m0[39;49;00m, [34m0.06[39;49;00m])[37m[39;49;00m
    )[37m[39;49;00m
)[37m[39;49;00m
_, target_effector_pose = planner.generate_end_effector_pose(constraints, hand_name=[33m"[39;49;00m[33mleft[39;49;00m[33m"[39;49;00m)[37m[39;49;00m
planner.move_to_pose_with_screw(target_effector_pose, [33m"[39;49;00m[33mleft[39;49;00m[33m"[39;49;00m, attach_obj=[34mTrue[39;49;00m, object_name=[33m"[39;49;00m[33mcube[39;49;00m[33m"[39;49;00m, object_id=[34m0[39;49;00m)[37m[39;49;00m
planner.open_hand([33m"[39;49;00m[33mleft[39;49;00m[33m"[39;49;00m)[37m[39;49;00m
[04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00m[37m[39;49;00m
[37m[39;49;00m
[04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00mpython[37m[39;49;00m
[37m# Step 9: Return left hand to initial pose[39;49;00m[37m[39;49;00m
planner.move_to_pose_with_screw(planner.left_hand_init_pose, [33m"[39;49;00m[33mleft[39;49;00m[33m"[39;49;00m, attach_obj=[34mFalse[39;49;00m)[37m[39;49;00m
[04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00m[37m[39;49;00m
[37m[39;49;00m
[04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00mpython[37m[39;49;00m
[37m# Step 10: Pick cube2 (right hand) at initial position[39;49;00m[37m[39;49;00m
planner.hand_pre_pinch([33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m)[37m[39;49;00m
constraints = [][37m[39;49;00m
constraints.append([37m[39;49;00m
    Constraint([37m[39;49;00m
        env=planner.env,[37m[39;49;00m
        [36mtype[39;49;00m=[33m"[39;49;00m[33mpoint2point[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
        end_effector_frame=[33m"[39;49;00m[33mr_hand_base_link[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
        hand_key_point=get_point_in_env(planner.env, point_name=[33m"[39;49;00m[33mpinch_point_base_right_hand[39;49;00m[33m"[39;49;00m),[37m[39;49;00m
        object_key_point=get_point_in_env(planner.env, type_name=[33m"[39;49;00m[33mcube[39;49;00m[33m"[39;49;00m, obj_id=[34m2[39;49;00m)[37m[39;49;00m
    )[37m[39;49;00m
)[37m[39;49;00m
constraints.append([37m[39;49;00m
    Constraint([37m[39;49;00m
        env=planner.env,[37m[39;49;00m
        [36mtype[39;49;00m=[33m"[39;49;00m[33mparallel[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
        end_effector_frame=[33m"[39;49;00m[33mr_hand_base_link[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
        hand_axis=get_axis_in_env(planner.env, axis_name=[33m"[39;49;00m[33mright_pinch_axis[39;49;00m[33m"[39;49;00m),[37m[39;49;00m
        object_axis=np.array([[34m0[39;49;00m, [34m0[39;49;00m, -[34m1[39;49;00m])[37m[39;49;00m
    )[37m[39;49;00m
)[37m[39;49;00m
_, target_effector_pose = planner.generate_end_effector_pose(constraints, hand_name=[33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m)[37m[39;49;00m
planner.move_to_pose_with_screw(target_effector_pose, [33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m, attach_obj=[34mFalse[39;49;00m)[37m[39;49;00m
planner.hand_pinch([33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m, pinch_object=[33m"[39;49;00m[33mcube[39;49;00m[33m"[39;49;00m, obj_id=[34m2[39;49;00m)[37m[39;49;00m
[04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00m[37m[39;49;00m
[37m[39;49;00m
[04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00mpython[37m[39;49;00m
[37m# Step 11: Move cube2 to stacking location at safe height[39;49;00m[37m[39;49;00m
constraints = [][37m[39;49;00m
constraints.append([37m[39;49;00m
    Constraint([37m[39;49;00m
        env=planner.env,[37m[39;49;00m
        [36mtype[39;49;00m=[33m"[39;49;00m[33mpoint2point[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
        end_effector_frame=[33m"[39;49;00m[33mr_hand_base_link[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
        hand_key_point=get_point_in_env(planner.env, type_name=[33m"[39;49;00m[33mcube[39;49;00m[33m"[39;49;00m, obj_id=[34m2[39;49;00m),[37m[39;49;00m
        object_key_point=np.array([-[34m0.3[39;49;00m, [34m0[39;49;00m, [34m0.15[39;49;00m])[37m[39;49;00m
    )[37m[39;49;00m
)[37m[39;49;00m
constraints.append([37m[39;49;00m
    Constraint([37m[39;49;00m
        env=planner.env,[37m[39;49;00m
        [36mtype[39;49;00m=[33m"[39;49;00m[33mparallel[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
        end_effector_frame=[33m"[39;49;00m[33mr_hand_base_link[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
        hand_axis=get_axis_in_env(planner.env, axis_name=[33m"[39;49;00m[33mz[39;49;00m[33m"[39;49;00m, obj_type=[33m"[39;49;00m[33mcube[39;49;00m[33m"[39;49;00m, obj_id=[34m2[39;49;00m),[37m[39;49;00m
        object_axis=np.array([[34m0[39;49;00m, [34m0[39;49;00m, [34m1[39;49;00m])[37m[39;49;00m
    )[37m[39;49;00m
)[37m[39;49;00m
_, target_effector_pose = planner.generate_end_effector_pose(constraints, hand_name=[33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m)[37m[39;49;00m
planner.move_to_pose_with_screw(target_effector_pose, [33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m, attach_obj=[34mTrue[39;49;00m, object_name=[33m"[39;49;00m[33mcube[39;49;00m[33m"[39;49;00m, object_id=[34m2[39;49;00m)[37m[39;49;00m
[04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00m[37m[39;49;00m
[37m[39;49;00m
[04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00mpython[37m[39;49;00m
[37m# Step 12: Place cube2 on top and release[39;49;00m[37m[39;49;00m
constraints = [][37m[39;49;00m
constraints.append([37m[39;49;00m
    Constraint([37m[39;49;00m
        env=planner.env,[37m[39;49;00m
        [36mtype[39;49;00m=[33m"[39;49;00m[33mpoint2point[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
        end_effector_frame=[33m"[39;49;00m[33mr_hand_base_link[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
        hand_key_point=get_point_in_env(planner.env, type_name=[33m"[39;49;00m[33mcube[39;49;00m[33m"[39;49;00m, obj_id=[34m2[39;49;00m),[37m[39;49;00m
        object_key_point=np.array([-[34m0.3[39;49;00m, [34m0[39;49;00m, [34m0.10[39;49;00m])[37m[39;49;00m
    )[37m[39;49;00m
)[37m[39;49;00m
_, target_effector_pose = planner.generate_end_effector_pose(constraints, hand_name=[33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m)[37m[39;49;00m
planner.move_to_pose_with_screw(target_effector_pose, [33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m, attach_obj=[34mTrue[39;49;00m, object_name=[33m"[39;49;00m[33mcube[39;49;00m[33m"[39;49;00m, object_id=[34m2[39;49;00m)[37m[39;49;00m
planner.open_hand([33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m)[37m[39;49;00m
planner.move_to_pose_with_screw(planner.right_hand_init_pose, [33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m, attach_obj=[34mFalse[39;49;00m)[37m[39;49;00m
[04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00m[37m[39;49;00m

res:
 To stack the three cubes into a single pile, we'll use a systematic approach with pinch actions and careful positioning. The strategy involves:
1. Moving cubes to a stacking location at (-0.3, 0) in the robot's workspace
2. Using right hand for cubes on the right side (y<0)
3. Using left hand for cubes on the left side (y>0)
4. Maintaining palm-down orientation during pinch operations
5. Moving cubes through intermediate heights to avoid collisions

Here's the complete solution:

```python
# Step 1: Pick cube1 (right hand) at initial position
planner.hand_pre_pinch("right")
constraints = []
constraints.append(
    Constraint(
        env=planner.env,
        type="point2point",
        end_effector_frame="r_hand_base_link",
        hand_key_point=get_point_in_env(planner.env, point_name="pinch_point_base_right_hand"),
        object_key_point=get_point_in_env(planner.env, type_name="cube", obj_id=1)
    )
)
constraints.append(
    Constraint(
        env=planner.env,
        type="parallel",
        end_effector_frame="r_hand_base_link",
        hand_axis=get_axis_in_env(planner.env, axis_name="right_pinch_axis"),
        object_axis=np.array([0, 0, -1])
    )
)
_, target_effector_pose = planner.generate_end_effector_pose(constraints, hand_name="right")
planner.move_to_pose_with_screw(target_effector_pose, "right", attach_obj=False)
planner.hand_pinch("right", pinch_object="cube", obj_id=1)
```

```python
# Step 2: Lift cube1 to safe height (0.07m)
constraints = []
constraints.append(
    Constraint(
        env=planner.env,
        type="point2point",
        end_effector_frame="r_hand_base_link",
        hand_key_point=get_point_in_env(planner.env, type_name="cube", obj_id=1),
        object_key_point=get_point_in_env(planner.env, type_name="cube", obj_id=1) + np.array([0, 0, 0.05])
    )
)
constraints.append(
    Constraint(
        env=planner.env,
        type="parallel",
        end_effector_frame="r_hand_base_link",
        hand_axis=get_axis_in_env(planner.env, axis_name="z", obj_type="cube", obj_id=1),
        object_axis=np.array([0, 0, 1])
    )
)
_, target_effector_pose = planner.generate_end_effector_pose(constraints, hand_name="right")
planner.move_to_pose_with_screw(target_effector_pose, "right", attach_obj=True, object_name="cube", object_id=1)
```

```python
# Step 3: Move cube1 to stacking location at safe height
constraints = []
constraints.append(
    Constraint(
        env=planner.env,
        type="point2point",
        end_effector_frame="r_hand_base_link",
        hand_key_point=get_point_in_env(planner.env, type_name="cube", obj_id=1),
        object_key_point=np.array([-0.3, 0, 0.07])
    )
)
constraints.append(
    Constraint(
        env=planner.env,
        type="parallel",
        end_effector_frame="r_hand_base_link",
        hand_axis=get_axis_in_env(planner.env, axis_name="z", obj_type="cube", obj_id=1),
        object_axis=np.array([0, 0, 1])
    )
)
_, target_effector_pose = planner.generate_end_effector_pose(constraints, hand_name="right")
planner.move_to_pose_with_screw(target_effector_pose, "right", attach_obj=True, object_name="cube", object_id=1)
```

```python
# Step 4: Place cube1 at base position and release
constraints = []
constraints.append(
    Constraint(
        env=planner.env,
        type="point2point",
        end_effector_frame="r_hand_base_link",
        hand_key_point=get_point_in_env(planner.env, type_name="cube", obj_id=1),
        object_key_point=np.array([-0.3, 0, 0.02])
    )
)
_, target_effector_pose = planner.generate_end_effector_pose(constraints, hand_name="right")
planner.move_to_pose_with_screw(target_effector_pose, "right", attach_obj=True, object_name="cube", object_id=1)
planner.open_hand("right")
```

```python
# Step 5: Return right hand to initial pose
planner.move_to_pose_with_screw(planner.right_hand_init_pose, "right", attach_obj=False)
```

```python
# Step 6: Pick cube0 (left hand) at initial position
planner.hand_pre_pinch("left")
constraints = []
constraints.append(
    Constraint(
        env=planner.env,
        type="point2point",
        end_effector_frame="l_hand_base_link",
        hand_key_point=get_point_in_env(planner.env, point_name="pinch_point_base_left_hand"),
        object_key_point=get_point_in_env(planner.env, type_name="cube", obj_id=0)
    )
)
constraints.append(
    Constraint(
        env=planner.env,
        type="parallel",
        end_effector_frame="l_hand_base_link",
        hand_axis=get_axis_in_env(planner.env, axis_name="left_pinch_axis"),
        object_axis=np.array([0, 0, -1])
    )
)
_, target_effector_pose = planner.generate_end_effector_pose(constraints, hand_name="left")
planner.move_to_pose_with_screw(target_effector_pose, "left", attach_obj=False)
planner.hand_pinch("left", pinch_object="cube", obj_id=0)
```

```python
# Step 7: Move cube0 to stacking location at safe height
constraints = []
constraints.append(
    Constraint(
        env=planner.env,
        type="point2point",
        end_effector_frame="l_hand_base_link",
        hand_key_point=get_point_in_env(planner.env, type_name="cube", obj_id=0),
        object_key_point=np.array([-0.3, 0, 0.11])
    )
)
constraints.append(
    Constraint(
        env=planner.env,
        type="parallel",
        end_effector_frame="l_hand_base_link",
        hand_axis=get_axis_in_env(planner.env, axis_name="z", obj_type="cube", obj_id=0),
        object_axis=np.array([0, 0, 1])
    )
)
_, target_effector_pose = planner.generate_end_effector_pose(constraints, hand_name="left")
planner.move_to_pose_with_screw(target_effector_pose, "left", attach_obj=True, object_name="cube", object_id=0)
```

```python
# Step 8: Place cube0 on cube1 and release
constraints = []
constraints.append(
    Constraint(
        env=planner.env,
        type="point2point",
        end_effector_frame="l_hand_base_link",
        hand_key_point=get_point_in_env(planner.env, type_name="cube", obj_id=0),
        object_key_point=np.array([-0.3, 0, 0.06])
    )
)
_, target_effector_pose = planner.generate_end_effector_pose(constraints, hand_name="left")
planner.move_to_pose_with_screw(target_effector_pose, "left", attach_obj=True, object_name="cube", object_id=0)
planner.open_hand("left")
```

```python
# Step 9: Return left hand to initial pose
planner.move_to_pose_with_screw(planner.left_hand_init_pose, "left", attach_obj=False)
```

```python
# Step 10: Pick cube2 (right hand) at initial position
planner.hand_pre_pinch("right")
constraints = []
constraints.append(
    Constraint(
        env=planner.env,
        type="point2point",
        end_effector_frame="r_hand_base_link",
        hand_key_point=get_point_in_env(planner.env, point_name="pinch_point_base_right_hand"),
        object_key_point=get_point_in_env(planner.env, type_name="cube", obj_id=2)
    )
)
constraints.append(
    Constraint(
        env=planner.env,
        type="parallel",
        end_effector_frame="r_hand_base_link",
        hand_axis=get_axis_in_env(planner.env, axis_name="right_pinch_axis"),
        object_axis=np.array([0, 0, -1])
    )
)
_, target_effector_pose = planner.generate_end_effector_pose(constraints, hand_name="right")
planner.move_to_pose_with_screw(target_effector_pose, "right", attach_obj=False)
planner.hand_pinch("right", pinch_object="cube", obj_id=2)
```

```python
# Step 11: Move cube2 to stacking location at safe height
constraints = []
constraints.append(
    Constraint(
        env=planner.env,
        type="point2point",
        end_effector_frame="r_hand_base_link",
        hand_key_point=get_point_in_env(planner.env, type_name="cube", obj_id=2),
        object_key_point=np.array([-0.3, 0, 0.15])
    )
)
constraints.append(
    Constraint(
        env=planner.env,
        type="parallel",
        end_effector_frame="r_hand_base_link",
        hand_axis=get_axis_in_env(planner.env, axis_name="z", obj_type="cube", obj_id=2),
        object_axis=np.array([0, 0, 1])
    )
)
_, target_effector_pose = planner.generate_end_effector_pose(constraints, hand_name="right")
planner.move_to_pose_with_screw(target_effector_pose, "right", attach_obj=True, object_name="cube", object_id=2)
```

```python
# Step 12: Place cube2 on top and release
constraints = []
constraints.append(
    Constraint(
        env=planner.env,
        type="point2point",
        end_effector_frame="r_hand_base_link",
        hand_key_point=get_point_in_env(planner.env, type_name="cube", obj_id=2),
        object_key_point=np.array([-0.3, 0, 0.10])
    )
)
_, target_effector_pose = planner.generate_end_effector_pose(constraints, hand_name="right")
planner.move_to_pose_with_screw(target_effector_pose, "right", attach_obj=True, object_name="cube", object_id=2)
planner.open_hand("right")
planner.move_to_pose_with_screw(planner.right_hand_init_pose, "right", attach_obj=False)
```
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Saved: /home/js/code/HumanoidGen/humanoidgen/motion_planning/h1_2/solution/mcts/blocks_stack_hard_mcts_20250612_174517/0_0/step19.py
Saved: /home/js/code/HumanoidGen/humanoidgen/motion_planning/h1_2/solution/mcts/blocks_stack_hard_mcts_20250612_174517/0_0/step20.py
Saved: /home/js/code/HumanoidGen/humanoidgen/motion_planning/h1_2/solution/mcts/blocks_stack_hard_mcts_20250612_174517/0_0/step21.py

══════════════════════════════════════════════════
[EXECUTION] Starting code validation             ═
step_indices: [3, 5, 4, 5, 5, 5, 0, 5, 3, 5, 4, 5, 5, 0, 5, 3, 5, 4, 5, 5, 0, 5]

🔁 Trial #1
   ├─ Initializing environment...
   ├─ Total steps to execute: 22
   └─ Execution progress:
=========== check_success ===========
cube[0] position: [-0.31646442  0.30285305  0.01999995]
cube[1] position: [-0.31940675 -0.3063357   0.0199999 ]
cube[2] position: [-0.4491419  -0.31283373  0.01999993]
xy_aligned: False
z_aligned: False
######################################################
start generate_end_effector_pose_tool() !!!
constraints num:  2
IK结果验证： [ 0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.         -0.64666997 -0.57336314  0.54445801  0.43519203 -0.77117923
  0.4440142   0.62329695  0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.        ]
right  target_effector_pose:
 Pose([-0.394777, -0.318047, 0.169124], [0.660698, 0.610604, -0.342561, 0.270726])
### start compute_hand_info() !!! ###
hand_name: right
grasp_axis: [-0.39263442 -0.34363624 -1.11124302]
grasp_point: [-0.31124781 -0.30275747  0.02970381]
### end compute_hand_info() !!! ###
End generate_end_effector_pose_tool() function!
######################################################
=========== check_success ===========
cube[0] position: [-0.31646442  0.30285305  0.01999995]
cube[1] position: [-0.31940693 -0.30633628  0.0199999 ]
cube[2] position: [-0.4491419  -0.31283373  0.01999993]
xy_aligned: False
z_aligned: False
=========== check_success ===========
cube[0] position: [-0.31646442  0.30285305  0.01999995]
cube[1] position: [-0.31596464 -0.3073702   0.02125136]
cube[2] position: [-0.4491419  -0.31283373  0.01999993]
xy_aligned: False
z_aligned: False
######################################################
start generate_end_effector_pose_tool() !!!
constraints num:  2
IK结果验证： [ 0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.         -0.39684056 -0.5373677   0.20925519  0.24917376 -0.59071012
  0.31590983  0.24638693  0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.        ]
right  target_effector_pose:
 Pose([-0.443978, -0.350059, 0.164854], [0.477063, 0.626747, -0.543577, 0.290039])
### start compute_hand_info() !!! ###
hand_name: right
grasp_axis: [ 0.08170381  0.01767405 -0.94349243]
grasp_point: [-0.31016206 -0.30765202  0.08152391]
### end compute_hand_info() !!! ###
End generate_end_effector_pose_tool() function!
######################################################
=========== check_success ===========
cube[0] position: [-0.31646442  0.30285305  0.01999995]
cube[1] position: [-0.31207204 -0.3059507   0.06797585]
cube[2] position: [-0.4491419  -0.31283373  0.01999993]
xy_aligned: False
z_aligned: False
######################################################
start generate_end_effector_pose_tool() !!!
constraints num:  2
IK结果验证： [ 0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.         -0.66828715 -0.09434972  0.50251098  0.46598467 -0.64973854
  0.37549344  0.21703739  0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.        ]
right  target_effector_pose:
 Pose([-0.397763, -0.0903418, 0.161285], [0.396223, 0.743343, -0.428667, 0.32664])
### start compute_hand_info() !!! ###
hand_name: right
grasp_axis: [-0.09995351  0.54291026 -0.91123573]
grasp_point: [-0.29211011  0.00391739  0.08003458]
### end compute_hand_info() !!! ###
End generate_end_effector_pose_tool() function!
######################################################
=========== check_success ===========
cube[0] position: [-0.31646442  0.30285305  0.01999995]
cube[1] position: [-0.29431653 -0.00112072  0.06798615]
cube[2] position: [-0.4491419  -0.31283373  0.01999993]
xy_aligned: False
z_aligned: False
######################################################
start generate_end_effector_pose_tool() !!!
constraints num:  1
IK结果验证： [ 0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.         -0.5092096   0.10669389  0.12346472  0.60281401 -0.16542302
  0.38389404 -0.0784273   0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.        ]
right  target_effector_pose:
 Pose([-0.432715, -0.0952766, 0.0819341], [0.245137, 0.743779, -0.617691, -0.0718196])
### start compute_hand_info() !!! ###
hand_name: right
grasp_axis: [ 0.04759879  0.95217056 -0.47677251]
grasp_point: [-0.3020692  -0.01426998  0.02699271]
### end compute_hand_info() !!! ###
End generate_end_effector_pose_tool() function!
######################################################
IK Failed! Cannot find valid solution.
      Step 6: ❌ Validation Failed - Failed move to pose. Possible reasons for failure:...
=========== check_success ===========
cube[0] position: [-0.31646442  0.30285305  0.01999995]
cube[1] position: [-0.29008892  0.00071868  0.02000012]
cube[2] position: [-0.4491419  -0.31283373  0.01999993]
xy_aligned: False
z_aligned: False
Execution 0 failed.
Success rate now: 0.00%
Video created: /home/js/code/HumanoidGen/humanoidgen/videos/run_solve/blocks_stack_hard/blocks_stack_hard_20250612_175442.mp4
=========== check_success ===========
cube[0] position: [-0.31646442  0.30285305  0.01999995]
cube[1] position: [-0.29008892  0.00071868  0.02000012]
cube[2] position: [-0.4491419  -0.31283373  0.01999993]
xy_aligned: False
z_aligned: False

   ❌ Trial Result: Failed
      ├─ Steps completed: 5/22
      └─ Failure reason: Failed move to pose. Possible reasons for failure: 
    -Target pose i...

🔁 Trial #2
   ├─ Initializing environment...
   ├─ Total steps to execute: 22
   └─ Execution progress:
=========== check_success ===========
cube[0] position: [-0.3224539   0.30951783  0.01999992]
cube[1] position: [-0.31834006 -0.32003847  0.01999988]
cube[2] position: [-0.44562104 -0.31612393  0.01999993]
xy_aligned: False
z_aligned: False
######################################################
start generate_end_effector_pose_tool() !!!
constraints num:  2
IK结果验证： [ 0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.         -0.64644809 -0.58274828  0.53106865  0.45639805 -0.76421341
  0.45273762  0.61550741  0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.        ]
right  target_effector_pose:
 Pose([-0.394263, -0.329037, 0.168988], [0.665814, 0.603949, -0.354128, 0.257936])
### start compute_hand_info() !!! ###
hand_name: right
grasp_axis: [-0.39340916 -0.35470465 -1.11137936]
grasp_point: [-0.31024296 -0.3169637   0.02954743]
### end compute_hand_info() !!! ###
End generate_end_effector_pose_tool() function!
######################################################
=========== check_success ===========
cube[0] position: [-0.3224539   0.30951783  0.01999992]
cube[1] position: [-0.3183405  -0.32003877  0.01999993]
cube[2] position: [-0.44562104 -0.31612393  0.01999993]
xy_aligned: False
z_aligned: False
=========== check_success ===========
cube[0] position: [-0.3224539   0.30951783  0.01999992]
cube[1] position: [-0.31273502 -0.3232005   0.02134472]
cube[2] position: [-0.44562104 -0.31612393  0.01999993]
xy_aligned: False
z_aligned: False
######################################################
start generate_end_effector_pose_tool() !!!
constraints num:  2
IK结果验证： [ 0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.         -0.40496625 -0.5528648   0.20138846  0.26326265 -0.58225206
  0.33537601  0.26058517  0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.        ]
right  target_effector_pose:
 Pose([-0.442275, -0.360086, 0.16736], [0.487197, 0.620976, -0.547955, 0.277077])
### start compute_hand_info() !!! ###
hand_name: right
grasp_axis: [ 0.07219323 -0.0097205  -0.95182155]
grasp_point: [-0.30892019 -0.32182225  0.08132882]
### end compute_hand_info() !!! ###
End generate_end_effector_pose_tool() function!
######################################################
=========== check_success ===========
cube[0] position: [-0.3224539   0.30951783  0.01999992]
cube[1] position: [-0.30882946 -0.32234758  0.06835552]
cube[2] position: [-0.44562104 -0.31612393  0.01999993]
xy_aligned: False
z_aligned: False
######################################################
start generate_end_effector_pose_tool() !!!
constraints num:  2
IK结果验证： [ 0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.         -0.68213487 -0.10437444  0.52184972  0.45701225 -0.65844311
  0.38395014  0.26052599  0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.        ]
right  target_effector_pose:
 Pose([-0.396551, -0.0888749, 0.165514], [0.406498, 0.74562, -0.409744, 0.333048])
### start compute_hand_info() !!! ###
hand_name: right
grasp_axis: [-0.13349605  0.51837679 -0.93086566]
grasp_point: [-0.29490339  0.005716    0.07966938]
### end compute_hand_info() !!! ###
End generate_end_effector_pose_tool() function!
######################################################
=========== check_success ===========
cube[0] position: [-0.3224539   0.30951783  0.01999992]
cube[1] position: [-0.29423147 -0.00108974  0.06793627]
cube[2] position: [-0.44562104 -0.31612393  0.01999993]
xy_aligned: False
z_aligned: False
######################################################
start generate_end_effector_pose_tool() !!!
constraints num:  1
IK结果验证： [ 0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.         -0.50180838  0.10920499  0.12033285  0.59670703 -0.15143613
  0.37284814 -0.07441172  0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.        ]
right  target_effector_pose:
 Pose([-0.434575, -0.0945787, 0.0812629], [0.23531, 0.74677, -0.617179, -0.0777985])
### start compute_hand_info() !!! ###
hand_name: right
grasp_axis: [ 0.04748622  0.96576777 -0.45098044]
grasp_point: [-0.30375497 -0.01229126  0.02869167]
### end compute_hand_info() !!! ###
End generate_end_effector_pose_tool() function!
######################################################
IK Failed! Cannot find valid solution.
      Step 6: ❌ Validation Failed - Failed move to pose. Possible reasons for failure:...
=========== check_success ===========
cube[0] position: [-0.3224539   0.30951783  0.01999992]
cube[1] position: [-0.28922498 -0.01429983  0.02356192]
cube[2] position: [-0.44562104 -0.31612393  0.01999993]
xy_aligned: False
z_aligned: False
Execution 1 failed.
Success rate now: 0.00%
Video created: /home/js/code/HumanoidGen/humanoidgen/videos/run_solve/blocks_stack_hard/blocks_stack_hard_20250612_175445.mp4
=========== check_success ===========
cube[0] position: [-0.3224539   0.30951783  0.01999992]
cube[1] position: [-0.28922498 -0.01429983  0.02356192]
cube[2] position: [-0.44562104 -0.31612393  0.01999993]
xy_aligned: False
z_aligned: False

   ❌ Trial Result: Failed
      ├─ Steps completed: 5/22
      └─ Failure reason: Failed move to pose. Possible reasons for failure: 
    -Target pose i...

🔁 Trial #3
   ├─ Initializing environment...
   ├─ Total steps to execute: 22
   └─ Execution progress:
=========== check_success ===========
cube[0] position: [-0.31651947  0.3091134   0.01999992]
cube[1] position: [-0.32431883 -0.32549363  0.01999991]
cube[2] position: [-0.44580016 -0.3267524   0.01999993]
xy_aligned: False
z_aligned: False
######################################################
start generate_end_effector_pose_tool() !!!
constraints num:  2
IK结果验证： [ 0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.         -0.62677449 -0.60130464  0.52444956  0.42991692 -0.7601957
  0.44365082  0.61889234  0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.        ]
right  target_effector_pose:
 Pose([-0.400123, -0.33504, 0.169056], [0.664822, 0.605321, -0.351767, 0.260495])
### start compute_hand_info() !!! ###
hand_name: right
grasp_axis: [-0.39914349 -0.36070621 -1.11131082]
grasp_point: [-0.31620665 -0.32231738  0.0296109 ]
### end compute_hand_info() !!! ###
End generate_end_effector_pose_tool() function!
######################################################
=========== check_success ===========
cube[0] position: [-0.31651947  0.3091134   0.01999992]
cube[1] position: [-0.32431883 -0.32549363  0.01999991]
cube[2] position: [-0.44580016 -0.3267524   0.01999993]
xy_aligned: False
z_aligned: False
=========== check_success ===========
cube[0] position: [-0.31651947  0.3091134   0.01999992]
cube[1] position: [-0.3213068  -0.32704705  0.02135598]
cube[2] position: [-0.44580016 -0.3267524   0.01999993]
xy_aligned: False
z_aligned: False
######################################################
start generate_end_effector_pose_tool() !!!
constraints num:  2
IK结果验证： [ 0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.         -0.37731167 -0.56101243  0.17378432  0.24381628 -0.55850978
  0.33476553  0.25264266  0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.        ]
right  target_effector_pose:
 Pose([-0.450324, -0.368696, 0.166579], [0.479757, 0.620021, -0.560263, 0.26742])
### start compute_hand_info() !!! ###
hand_name: right
grasp_axis: [ 0.08156463 -0.00103804 -0.93882673]
grasp_point: [-0.31541243 -0.33114744  0.0826878 ]
### end compute_hand_info() !!! ###
End generate_end_effector_pose_tool() function!
######################################################
=========== check_success ===========
cube[0] position: [-0.31651947  0.3091134   0.01999992]
cube[1] position: [-0.3171525  -0.32948712  0.06970982]
cube[2] position: [-0.44580016 -0.3267524   0.01999993]
xy_aligned: False
z_aligned: False
######################################################
start generate_end_effector_pose_tool() !!!
constraints num:  2
IK结果验证： [ 0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.         -0.66830849 -0.08573319  0.48289761  0.46506374 -0.61358343
  0.40559204  0.22731281  0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.        ]
right  target_effector_pose:
 Pose([-0.39715, -0.0906604, 0.161271], [0.394066, 0.751931, -0.437593, 0.296352])
### start compute_hand_info() !!! ###
hand_name: right
grasp_axis: [-0.12521145  0.5790126  -0.89588905]
grasp_point: [-0.29220515  0.00400432  0.07957664]
### end compute_hand_info() !!! ###
End generate_end_effector_pose_tool() function!
######################################################
=========== check_success ===========
cube[0] position: [-0.31651947  0.3091134   0.01999992]
cube[1] position: [-0.29438332 -0.0007598   0.06789796]
cube[2] position: [-0.44580016 -0.3267524   0.01999993]
xy_aligned: False
z_aligned: False
######################################################
start generate_end_effector_pose_tool() !!!
constraints num:  1
IK结果验证： [ 0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.         -0.50911161  0.10747612  0.1228913   0.60338187 -0.16229244
  0.38193264 -0.07769075  0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.        ]
right  target_effector_pose:
 Pose([-0.432805, -0.0948646, 0.081868], [0.243439, 0.744485, -0.617348, -0.0732181])
### start compute_hand_info() !!! ###
hand_name: right
grasp_axis: [ 0.04700572  0.95538708 -0.47198497]
grasp_point: [-0.30219922 -0.01354405  0.02729758]
### end compute_hand_info() !!! ###
End generate_end_effector_pose_tool() function!
######################################################
IK Failed! Cannot find valid solution.
      Step 6: ❌ Validation Failed - Failed move to pose. Possible reasons for failure:...
=========== check_success ===========
cube[0] position: [-0.31651947  0.3091134   0.01999992]
cube[1] position: [-0.29305416  0.00743876  0.01999989]
cube[2] position: [-0.44580016 -0.3267524   0.01999993]
xy_aligned: False
z_aligned: False
Execution 2 failed.
Success rate now: 0.00%
Video created: /home/js/code/HumanoidGen/humanoidgen/videos/run_solve/blocks_stack_hard/blocks_stack_hard_20250612_175448.mp4
=========== check_success ===========
cube[0] position: [-0.31651947  0.3091134   0.01999992]
cube[1] position: [-0.29305416  0.00743876  0.01999989]
cube[2] position: [-0.44580016 -0.3267524   0.01999993]
xy_aligned: False
z_aligned: False

   ❌ Trial Result: Failed
      ├─ Steps completed: 5/22
      └─ Failure reason: Failed move to pose. Possible reasons for failure: 
    -Target pose i...

🔁 Trial #4
   ├─ Initializing environment...
   ├─ Total steps to execute: 22
   └─ Execution progress:
=========== check_success ===========
cube[0] position: [-0.3192563   0.32120043  0.01999993]
cube[1] position: [-0.32222712 -0.30052412  0.01999992]
cube[2] position: [-0.4547919  -0.3280909   0.01999992]
xy_aligned: False
z_aligned: False
######################################################
start generate_end_effector_pose_tool() !!!
constraints num:  2
IK结果验证： [ 0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.         -0.64018374 -0.57421636  0.55015154  0.41501652 -0.77353532
  0.43583954  0.62825954  0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.        ]
right  target_effector_pose:
 Pose([-0.397155, -0.313929, 0.168999], [0.657401, 0.614712, -0.335121, 0.278652])
### start compute_hand_info() !!! ###
hand_name: right
grasp_axis: [-0.39454817 -0.33946742 -1.11136885]
grasp_point: [-0.3140365  -0.29662761  0.02956811]
### end compute_hand_info() !!! ###
End generate_end_effector_pose_tool() function!
######################################################
=========== check_success ===========
cube[0] position: [-0.3192563   0.32120043  0.01999993]
cube[1] position: [-0.32222754 -0.30052444  0.01999988]
cube[2] position: [-0.4547919  -0.3280909   0.01999992]
xy_aligned: False
z_aligned: False
=========== check_success ===========
cube[0] position: [-0.3192563   0.32120043  0.01999993]
cube[1] position: [-0.31725132 -0.3026364   0.02127885]
cube[2] position: [-0.4547919  -0.3280909   0.01999992]
xy_aligned: False
z_aligned: False
######################################################
start generate_end_effector_pose_tool() !!!
constraints num:  2
IK结果验证： [ 0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.         -0.39260509 -0.54374378  0.22403691  0.23859621 -0.61048465
  0.29098875  0.25093226  0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.        ]
right  target_effector_pose:
 Pose([-0.445552, -0.346814, 0.16524], [0.478979, 0.62901, -0.52877, 0.308751])
### start compute_hand_info() !!! ###
hand_name: right
grasp_axis: [ 0.07307795  0.00818843 -0.95055366]
grasp_point: [-0.31289112 -0.30181326  0.0814257 ]
### end compute_hand_info() !!! ###
End generate_end_effector_pose_tool() function!
######################################################
=========== check_success ===========
cube[0] position: [-0.3192563   0.32120043  0.01999993]
cube[1] position: [-0.3133303  -0.3021558   0.06807175]
cube[2] position: [-0.4547919  -0.3280909   0.01999992]
xy_aligned: False
z_aligned: False
######################################################
start generate_end_effector_pose_tool() !!!
constraints num:  2
IK结果验证： [ 0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.         -0.67141996 -0.10725392  0.5310141   0.46082296 -0.69045198
  0.34451148  0.22264901  0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.        ]
right  target_effector_pose:
 Pose([-0.398838, -0.089035, 0.162459], [0.400445, 0.735682, -0.410069, 0.360914])
### start compute_hand_info() !!! ###
hand_name: right
grasp_axis: [-0.08807601  0.49965259 -0.93155845]
grasp_point: [-0.29440608  0.00559356  0.08006801]
### end compute_hand_info() !!! ###
End generate_end_effector_pose_tool() function!
######################################################
=========== check_success ===========
cube[0] position: [-0.3192563   0.32120043  0.01999993]
cube[1] position: [-0.2944916  -0.00122048  0.06790443]
cube[2] position: [-0.4547919  -0.3280909   0.01999992]
xy_aligned: False
z_aligned: False
######################################################
start generate_end_effector_pose_tool() !!!
constraints num:  1
IK结果验证： [ 0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.         -0.50443366  0.1085593   0.12051695  0.59914924 -0.15592266
  0.3756899  -0.07688606  0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.        ]
right  target_effector_pose:
 Pose([-0.433868, -0.0949154, 0.0815048], [0.238186, 0.745398, -0.617975, -0.0758679])
### start compute_hand_info() !!! ###
hand_name: right
grasp_axis: [ 0.04953829  0.96069958 -0.45886121]
grasp_point: [-0.30294892 -0.01322192  0.02825694]
### end compute_hand_info() !!! ###
End generate_end_effector_pose_tool() function!
######################################################
IK Failed! Cannot find valid solution.
      Step 6: ❌ Validation Failed - Failed move to pose. Possible reasons for failure:...
=========== check_success ===========
cube[0] position: [-0.3192563   0.32120043  0.01999993]
cube[1] position: [-0.29470554  0.00245024  0.01999998]
cube[2] position: [-0.4547919  -0.3280909   0.01999992]
xy_aligned: False
z_aligned: False
Execution 3 failed.
Success rate now: 0.00%
Video created: /home/js/code/HumanoidGen/humanoidgen/videos/run_solve/blocks_stack_hard/blocks_stack_hard_20250612_175451.mp4
=========== check_success ===========
cube[0] position: [-0.3192563   0.32120043  0.01999993]
cube[1] position: [-0.29470554  0.00245024  0.01999998]
cube[2] position: [-0.4547919  -0.3280909   0.01999992]
xy_aligned: False
z_aligned: False

   ❌ Trial Result: Failed
      ├─ Steps completed: 5/22
      └─ Failure reason: Failed move to pose. Possible reasons for failure: 
    -Target pose i...

🔁 Trial #5
   ├─ Initializing environment...
   ├─ Total steps to execute: 22
   └─ Execution progress:
=========== check_success ===========
cube[0] position: [-0.32327428  0.33108458  0.01999993]
cube[1] position: [-0.31918418 -0.31725958  0.01999992]
cube[2] position: [-0.44796872 -0.30779967  0.01999991]
xy_aligned: False
z_aligned: False
######################################################
start generate_end_effector_pose_tool() !!!
constraints num:  2
IK结果验证： [ 0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.         -0.64445671 -0.58252356  0.53365828  0.44850947 -0.76542433
  0.44902331  0.61768953  0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.        ]
right  target_effector_pose:
 Pose([-0.394963, -0.327015, 0.169024], [0.664415, 0.605824, -0.350918, 0.261508])
### start compute_hand_info() !!! ###
hand_name: right
grasp_axis: [-0.39375374 -0.35267008 -1.11134318]
grasp_point: [-0.31106792 -0.31404479  0.02958874]
### end compute_hand_info() !!! ###
End generate_end_effector_pose_tool() function!
######################################################
=========== check_success ===========
cube[0] position: [-0.32327428  0.33108458  0.01999993]
cube[1] position: [-0.31918418 -0.31725958  0.01999992]
cube[2] position: [-0.44796872 -0.30779967  0.01999991]
xy_aligned: False
z_aligned: False
=========== check_success ===========
cube[0] position: [-0.32327428  0.33108458  0.01999993]
cube[1] position: [-0.3159092  -0.31890136  0.02133915]
cube[2] position: [-0.44796872 -0.30779967  0.01999991]
xy_aligned: False
z_aligned: False
######################################################
start generate_end_effector_pose_tool() !!!
constraints num:  2
IK结果验证： [ 0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.         -0.39824906 -0.54928568  0.19452206  0.25449717 -0.57301289
  0.33826192  0.25753869  0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.        ]
right  target_effector_pose:
 Pose([-0.444063, -0.35952, 0.166997], [0.481888, 0.622943, -0.552306, 0.273283])
### start compute_hand_info() !!! ###
hand_name: right
grasp_axis: [ 0.07658441  0.00559552 -0.94458695]
grasp_point: [-0.31018954 -0.32050159  0.08211732]
### end compute_hand_info() !!! ###
End generate_end_effector_pose_tool() function!
######################################################
=========== check_success ===========
cube[0] position: [-0.32327428  0.33108458  0.01999993]
cube[1] position: [-0.31179485 -0.31919837  0.06927131]
cube[2] position: [-0.44796872 -0.30779967  0.01999991]
xy_aligned: False
z_aligned: False
######################################################
start generate_end_effector_pose_tool() !!!
constraints num:  2
IK结果验证： [ 0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.         -0.67097212 -0.09044146  0.49387502  0.46478484 -0.62883449
  0.3962339   0.23093377  0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.        ]
right  target_effector_pose:
 Pose([-0.397088, -0.0902049, 0.161907], [0.397078, 0.749136, -0.431026, 0.308773])
### start compute_hand_info() !!! ###
hand_name: right
grasp_axis: [-0.12203398  0.56084918 -0.90602315]
grasp_point: [-0.29257513  0.00431263  0.0794906 ]
### end compute_hand_info() !!! ###
End generate_end_effector_pose_tool() function!
######################################################
=========== check_success ===========
cube[0] position: [-0.32327428  0.33108458  0.01999993]
cube[1] position: [-0.29432696 -0.00081948  0.06795391]
cube[2] position: [-0.44796872 -0.30779967  0.01999991]
xy_aligned: False
z_aligned: False
######################################################
start generate_end_effector_pose_tool() !!!
constraints num:  1
IK结果验证： [ 0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.         -0.50871973  0.10748906  0.12318152  0.60290249 -0.16172805
  0.3819008  -0.07692499  0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.        ]
right  target_effector_pose:
 Pose([-0.432928, -0.0947783, 0.0818305], [0.243207, 0.744821, -0.617004, -0.0734755])
### start compute_hand_info() !!! ###
hand_name: right
grasp_axis: [ 0.04595582  0.95632643 -0.4712062 ]
grasp_point: [-0.30239606 -0.01330963  0.02730306]
### end compute_hand_info() !!! ###
End generate_end_effector_pose_tool() function!
######################################################
IK Failed! Cannot find valid solution.
      Step 6: ❌ Validation Failed - Failed move to pose. Possible reasons for failure:...
=========== check_success ===========
cube[0] position: [-0.32327428  0.33108458  0.01999993]
cube[1] position: [-0.2900227   0.00744605  0.02000012]
cube[2] position: [-0.44796872 -0.30779967  0.01999991]
xy_aligned: False
z_aligned: False
Execution 4 failed.
Success rate now: 0.00%
Video created: /home/js/code/HumanoidGen/humanoidgen/videos/run_solve/blocks_stack_hard/blocks_stack_hard_20250612_175453.mp4
=========== check_success ===========
cube[0] position: [-0.32327428  0.33108458  0.01999993]
cube[1] position: [-0.2900227   0.00744605  0.02000012]
cube[2] position: [-0.44796872 -0.30779967  0.01999991]
xy_aligned: False
z_aligned: False

   ❌ Trial Result: Failed
      ├─ Steps completed: 5/22
      └─ Failure reason: Failed move to pose. Possible reasons for failure: 
    -Target pose i...

══════════════════════════════════════════════════
[EXECUTION] Final Validation Report              ═
   Trial 1: ❌ PARTIAL (5 steps)
   Trial 2: ❌ PARTIAL (5 steps)
   Trial 3: ❌ PARTIAL (5 steps)
   Trial 4: ❌ PARTIAL (5 steps)
   Trial 5: ❌ PARTIAL (5 steps)

══════════════════════════════════════════════════
[PROHIBITION] Updating constraints for Node 0    ═
🛑 Adding primary prohibited code:
   ├─ Code : ['', '']
   ├─ Parent Node: 0
   └─ Total prohibitions: 0

──────────────────────────────────────────────────
[NODE CREATION] Step 1/1                         ─
🌱 Creating child node 1:
   ├─ Parent: 0
parent_node: 0
📊 [Value Update] Node 1
   ├─ Parent: 0
   ├─ Value: None → 0.0
   ├─ Visitation: None → 0.0
   ├─ Subtree Value: None → 0.0
   └─ Subtree Visits: None → 0.0
✅ Node created: 1
   └─ Current tree size: 2 nodes

══════════════════════════════════════════════════
[COMPLETED] Added 1 new nodes                    ═
   ├─ Final node counter: 2
   └─ Current focus node: 1

📈 [Reward Update] Node 0
📊 [Value Update] Node 0
   ├─ Parent: ROOT
   ├─ Value: 0.0 → 0.49748743718592964
   ├─ Visitation: 1.0 → 1.99
   ├─ Subtree Value: 0.0 → 0.49748743718592964
   └─ Subtree Visits: 1.0 → 1.99

✅ [Job Complete] Node 0
   ├─ Active Jobs: 1 → 0 (root)
   ├─ Subtree Jobs: 1 → 0
📊 [Value Update] Node 0
   ├─ Parent: ROOT
   ├─ Value: 0.49748743718592964 → 1.0
   ├─ Visitation: 1.99 → 1.0
   ├─ Subtree Value: 0.49748743718592964 → 1.0
   └─ Subtree Visits: 1.99 → 1.0

══════════════════════════════════════════════════
[NODE SELECTION] Starting Node Selection         ═
[Selection Layer 0] Node 0 (V=1.0, val=1.00) TotalN=1.0
   Child 1: 0.00 + 11.774 = 11.774 ◀━
   UCB_SELF: 1.00 + 1.177 = 2.177
   └━
=> Selected: 11.774 ✔
━━━┓
┃ Proceeding to child node 1
━━━┛

════════════════════════════════════════
[Final Expansion] Node 1 (depth 1)
Trigger new job with gamma=0.99
════════════════════════════════════════


🆕 [Job Start] Node 1
   ├─ Active Jobs: 0 → 1 (root)
   ├─ Subtree Jobs: 0 → 1
📊 [Value Update] Node 1
   ├─ Parent: 0
   ├─ Value: 0.0 → 0.0
   ├─ Visitation: 0.0 → 1.0
   ├─ Subtree Value: 0.0 → 0.0
   └─ Subtree Visits: 0.0 → 1.0

🆕 [Job Start] Node 0
   ├─ Active Jobs: 0 → 0
   ├─ Subtree Jobs: 0 → 1
📊 [Value Update] Node 0
   ├─ Parent: ROOT
   ├─ Value: 1.0 → 1.0
   ├─ Visitation: 1.0 → 1.0
   ├─ Subtree Value: 1.0 → 0.49748743718592964
   └─ Subtree Visits: 1.0 → 1.99
SELECTED NODE ID: 1

══════════════════════════════════════════════════

══════════════════════════════════════════════════
[Code GEN] Start generating for Node 1           ═

📊 [States] Asset State Comparison
   ├─ Current State: [{'type_name': 'cube', 'obj_id': 0, 'pose': Pose(raw_pose=tensor([[-3.1646e-01,  3.0285e-01,  2.0000e-02,  9.9184e-01,  6.8806e-06,
          4.6949e-07, -1.2748e-01]]))}, {'type_name': 'cube', 'obj_id': 1, 'pose': Pose(raw_pose=tensor([[-3.1941e-01, -3.0634e-01,  2.0000e-02,  9.9266e-01,  7.0973e-06,
          2.8379e-07, -1.2093e-01]]))}, {'type_name': 'cube', 'obj_id': 2, 'pose': Pose(raw_pose=tensor([[-4.4914e-01, -3.1283e-01,  2.0000e-02,  9.9274e-01,  2.0511e-06,
         -3.5226e-06,  1.2027e-01]]))}]

📝 [Code Tracking]
   ├─ Executed Code:
 
```python

    # Step 1: Pick cube1 (right hand) at initial position
    planner.hand_pre_pinch("right")

    constraints = []
    constraints.append(
        Constraint(
            env=planner.env,
            type="point2point",
            end_effector_frame="r_hand_base_link",
            hand_key_point=get_point_in_env(planner.env, point_name="pinch_point_base_right_hand"),
            object_key_point=get_point_in_env(planner.env, type_name="cube", obj_id=1)
        )
    )
    constraints.append(
        Constraint(
            env=planner.env,
            type="parallel",
            end_effector_frame="r_hand_base_link",
            hand_axis=get_axis_in_env(planner.env, axis_name="right_pinch_axis"),
            object_axis=np.array([0, 0, -1])
        )
    )
    _, target_effector_pose = planner.generate_end_effector_pose(constraints, hand_name="right")
    planner.move_to_pose_with_screw(target_effector_pose, "right", attach_obj=False)

    planner.hand_pinch("right", pinch_object="cube", obj_id=1)

```


🚫 [Code Tracking]  
├─ Prohibited Code:
 
```python

    # Step 2: Lift cube1 to safe height (0.07m)
    constraints = []
    constraints.append(
        Constraint(
            env=planner.env,
            type="point2point",
            end_effector_frame="r_hand_base_link",
            hand_key_point=get_point_in_env(planner.env, type_name="cube", obj_id=1),
            object_key_point=get_point_in_env(planner.env, type_name="cube", obj_id=1) + np.array([0, 0, 0.05])
        )
    )
    constraints.append(
        Constraint(
            env=planner.env,
            type="parallel",
            end_effector_frame="r_hand_base_link",
            hand_axis=get_axis_in_env(planner.env, axis_name="z", obj_type="cube", obj_id=1),
            object_axis=np.array([0, 0, 1])
        )
    )
    _, target_effector_pose = planner.generate_end_effector_pose(constraints, hand_name="right")
    planner.move_to_pose_with_screw(target_effector_pose, "right", attach_obj=True, object_name="cube", object_id=1)

    # Step 3: Move cube1 to stacking location at safe height
    constraints = []
    constraints.append(
        Constraint(
            env=planner.env,
            type="point2point",
            end_effector_frame="r_hand_base_link",
            hand_key_point=get_point_in_env(planner.env, type_name="cube", obj_id=1),
            object_key_point=np.array([-0.3, 0, 0.07])
        )
    )
    constraints.append(
        Constraint(
            env=planner.env,
            type="parallel",
            end_effector_frame="r_hand_base_link",
            hand_axis=get_axis_in_env(planner.env, axis_name="z", obj_type="cube", obj_id=1),
            object_axis=np.array([0, 0, 1])
        )
    )
    _, target_effector_pose = planner.generate_end_effector_pose(constraints, hand_name="right")
    planner.move_to_pose_with_screw(target_effector_pose, "right", attach_obj=True, object_name="cube", object_id=1)

    # Step 4: Place cube1 at base position and release
    constraints = []
    constraints.append(
        Constraint(
            env=planner.env,
            type="point2point",
            end_effector_frame="r_hand_base_link",
            hand_key_point=get_point_in_env(planner.env, type_name="cube", obj_id=1),
            object_key_point=np.array([-0.3, 0, 0.02])
        )
    )
    _, target_effector_pose = planner.generate_end_effector_pose(constraints, hand_name="right")
    planner.move_to_pose_with_screw(target_effector_pose, "right", attach_obj=True, object_name="cube", object_id=1)

    planner.open_hand("right")

```
reason:
Failed move to pose. Possible reasons for failure: 
    -Target pose is unreachable: Don't let one hand move beyond its own range. For example, don't let the right hand pinch or grasp an object in the area of the left hand, or let the right hand place an object in the area of the left hand.
    -Too many constraints make it impossible to find a reasonable solution.
    -The target pose will lead to a collision with the environment: Generally, there is a lack of constraints. For example, only the coincidence of points is constrained, and the randomness of the pose is caused by not constraining the parallel condition, resulting in a collision. Or the set parallel relationship of the constraints is incorrect. Please think carefully.
    -The pose of the target leads to self-collision of the two arms. For example, after the left hand places an item in the middle area, the right hand moves to the middle area to place an item without retracting the left arm to the left_hand_init_pose. After put the object into center area, must return to init_pose before move the another arm into!
    Advice:
    -If you find that an arm has not moved to the left_hand_init_pose or right_hand_init_pose after performing an open hand action to place an object in the middle area of the table, please move it(to "left_hand_init_pose"/"right_hand_init_pose position")in the next step.
    -If you find that the target position is unreachable, change your approach and move to a reachable area.
    -If you find that there are too many constraints, you can reduce the number of constraints; otherwise, you can increase them.
                            

You are a professional assistant [34mfor[39;49;00m generating code that enables dual-arm robots to perform tabletop tasks. Please generate logically structured code to execute the user-specified tasks based on the provided context.[37m[39;49;00m
======[37m[39;49;00m
Static Scene Elements:[37m[39;49;00m
The static scene elements include a robot [35mand[39;49;00m a table. The robot[33m'[39;49;00m[33ms base_link (position between torso_link and pelvis) has a pose of pose.p = [-0.85, 0, 0], pose.q = [1, 0, 0, 0]. The table surface spans x ∈ [-0.42, -0.19], y ∈ [-1.1, 1.16], z = 0.[39;49;00m[37m[39;49;00m
======[37m[39;49;00m
World Coordinate System Information:[37m[39;49;00m
Since the robot[33m'[39;49;00m[33ms base coordinate frame has pose.q = [1, 0, 0, 0], its xyz directions align with the world coordinate system: x points forward, y points to the robot[39;49;00m[33m'[39;49;00ms left, [35mand[39;49;00m z points upward.[37m[39;49;00m
======[37m[39;49;00m
Intrinsic Asset Attributes:[37m[39;49;00m
[{[33m'[39;49;00m[33mtype_name[39;49;00m[33m'[39;49;00m: [33m'[39;49;00m[33mcube[39;49;00m[33m'[39;49;00m, [33m'[39;49;00m[33mobj_id[39;49;00m[33m'[39;49;00m: [34m0[39;49;00m, [33m'[39;49;00m[33mbounding box[39;49;00m[33m'[39;49;00m: [[34m0.04[39;49;00m, [34m0.04[39;49;00m, [34m0.04[39;49;00m], [33m'[39;49;00m[33mstatus[39;49;00m[33m'[39;49;00m: {[33m'[39;49;00m[33mface_robot[39;49;00m[33m'[39;49;00m: {[33m'[39;49;00m[33mdescription[39;49;00m[33m'[39;49;00m: [33m'[39;49;00m[33mPlaced flat on the table, with the front face parallel to the body.[39;49;00m[33m'[39;49;00m, [33m'[39;49;00m[33morientation[39;49;00m[33m'[39;49;00m: [[34m1[39;49;00m, [34m0[39;49;00m, [34m0[39;49;00m, [34m0[39;49;00m]}}}, {[33m'[39;49;00m[33mtype_name[39;49;00m[33m'[39;49;00m: [33m'[39;49;00m[33mcube[39;49;00m[33m'[39;49;00m, [33m'[39;49;00m[33mobj_id[39;49;00m[33m'[39;49;00m: [34m1[39;49;00m, [33m'[39;49;00m[33mbounding box[39;49;00m[33m'[39;49;00m: [[34m0.04[39;49;00m, [34m0.04[39;49;00m, [34m0.04[39;49;00m], [33m'[39;49;00m[33mstatus[39;49;00m[33m'[39;49;00m: {[33m'[39;49;00m[33mface_robot[39;49;00m[33m'[39;49;00m: {[33m'[39;49;00m[33mdescription[39;49;00m[33m'[39;49;00m: [33m'[39;49;00m[33mPlaced flat on the table, with the front face parallel to the body.[39;49;00m[33m'[39;49;00m, [33m'[39;49;00m[33morientation[39;49;00m[33m'[39;49;00m: [[34m1[39;49;00m, [34m0[39;49;00m, [34m0[39;49;00m, [34m0[39;49;00m]}}}, {[33m'[39;49;00m[33mtype_name[39;49;00m[33m'[39;49;00m: [33m'[39;49;00m[33mcube[39;49;00m[33m'[39;49;00m, [33m'[39;49;00m[33mobj_id[39;49;00m[33m'[39;49;00m: [34m2[39;49;00m, [33m'[39;49;00m[33mbounding box[39;49;00m[33m'[39;49;00m: [[34m0.04[39;49;00m, [34m0.04[39;49;00m, [34m0.04[39;49;00m], [33m'[39;49;00m[33mstatus[39;49;00m[33m'[39;49;00m: {[33m'[39;49;00m[33mface_robot[39;49;00m[33m'[39;49;00m: {[33m'[39;49;00m[33mdescription[39;49;00m[33m'[39;49;00m: [33m'[39;49;00m[33mPlaced flat on the table, with the front face parallel to the body.[39;49;00m[33m'[39;49;00m, [33m'[39;49;00m[33morientation[39;49;00m[33m'[39;49;00m: [[34m1[39;49;00m, [34m0[39;49;00m, [34m0[39;49;00m, [34m0[39;49;00m]}}}][37m[39;49;00m
Note: The [33m'[39;49;00m[33morientation[39;49;00m[33m'[39;49;00m [35min[39;49;00m [33m'[39;49;00m[33mstatus[39;49;00m[33m'[39;49;00m represents the rotation [35min[39;49;00m the world coordinate system under its corresponding [33m'[39;49;00m[33mdescription[39;49;00m[33m'[39;49;00m.[37m[39;49;00m
======[37m[39;49;00m
Initial Asset State:[37m[39;49;00m
[{[33m'[39;49;00m[33mtype_name[39;49;00m[33m'[39;49;00m: [33m'[39;49;00m[33mcube[39;49;00m[33m'[39;49;00m, [33m'[39;49;00m[33mobj_id[39;49;00m[33m'[39;49;00m: [34m0[39;49;00m, [33m'[39;49;00m[33mpose[39;49;00m[33m'[39;49;00m: Pose(raw_pose=tensor([[-[34m3.2197e-01[39;49;00m,  [34m3.3160e-01[39;49;00m,  [34m2.0000e-02[39;49;00m,  [34m9.9998e-01[39;49;00m,  [34m6.5134e-06[39;49;00m,[37m[39;49;00m
         -[34m2.4760e-06[39;49;00m,  [34m7.0003e-03[39;49;00m]]))}, {[33m'[39;49;00m[33mtype_name[39;49;00m[33m'[39;49;00m: [33m'[39;49;00m[33mcube[39;49;00m[33m'[39;49;00m, [33m'[39;49;00m[33mobj_id[39;49;00m[33m'[39;49;00m: [34m1[39;49;00m, [33m'[39;49;00m[33mpose[39;49;00m[33m'[39;49;00m: Pose(raw_pose=tensor([[-[34m3.1712e-01[39;49;00m, -[34m3.1076e-01[39;49;00m,  [34m2.0000e-02[39;49;00m,  [34m9.9951e-01[39;49;00m,  [34m6.0188e-06[39;49;00m,[37m[39;49;00m
         -[34m2.8455e-06[39;49;00m,  [34m3.1272e-02[39;49;00m]]))}, {[33m'[39;49;00m[33mtype_name[39;49;00m[33m'[39;49;00m: [33m'[39;49;00m[33mcube[39;49;00m[33m'[39;49;00m, [33m'[39;49;00m[33mobj_id[39;49;00m[33m'[39;49;00m: [34m2[39;49;00m, [33m'[39;49;00m[33mpose[39;49;00m[33m'[39;49;00m: Pose(raw_pose=tensor([[-[34m4.5367e-01[39;49;00m, -[34m3.3202e-01[39;49;00m,  [34m2.0000e-02[39;49;00m,  [34m9.9706e-01[39;49;00m,  [34m4.0116e-06[39;49;00m,[37m[39;49;00m
         -[34m3.3418e-06[39;49;00m,  [34m7.6615e-02[39;49;00m]]))}][37m[39;49;00m
Note: The asset([36mobject[39;49;00m) state(pose) when the scene [35mis[39;49;00m just initialized, before [36many[39;49;00m actions are executed. Pose consists of Cartesian coordinates [35mand[39;49;00m a quaternion [35min[39;49;00m the world coordinate system: [x, y, z, w, x, y, z](The following [34m7[39;49;00m-dimensional poses [36mall[39;49;00m follow this [36mformat[39;49;00m).[37m[39;49;00m
======[37m[39;49;00m
Current Asset State:[37m[39;49;00m
[{[33m'[39;49;00m[33mtype_name[39;49;00m[33m'[39;49;00m: [33m'[39;49;00m[33mcube[39;49;00m[33m'[39;49;00m, [33m'[39;49;00m[33mobj_id[39;49;00m[33m'[39;49;00m: [34m0[39;49;00m, [33m'[39;49;00m[33mpose[39;49;00m[33m'[39;49;00m: Pose(raw_pose=tensor([[-[34m3.1646e-01[39;49;00m,  [34m3.0285e-01[39;49;00m,  [34m2.0000e-02[39;49;00m,  [34m9.9184e-01[39;49;00m,  [34m6.8806e-06[39;49;00m,[37m[39;49;00m
          [34m4.6949e-07[39;49;00m, -[34m1.2748e-01[39;49;00m]]))}, {[33m'[39;49;00m[33mtype_name[39;49;00m[33m'[39;49;00m: [33m'[39;49;00m[33mcube[39;49;00m[33m'[39;49;00m, [33m'[39;49;00m[33mobj_id[39;49;00m[33m'[39;49;00m: [34m1[39;49;00m, [33m'[39;49;00m[33mpose[39;49;00m[33m'[39;49;00m: Pose(raw_pose=tensor([[-[34m3.1941e-01[39;49;00m, -[34m3.0634e-01[39;49;00m,  [34m2.0000e-02[39;49;00m,  [34m9.9266e-01[39;49;00m,  [34m7.0973e-06[39;49;00m,[37m[39;49;00m
          [34m2.8379e-07[39;49;00m, -[34m1.2093e-01[39;49;00m]]))}, {[33m'[39;49;00m[33mtype_name[39;49;00m[33m'[39;49;00m: [33m'[39;49;00m[33mcube[39;49;00m[33m'[39;49;00m, [33m'[39;49;00m[33mobj_id[39;49;00m[33m'[39;49;00m: [34m2[39;49;00m, [33m'[39;49;00m[33mpose[39;49;00m[33m'[39;49;00m: Pose(raw_pose=tensor([[-[34m4.4914e-01[39;49;00m, -[34m3.1283e-01[39;49;00m,  [34m2.0000e-02[39;49;00m,  [34m9.9274e-01[39;49;00m,  [34m2.0511e-06[39;49;00m,[37m[39;49;00m
         -[34m3.5226e-06[39;49;00m,  [34m1.2027e-01[39;49;00m]]))}][37m[39;49;00m
Note: Current states(poses) of assets(objects) on the tabletop[37m[39;49;00m
======[37m[39;49;00m
Executed Action Code:[37m[39;49;00m
[37m[39;49;00m
[04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00mpython[37m[39;49;00m
[37m[39;49;00m
    [37m# Step 1: Pick cube1 (right hand) at initial position[39;49;00m[37m[39;49;00m
    planner.hand_pre_pinch([33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m)[37m[39;49;00m
[37m[39;49;00m
    constraints = [][37m[39;49;00m
    constraints.append([37m[39;49;00m
        Constraint([37m[39;49;00m
            env=planner.env,[37m[39;49;00m
            [36mtype[39;49;00m=[33m"[39;49;00m[33mpoint2point[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            end_effector_frame=[33m"[39;49;00m[33mr_hand_base_link[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            hand_key_point=get_point_in_env(planner.env, point_name=[33m"[39;49;00m[33mpinch_point_base_right_hand[39;49;00m[33m"[39;49;00m),[37m[39;49;00m
            object_key_point=get_point_in_env(planner.env, type_name=[33m"[39;49;00m[33mcube[39;49;00m[33m"[39;49;00m, obj_id=[34m1[39;49;00m)[37m[39;49;00m
        )[37m[39;49;00m
    )[37m[39;49;00m
    constraints.append([37m[39;49;00m
        Constraint([37m[39;49;00m
            env=planner.env,[37m[39;49;00m
            [36mtype[39;49;00m=[33m"[39;49;00m[33mparallel[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            end_effector_frame=[33m"[39;49;00m[33mr_hand_base_link[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            hand_axis=get_axis_in_env(planner.env, axis_name=[33m"[39;49;00m[33mright_pinch_axis[39;49;00m[33m"[39;49;00m),[37m[39;49;00m
            object_axis=np.array([[34m0[39;49;00m, [34m0[39;49;00m, -[34m1[39;49;00m])[37m[39;49;00m
        )[37m[39;49;00m
    )[37m[39;49;00m
    _, target_effector_pose = planner.generate_end_effector_pose(constraints, hand_name=[33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m)[37m[39;49;00m
    planner.move_to_pose_with_screw(target_effector_pose, [33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m, attach_obj=[34mFalse[39;49;00m)[37m[39;49;00m
[37m[39;49;00m
    planner.hand_pinch([33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m, pinch_object=[33m"[39;49;00m[33mcube[39;49;00m[33m"[39;49;00m, obj_id=[34m1[39;49;00m)[37m[39;49;00m
[37m[39;49;00m
[04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00m[37m[39;49;00m
[37m[39;49;00m
Note: [37m[39;49;00m
- Code [34mfor[39;49;00m actions executed by the robot to transform the asset state on the tabletop [34mfrom[39;49;00m[37m [39;49;00m[04m[36mthe[39;49;00m initial state to the current state.[37m[39;49;00m
======[37m[39;49;00m
Prohibited Next Actions:[37m[39;49;00m
[37m[39;49;00m
[04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00mpython[37m[39;49;00m
[37m[39;49;00m
    [37m# Step 2: Lift cube1 to safe height (0.07m)[39;49;00m[37m[39;49;00m
    constraints = [][37m[39;49;00m
    constraints.append([37m[39;49;00m
        Constraint([37m[39;49;00m
            env=planner.env,[37m[39;49;00m
            [36mtype[39;49;00m=[33m"[39;49;00m[33mpoint2point[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            end_effector_frame=[33m"[39;49;00m[33mr_hand_base_link[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            hand_key_point=get_point_in_env(planner.env, type_name=[33m"[39;49;00m[33mcube[39;49;00m[33m"[39;49;00m, obj_id=[34m1[39;49;00m),[37m[39;49;00m
            object_key_point=get_point_in_env(planner.env, type_name=[33m"[39;49;00m[33mcube[39;49;00m[33m"[39;49;00m, obj_id=[34m1[39;49;00m) + np.array([[34m0[39;49;00m, [34m0[39;49;00m, [34m0.05[39;49;00m])[37m[39;49;00m
        )[37m[39;49;00m
    )[37m[39;49;00m
    constraints.append([37m[39;49;00m
        Constraint([37m[39;49;00m
            env=planner.env,[37m[39;49;00m
            [36mtype[39;49;00m=[33m"[39;49;00m[33mparallel[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            end_effector_frame=[33m"[39;49;00m[33mr_hand_base_link[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            hand_axis=get_axis_in_env(planner.env, axis_name=[33m"[39;49;00m[33mz[39;49;00m[33m"[39;49;00m, obj_type=[33m"[39;49;00m[33mcube[39;49;00m[33m"[39;49;00m, obj_id=[34m1[39;49;00m),[37m[39;49;00m
            object_axis=np.array([[34m0[39;49;00m, [34m0[39;49;00m, [34m1[39;49;00m])[37m[39;49;00m
        )[37m[39;49;00m
    )[37m[39;49;00m
    _, target_effector_pose = planner.generate_end_effector_pose(constraints, hand_name=[33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m)[37m[39;49;00m
    planner.move_to_pose_with_screw(target_effector_pose, [33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m, attach_obj=[34mTrue[39;49;00m, object_name=[33m"[39;49;00m[33mcube[39;49;00m[33m"[39;49;00m, object_id=[34m1[39;49;00m)[37m[39;49;00m
[37m[39;49;00m
    [37m# Step 3: Move cube1 to stacking location at safe height[39;49;00m[37m[39;49;00m
    constraints = [][37m[39;49;00m
    constraints.append([37m[39;49;00m
        Constraint([37m[39;49;00m
            env=planner.env,[37m[39;49;00m
            [36mtype[39;49;00m=[33m"[39;49;00m[33mpoint2point[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            end_effector_frame=[33m"[39;49;00m[33mr_hand_base_link[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            hand_key_point=get_point_in_env(planner.env, type_name=[33m"[39;49;00m[33mcube[39;49;00m[33m"[39;49;00m, obj_id=[34m1[39;49;00m),[37m[39;49;00m
            object_key_point=np.array([-[34m0.3[39;49;00m, [34m0[39;49;00m, [34m0.07[39;49;00m])[37m[39;49;00m
        )[37m[39;49;00m
    )[37m[39;49;00m
    constraints.append([37m[39;49;00m
        Constraint([37m[39;49;00m
            env=planner.env,[37m[39;49;00m
            [36mtype[39;49;00m=[33m"[39;49;00m[33mparallel[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            end_effector_frame=[33m"[39;49;00m[33mr_hand_base_link[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            hand_axis=get_axis_in_env(planner.env, axis_name=[33m"[39;49;00m[33mz[39;49;00m[33m"[39;49;00m, obj_type=[33m"[39;49;00m[33mcube[39;49;00m[33m"[39;49;00m, obj_id=[34m1[39;49;00m),[37m[39;49;00m
            object_axis=np.array([[34m0[39;49;00m, [34m0[39;49;00m, [34m1[39;49;00m])[37m[39;49;00m
        )[37m[39;49;00m
    )[37m[39;49;00m
    _, target_effector_pose = planner.generate_end_effector_pose(constraints, hand_name=[33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m)[37m[39;49;00m
    planner.move_to_pose_with_screw(target_effector_pose, [33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m, attach_obj=[34mTrue[39;49;00m, object_name=[33m"[39;49;00m[33mcube[39;49;00m[33m"[39;49;00m, object_id=[34m1[39;49;00m)[37m[39;49;00m
[37m[39;49;00m
    [37m# Step 4: Place cube1 at base position and release[39;49;00m[37m[39;49;00m
    constraints = [][37m[39;49;00m
    constraints.append([37m[39;49;00m
        Constraint([37m[39;49;00m
            env=planner.env,[37m[39;49;00m
            [36mtype[39;49;00m=[33m"[39;49;00m[33mpoint2point[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            end_effector_frame=[33m"[39;49;00m[33mr_hand_base_link[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            hand_key_point=get_point_in_env(planner.env, type_name=[33m"[39;49;00m[33mcube[39;49;00m[33m"[39;49;00m, obj_id=[34m1[39;49;00m),[37m[39;49;00m
            object_key_point=np.array([-[34m0.3[39;49;00m, [34m0[39;49;00m, [34m0.02[39;49;00m])[37m[39;49;00m
        )[37m[39;49;00m
    )[37m[39;49;00m
    _, target_effector_pose = planner.generate_end_effector_pose(constraints, hand_name=[33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m)[37m[39;49;00m
    planner.move_to_pose_with_screw(target_effector_pose, [33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m, attach_obj=[34mTrue[39;49;00m, object_name=[33m"[39;49;00m[33mcube[39;49;00m[33m"[39;49;00m, object_id=[34m1[39;49;00m)[37m[39;49;00m
[37m[39;49;00m
    planner.open_hand([33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m)[37m[39;49;00m
[37m[39;49;00m
[04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00m[37m[39;49;00m
reason:[37m[39;49;00m
Failed move to pose. Possible reasons [34mfor[39;49;00m failure: [37m[39;49;00m
    -Target pose [35mis[39;49;00m unreachable: Don[33m'[39;49;00m[33mt let one hand move beyond its own range. For example, don[39;49;00m[33m'[39;49;00mt let the right hand pinch [35mor[39;49;00m grasp an [36mobject[39;49;00m [35min[39;49;00m the area of the left hand, [35mor[39;49;00m let the right hand place an [36mobject[39;49;00m [35min[39;49;00m the area of the left hand.[37m[39;49;00m
    -Too many constraints make it impossible to find a reasonable solution.[37m[39;49;00m
    -The target pose will lead to a collision [34mwith[39;49;00m the environment: Generally, there [35mis[39;49;00m a lack of constraints. For example, only the coincidence of points [35mis[39;49;00m constrained, [35mand[39;49;00m the randomness of the pose [35mis[39;49;00m caused by [35mnot[39;49;00m constraining the parallel condition, resulting [35min[39;49;00m a collision. Or the [36mset[39;49;00m parallel relationship of the constraints [35mis[39;49;00m incorrect. Please think carefully.[37m[39;49;00m
    -The pose of the target leads to [36mself[39;49;00m-collision of the two arms. For example, after the left hand places an item [35min[39;49;00m the middle area, the right hand moves to the middle area to place an item without retracting the left arm to the left_hand_init_pose. After put the [36mobject[39;49;00m into center area, must [34mreturn[39;49;00m to init_pose before move the another arm into[04m[91m![39;49;00m[37m[39;49;00m
    Advice:[37m[39;49;00m
    -If you find that an arm has [35mnot[39;49;00m moved to the left_hand_init_pose [35mor[39;49;00m right_hand_init_pose after performing an [36mopen[39;49;00m hand action to place an [36mobject[39;49;00m [35min[39;49;00m the middle area of the table, please move it(to [33m"[39;49;00m[33mleft_hand_init_pose[39;49;00m[33m"[39;49;00m/[33m"[39;49;00m[33mright_hand_init_pose position[39;49;00m[33m"[39;49;00m)[35min[39;49;00m the [36mnext[39;49;00m step.[37m[39;49;00m
    -If you find that the target position [35mis[39;49;00m unreachable, change your approach [35mand[39;49;00m move to a reachable area.[37m[39;49;00m
    -If you find that there are too many constraints, you can reduce the number of constraints; otherwise, you can increase them.[37m[39;49;00m
                            [37m[39;49;00m
[37m[39;49;00m
Note: The [36mnext[39;49;00m step cannot execute the prohibited actions listed above. [33m'[39;49;00m[33mSame[39;49;00m[33m'[39;49;00m means completely identical. For [33m'[39;49;00m[33mmove[39;49;00m[33m'[39;49;00m, [36many[39;49;00m addition, removal, [35mor[39;49;00m modification of constraints [35mis[39;49;00m considered a different action. Applies only to the [36mnext[39;49;00m step; subsequent steps can still choose those actions.[37m[39;49;00m
======[37m[39;49;00m
Robot Attributes:[37m[39;49;00m
hand_key_point:{[37m[39;49;00m
    [33m"[39;49;00m[33mleft_hand[39;49;00m[33m"[39;49;00m:[[33m"[39;49;00m[33mbase_left_hand[39;49;00m[33m"[39;49;00m,[33m"[39;49;00m[33mgrasp_point_base_left_hand[39;49;00m[33m"[39;49;00m,[33m"[39;49;00m[33mpinch_point_base_left_hand[39;49;00m[33m"[39;49;00m],[37m[39;49;00m
    [33m"[39;49;00m[33mright_hand[39;49;00m[33m"[39;49;00m:[[33m"[39;49;00m[33mbase_right_hand[39;49;00m[33m"[39;49;00m,[33m"[39;49;00m[33mgrasp_point_base_right_hand[39;49;00m[33m"[39;49;00m,[33m"[39;49;00m[33mpinch_point_base_right_hand[39;49;00m[33m"[39;49;00m][37m[39;49;00m
}[37m[39;49;00m
hand_key_axis:{[37m[39;49;00m
    [33m"[39;49;00m[33mleft_hand[39;49;00m[33m"[39;49;00m:[[33m"[39;49;00m[33mleft_pinch_axis[39;49;00m[33m"[39;49;00m,[33m"[39;49;00m[33mleft_pinch_wrist_2_palm_axis[39;49;00m[33m"[39;49;00m,[33m"[39;49;00m[33mleft_ring_2_index[39;49;00m[33m"[39;49;00m,[33m"[39;49;00m[33mleft_grasp_axis[39;49;00m[33m"[39;49;00m,[33m"[39;49;00m[33mleft_grasp_wrist_2_palm_axis[39;49;00m[33m"[39;49;00m],[37m[39;49;00m
    [33m"[39;49;00m[33mright_hand[39;49;00m[33m"[39;49;00m:[[33m"[39;49;00m[33mright_pinch_axis[39;49;00m[33m"[39;49;00m,[33m"[39;49;00m[33mright_pinch_wrist_2_palm_axis[39;49;00m[33m"[39;49;00m,[33m"[39;49;00m[33mright_ring_2_index[39;49;00m[33m"[39;49;00m,[33m"[39;49;00m[33mright_grasp_axis[39;49;00m[33m"[39;49;00m,[33m"[39;49;00m[33mright_grasp_wrist_2_palm_axis[39;49;00m[33m"[39;49;00m][37m[39;49;00m
}[37m[39;49;00m
default_pose:{[37m[39;49;00m
    [33m"[39;49;00m[33mleft_hand[39;49;00m[33m"[39;49;00m:[left_hand_init_pose],[37m[39;49;00m
    [33m"[39;49;00m[33mright_hand[39;49;00m[33m"[39;49;00m:[right_hand_init_pose][37m[39;49;00m
}[37m[39;49;00m
======[37m[39;49;00m
Available Class:[37m[39;49;00m
Constraint(env,[36mtype[39;49;00m,end_effector_frame,hand_key_point,object_key_point,hand_axis,object_axis):[37m[39;49;00m
    Function: [37m[39;49;00m
        [33m"[39;49;00m[33mConstraint[39;49;00m[33m"[39;49;00m defines hard constraints that must be strictly satisfied. [37m[39;49;00m
        Establishes spatial equivalence constraints between:[37m[39;49;00m
            - (point2point) Specified end-effector point [04m[91m→[39;49;00m target point.[37m[39;49;00m
            - (parallel) Specified end-effector axis direction [04m[91m→[39;49;00m target axis direction.[37m[39;49;00m
    Args:[37m[39;49;00m
    - env (Environment, Mandatory): The planner[33m'[39;49;00m[33ms bound operating environment. Must reference the planner[39;49;00m[33m'[39;49;00ms environment instance through [04m[91m`[39;49;00mplanner.env[04m[91m`[39;49;00m [36mproperty[39;49;00m.[37m[39;49;00m
    - [36mtype[39;49;00m ([36mstr[39;49;00m, Mandatory): [33m"[39;49;00m[33mpoint2point[39;49;00m[33m"[39;49;00m [35mor[39;49;00m [33m"[39;49;00m[33mparallel[39;49;00m[33m"[39;49;00m.[37m[39;49;00m
    - end_effector_frame ([36mstr[39;49;00m, Mandatory): [33m"[39;49;00m[33ml_hand_base_link[39;49;00m[33m"[39;49;00m [35mor[39;49;00m [33m"[39;49;00m[33mr_hand_base_link[39;49;00m[33m"[39;49;00m.[37m[39;49;00m
    - hand_key_point (np.ndarray): [Required when [33m'[39;49;00m[33mtype[39;49;00m[33m'[39;49;00m [35mis[39;49;00m [33m'[39;49;00m[33mpoint2point[39;49;00m[33m'[39;49;00m] Pre-motion end-effector anchor point [35min[39;49;00m world coordinates.[37m[39;49;00m
    - object_key_point (np.ndarray): [Required when [33m'[39;49;00m[33mtype[39;49;00m[33m'[39;49;00m [35mis[39;49;00m [33m'[39;49;00m[33mpoint2point[39;49;00m[33m'[39;49;00m] Target[33m'[39;49;00m[33ms corresponding point in world coordinates.[39;49;00m[37m[39;49;00m
    - hand_axis (np.ndarray): [Required when [33m'[39;49;00m[33mtype[39;49;00m[33m'[39;49;00m [35mis[39;49;00m [33m'[39;49;00m[33mparallel[39;49;00m[33m'[39;49;00m] Pre-motion end-effector alignment axis [35min[39;49;00m world coordinates.[37m[39;49;00m
    - object_axis (np.ndarray): [Required when [33m'[39;49;00m[33mtype[39;49;00m[33m'[39;49;00m [35mis[39;49;00m [33m'[39;49;00m[33mparallel[39;49;00m[33m'[39;49;00m] Target[33m'[39;49;00m[33ms reference axis in world coordinates.[39;49;00m[37m[39;49;00m
    Example:[37m[39;49;00m
        [37m# Right palm facing down to grasp(Top-down grasping of the object)[39;49;00m[37m[39;49;00m
        Constraint([37m[39;49;00m
            env=planner.env,[37m[39;49;00m
            [36mtype[39;49;00m=[33m"[39;49;00m[33mparallel[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            end_effector_frame=[33m"[39;49;00m[33mr_hand_base_link[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            hand_axis=get_axis_in_env(planner.env,axis_name=[33m"[39;49;00m[33mright_grasp_axis[39;49;00m[33m"[39;49;00m), [37m# The back of the palm points toward the front of the palm. Pinch action is similar.[39;49;00m[37m[39;49;00m
            object_axis=np.array([[34m0[39;49;00m,[34m0[39;49;00m,-[34m1[39;49;00m]), [37m# World frame, [39;49;00m[37m[39;49;00m
        )[37m[39;49;00m
[37m[39;49;00m
        [37m# Right palm facing up to grasp(Down-Top grasping of the object). If there is a table or other objects below the target, it often causes collisions and makes it unreachable.[39;49;00m[37m[39;49;00m
        Constraint([37m[39;49;00m
            env=planner.env,[37m[39;49;00m
            [36mtype[39;49;00m=[33m"[39;49;00m[33mparallel[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            end_effector_frame=[33m"[39;49;00m[33mr_hand_base_link[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            hand_axis=get_axis_in_env(planner.env,axis_name=[33m"[39;49;00m[33mright_grasp_axis[39;49;00m[33m"[39;49;00m), [37m# The back of the palm points toward the front of the palm. Pinch action is similar.[39;49;00m[37m[39;49;00m
            object_axis=np.array([[34m0[39;49;00m,[34m0[39;49;00m,[34m1[39;49;00m]), [37m# World frame, [39;49;00m[37m[39;49;00m
        )[37m[39;49;00m
[37m[39;49;00m
        [37m# The direction from the right wrist to the palm center is facing forward.[39;49;00m[37m[39;49;00m
        Constraint([37m[39;49;00m
            env=planner.env,[37m[39;49;00m
            [36mtype[39;49;00m=[33m"[39;49;00m[33mparallel[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            end_effector_frame=[33m"[39;49;00m[33mr_hand_base_link[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            hand_axis=get_axis_in_env(planner.env,axis_name=[33m"[39;49;00m[33mright_grasp_wrist_2_palm_axis[39;49;00m[33m"[39;49;00m), [37m# The direction from the wrist to the palm center[39;49;00m[37m[39;49;00m
            object_axis=np.array([[34m1[39;49;00m,[34m0[39;49;00m,[34m0[39;49;00m]), [37m# World frame[39;49;00m[37m[39;49;00m
        )[37m[39;49;00m
[37m[39;49;00m
        [37m# The direction from the right pinky finger to the index finger is parallel to the x-axis of object0.[39;49;00m[37m[39;49;00m
        Constraint([37m[39;49;00m
            env=planner.env,[37m[39;49;00m
            [36mtype[39;49;00m=[33m"[39;49;00m[33mparallel[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            end_effector_frame=[33m"[39;49;00m[33mr_hand_base_link[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            hand_axis=get_axis_in_env(planner.env,axis_name=[33m"[39;49;00m[33mright_ring_2_index[39;49;00m[33m"[39;49;00m), [37m# The direction from the right pinky finger to the index finger[39;49;00m[37m[39;49;00m
            object_axis=get_axis_in_env(planner.env, [33m"[39;49;00m[33mx[39;49;00m[33m"[39;49;00m, obj_type=[33m"[39;49;00m[33mobject[39;49;00m[33m"[39;49;00m, obj_id=[34m0[39;49;00m), [37m# The coordinates of object0's x-axis in the world coordinate system.[39;49;00m[37m[39;49;00m
        )[37m[39;49;00m
[37m[39;49;00m
        [37m# After object0 is in hand, align its x-axis parallel to the world coordinate system's z-axis, making its x-axis point upward.[39;49;00m[37m[39;49;00m
        Constraint([37m[39;49;00m
            env=planner.env,[37m[39;49;00m
            [36mtype[39;49;00m=[33m"[39;49;00m[33mpoint2point[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            end_effector_frame=[33m"[39;49;00m[33mr_hand_base_link[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            hand_key_point=get_axis_in_env(planner.env, [33m"[39;49;00m[33mx[39;49;00m[33m"[39;49;00m, obj_type=[33m"[39;49;00m[33mobject[39;49;00m[33m"[39;49;00m, obj_id=[34m0[39;49;00m),[37m[39;49;00m
            object_key_point=object_axis=np.array([[34m0[39;49;00m,[34m0[39;49;00m,[34m1[39;49;00m]), [37m# np.array([0, 0.1, 0.1]) in the object0's coordinate system.[39;49;00m[37m[39;49;00m
        )[37m[39;49;00m
[37m[39;49;00m
        [37m# The right-hand grasp point coincides with [0, 0.1, 0.1] in the object0's coordinate system.[39;49;00m[37m[39;49;00m
        Constraint([37m[39;49;00m
            env=planner.env,[37m[39;49;00m
            [36mtype[39;49;00m=[33m"[39;49;00m[33mpoint2point[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            end_effector_frame=[33m"[39;49;00m[33mr_hand_base_link[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            hand_key_point=get_point_in_env(planner.env,point_name=[33m"[39;49;00m[33mgrasp_point_base_right_hand[39;49;00m[33m"[39;49;00m),[37m[39;49;00m
            object_key_point=get_point_in_env(planner.env,type_name=[33m"[39;49;00m[33mobject[39;49;00m[33m"[39;49;00m,obj_id=[34m0[39;49;00m,related_point=np.array([[34m0[39;49;00m, [34m0.1[39;49;00m, [34m0.1[39;49;00m])), [37m# np.array([0, 0.1, 0.1]) in the object0's coordinate system.[39;49;00m[37m[39;49;00m
        )[37m[39;49;00m
[37m[39;49;00m
        [37m# After object0 is in hand, position it 0.1m above object1.[39;49;00m[37m[39;49;00m
        Constraint([37m[39;49;00m
            env=planner.env,[37m[39;49;00m
            [36mtype[39;49;00m=[33m"[39;49;00m[33mpoint2point[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            end_effector_frame=[33m"[39;49;00m[33mr_hand_base_link[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            hand_key_point=get_point_in_env(planner.env,type_name=[33m"[39;49;00m[33mobject[39;49;00m[33m"[39;49;00m,obj_id=[34m0[39;49;00m),[37m[39;49;00m
            object_key_point=get_point_in_env(planner.env,type_name=[33m"[39;49;00m[33mobject[39;49;00m[33m"[39;49;00m,obj_id=[34m1[39;49;00m)+np.array([[34m0[39;49;00m, [34m0[39;49;00m, [34m0.1[39;49;00m]), [37m# np.array([0, 0, 0.1]) in the world(robot) coordinate system.[39;49;00m[37m[39;49;00m
        )[37m[39;49;00m
    Note: [37m[39;49;00m
        [33m'[39;49;00m[33mhand_key_point[39;49;00m[33m'[39;49;00m [35mand[39;49;00m [33m'[39;49;00m[33mobject_key_point[39;49;00m[33m'[39;49;00m represent two points [35min[39;49;00m the world coordinate system. [33m'[39;49;00m[33mhand_key_point[39;49;00m[33m'[39;49;00m moves [34mwith[39;49;00m the corresponding end-effector, [35mand[39;49;00m [36mtype[39;49;00m=[33m'[39;49;00m[33mpoint2point[39;49;00m[33m'[39;49;00m indicates the intention [34mfor[39;49;00m the two points to coincide. [37m[39;49;00m
        [33m'[39;49;00m[33mhand_axis[39;49;00m[33m'[39;49;00m [35mand[39;49;00m [33m'[39;49;00m[33mobject_axis[39;49;00m[33m'[39;49;00m have similar meanings to [33m'[39;49;00m[33mpoint[39;49;00m[33m'[39;49;00m.[37m[39;49;00m
        [33m'[39;49;00m[33mright_grasp_axis[39;49;00m[33m'[39;49;00m [35mor[39;49;00m [33m'[39;49;00m[33mright_pinch_axis[39;49;00m[33m'[39;49;00m parallel [[34m0[39;49;00m,[34m0[39;49;00m,-[34m1[39;49;00m] means executing [34mwith[39;49;00m the palm facing downward.[37m[39;49;00m
        [33m'[39;49;00m[33mright_grasp_axis[39;49;00m[33m'[39;49;00m [35mor[39;49;00m [33m'[39;49;00m[33mright_pinch_axis[39;49;00m[33m'[39;49;00m parallel [[34m1[39;49;00m,[34m0[39;49;00m,[34m0[39;49;00m] means executing [34mwith[39;49;00m the palm facing forward.[37m[39;49;00m
        [33m'[39;49;00m[33mright_grasp_axis[39;49;00m[33m'[39;49;00m [35mor[39;49;00m [33m'[39;49;00m[33mright_pinch_axis[39;49;00m[33m'[39;49;00m parallel [[34m0[39;49;00m,[34m1[39;49;00m,[34m0[39;49;00m] means executing [34mwith[39;49;00m the palm facing left.[37m[39;49;00m
        [33m'[39;49;00m[33mleft_grasp_axis[39;49;00m[33m'[39;49;00m [35mor[39;49;00m [33m'[39;49;00m[33mleft_pinch_axis[39;49;00m[33m'[39;49;00m parallel [[34m0[39;49;00m,-[34m1[39;49;00m,[34m0[39;49;00m] means executing [34mwith[39;49;00m the palm facing right.[37m[39;49;00m
[37m[39;49;00m
[37m[39;49;00m
Const(env,[36mtype[39;49;00m,end_effector_frame,hand_key_point,object_key_point,hand_axis,object_axis):[37m[39;49;00m
    The usage [35mis[39;49;00m similar to the Constraint class, but it [35mis[39;49;00m [35mnot[39;49;00m a strict constraint; it [35mis[39;49;00m an optimization objective.[37m[39;49;00m
======[37m[39;49;00m
Available functions:[37m[39;49;00m
[37m[39;49;00m
[34mdef[39;49;00m[37m [39;49;00m[32mget_point_in_env[39;49;00m(env, point_name,type_name, obj_id,related_point,openness):[37m[39;49;00m
    Function: Get specified point position [35min[39;49;00m world frame.[37m[39;49;00m
    Return: point_position (np.ndarray)[37m[39;49;00m
    Args:[37m[39;49;00m
    - env (Environment, Mandatory): The planner[33m'[39;49;00m[33ms bound operating environment. Must reference the planner[39;49;00m[33m'[39;49;00ms environment instance through [04m[91m`[39;49;00mplanner.env[04m[91m`[39;49;00m [36mproperty[39;49;00m.[37m[39;49;00m
    - point_name ([36mstr[39;49;00m, optional): The point name. Example: [33m"[39;49;00m[33mgrasp_point_base_left_hand[39;49;00m[33m"[39;49;00m.[37m[39;49;00m
    - type_name ([36mstr[39;49;00m, optional): The reference [36mobject[39;49;00m relative to the target point.[37m[39;49;00m
    - obj_id ([36mint[39;49;00m, optional): The reference [36mobject[39;49;00m [36mid[39;49;00m.[37m[39;49;00m
    - related_point (np.ndarray,optional): The coordinates of the target point relative to the [36mobject[39;49;00m center [35min[39;49;00m the [36mobject[39;49;00m coordinate system. Default: np.array([[34m0[39;49;00m,[34m0[39;49;00m,[34m0[39;49;00m])[37m[39;49;00m
    - openness ([36mint[39;49;00m, optional): Represents the openness degree of the articulated [36mobject[39;49;00m. If type_name [35mis[39;49;00m an articulated [36mobject[39;49;00m, this value can be [36mset[39;49;00m to obtain the coordinates corresponding to point_name at a specific openness degree.[37m[39;49;00m
    Example:[37m[39;49;00m
        [37m# Get the current coordinates of the right-hand pinch point in the world coordinate system.[39;49;00m[37m[39;49;00m
        get_point_in_env(planner.env,point_name=[33m"[39;49;00m[33mgrasp_point_base_pinch_hand[39;49;00m[33m"[39;49;00m)[37m[39;49;00m
[37m[39;49;00m
[34mdef[39;49;00m[37m [39;49;00m[32mget_axis_in_env[39;49;00m(env, axis_name, obj_type, obj_id):[37m[39;49;00m
    Function: Get specified direction vector [35min[39;49;00m world frame.[37m[39;49;00m
    Return: direction_vector (np.ndarray)[37m[39;49;00m
    Args:[37m[39;49;00m
    - env (Environment, Mandatory): The planner[33m'[39;49;00m[33ms bound operating environment. Must reference the planner[39;49;00m[33m'[39;49;00ms environment instance through [04m[91m`[39;49;00mplanner.env[04m[91m`[39;49;00m [36mproperty[39;49;00m.[37m[39;49;00m
    - axis_name ([36mstr[39;49;00m, Mandatory): The axis name. Example: [33m"[39;49;00m[33mright_pinch_axis[39;49;00m[33m"[39;49;00m.[37m[39;49;00m
    - obj_type ([36mstr[39;49;00m, optional): The reference [36mobject[39;49;00m relative to the target axis.[37m[39;49;00m
    - obj_id ([36mint[39;49;00m, optional): The reference [36mobject[39;49;00m [36mid[39;49;00m.[37m[39;49;00m
[37m[39;49;00m
[34mdef[39;49;00m[37m [39;49;00m[32mopen_hand[39;49;00m([36mself[39;49;00m, hand_name):[37m[39;49;00m
    Function: Control the hand to [36mopen[39;49;00m.[37m[39;49;00m
    Return: [34mNone[39;49;00m[37m[39;49;00m
    Args:[37m[39;49;00m
    - hand_name ([36mstr[39;49;00m, Mandatory): [33m"[39;49;00m[33mall[39;49;00m[33m"[39;49;00m, [33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m, [35mor[39;49;00m [33m"[39;49;00m[33mleft[39;49;00m[33m"[39;49;00m.[37m[39;49;00m
[37m[39;49;00m
[34mdef[39;49;00m[37m [39;49;00m[32mhand_pre_grasp[39;49;00m(hand_name):[37m[39;49;00m
    Function: Adjusts the thumb movement of the specified hand to position it opposite the index finger, preparing [34mfor[39;49;00m subsequent grasping operations. This should typically be called before executing [33m'[39;49;00m[33mmove_to_pose_with_screw[39;49;00m[33m'[39;49;00m to reach the pre-grasp pose.[37m[39;49;00m
    Return: [34mNone[39;49;00m[37m[39;49;00m
    Args:[37m[39;49;00m
    - hand_name ([36mstr[39;49;00m, Mandatory): [33m"[39;49;00m[33mall[39;49;00m[33m"[39;49;00m, [33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m, [35mor[39;49;00m [33m"[39;49;00m[33mleft[39;49;00m[33m"[39;49;00m. Default: [33m"[39;49;00m[33mall[39;49;00m[33m"[39;49;00m.[37m[39;49;00m
[37m[39;49;00m
[34mdef[39;49;00m[37m [39;49;00m[32mhand_grasp[39;49;00m(hand_name, grasp_object, obj_id):[37m[39;49;00m
    Function: Control the hand to close.[37m[39;49;00m
    Return: [34mNone[39;49;00m[37m[39;49;00m
    Args:[37m[39;49;00m
    - hand_name ([36mstr[39;49;00m, Mandatory): [33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m, [35mor[39;49;00m [33m"[39;49;00m[33mleft[39;49;00m[33m"[39;49;00m.[37m[39;49;00m
    - grasp_object ([36mstr[39;49;00m, Mandatory): The [36mtype[39;49;00m of the grasped [36mobject[39;49;00m. Example: [33m"[39;49;00m[33mcan[39;49;00m[33m"[39;49;00m.[37m[39;49;00m
    - obj_id ([36mint[39;49;00m, Mandatory): The [36mobject[39;49;00m [36mid[39;49;00m of the grasped [36mobject[39;49;00m. Example: If grasp_object=[33m"[39;49;00m[33mcan[39;49;00m[33m"[39;49;00m [35mand[39;49;00m obj_id=[34m0[39;49;00m, indicates the first can [36mobject[39;49;00m added to the environment.[37m[39;49;00m
[37m[39;49;00m
[34mdef[39;49;00m[37m [39;49;00m[32mhand_pre_pinch[39;49;00m(hand_name):[37m[39;49;00m
    Function: Adjusts the thumb movement of the specified hand to position it opposite the index finger, preparing [34mfor[39;49;00m subsequent pinching operations. This should typically be called before executing [33m'[39;49;00m[33mmove_to_pose_with_screw[39;49;00m[33m'[39;49;00m to reach the pre-pinch pose.[37m[39;49;00m
    Return: [34mNone[39;49;00m[37m[39;49;00m
    Args:[37m[39;49;00m
    - hand_name ([36mstr[39;49;00m, optional): [33m"[39;49;00m[33mall[39;49;00m[33m"[39;49;00m, [33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m, [35mor[39;49;00m [33m"[39;49;00m[33mleft[39;49;00m[33m"[39;49;00m. Default: [33m"[39;49;00m[33mall[39;49;00m[33m"[39;49;00m.[37m[39;49;00m
[37m[39;49;00m
[34mdef[39;49;00m[37m [39;49;00m[32mhand_pinch[39;49;00m(hand_name, pinch_object, obj_id):[37m[39;49;00m
    Function: Only control the closing operation of the thumb [35mand[39;49;00m index finger. Typically used [34mfor[39;49;00m small [35mand[39;49;00m hard-to-grasp objects.[37m[39;49;00m
    Return: [34mNone[39;49;00m[37m[39;49;00m
    Args:[37m[39;49;00m
    - hand_name ([36mstr[39;49;00m, Mandatory): [33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m, [35mor[39;49;00m [33m"[39;49;00m[33mleft[39;49;00m[33m"[39;49;00m.[37m[39;49;00m
    - pinch_object ([36mstr[39;49;00m, Mandatory): The [36mtype[39;49;00m of the pinched [36mobject[39;49;00m. Example: [33m"[39;49;00m[33mcan[39;49;00m[33m"[39;49;00m.[37m[39;49;00m
    - obj_id ([36mint[39;49;00m, Mandatory): The [36mobject[39;49;00m [36mid[39;49;00m of the pinched [36mobject[39;49;00m. Example: If pinch_object=[33m"[39;49;00m[33mcan[39;49;00m[33m"[39;49;00m [35mand[39;49;00m obj_id=[34m0[39;49;00m, indicates the first can [36mobject[39;49;00m added to the environment.[37m[39;49;00m
[37m[39;49;00m
 [34mdef[39;49;00m[37m [39;49;00m[32mgenerate_end_effector_pose[39;49;00m(constraints,hand_name):[37m[39;49;00m
    Function: Calculate the target pose that the robotic arm needs to move to [35min[39;49;00m this step based on the constraint [35mand[39;49;00m cost.[37m[39;49;00m
    Return: _,target_effector_pose[37m[39;49;00m
    Args:[37m[39;49;00m
    - constraints ([36mlist[39;49;00m, Mandatory): A [36mlist[39;49;00m of Constraint objects, [34mwith[39;49;00m the number of Constraints determined by specific requirements.[37m[39;49;00m
    - hand_name ([36mstr[39;49;00m, Mandatory): [33m"[39;49;00m[33mleft[39;49;00m[33m"[39;49;00m [35mor[39;49;00m [33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m[37m[39;49;00m
[37m[39;49;00m
[34mdef[39;49;00m[37m [39;49;00m[32mmove_to_pose_with_screw[39;49;00m(pose: sapien.Pose, hand_name, attach_obj=[34mFalse[39;49;00m, object_name=[34mNone[39;49;00m, object_id=[34m0[39;49;00m):[37m[39;49;00m
    Function: Control the robotic arm to move the end-effector of [33m'[39;49;00m[33mhand_name[39;49;00m[33m'[39;49;00m to the [33m'[39;49;00m[33mpose[39;49;00m[33m'[39;49;00m.[37m[39;49;00m
    Return: [34mNone[39;49;00m[37m[39;49;00m
    Args:[37m[39;49;00m
    - pose (sapien.Pose, Mandatory): The target pose [34mfor[39;49;00m the movement of [33m'[39;49;00m[33mhand_name[39;49;00m[33m'[39;49;00m.[37m[39;49;00m
    - hand_name ([36mstr[39;49;00m, Mandatory): The specified robotic arm [34mfor[39;49;00m the movement.[37m[39;49;00m
    - attach_obj ([36mbool[39;49;00m, Mandatory): Whether there [35mis[39;49;00m an attached [36mobject[39;49;00m [35min[39;49;00m the hand during the movement.[37m[39;49;00m
    - object_name ([36mstr[39;49;00m): [Required when [33m'[39;49;00m[33mattach_obj[39;49;00m[33m'[39;49;00m [35mis[39;49;00m [34mTrue[39;49;00m] The [36mtype[39;49;00m of the attached [36mobject[39;49;00m.[37m[39;49;00m
    - obj_id ([36mint[39;49;00m, Mandatory): [Required when [33m'[39;49;00m[33mattach_obj[39;49;00m[33m'[39;49;00m [35mis[39;49;00m [34mTrue[39;49;00m] The [36mobject[39;49;00m [36mid[39;49;00m of the attached [36mobject[39;49;00m.[37m[39;49;00m
 [37m[39;49;00m
======[37m[39;49;00m
Incorrect example code:[37m[39;49;00m
[34m1.[39;49;00m The right hand grasps the can, when can on the table:[37m[39;49;00m
step [34m1[39;49;00m: Grasp can0[37m[39;49;00m
[04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00mpython[37m[39;49;00m
    [37m# Set the right hand fingers to a pre-grasp pose[39;49;00m[37m[39;49;00m
    planner.hand_pre_grasp([33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m)[37m[39;49;00m
[37m[39;49;00m
    constraints=[][37m[39;49;00m
[37m[39;49;00m
    constraints.append([37m[39;49;00m
        Constraint([37m[39;49;00m
            env=planner.env,[37m[39;49;00m
            [36mtype[39;49;00m=[33m"[39;49;00m[33mparallel[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            end_effector_frame=[33m"[39;49;00m[33mr_hand_base_link[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            hand_axis=get_axis_in_env(planner.env, axis_name=[33m"[39;49;00m[33mright_grasp_axis[39;49;00m[33m"[39;49;00m),[37m[39;49;00m
            object_axis=np.array([[34m0[39;49;00m, [34m0[39;49;00m, [34m1[39;49;00m])[37m[39;49;00m
        )[37m[39;49;00m
    )[37m[39;49;00m
    [37m# Generate the target pose for the end-effector and move the right hand to the target pose[39;49;00m[37m[39;49;00m
    _, target_effector_pose = planner.generate_end_effector_pose(constraints,hand_name=[33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m)[37m[39;49;00m
    planner.move_to_pose_with_screw(target_effector_pose,[33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m,attach_obj=[34mFalse[39;49;00m)[37m[39;49;00m
[37m[39;49;00m
    [37m# Close the right hand to grasp the can[39;49;00m[37m[39;49;00m
    planner.hand_grasp([33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m,grasp_object=[33m"[39;49;00m[33mcan[39;49;00m[33m"[39;49;00m,obj_id=[34m0[39;49;00m)[37m[39;49;00m
[04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00m[37m[39;49;00m
Reason [34mfor[39;49;00m the error: [04m[91m`[39;49;00mobject_axis=np.array([[34m0[39;49;00m, [34m0[39;49;00m, [34m1[39;49;00m])[04m[91m`[39;49;00m represents the positive z-axis [35min[39;49;00m the world coordinate system. If it [35mis[39;49;00m parallel to the grasp axis, it indicates a bottom-up grasping direction. For an [36mobject[39;49;00m on a table, the hand cannot reach below the [36mobject[39;49;00m. To perform a top-down grasp along the -z direction, use [04m[91m`[39;49;00mobject_axis=np.array([[34m0[39;49;00m, [34m0[39;49;00m, -[34m1[39;49;00m])[04m[91m`[39;49;00m.[37m[39;49;00m
[37m[39;49;00m
======[37m[39;49;00m
Correct example code:[37m[39;49;00m
[34m1.[39;49;00m The right hand grasps the can [34mfrom[39;49;00m[37m [39;49;00m[04m[36mright[39;49;00m to left, then lifts it by [34m0.1[39;49;00mm, [35mand[39;49;00m then releases it.[37m[39;49;00m
step [34m1[39;49;00m: Grasp can0[37m[39;49;00m
[04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00mpython[37m[39;49;00m
    [37m# Set the right hand fingers to a pre-grasp pose[39;49;00m[37m[39;49;00m
    planner.hand_pre_grasp([33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m)[37m[39;49;00m
[37m[39;49;00m
    constraints=[][37m[39;49;00m
    [37m# Add a point-to-point constraint to align the grasp point of the right hand with the can's center point[39;49;00m[37m[39;49;00m
    constraints.append([37m[39;49;00m
        Constraint([37m[39;49;00m
            env=planner.env,[37m[39;49;00m
            [36mtype[39;49;00m=[33m"[39;49;00m[33mpoint2point[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            end_effector_frame=[33m"[39;49;00m[33mr_hand_base_link[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            hand_key_point=get_point_in_env(planner.env,point_name=[33m"[39;49;00m[33mgrasp_point_base_right_hand[39;49;00m[33m"[39;49;00m), [37m# Grasp point on the right hand[39;49;00m[37m[39;49;00m
            object_key_point=get_point_in_env(planner.env,type_name=[33m"[39;49;00m[33mcan[39;49;00m[33m"[39;49;00m,obj_id=[34m0[39;49;00m), [37m# Center point of the can[39;49;00m[37m[39;49;00m
        )[37m[39;49;00m
    )[37m[39;49;00m
    [37m# Add a Constraint to align the pinky-to-index axis of the right hand with the world z-axis[39;49;00m[37m[39;49;00m
    constraints.append([37m[39;49;00m
        Constraint([37m[39;49;00m
            env=planner.env,[37m[39;49;00m
            [36mtype[39;49;00m=[33m"[39;49;00m[33mparallel[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            end_effector_frame=[33m"[39;49;00m[33mr_hand_base_link[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            hand_axis=get_axis_in_env(planner.env,axis_name=[33m"[39;49;00m[33mright_ring_2_index[39;49;00m[33m"[39;49;00m), [37m# The direction from the pinky finger to the index finger[39;49;00m[37m[39;49;00m
            object_axis=np.array([[34m0[39;49;00m,[34m0[39;49;00m,[34m1[39;49;00m]), [37m# World frame. Or the specific axis of the object, such as `get_axis_in_env(planner.env, axis_name="z", obj_type="can", obj_id=0)`.[39;49;00m[37m[39;49;00m
        )[37m[39;49;00m
    )[37m[39;49;00m
    [37m# Generate the target pose for the end-effector and move the right hand to the target pose[39;49;00m[37m[39;49;00m
    _, target_effector_pose = planner.generate_end_effector_pose(constraints,hand_name=[33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m)[37m[39;49;00m
    planner.move_to_pose_with_screw(target_effector_pose,[33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m,attach_obj=[34mFalse[39;49;00m)[37m[39;49;00m
[37m[39;49;00m
    [37m# Close the right hand to grasp the can[39;49;00m[37m[39;49;00m
    planner.hand_grasp([33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m,grasp_object=[33m"[39;49;00m[33mcan[39;49;00m[33m"[39;49;00m,obj_id=[34m0[39;49;00m)[37m[39;49;00m
[04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00m[37m[39;49;00m
step [34m2[39;49;00m: Lift the can by [34m0.1[39;49;00mm [34mwhile[39;49;00m keeping its pose unchanged[37m[39;49;00m
[04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00mpython[37m[39;49;00m
    constraints=[][37m[39;49;00m
    [37m# Add a point-to-point constraint to lift the can by 0.1m[39;49;00m[37m[39;49;00m
    constraints.append([37m[39;49;00m
        Constraint([37m[39;49;00m
            env=planner.env,[37m[39;49;00m
            [36mtype[39;49;00m=[33m"[39;49;00m[33mpoint2point[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            end_effector_frame=[33m"[39;49;00m[33mr_hand_base_link[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            hand_key_point=get_point_in_env(planner.env,type_name=[33m"[39;49;00m[33mcan[39;49;00m[33m"[39;49;00m,obj_id=[34m0[39;49;00m), [37m# can center point now[39;49;00m[37m[39;49;00m
            object_key_point=get_point_in_env(planner.env,type_name=[33m"[39;49;00m[33mcan[39;49;00m[33m"[39;49;00m,obj_id=[34m0[39;49;00m)+np.array([[34m0[39;49;00m,[34m0[39;49;00m,[34m0.1[39;49;00m]), [37m# can center point after being lifted by 0.1m[39;49;00m[37m[39;49;00m
        )[37m[39;49;00m
    )[37m[39;49;00m
    [37m# Add a parallel constraint to keep the x-axis of the can unchanged[39;49;00m[37m[39;49;00m
    constraints.append([37m[39;49;00m
        Constraint([37m[39;49;00m
            env=planner.env,[37m[39;49;00m
            [36mtype[39;49;00m=[33m"[39;49;00m[33mparallel[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            end_effector_frame=[33m"[39;49;00m[33mr_hand_base_link[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            hand_axis=get_axis_in_env(planner.env,axis_name=[33m"[39;49;00m[33mx[39;49;00m[33m"[39;49;00m,obj_type=[33m"[39;49;00m[33mcan[39;49;00m[33m"[39;49;00m,obj_id=[34m0[39;49;00m), [37m# The x-axis of the can[39;49;00m[37m[39;49;00m
            object_axis=get_axis_in_env(planner.env,axis_name=[33m"[39;49;00m[33mx[39;49;00m[33m"[39;49;00m,obj_type=[33m"[39;49;00m[33mcan[39;49;00m[33m"[39;49;00m,obj_id=[34m0[39;49;00m), [37m# Keep the x-axis unchanged[39;49;00m[37m[39;49;00m
        )[37m[39;49;00m
    )[37m[39;49;00m
    [37m# Add a parallel constraint to keep the y-axis of the can unchanged[39;49;00m[37m[39;49;00m
    constraints.append([37m[39;49;00m
        Constraint([37m[39;49;00m
            env=planner.env,[37m[39;49;00m
            [36mtype[39;49;00m=[33m"[39;49;00m[33mparallel[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            end_effector_frame=[33m"[39;49;00m[33mr_hand_base_link[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            hand_axis=get_axis_in_env(planner.env,axis_name=[33m"[39;49;00m[33my[39;49;00m[33m"[39;49;00m,obj_type=[33m"[39;49;00m[33mcan[39;49;00m[33m"[39;49;00m,obj_id=[34m0[39;49;00m), [37m# The y-axis of the can[39;49;00m[37m[39;49;00m
            object_axis=get_axis_in_env(planner.env,axis_name=[33m"[39;49;00m[33my[39;49;00m[33m"[39;49;00m,obj_type=[33m"[39;49;00m[33mcan[39;49;00m[33m"[39;49;00m,obj_id=[34m0[39;49;00m), [37m# Keep the y-axis unchanged[39;49;00m[37m[39;49;00m
        )[37m[39;49;00m
    )[37m[39;49;00m
    [37m# Generate the target pose for the end-effector and move the right hand to the target pose[39;49;00m[37m[39;49;00m
    _, target_effector_pose = planner.generate_end_effector_pose(constraints,hand_name=[33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m)[37m[39;49;00m
    planner.move_to_pose_with_screw(target_effector_pose,[33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m,attach_obj=[34mTrue[39;49;00m,object_name=[33m"[39;49;00m[33mcan[39;49;00m[33m"[39;49;00m,object_id=[34m0[39;49;00m)[37m[39;49;00m
[37m[39;49;00m
    [37m# Open the right hand to release the can[39;49;00m[37m[39;49;00m
    planner.open_hand([33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m)[37m[39;49;00m
[04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00m[37m[39;49;00m
step3: Move the right hand back to its initial pose[37m[39;49;00m
[04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00mpython[37m[39;49;00m
    [37m# Move the right hand back to its initial pose[39;49;00m[37m[39;49;00m
    planner.move_to_pose_with_screw(planner.right_hand_init_pose, [33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m,attach_obj=[34mFalse[39;49;00m)[37m[39;49;00m
[04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00m[37m[39;49;00m
[37m[39;49;00m
[34m2.[39;49;00m Based on step [34m1[39;49;00m of Example [34m1[39;49;00m, place the can into the bowl after grasping it.[37m[39;49;00m
[37m[39;49;00m
step [34m2[39;49;00m: Move the can above the bowl [35mand[39;49;00m ensure the palm [35mis[39;49;00m facing downward.[37m[39;49;00m
[04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00mpython[37m[39;49;00m
    constraints=[][37m[39;49;00m
    [37m# Add a point-to-point constraint to lift the can by 0.1m[39;49;00m[37m[39;49;00m
    constraints.append([37m[39;49;00m
        Constraint([37m[39;49;00m
            env=planner.env,[37m[39;49;00m
            [36mtype[39;49;00m=[33m"[39;49;00m[33mpoint2point[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            end_effector_frame=[33m"[39;49;00m[33mr_hand_base_link[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            hand_key_point=get_point_in_env(planner.env,type_name=[33m"[39;49;00m[33mcan[39;49;00m[33m"[39;49;00m,obj_id=[34m0[39;49;00m), [37m# can center point now[39;49;00m[37m[39;49;00m
            object_key_point=get_point_in_env(planner.env,type_name=[33m"[39;49;00m[33mbowl[39;49;00m[33m"[39;49;00m,obj_id=[34m0[39;49;00m)+np.array([[34m0[39;49;00m,[34m0[39;49;00m,[34m0.1[39;49;00m]), [37m# can center point over the bowl[39;49;00m[37m[39;49;00m
        )[37m[39;49;00m
    )[37m[39;49;00m
    [37m# Palm facing down[39;49;00m[37m[39;49;00m
    constraints.append([37m[39;49;00m
        Constraint([37m[39;49;00m
            env=planner.env,[37m[39;49;00m
            [36mtype[39;49;00m=[33m"[39;49;00m[33mparallel[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            end_effector_frame=[33m"[39;49;00m[33mr_hand_base_link[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            hand_axis=get_axis_in_env(planner.env,axis_name=[33m"[39;49;00m[33mright_grasp_axis[39;49;00m[33m"[39;49;00m), [37m# The back of the palm points toward the front of the palm.[39;49;00m[37m[39;49;00m
            object_axis=np.array([[34m0[39;49;00m,[34m0[39;49;00m,-[34m1[39;49;00m]), [37m# World frame, [39;49;00m[37m[39;49;00m
        )[37m[39;49;00m
    )[37m[39;49;00m
[37m[39;49;00m
    [37m# Generate the target pose for the end-effector and move the right hand to the target pose[39;49;00m[37m[39;49;00m
    _, target_effector_pose = planner.generate_end_effector_pose(constraints,hand_name=[33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m)[37m[39;49;00m
    planner.move_to_pose_with_screw(target_effector_pose,[33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m,attach_obj=[34mTrue[39;49;00m,object_name=[33m"[39;49;00m[33mcan[39;49;00m[33m"[39;49;00m,object_id=[34m0[39;49;00m)[37m[39;49;00m
[37m[39;49;00m
    [37m# Open the right hand to release the can[39;49;00m[37m[39;49;00m
    planner.open_hand([33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m)[37m[39;49;00m
[04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00m[37m[39;49;00m
step3: Move the right hand back to its initial pose[37m[39;49;00m
[04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00mpython[37m[39;49;00m
    [37m# Move the right hand back to its initial pose[39;49;00m[37m[39;49;00m
    planner.move_to_pose_with_screw(planner.right_hand_init_pose, [33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m,attach_obj=[34mFalse[39;49;00m)[37m[39;49;00m
[04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00m[37m[39;49;00m
[37m[39;49;00m
======[37m[39;49;00m
Notes:  [37m[39;49;00m
- [04m[91m`[39;49;00mtype_id[04m[91m`[39;49;00m represents different models of the same [36mtype[39;49;00m of [36mobject[39;49;00m, [34mwhile[39;49;00m [04m[91m`[39;49;00mobj_id[04m[91m`[39;49;00m indicates the order [35min[39;49;00m which objects of the same [36mtype[39;49;00m are added.  [37m[39;49;00m
- The left hand[33m'[39;49;00m[33ms operable range is x∈[-0.42, -0.19], y∈[-0.07, 0.36]; the right hand[39;49;00m[33m'[39;49;00ms [36mrange[39;49;00m [35mis[39;49;00m x[04m[91m∈[39;49;00m[-[34m0.42[39;49;00m, -[34m0.19[39;49;00m], y[04m[91m∈[39;49;00m[-[34m0.36[39;49;00m, [34m0.07[39;49;00m]. It must be ensured that the hand moves within this [36mrange[39;49;00m. For actions such [34mas[39;49;00m grasping, pinching, [35mor[39;49;00m placing an [36mobject[39;49;00m, it must be ensured that they are [36mall[39;49;00m within the operational [36mrange[39;49;00m of the corresponding hand.[37m[39;49;00m
- The [36mobject[39;49;00m[33m'[39;49;00m[33ms bounding box (bbox) represents its dimensions in its own coordinate system (axis-aligned when the orientation quaternion is q=[1,0,0,0]). For example, a can with bbox:[39;49;00m[33m{[39;49;00m[33m"[39;49;00m[33mmin[39;49;00m[33m"[39;49;00m[33m: [-0.08,-0.08,-0.02],[39;49;00m[33m"[39;49;00m[33mmax[39;49;00m[33m"[39;49;00m[33m: [0.08,0.08,0.02]} has lengths of 0.16 units along X/Y-axes and 0.04 units along the Z-axis.[39;49;00m[37m[39;49;00m
- Please place each step [35min[39;49;00m a separate code block, enclosed within [04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00mpython [04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00m tags. The number of steps should correspond exactly to the number of [04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00mpython [04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00m blocks [35min[39;49;00m your response, [34mwith[39;49;00m no extra [35mor[39;49;00m missing blocks.[37m[39;49;00m
- Variables [35min[39;49;00m different code blocks are [35mnot[39;49;00m shared, meaning variables [34mfrom[39;49;00m[37m [39;49;00m[04m[36mprevious[39;49;00m code blocks cannot be used [35min[39;49;00m subsequent ones.[37m[39;49;00m
- When placing an [36mobject[39;49;00m, release it slightly above the target position.[37m[39;49;00m
- To avoid collisions, consider splitting a move action into multiple moves. For example, when placing a can into a bowl, first move the can to a height above the bowl, then lower it to just above the bowl before releasing it. However, ensure the height [35mis[39;49;00m neither too high nor too low to avoid inverse kinematics issues [35mor[39;49;00m collisions. Typically, an additional height of [34m0.03[39;49;00m cm [35mis[39;49;00m added.[37m[39;49;00m
- When planning, please take collision issues into account. For example, [34mif[39;49;00m the height of an [36mobject[39;49;00m relative to the table [35mis[39;49;00m z=[34m0.03[39;49;00m<[34m0.08[39;49;00m, do [35mnot[39;49;00m use the right hand to grasp [34mfrom[39;49;00m[37m [39;49;00m[04m[36mright[39;49;00m to left, [34mas[39;49;00m it will cause a collision between the hand [35mand[39;49;00m the table. Similarly, when placing the [36mobject[39;49;00m somewhere, it [35mis[39;49;00m acceptable to release it slightly above the target position.[37m[39;49;00m
- If [33m'[39;49;00m[33mExecuted Action Code[39;49;00m[33m'[39;49;00m [35mis[39;49;00m empty, it means no code has been executed. If [35mnot[39;49;00m empty, generate only the subsequent actions to be executed.[37m[39;49;00m
- If [33m'[39;49;00m[33mProhibited Next Actions[39;49;00m[33m'[39;49;00m [35mis[39;49;00m empty, there are no restrictions on the [36mnext[39;49;00m action. If [35mnot[39;49;00m empty, avoid executing [36many[39;49;00m action identical to the listed ones [35min[39;49;00m the first subsequent step.[37m[39;49;00m
- When performing operations such [34mas[39;49;00m moving an [36mobject[39;49;00m to a specific location [34mfor[39;49;00m placement, various factors should be fully considered. For example, when placing an [36mobject[39;49;00m on a table, it [35mis[39;49;00m acceptable to suspend it slightly above the table.[37m[39;49;00m
- Before executing grasp [35mor[39;49;00m pinch actions, pre-grasp [35mand[39;49;00m pre-pinch actions must be performed respectively. Before executing another grasp [35mor[39;49;00m pinch action, the corresponding pre-action must be performed again.[37m[39;49;00m
- When calling [04m[91m`[39;49;00mConstraint[04m[91m`[39;49;00m, parameter names must be explicitly specified using the [04m[91m`[39;49;00mname=value[04m[91m`[39;49;00m [36mformat[39;49;00m.[37m[39;49;00m
- Each line of code must have at least one level of indentation. [37m[39;49;00m
- [33m"[39;49;00m[33mright_hand_init_pose[39;49;00m[33m"[39;49;00m [35mand[39;49;00m [33m"[39;49;00m[33mleft_hand_init_pose[39;49;00m[33m"[39;49;00m are non-collision pose, which can avoid collisions [34mwith[39;49;00m other hand [35mor[39;49;00m [36mobject[39;49;00m.[37m[39;49;00m
======[37m[39;49;00m
Please generate the code to [34mcontinue[39;49;00m executing the task [33m'[39;49;00m[33mStack the three cubes on the table into a single pile.[39;49;00m[33m'[39;49;00m.[37m[39;49;00m
Note: [37m[39;49;00m
 -When placing the cube, it should first be positioned at a certain distance above the target cube before lowering it down(lowering it down does [35mnot[39;49;00m require a move, just [36mopen[39;49;00m the hand). [37m[39;49;00m
-It [35mis[39;49;00m necessary to keep the palm facing downward when pinching [35mand[39;49;00m moving the cube.[37m[39;49;00m
 -Use the pinch action to operate the cube. [37m[39;49;00m
 -The arms can only operate within their respective ranges.[37m[39;49;00m

================= Solve Generate!
Task prompt text: [{'role': 'user', 'content': 'You are a professional assistant for generating code that enables dual-arm robots to perform tabletop tasks. Please generate logically structured code to execute the user-specified tasks based on the provided context.\n======\nStatic Scene Elements:\nThe static scene elements include a robot and a table. The robot\'s base_link (position between torso_link and pelvis) has a pose of pose.p = [-0.85, 0, 0], pose.q = [1, 0, 0, 0]. The table surface spans x ∈ [-0.42, -0.19], y ∈ [-1.1, 1.16], z = 0.\n======\nWorld Coordinate System Information:\nSince the robot\'s base coordinate frame has pose.q = [1, 0, 0, 0], its xyz directions align with the world coordinate system: x points forward, y points to the robot\'s left, and z points upward.\n======\nIntrinsic Asset Attributes:\n[{\'type_name\': \'cube\', \'obj_id\': 0, \'bounding box\': [0.04, 0.04, 0.04], \'status\': {\'face_robot\': {\'description\': \'Placed flat on the table, with the front face parallel to the body.\', \'orientation\': [1, 0, 0, 0]}}}, {\'type_name\': \'cube\', \'obj_id\': 1, \'bounding box\': [0.04, 0.04, 0.04], \'status\': {\'face_robot\': {\'description\': \'Placed flat on the table, with the front face parallel to the body.\', \'orientation\': [1, 0, 0, 0]}}}, {\'type_name\': \'cube\', \'obj_id\': 2, \'bounding box\': [0.04, 0.04, 0.04], \'status\': {\'face_robot\': {\'description\': \'Placed flat on the table, with the front face parallel to the body.\', \'orientation\': [1, 0, 0, 0]}}}]\nNote: The \'orientation\' in \'status\' represents the rotation in the world coordinate system under its corresponding \'description\'.\n======\nInitial Asset State:\n[{\'type_name\': \'cube\', \'obj_id\': 0, \'pose\': Pose(raw_pose=tensor([[-3.2197e-01,  3.3160e-01,  2.0000e-02,  9.9998e-01,  6.5134e-06,\n         -2.4760e-06,  7.0003e-03]]))}, {\'type_name\': \'cube\', \'obj_id\': 1, \'pose\': Pose(raw_pose=tensor([[-3.1712e-01, -3.1076e-01,  2.0000e-02,  9.9951e-01,  6.0188e-06,\n         -2.8455e-06,  3.1272e-02]]))}, {\'type_name\': \'cube\', \'obj_id\': 2, \'pose\': Pose(raw_pose=tensor([[-4.5367e-01, -3.3202e-01,  2.0000e-02,  9.9706e-01,  4.0116e-06,\n         -3.3418e-06,  7.6615e-02]]))}]\nNote: The asset(object) state(pose) when the scene is just initialized, before any actions are executed. Pose consists of Cartesian coordinates and a quaternion in the world coordinate system: [x, y, z, w, x, y, z](The following 7-dimensional poses all follow this format).\n======\nCurrent Asset State:\n[{\'type_name\': \'cube\', \'obj_id\': 0, \'pose\': Pose(raw_pose=tensor([[-3.1646e-01,  3.0285e-01,  2.0000e-02,  9.9184e-01,  6.8806e-06,\n          4.6949e-07, -1.2748e-01]]))}, {\'type_name\': \'cube\', \'obj_id\': 1, \'pose\': Pose(raw_pose=tensor([[-3.1941e-01, -3.0634e-01,  2.0000e-02,  9.9266e-01,  7.0973e-06,\n          2.8379e-07, -1.2093e-01]]))}, {\'type_name\': \'cube\', \'obj_id\': 2, \'pose\': Pose(raw_pose=tensor([[-4.4914e-01, -3.1283e-01,  2.0000e-02,  9.9274e-01,  2.0511e-06,\n         -3.5226e-06,  1.2027e-01]]))}]\nNote: Current states(poses) of assets(objects) on the tabletop\n======\nExecuted Action Code:\n\n```python\n\n    # Step 1: Pick cube1 (right hand) at initial position\n    planner.hand_pre_pinch("right")\n\n    constraints = []\n    constraints.append(\n        Constraint(\n            env=planner.env,\n            type="point2point",\n            end_effector_frame="r_hand_base_link",\n            hand_key_point=get_point_in_env(planner.env, point_name="pinch_point_base_right_hand"),\n            object_key_point=get_point_in_env(planner.env, type_name="cube", obj_id=1)\n        )\n    )\n    constraints.append(\n        Constraint(\n            env=planner.env,\n            type="parallel",\n            end_effector_frame="r_hand_base_link",\n            hand_axis=get_axis_in_env(planner.env, axis_name="right_pinch_axis"),\n            object_axis=np.array([0, 0, -1])\n        )\n    )\n    _, target_effector_pose = planner.generate_end_effector_pose(constraints, hand_name="right")\n    planner.move_to_pose_with_screw(target_effector_pose, "right", attach_obj=False)\n\n    planner.hand_pinch("right", pinch_object="cube", obj_id=1)\n\n```\n\nNote: \n- Code for actions executed by the robot to transform the asset state on the tabletop from the initial state to the current state.\n======\nProhibited Next Actions:\n\n```python\n\n    # Step 2: Lift cube1 to safe height (0.07m)\n    constraints = []\n    constraints.append(\n        Constraint(\n            env=planner.env,\n            type="point2point",\n            end_effector_frame="r_hand_base_link",\n            hand_key_point=get_point_in_env(planner.env, type_name="cube", obj_id=1),\n            object_key_point=get_point_in_env(planner.env, type_name="cube", obj_id=1) + np.array([0, 0, 0.05])\n        )\n    )\n    constraints.append(\n        Constraint(\n            env=planner.env,\n            type="parallel",\n            end_effector_frame="r_hand_base_link",\n            hand_axis=get_axis_in_env(planner.env, axis_name="z", obj_type="cube", obj_id=1),\n            object_axis=np.array([0, 0, 1])\n        )\n    )\n    _, target_effector_pose = planner.generate_end_effector_pose(constraints, hand_name="right")\n    planner.move_to_pose_with_screw(target_effector_pose, "right", attach_obj=True, object_name="cube", object_id=1)\n\n    # Step 3: Move cube1 to stacking location at safe height\n    constraints = []\n    constraints.append(\n        Constraint(\n            env=planner.env,\n            type="point2point",\n            end_effector_frame="r_hand_base_link",\n            hand_key_point=get_point_in_env(planner.env, type_name="cube", obj_id=1),\n            object_key_point=np.array([-0.3, 0, 0.07])\n        )\n    )\n    constraints.append(\n        Constraint(\n            env=planner.env,\n            type="parallel",\n            end_effector_frame="r_hand_base_link",\n            hand_axis=get_axis_in_env(planner.env, axis_name="z", obj_type="cube", obj_id=1),\n            object_axis=np.array([0, 0, 1])\n        )\n    )\n    _, target_effector_pose = planner.generate_end_effector_pose(constraints, hand_name="right")\n    planner.move_to_pose_with_screw(target_effector_pose, "right", attach_obj=True, object_name="cube", object_id=1)\n\n    # Step 4: Place cube1 at base position and release\n    constraints = []\n    constraints.append(\n        Constraint(\n            env=planner.env,\n            type="point2point",\n            end_effector_frame="r_hand_base_link",\n            hand_key_point=get_point_in_env(planner.env, type_name="cube", obj_id=1),\n            object_key_point=np.array([-0.3, 0, 0.02])\n        )\n    )\n    _, target_effector_pose = planner.generate_end_effector_pose(constraints, hand_name="right")\n    planner.move_to_pose_with_screw(target_effector_pose, "right", attach_obj=True, object_name="cube", object_id=1)\n\n    planner.open_hand("right")\n\n```\nreason:\nFailed move to pose. Possible reasons for failure: \n    -Target pose is unreachable: Don\'t let one hand move beyond its own range. For example, don\'t let the right hand pinch or grasp an object in the area of the left hand, or let the right hand place an object in the area of the left hand.\n    -Too many constraints make it impossible to find a reasonable solution.\n    -The target pose will lead to a collision with the environment: Generally, there is a lack of constraints. For example, only the coincidence of points is constrained, and the randomness of the pose is caused by not constraining the parallel condition, resulting in a collision. Or the set parallel relationship of the constraints is incorrect. Please think carefully.\n    -The pose of the target leads to self-collision of the two arms. For example, after the left hand places an item in the middle area, the right hand moves to the middle area to place an item without retracting the left arm to the left_hand_init_pose. After put the object into center area, must return to init_pose before move the another arm into!\n    Advice:\n    -If you find that an arm has not moved to the left_hand_init_pose or right_hand_init_pose after performing an open hand action to place an object in the middle area of the table, please move it(to "left_hand_init_pose"/"right_hand_init_pose position")in the next step.\n    -If you find that the target position is unreachable, change your approach and move to a reachable area.\n    -If you find that there are too many constraints, you can reduce the number of constraints; otherwise, you can increase them.\n                            \n\nNote: The next step cannot execute the prohibited actions listed above. \'Same\' means completely identical. For \'move\', any addition, removal, or modification of constraints is considered a different action. Applies only to the next step; subsequent steps can still choose those actions.\n======\nRobot Attributes:\nhand_key_point:{\n    "left_hand":["base_left_hand","grasp_point_base_left_hand","pinch_point_base_left_hand"],\n    "right_hand":["base_right_hand","grasp_point_base_right_hand","pinch_point_base_right_hand"]\n}\nhand_key_axis:{\n    "left_hand":["left_pinch_axis","left_pinch_wrist_2_palm_axis","left_ring_2_index","left_grasp_axis","left_grasp_wrist_2_palm_axis"],\n    "right_hand":["right_pinch_axis","right_pinch_wrist_2_palm_axis","right_ring_2_index","right_grasp_axis","right_grasp_wrist_2_palm_axis"]\n}\ndefault_pose:{\n    "left_hand":[left_hand_init_pose],\n    "right_hand":[right_hand_init_pose]\n}\n======\nAvailable Class:\nConstraint(env,type,end_effector_frame,hand_key_point,object_key_point,hand_axis,object_axis):\n    Function: \n        "Constraint" defines hard constraints that must be strictly satisfied. \n        Establishes spatial equivalence constraints between:\n            - (point2point) Specified end-effector point → target point.\n            - (parallel) Specified end-effector axis direction → target axis direction.\n    Args:\n    - env (Environment, Mandatory): The planner\'s bound operating environment. Must reference the planner\'s environment instance through `planner.env` property.\n    - type (str, Mandatory): "point2point" or "parallel".\n    - end_effector_frame (str, Mandatory): "l_hand_base_link" or "r_hand_base_link".\n    - hand_key_point (np.ndarray): [Required when \'type\' is \'point2point\'] Pre-motion end-effector anchor point in world coordinates.\n    - object_key_point (np.ndarray): [Required when \'type\' is \'point2point\'] Target\'s corresponding point in world coordinates.\n    - hand_axis (np.ndarray): [Required when \'type\' is \'parallel\'] Pre-motion end-effector alignment axis in world coordinates.\n    - object_axis (np.ndarray): [Required when \'type\' is \'parallel\'] Target\'s reference axis in world coordinates.\n    Example:\n        # Right palm facing down to grasp(Top-down grasping of the object)\n        Constraint(\n            env=planner.env,\n            type="parallel",\n            end_effector_frame="r_hand_base_link",\n            hand_axis=get_axis_in_env(planner.env,axis_name="right_grasp_axis"), # The back of the palm points toward the front of the palm. Pinch action is similar.\n            object_axis=np.array([0,0,-1]), # World frame, \n        )\n\n        # Right palm facing up to grasp(Down-Top grasping of the object). If there is a table or other objects below the target, it often causes collisions and makes it unreachable.\n        Constraint(\n            env=planner.env,\n            type="parallel",\n            end_effector_frame="r_hand_base_link",\n            hand_axis=get_axis_in_env(planner.env,axis_name="right_grasp_axis"), # The back of the palm points toward the front of the palm. Pinch action is similar.\n            object_axis=np.array([0,0,1]), # World frame, \n        )\n\n        # The direction from the right wrist to the palm center is facing forward.\n        Constraint(\n            env=planner.env,\n            type="parallel",\n            end_effector_frame="r_hand_base_link",\n            hand_axis=get_axis_in_env(planner.env,axis_name="right_grasp_wrist_2_palm_axis"), # The direction from the wrist to the palm center\n            object_axis=np.array([1,0,0]), # World frame\n        )\n\n        # The direction from the right pinky finger to the index finger is parallel to the x-axis of object0.\n        Constraint(\n            env=planner.env,\n            type="parallel",\n            end_effector_frame="r_hand_base_link",\n            hand_axis=get_axis_in_env(planner.env,axis_name="right_ring_2_index"), # The direction from the right pinky finger to the index finger\n            object_axis=get_axis_in_env(planner.env, "x", obj_type="object", obj_id=0), # The coordinates of object0\'s x-axis in the world coordinate system.\n        )\n\n        # After object0 is in hand, align its x-axis parallel to the world coordinate system\'s z-axis, making its x-axis point upward.\n        Constraint(\n            env=planner.env,\n            type="point2point",\n            end_effector_frame="r_hand_base_link",\n            hand_key_point=get_axis_in_env(planner.env, "x", obj_type="object", obj_id=0),\n            object_key_point=object_axis=np.array([0,0,1]), # np.array([0, 0.1, 0.1]) in the object0\'s coordinate system.\n        )\n\n        # The right-hand grasp point coincides with [0, 0.1, 0.1] in the object0\'s coordinate system.\n        Constraint(\n            env=planner.env,\n            type="point2point",\n            end_effector_frame="r_hand_base_link",\n            hand_key_point=get_point_in_env(planner.env,point_name="grasp_point_base_right_hand"),\n            object_key_point=get_point_in_env(planner.env,type_name="object",obj_id=0,related_point=np.array([0, 0.1, 0.1])), # np.array([0, 0.1, 0.1]) in the object0\'s coordinate system.\n        )\n\n        # After object0 is in hand, position it 0.1m above object1.\n        Constraint(\n            env=planner.env,\n            type="point2point",\n            end_effector_frame="r_hand_base_link",\n            hand_key_point=get_point_in_env(planner.env,type_name="object",obj_id=0),\n            object_key_point=get_point_in_env(planner.env,type_name="object",obj_id=1)+np.array([0, 0, 0.1]), # np.array([0, 0, 0.1]) in the world(robot) coordinate system.\n        )\n    Note: \n        \'hand_key_point\' and \'object_key_point\' represent two points in the world coordinate system. \'hand_key_point\' moves with the corresponding end-effector, and type=\'point2point\' indicates the intention for the two points to coincide. \n        \'hand_axis\' and \'object_axis\' have similar meanings to \'point\'.\n        \'right_grasp_axis\' or \'right_pinch_axis\' parallel [0,0,-1] means executing with the palm facing downward.\n        \'right_grasp_axis\' or \'right_pinch_axis\' parallel [1,0,0] means executing with the palm facing forward.\n        \'right_grasp_axis\' or \'right_pinch_axis\' parallel [0,1,0] means executing with the palm facing left.\n        \'left_grasp_axis\' or \'left_pinch_axis\' parallel [0,-1,0] means executing with the palm facing right.\n\n\nConst(env,type,end_effector_frame,hand_key_point,object_key_point,hand_axis,object_axis):\n    The usage is similar to the Constraint class, but it is not a strict constraint; it is an optimization objective.\n======\nAvailable functions:\n\ndef get_point_in_env(env, point_name,type_name, obj_id,related_point,openness):\n    Function: Get specified point position in world frame.\n    Return: point_position (np.ndarray)\n    Args:\n    - env (Environment, Mandatory): The planner\'s bound operating environment. Must reference the planner\'s environment instance through `planner.env` property.\n    - point_name (str, optional): The point name. Example: "grasp_point_base_left_hand".\n    - type_name (str, optional): The reference object relative to the target point.\n    - obj_id (int, optional): The reference object id.\n    - related_point (np.ndarray,optional): The coordinates of the target point relative to the object center in the object coordinate system. Default: np.array([0,0,0])\n    - openness (int, optional): Represents the openness degree of the articulated object. If type_name is an articulated object, this value can be set to obtain the coordinates corresponding to point_name at a specific openness degree.\n    Example:\n        # Get the current coordinates of the right-hand pinch point in the world coordinate system.\n        get_point_in_env(planner.env,point_name="grasp_point_base_pinch_hand")\n\ndef get_axis_in_env(env, axis_name, obj_type, obj_id):\n    Function: Get specified direction vector in world frame.\n    Return: direction_vector (np.ndarray)\n    Args:\n    - env (Environment, Mandatory): The planner\'s bound operating environment. Must reference the planner\'s environment instance through `planner.env` property.\n    - axis_name (str, Mandatory): The axis name. Example: "right_pinch_axis".\n    - obj_type (str, optional): The reference object relative to the target axis.\n    - obj_id (int, optional): The reference object id.\n\ndef open_hand(self, hand_name):\n    Function: Control the hand to open.\n    Return: None\n    Args:\n    - hand_name (str, Mandatory): "all", "right", or "left".\n\ndef hand_pre_grasp(hand_name):\n    Function: Adjusts the thumb movement of the specified hand to position it opposite the index finger, preparing for subsequent grasping operations. This should typically be called before executing \'move_to_pose_with_screw\' to reach the pre-grasp pose.\n    Return: None\n    Args:\n    - hand_name (str, Mandatory): "all", "right", or "left". Default: "all".\n\ndef hand_grasp(hand_name, grasp_object, obj_id):\n    Function: Control the hand to close.\n    Return: None\n    Args:\n    - hand_name (str, Mandatory): "right", or "left".\n    - grasp_object (str, Mandatory): The type of the grasped object. Example: "can".\n    - obj_id (int, Mandatory): The object id of the grasped object. Example: If grasp_object="can" and obj_id=0, indicates the first can object added to the environment.\n\ndef hand_pre_pinch(hand_name):\n    Function: Adjusts the thumb movement of the specified hand to position it opposite the index finger, preparing for subsequent pinching operations. This should typically be called before executing \'move_to_pose_with_screw\' to reach the pre-pinch pose.\n    Return: None\n    Args:\n    - hand_name (str, optional): "all", "right", or "left". Default: "all".\n\ndef hand_pinch(hand_name, pinch_object, obj_id):\n    Function: Only control the closing operation of the thumb and index finger. Typically used for small and hard-to-grasp objects.\n    Return: None\n    Args:\n    - hand_name (str, Mandatory): "right", or "left".\n    - pinch_object (str, Mandatory): The type of the pinched object. Example: "can".\n    - obj_id (int, Mandatory): The object id of the pinched object. Example: If pinch_object="can" and obj_id=0, indicates the first can object added to the environment.\n\n def generate_end_effector_pose(constraints,hand_name):\n    Function: Calculate the target pose that the robotic arm needs to move to in this step based on the constraint and cost.\n    Return: _,target_effector_pose\n    Args:\n    - constraints (list, Mandatory): A list of Constraint objects, with the number of Constraints determined by specific requirements.\n    - hand_name (str, Mandatory): "left" or "right"\n\ndef move_to_pose_with_screw(pose: sapien.Pose, hand_name, attach_obj=False, object_name=None, object_id=0):\n    Function: Control the robotic arm to move the end-effector of \'hand_name\' to the \'pose\'.\n    Return: None\n    Args:\n    - pose (sapien.Pose, Mandatory): The target pose for the movement of \'hand_name\'.\n    - hand_name (str, Mandatory): The specified robotic arm for the movement.\n    - attach_obj (bool, Mandatory): Whether there is an attached object in the hand during the movement.\n    - object_name (str): [Required when \'attach_obj\' is True] The type of the attached object.\n    - obj_id (int, Mandatory): [Required when \'attach_obj\' is True] The object id of the attached object.\n \n======\nIncorrect example code:\n1. The right hand grasps the can, when can on the table:\nstep 1: Grasp can0\n```python\n    # Set the right hand fingers to a pre-grasp pose\n    planner.hand_pre_grasp("right")\n\n    constraints=[]\n\n    constraints.append(\n        Constraint(\n            env=planner.env,\n            type="parallel",\n            end_effector_frame="r_hand_base_link",\n            hand_axis=get_axis_in_env(planner.env, axis_name="right_grasp_axis"),\n            object_axis=np.array([0, 0, 1])\n        )\n    )\n    # Generate the target pose for the end-effector and move the right hand to the target pose\n    _, target_effector_pose = planner.generate_end_effector_pose(constraints,hand_name="right")\n    planner.move_to_pose_with_screw(target_effector_pose,"right",attach_obj=False)\n\n    # Close the right hand to grasp the can\n    planner.hand_grasp("right",grasp_object="can",obj_id=0)\n```\nReason for the error: `object_axis=np.array([0, 0, 1])` represents the positive z-axis in the world coordinate system. If it is parallel to the grasp axis, it indicates a bottom-up grasping direction. For an object on a table, the hand cannot reach below the object. To perform a top-down grasp along the -z direction, use `object_axis=np.array([0, 0, -1])`.\n\n======\nCorrect example code:\n1. The right hand grasps the can from right to left, then lifts it by 0.1m, and then releases it.\nstep 1: Grasp can0\n```python\n    # Set the right hand fingers to a pre-grasp pose\n    planner.hand_pre_grasp("right")\n\n    constraints=[]\n    # Add a point-to-point constraint to align the grasp point of the right hand with the can\'s center point\n    constraints.append(\n        Constraint(\n            env=planner.env,\n            type="point2point",\n            end_effector_frame="r_hand_base_link",\n            hand_key_point=get_point_in_env(planner.env,point_name="grasp_point_base_right_hand"), # Grasp point on the right hand\n            object_key_point=get_point_in_env(planner.env,type_name="can",obj_id=0), # Center point of the can\n        )\n    )\n    # Add a Constraint to align the pinky-to-index axis of the right hand with the world z-axis\n    constraints.append(\n        Constraint(\n            env=planner.env,\n            type="parallel",\n            end_effector_frame="r_hand_base_link",\n            hand_axis=get_axis_in_env(planner.env,axis_name="right_ring_2_index"), # The direction from the pinky finger to the index finger\n            object_axis=np.array([0,0,1]), # World frame. Or the specific axis of the object, such as `get_axis_in_env(planner.env, axis_name="z", obj_type="can", obj_id=0)`.\n        )\n    )\n    # Generate the target pose for the end-effector and move the right hand to the target pose\n    _, target_effector_pose = planner.generate_end_effector_pose(constraints,hand_name="right")\n    planner.move_to_pose_with_screw(target_effector_pose,"right",attach_obj=False)\n\n    # Close the right hand to grasp the can\n    planner.hand_grasp("right",grasp_object="can",obj_id=0)\n```\nstep 2: Lift the can by 0.1m while keeping its pose unchanged\n```python\n    constraints=[]\n    # Add a point-to-point constraint to lift the can by 0.1m\n    constraints.append(\n        Constraint(\n            env=planner.env,\n            type="point2point",\n            end_effector_frame="r_hand_base_link",\n            hand_key_point=get_point_in_env(planner.env,type_name="can",obj_id=0), # can center point now\n            object_key_point=get_point_in_env(planner.env,type_name="can",obj_id=0)+np.array([0,0,0.1]), # can center point after being lifted by 0.1m\n        )\n    )\n    # Add a parallel constraint to keep the x-axis of the can unchanged\n    constraints.append(\n        Constraint(\n            env=planner.env,\n            type="parallel",\n            end_effector_frame="r_hand_base_link",\n            hand_axis=get_axis_in_env(planner.env,axis_name="x",obj_type="can",obj_id=0), # The x-axis of the can\n            object_axis=get_axis_in_env(planner.env,axis_name="x",obj_type="can",obj_id=0), # Keep the x-axis unchanged\n        )\n    )\n    # Add a parallel constraint to keep the y-axis of the can unchanged\n    constraints.append(\n        Constraint(\n            env=planner.env,\n            type="parallel",\n            end_effector_frame="r_hand_base_link",\n            hand_axis=get_axis_in_env(planner.env,axis_name="y",obj_type="can",obj_id=0), # The y-axis of the can\n            object_axis=get_axis_in_env(planner.env,axis_name="y",obj_type="can",obj_id=0), # Keep the y-axis unchanged\n        )\n    )\n    # Generate the target pose for the end-effector and move the right hand to the target pose\n    _, target_effector_pose = planner.generate_end_effector_pose(constraints,hand_name="right")\n    planner.move_to_pose_with_screw(target_effector_pose,"right",attach_obj=True,object_name="can",object_id=0)\n\n    # Open the right hand to release the can\n    planner.open_hand("right")\n```\nstep3: Move the right hand back to its initial pose\n```python\n    # Move the right hand back to its initial pose\n    planner.move_to_pose_with_screw(planner.right_hand_init_pose, "right",attach_obj=False)\n```\n\n2. Based on step 1 of Example 1, place the can into the bowl after grasping it.\n\nstep 2: Move the can above the bowl and ensure the palm is facing downward.\n```python\n    constraints=[]\n    # Add a point-to-point constraint to lift the can by 0.1m\n    constraints.append(\n        Constraint(\n            env=planner.env,\n            type="point2point",\n            end_effector_frame="r_hand_base_link",\n            hand_key_point=get_point_in_env(planner.env,type_name="can",obj_id=0), # can center point now\n            object_key_point=get_point_in_env(planner.env,type_name="bowl",obj_id=0)+np.array([0,0,0.1]), # can center point over the bowl\n        )\n    )\n    # Palm facing down\n    constraints.append(\n        Constraint(\n            env=planner.env,\n            type="parallel",\n            end_effector_frame="r_hand_base_link",\n            hand_axis=get_axis_in_env(planner.env,axis_name="right_grasp_axis"), # The back of the palm points toward the front of the palm.\n            object_axis=np.array([0,0,-1]), # World frame, \n        )\n    )\n\n    # Generate the target pose for the end-effector and move the right hand to the target pose\n    _, target_effector_pose = planner.generate_end_effector_pose(constraints,hand_name="right")\n    planner.move_to_pose_with_screw(target_effector_pose,"right",attach_obj=True,object_name="can",object_id=0)\n\n    # Open the right hand to release the can\n    planner.open_hand("right")\n```\nstep3: Move the right hand back to its initial pose\n```python\n    # Move the right hand back to its initial pose\n    planner.move_to_pose_with_screw(planner.right_hand_init_pose, "right",attach_obj=False)\n```\n\n======\nNotes:  \n- `type_id` represents different models of the same type of object, while `obj_id` indicates the order in which objects of the same type are added.  \n- The left hand\'s operable range is x∈[-0.42, -0.19], y∈[-0.07, 0.36]; the right hand\'s range is x∈[-0.42, -0.19], y∈[-0.36, 0.07]. It must be ensured that the hand moves within this range. For actions such as grasping, pinching, or placing an object, it must be ensured that they are all within the operational range of the corresponding hand.\n- The object\'s bounding box (bbox) represents its dimensions in its own coordinate system (axis-aligned when the orientation quaternion is q=[1,0,0,0]). For example, a can with bbox:{"min": [-0.08,-0.08,-0.02],"max": [0.08,0.08,0.02]} has lengths of 0.16 units along X/Y-axes and 0.04 units along the Z-axis.\n- Please place each step in a separate code block, enclosed within ```python ``` tags. The number of steps should correspond exactly to the number of ```python ``` blocks in your response, with no extra or missing blocks.\n- Variables in different code blocks are not shared, meaning variables from previous code blocks cannot be used in subsequent ones.\n- When placing an object, release it slightly above the target position.\n- To avoid collisions, consider splitting a move action into multiple moves. For example, when placing a can into a bowl, first move the can to a height above the bowl, then lower it to just above the bowl before releasing it. However, ensure the height is neither too high nor too low to avoid inverse kinematics issues or collisions. Typically, an additional height of 0.03 cm is added.\n- When planning, please take collision issues into account. For example, if the height of an object relative to the table is z=0.03<0.08, do not use the right hand to grasp from right to left, as it will cause a collision between the hand and the table. Similarly, when placing the object somewhere, it is acceptable to release it slightly above the target position.\n- If \'Executed Action Code\' is empty, it means no code has been executed. If not empty, generate only the subsequent actions to be executed.\n- If \'Prohibited Next Actions\' is empty, there are no restrictions on the next action. If not empty, avoid executing any action identical to the listed ones in the first subsequent step.\n- When performing operations such as moving an object to a specific location for placement, various factors should be fully considered. For example, when placing an object on a table, it is acceptable to suspend it slightly above the table.\n- Before executing grasp or pinch actions, pre-grasp and pre-pinch actions must be performed respectively. Before executing another grasp or pinch action, the corresponding pre-action must be performed again.\n- When calling `Constraint`, parameter names must be explicitly specified using the `name=value` format.\n- Each line of code must have at least one level of indentation. \n- "right_hand_init_pose" and "left_hand_init_pose" are non-collision pose, which can avoid collisions with other hand or object.\n======\nPlease generate the code to continue executing the task \'Stack the three cubes on the table into a single pile.\'.\nNote: \n -When placing the cube, it should first be positioned at a certain distance above the target cube before lowering it down(lowering it down does not require a move, just open the hand). \n-It is necessary to keep the palm facing downward when pinching and moving the cube.\n -Use the pinch action to operate the cube. \n -The arms can only operate within their respective ranges.'}]
calling LLM..........
model(call_llm): deepseek-reasoner
call LLM success!
To complete the task of stacking the three cubes, I[33m'[39;49;00m[33mll generate the code step-by-step, ensuring each action adheres to the constraints and avoids prohibited actions. The key considerations are:[39;49;00m[37m[39;49;00m
- Use pinch actions [34mfor[39;49;00m cubes[37m[39;49;00m
- Maintain palm-down orientation during moves[37m[39;49;00m
- Retract arms to init_pose after placements[37m[39;49;00m
- Lift cubes to safe heights before moving[37m[39;49;00m
- Place cubes slightly above target positions[37m[39;49;00m
[37m[39;49;00m
Here[33m'[39;49;00m[33ms the logically structured code:[39;49;00m[37m[39;49;00m
[37m[39;49;00m
[04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00mpython[37m[39;49;00m
    [37m# Step 1: Lift cube1 (obj_id=1) with right hand to safe height (0.07m) with palm down[39;49;00m[37m[39;49;00m
    constraints = [][37m[39;49;00m
    constraints.append([37m[39;49;00m
        Constraint([37m[39;49;00m
            env=planner.env,[37m[39;49;00m
            [36mtype[39;49;00m=[33m"[39;49;00m[33mpoint2point[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            end_effector_frame=[33m"[39;49;00m[33mr_hand_base_link[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            hand_key_point=get_point_in_env(planner.env, type_name=[33m"[39;49;00m[33mcube[39;49;00m[33m"[39;49;00m, obj_id=[34m1[39;49;00m),[37m[39;49;00m
            object_key_point=get_point_in_env(planner.env, type_name=[33m"[39;49;00m[33mcube[39;49;00m[33m"[39;49;00m, obj_id=[34m1[39;49;00m) + np.array([[34m0[39;49;00m, [34m0[39;49;00m, [34m0.05[39;49;00m])[37m[39;49;00m
        )[37m[39;49;00m
    )[37m[39;49;00m
    constraints.append([37m[39;49;00m
        Constraint([37m[39;49;00m
            env=planner.env,[37m[39;49;00m
            [36mtype[39;49;00m=[33m"[39;49;00m[33mparallel[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            end_effector_frame=[33m"[39;49;00m[33mr_hand_base_link[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            hand_axis=get_axis_in_env(planner.env, axis_name=[33m"[39;49;00m[33mright_pinch_axis[39;49;00m[33m"[39;49;00m),[37m[39;49;00m
            object_axis=np.array([[34m0[39;49;00m, [34m0[39;49;00m, -[34m1[39;49;00m])[37m[39;49;00m
        )[37m[39;49;00m
    )[37m[39;49;00m
    _, target_effector_pose = planner.generate_end_effector_pose(constraints, hand_name=[33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m)[37m[39;49;00m
    planner.move_to_pose_with_screw(target_effector_pose, [33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m, attach_obj=[34mTrue[39;49;00m, object_name=[33m"[39;49;00m[33mcube[39;49;00m[33m"[39;49;00m, object_id=[34m1[39;49;00m)[37m[39;49;00m
[04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00m[37m[39;49;00m
[37m[39;49;00m
[04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00mpython[37m[39;49;00m
    [37m# Step 2: Move cube1 to base stacking position (-0.3, 0, 0.07) with right hand[39;49;00m[37m[39;49;00m
    constraints = [][37m[39;49;00m
    constraints.append([37m[39;49;00m
        Constraint([37m[39;49;00m
            env=planner.env,[37m[39;49;00m
            [36mtype[39;49;00m=[33m"[39;49;00m[33mpoint2point[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            end_effector_frame=[33m"[39;49;00m[33mr_hand_base_link[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            hand_key_point=get_point_in_env(planner.env, type_name=[33m"[39;49;00m[33mcube[39;49;00m[33m"[39;49;00m, obj_id=[34m1[39;49;00m),[37m[39;49;00m
            object_key_point=np.array([-[34m0.3[39;49;00m, [34m0[39;49;00m, [34m0.07[39;49;00m])[37m[39;49;00m
        )[37m[39;49;00m
    )[37m[39;49;00m
    constraints.append([37m[39;49;00m
        Constraint([37m[39;49;00m
            env=planner.env,[37m[39;49;00m
            [36mtype[39;49;00m=[33m"[39;49;00m[33mparallel[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            end_effector_frame=[33m"[39;49;00m[33mr_hand_base_link[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            hand_axis=get_axis_in_env(planner.env, axis_name=[33m"[39;49;00m[33mright_pinch_axis[39;49;00m[33m"[39;49;00m),[37m[39;49;00m
            object_axis=np.array([[34m0[39;49;00m, [34m0[39;49;00m, -[34m1[39;49;00m])[37m[39;49;00m
        )[37m[39;49;00m
    )[37m[39;49;00m
    _, target_effector_pose = planner.generate_end_effector_pose(constraints, hand_name=[33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m)[37m[39;49;00m
    planner.move_to_pose_with_screw(target_effector_pose, [33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m, attach_obj=[34mTrue[39;49;00m, object_name=[33m"[39;49;00m[33mcube[39;49;00m[33m"[39;49;00m, object_id=[34m1[39;49;00m)[37m[39;49;00m
[04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00m[37m[39;49;00m
[37m[39;49;00m
[04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00mpython[37m[39;49;00m
    [37m# Step 3: Place cube1 at base position (-0.3, 0, 0.02) and release[39;49;00m[37m[39;49;00m
    constraints = [][37m[39;49;00m
    constraints.append([37m[39;49;00m
        Constraint([37m[39;49;00m
            env=planner.env,[37m[39;49;00m
            [36mtype[39;49;00m=[33m"[39;49;00m[33mpoint2point[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            end_effector_frame=[33m"[39;49;00m[33mr_hand_base_link[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            hand_key_point=get_point_in_env(planner.env, type_name=[33m"[39;49;00m[33mcube[39;49;00m[33m"[39;49;00m, obj_id=[34m1[39;49;00m),[37m[39;49;00m
            object_key_point=np.array([-[34m0.3[39;49;00m, [34m0[39;49;00m, [34m0.02[39;49;00m])[37m[39;49;00m
        )[37m[39;49;00m
    )[37m[39;49;00m
    constraints.append([37m[39;49;00m
        Constraint([37m[39;49;00m
            env=planner.env,[37m[39;49;00m
            [36mtype[39;49;00m=[33m"[39;49;00m[33mparallel[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            end_effector_frame=[33m"[39;49;00m[33mr_hand_base_link[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            hand_axis=get_axis_in_env(planner.env, axis_name=[33m"[39;49;00m[33mright_pinch_axis[39;49;00m[33m"[39;49;00m),[37m[39;49;00m
            object_axis=np.array([[34m0[39;49;00m, [34m0[39;49;00m, -[34m1[39;49;00m])[37m[39;49;00m
        )[37m[39;49;00m
    )[37m[39;49;00m
    _, target_effector_pose = planner.generate_end_effector_pose(constraints, hand_name=[33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m)[37m[39;49;00m
    planner.move_to_pose_with_screw(target_effector_pose, [33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m, attach_obj=[34mTrue[39;49;00m, object_name=[33m"[39;49;00m[33mcube[39;49;00m[33m"[39;49;00m, object_id=[34m1[39;49;00m)[37m[39;49;00m
    planner.open_hand([33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m)[37m[39;49;00m
[04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00m[37m[39;49;00m
[37m[39;49;00m
[04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00mpython[37m[39;49;00m
    [37m# Step 4: Retract right hand to init pose[39;49;00m[37m[39;49;00m
    planner.move_to_pose_with_screw(planner.right_hand_init_pose, [33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m, attach_obj=[34mFalse[39;49;00m)[37m[39;49;00m
[04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00m[37m[39;49;00m
[37m[39;49;00m
[04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00mpython[37m[39;49;00m
    [37m# Step 5: Pick cube0 (obj_id=0) with left hand[39;49;00m[37m[39;49;00m
    planner.hand_pre_pinch([33m"[39;49;00m[33mleft[39;49;00m[33m"[39;49;00m)[37m[39;49;00m
    constraints = [][37m[39;49;00m
    constraints.append([37m[39;49;00m
        Constraint([37m[39;49;00m
            env=planner.env,[37m[39;49;00m
            [36mtype[39;49;00m=[33m"[39;49;00m[33mpoint2point[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            end_effector_frame=[33m"[39;49;00m[33ml_hand_base_link[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            hand_key_point=get_point_in_env(planner.env, point_name=[33m"[39;49;00m[33mpinch_point_base_left_hand[39;49;00m[33m"[39;49;00m),[37m[39;49;00m
            object_key_point=get_point_in_env(planner.env, type_name=[33m"[39;49;00m[33mcube[39;49;00m[33m"[39;49;00m, obj_id=[34m0[39;49;00m)[37m[39;49;00m
        )[37m[39;49;00m
    )[37m[39;49;00m
    constraints.append([37m[39;49;00m
        Constraint([37m[39;49;00m
            env=planner.env,[37m[39;49;00m
            [36mtype[39;49;00m=[33m"[39;49;00m[33mparallel[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            end_effector_frame=[33m"[39;49;00m[33ml_hand_base_link[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            hand_axis=get_axis_in_env(planner.env, axis_name=[33m"[39;49;00m[33mleft_pinch_axis[39;49;00m[33m"[39;49;00m),[37m[39;49;00m
            object_axis=np.array([[34m0[39;49;00m, [34m0[39;49;00m, -[34m1[39;49;00m])[37m[39;49;00m
        )[37m[39;49;00m
    )[37m[39;49;00m
    _, target_effector_pose = planner.generate_end_effector_pose(constraints, hand_name=[33m"[39;49;00m[33mleft[39;49;00m[33m"[39;49;00m)[37m[39;49;00m
    planner.move_to_pose_with_screw(target_effector_pose, [33m"[39;49;00m[33mleft[39;49;00m[33m"[39;49;00m, attach_obj=[34mFalse[39;49;00m)[37m[39;49;00m
    planner.hand_pinch([33m"[39;49;00m[33mleft[39;49;00m[33m"[39;49;00m, pinch_object=[33m"[39;49;00m[33mcube[39;49;00m[33m"[39;49;00m, obj_id=[34m0[39;49;00m)[37m[39;49;00m
[04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00m[37m[39;49;00m
[37m[39;49;00m
[04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00mpython[37m[39;49;00m
    [37m# Step 6: Lift cube0 to safe height (0.07m) with left hand[39;49;00m[37m[39;49;00m
    constraints = [][37m[39;49;00m
    constraints.append([37m[39;49;00m
        Constraint([37m[39;49;00m
            env=planner.env,[37m[39;49;00m
            [36mtype[39;49;00m=[33m"[39;49;00m[33mpoint2point[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            end_effector_frame=[33m"[39;49;00m[33ml_hand_base_link[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            hand_key_point=get_point_in_env(planner.env, type_name=[33m"[39;49;00m[33mcube[39;49;00m[33m"[39;49;00m, obj_id=[34m0[39;49;00m),[37m[39;49;00m
            object_key_point=get_point_in_env(planner.env, type_name=[33m"[39;49;00m[33mcube[39;49;00m[33m"[39;49;00m, obj_id=[34m0[39;49;00m) + np.array([[34m0[39;49;00m, [34m0[39;49;00m, [34m0.05[39;49;00m])[37m[39;49;00m
        )[37m[39;49;00m
    )[37m[39;49;00m
    constraints.append([37m[39;49;00m
        Constraint([37m[39;49;00m
            env=planner.env,[37m[39;49;00m
            [36mtype[39;49;00m=[33m"[39;49;00m[33mparallel[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            end_effector_frame=[33m"[39;49;00m[33ml_hand_base_link[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            hand_axis=get_axis_in_env(planner.env, axis_name=[33m"[39;49;00m[33mleft_pinch_axis[39;49;00m[33m"[39;49;00m),[37m[39;49;00m
            object_axis=np.array([[34m0[39;49;00m, [34m0[39;49;00m, -[34m1[39;49;00m])[37m[39;49;00m
        )[37m[39;49;00m
    )[37m[39;49;00m
    _, target_effector_pose = planner.generate_end_effector_pose(constraints, hand_name=[33m"[39;49;00m[33mleft[39;49;00m[33m"[39;49;00m)[37m[39;49;00m
    planner.move_to_pose_with_screw(target_effector_pose, [33m"[39;49;00m[33mleft[39;49;00m[33m"[39;49;00m, attach_obj=[34mTrue[39;49;00m, object_name=[33m"[39;49;00m[33mcube[39;49;00m[33m"[39;49;00m, object_id=[34m0[39;49;00m)[37m[39;49;00m
[04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00m[37m[39;49;00m
[37m[39;49;00m
[04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00mpython[37m[39;49;00m
    [37m# Step 7: Move cube0 to stacking position above cube1 (-0.3, 0, 0.11)[39;49;00m[37m[39;49;00m
    constraints = [][37m[39;49;00m
    constraints.append([37m[39;49;00m
        Constraint([37m[39;49;00m
            env=planner.env,[37m[39;49;00m
            [36mtype[39;49;00m=[33m"[39;49;00m[33mpoint2point[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            end_effector_frame=[33m"[39;49;00m[33ml_hand_base_link[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            hand_key_point=get_point_in_env(planner.env, type_name=[33m"[39;49;00m[33mcube[39;49;00m[33m"[39;49;00m, obj_id=[34m0[39;49;00m),[37m[39;49;00m
            object_key_point=np.array([-[34m0.3[39;49;00m, [34m0[39;49;00m, [34m0.11[39;49;00m])[37m[39;49;00m
        )[37m[39;49;00m
    )[37m[39;49;00m
    constraints.append([37m[39;49;00m
        Constraint([37m[39;49;00m
            env=planner.env,[37m[39;49;00m
            [36mtype[39;49;00m=[33m"[39;49;00m[33mparallel[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            end_effector_frame=[33m"[39;49;00m[33ml_hand_base_link[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            hand_axis=get_axis_in_env(planner.env, axis_name=[33m"[39;49;00m[33mleft_pinch_axis[39;49;00m[33m"[39;49;00m),[37m[39;49;00m
            object_axis=np.array([[34m0[39;49;00m, [34m0[39;49;00m, -[34m1[39;49;00m])[37m[39;49;00m
        )[37m[39;49;00m
    )[37m[39;49;00m
    _, target_effector_pose = planner.generate_end_effector_pose(constraints, hand_name=[33m"[39;49;00m[33mleft[39;49;00m[33m"[39;49;00m)[37m[39;49;00m
    planner.move_to_pose_with_screw(target_effector_pose, [33m"[39;49;00m[33mleft[39;49;00m[33m"[39;49;00m, attach_obj=[34mTrue[39;49;00m, object_name=[33m"[39;49;00m[33mcube[39;49;00m[33m"[39;49;00m, object_id=[34m0[39;49;00m)[37m[39;49;00m
[04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00m[37m[39;49;00m
[37m[39;49;00m
[04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00mpython[37m[39;49;00m
    [37m# Step 8: Place cube0 on cube1 (-0.3, 0, 0.06) and release[39;49;00m[37m[39;49;00m
    constraints = [][37m[39;49;00m
    constraints.append([37m[39;49;00m
        Constraint([37m[39;49;00m
            env=planner.env,[37m[39;49;00m
            [36mtype[39;49;00m=[33m"[39;49;00m[33mpoint2point[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            end_effector_frame=[33m"[39;49;00m[33ml_hand_base_link[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            hand_key_point=get_point_in_env(planner.env, type_name=[33m"[39;49;00m[33mcube[39;49;00m[33m"[39;49;00m, obj_id=[34m0[39;49;00m),[37m[39;49;00m
            object_key_point=np.array([-[34m0.3[39;49;00m, [34m0[39;49;00m, [34m0.06[39;49;00m])[37m[39;49;00m
        )[37m[39;49;00m
    )[37m[39;49;00m
    constraints.append([37m[39;49;00m
        Constraint([37m[39;49;00m
            env=planner.env,[37m[39;49;00m
            [36mtype[39;49;00m=[33m"[39;49;00m[33mparallel[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            end_effector_frame=[33m"[39;49;00m[33ml_hand_base_link[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            hand_axis=get_axis_in_env(planner.env, axis_name=[33m"[39;49;00m[33mleft_pinch_axis[39;49;00m[33m"[39;49;00m),[37m[39;49;00m
            object_axis=np.array([[34m0[39;49;00m, [34m0[39;49;00m, -[34m1[39;49;00m])[37m[39;49;00m
        )[37m[39;49;00m
    )[37m[39;49;00m
    _, target_effector_pose = planner.generate_end_effector_pose(constraints, hand_name=[33m"[39;49;00m[33mleft[39;49;00m[33m"[39;49;00m)[37m[39;49;00m
    planner.move_to_pose_with_screw(target_effector_pose, [33m"[39;49;00m[33mleft[39;49;00m[33m"[39;49;00m, attach_obj=[34mTrue[39;49;00m, object_name=[33m"[39;49;00m[33mcube[39;49;00m[33m"[39;49;00m, object_id=[34m0[39;49;00m)[37m[39;49;00m
    planner.open_hand([33m"[39;49;00m[33mleft[39;49;00m[33m"[39;49;00m)[37m[39;49;00m
[04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00m[37m[39;49;00m
[37m[39;49;00m
[04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00mpython[37m[39;49;00m
    [37m# Step 9: Retract left hand to init pose[39;49;00m[37m[39;49;00m
    planner.move_to_pose_with_screw(planner.left_hand_init_pose, [33m"[39;49;00m[33mleft[39;49;00m[33m"[39;49;00m, attach_obj=[34mFalse[39;49;00m)[37m[39;49;00m
[04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00m[37m[39;49;00m
[37m[39;49;00m
[04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00mpython[37m[39;49;00m
    [37m# Step 10: Pick cube2 (obj_id=2) with right hand[39;49;00m[37m[39;49;00m
    planner.hand_pre_pinch([33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m)[37m[39;49;00m
    constraints = [][37m[39;49;00m
    constraints.append([37m[39;49;00m
        Constraint([37m[39;49;00m
            env=planner.env,[37m[39;49;00m
            [36mtype[39;49;00m=[33m"[39;49;00m[33mpoint2point[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            end_effector_frame=[33m"[39;49;00m[33mr_hand_base_link[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            hand_key_point=get_point_in_env(planner.env, point_name=[33m"[39;49;00m[33mpinch_point_base_right_hand[39;49;00m[33m"[39;49;00m),[37m[39;49;00m
            object_key_point=get_point_in_env(planner.env, type_name=[33m"[39;49;00m[33mcube[39;49;00m[33m"[39;49;00m, obj_id=[34m2[39;49;00m)[37m[39;49;00m
        )[37m[39;49;00m
    )[37m[39;49;00m
    constraints.append([37m[39;49;00m
        Constraint([37m[39;49;00m
            env=planner.env,[37m[39;49;00m
            [36mtype[39;49;00m=[33m"[39;49;00m[33mparallel[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            end_effector_frame=[33m"[39;49;00m[33mr_hand_base_link[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            hand_axis=get_axis_in_env(planner.env, axis_name=[33m"[39;49;00m[33mright_pinch_axis[39;49;00m[33m"[39;49;00m),[37m[39;49;00m
            object_axis=np.array([[34m0[39;49;00m, [34m0[39;49;00m, -[34m1[39;49;00m])[37m[39;49;00m
        )[37m[39;49;00m
    )[37m[39;49;00m
    _, target_effector_pose = planner.generate_end_effector_pose(constraints, hand_name=[33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m)[37m[39;49;00m
    planner.move_to_pose_with_screw(target_effector_pose, [33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m, attach_obj=[34mFalse[39;49;00m)[37m[39;49;00m
    planner.hand_pinch([33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m, pinch_object=[33m"[39;49;00m[33mcube[39;49;00m[33m"[39;49;00m, obj_id=[34m2[39;49;00m)[37m[39;49;00m
[04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00m[37m[39;49;00m
[37m[39;49;00m
[04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00mpython[37m[39;49;00m
    [37m# Step 11: Lift cube2 to safe height (0.07m) with right hand[39;49;00m[37m[39;49;00m
    constraints = [][37m[39;49;00m
    constraints.append([37m[39;49;00m
        Constraint([37m[39;49;00m
            env=planner.env,[37m[39;49;00m
            [36mtype[39;49;00m=[33m"[39;49;00m[33mpoint2point[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            end_effector_frame=[33m"[39;49;00m[33mr_hand_base_link[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            hand_key_point=get_point_in_env(planner.env, type_name=[33m"[39;49;00m[33mcube[39;49;00m[33m"[39;49;00m, obj_id=[34m2[39;49;00m),[37m[39;49;00m
            object_key_point=get_point_in_env(planner.env, type_name=[33m"[39;49;00m[33mcube[39;49;00m[33m"[39;49;00m, obj_id=[34m2[39;49;00m) + np.array([[34m0[39;49;00m, [34m0[39;49;00m, [34m0.05[39;49;00m])[37m[39;49;00m
        )[37m[39;49;00m
    )[37m[39;49;00m
    constraints.append([37m[39;49;00m
        Constraint([37m[39;49;00m
            env=planner.env,[37m[39;49;00m
            [36mtype[39;49;00m=[33m"[39;49;00m[33mparallel[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            end_effector_frame=[33m"[39;49;00m[33mr_hand_base_link[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            hand_axis=get_axis_in_env(planner.env, axis_name=[33m"[39;49;00m[33mright_pinch_axis[39;49;00m[33m"[39;49;00m),[37m[39;49;00m
            object_axis=np.array([[34m0[39;49;00m, [34m0[39;49;00m, -[34m1[39;49;00m])[37m[39;49;00m
        )[37m[39;49;00m
    )[37m[39;49;00m
    _, target_effector_pose = planner.generate_end_effector_pose(constraints, hand_name=[33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m)[37m[39;49;00m
    planner.move_to_pose_with_screw(target_effector_pose, [33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m, attach_obj=[34mTrue[39;49;00m, object_name=[33m"[39;49;00m[33mcube[39;49;00m[33m"[39;49;00m, object_id=[34m2[39;49;00m)[37m[39;49;00m
[04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00m[37m[39;49;00m
[37m[39;49;00m
[04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00mpython[37m[39;49;00m
    [37m# Step 12: Move cube2 to top stacking position (-0.3, 0, 0.15)[39;49;00m[37m[39;49;00m
    constraints = [][37m[39;49;00m
    constraints.append([37m[39;49;00m
        Constraint([37m[39;49;00m
            env=planner.env,[37m[39;49;00m
            [36mtype[39;49;00m=[33m"[39;49;00m[33mpoint2point[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            end_effector_frame=[33m"[39;49;00m[33mr_hand_base_link[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            hand_key_point=get_point_in_env(planner.env, type_name=[33m"[39;49;00m[33mcube[39;49;00m[33m"[39;49;00m, obj_id=[34m2[39;49;00m),[37m[39;49;00m
            object_key_point=np.array([-[34m0.3[39;49;00m, [34m0[39;49;00m, [34m0.15[39;49;00m])[37m[39;49;00m
        )[37m[39;49;00m
    )[37m[39;49;00m
    constraints.append([37m[39;49;00m
        Constraint([37m[39;49;00m
            env=planner.env,[37m[39;49;00m
            [36mtype[39;49;00m=[33m"[39;49;00m[33mparallel[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            end_effector_frame=[33m"[39;49;00m[33mr_hand_base_link[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            hand_axis=get_axis_in_env(planner.env, axis_name=[33m"[39;49;00m[33mright_pinch_axis[39;49;00m[33m"[39;49;00m),[37m[39;49;00m
            object_axis=np.array([[34m0[39;49;00m, [34m0[39;49;00m, -[34m1[39;49;00m])[37m[39;49;00m
        )[37m[39;49;00m
    )[37m[39;49;00m
    _, target_effector_pose = planner.generate_end_effector_pose(constraints, hand_name=[33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m)[37m[39;49;00m
    planner.move_to_pose_with_screw(target_effector_pose, [33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m, attach_obj=[34mTrue[39;49;00m, object_name=[33m"[39;49;00m[33mcube[39;49;00m[33m"[39;49;00m, object_id=[34m2[39;49;00m)[37m[39;49;00m
[04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00m[37m[39;49;00m
[37m[39;49;00m
[04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00mpython[37m[39;49;00m
    [37m# Step 13: Place cube2 on stack (-0.3, 0, 0.10) and release[39;49;00m[37m[39;49;00m
    constraints = [][37m[39;49;00m
    constraints.append([37m[39;49;00m
        Constraint([37m[39;49;00m
            env=planner.env,[37m[39;49;00m
            [36mtype[39;49;00m=[33m"[39;49;00m[33mpoint2point[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            end_effector_frame=[33m"[39;49;00m[33mr_hand_base_link[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            hand_key_point=get_point_in_env(planner.env, type_name=[33m"[39;49;00m[33mcube[39;49;00m[33m"[39;49;00m, obj_id=[34m2[39;49;00m),[37m[39;49;00m
            object_key_point=np.array([-[34m0.3[39;49;00m, [34m0[39;49;00m, [34m0.10[39;49;00m])[37m[39;49;00m
        )[37m[39;49;00m
    )[37m[39;49;00m
    constraints.append([37m[39;49;00m
        Constraint([37m[39;49;00m
            env=planner.env,[37m[39;49;00m
            [36mtype[39;49;00m=[33m"[39;49;00m[33mparallel[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            end_effector_frame=[33m"[39;49;00m[33mr_hand_base_link[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            hand_axis=get_axis_in_env(planner.env, axis_name=[33m"[39;49;00m[33mright_pinch_axis[39;49;00m[33m"[39;49;00m),[37m[39;49;00m
            object_axis=np.array([[34m0[39;49;00m, [34m0[39;49;00m, -[34m1[39;49;00m])[37m[39;49;00m
        )[37m[39;49;00m
    )[37m[39;49;00m
    _, target_effector_pose = planner.generate_end_effector_pose(constraints, hand_name=[33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m)[37m[39;49;00m
    planner.move_to_pose_with_screw(target_effector_pose, [33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m, attach_obj=[34mTrue[39;49;00m, object_name=[33m"[39;49;00m[33mcube[39;49;00m[33m"[39;49;00m, object_id=[34m2[39;49;00m)[37m[39;49;00m
    planner.open_hand([33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m)[37m[39;49;00m
[04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00m[37m[39;49;00m
[37m[39;49;00m
[04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00mpython[37m[39;49;00m
    [37m# Step 14: Retract right hand to init pose[39;49;00m[37m[39;49;00m
    planner.move_to_pose_with_screw(planner.right_hand_init_pose, [33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m, attach_obj=[34mFalse[39;49;00m)[37m[39;49;00m
[04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00m[37m[39;49;00m

res:
 To complete the task of stacking the three cubes, I'll generate the code step-by-step, ensuring each action adheres to the constraints and avoids prohibited actions. The key considerations are:
- Use pinch actions for cubes
- Maintain palm-down orientation during moves
- Retract arms to init_pose after placements
- Lift cubes to safe heights before moving
- Place cubes slightly above target positions

Here's the logically structured code:

```python
    # Step 1: Lift cube1 (obj_id=1) with right hand to safe height (0.07m) with palm down
    constraints = []
    constraints.append(
        Constraint(
            env=planner.env,
            type="point2point",
            end_effector_frame="r_hand_base_link",
            hand_key_point=get_point_in_env(planner.env, type_name="cube", obj_id=1),
            object_key_point=get_point_in_env(planner.env, type_name="cube", obj_id=1) + np.array([0, 0, 0.05])
        )
    )
    constraints.append(
        Constraint(
            env=planner.env,
            type="parallel",
            end_effector_frame="r_hand_base_link",
            hand_axis=get_axis_in_env(planner.env, axis_name="right_pinch_axis"),
            object_axis=np.array([0, 0, -1])
        )
    )
    _, target_effector_pose = planner.generate_end_effector_pose(constraints, hand_name="right")
    planner.move_to_pose_with_screw(target_effector_pose, "right", attach_obj=True, object_name="cube", object_id=1)
```

```python
    # Step 2: Move cube1 to base stacking position (-0.3, 0, 0.07) with right hand
    constraints = []
    constraints.append(
        Constraint(
            env=planner.env,
            type="point2point",
            end_effector_frame="r_hand_base_link",
            hand_key_point=get_point_in_env(planner.env, type_name="cube", obj_id=1),
            object_key_point=np.array([-0.3, 0, 0.07])
        )
    )
    constraints.append(
        Constraint(
            env=planner.env,
            type="parallel",
            end_effector_frame="r_hand_base_link",
            hand_axis=get_axis_in_env(planner.env, axis_name="right_pinch_axis"),
            object_axis=np.array([0, 0, -1])
        )
    )
    _, target_effector_pose = planner.generate_end_effector_pose(constraints, hand_name="right")
    planner.move_to_pose_with_screw(target_effector_pose, "right", attach_obj=True, object_name="cube", object_id=1)
```

```python
    # Step 3: Place cube1 at base position (-0.3, 0, 0.02) and release
    constraints = []
    constraints.append(
        Constraint(
            env=planner.env,
            type="point2point",
            end_effector_frame="r_hand_base_link",
            hand_key_point=get_point_in_env(planner.env, type_name="cube", obj_id=1),
            object_key_point=np.array([-0.3, 0, 0.02])
        )
    )
    constraints.append(
        Constraint(
            env=planner.env,
            type="parallel",
            end_effector_frame="r_hand_base_link",
            hand_axis=get_axis_in_env(planner.env, axis_name="right_pinch_axis"),
            object_axis=np.array([0, 0, -1])
        )
    )
    _, target_effector_pose = planner.generate_end_effector_pose(constraints, hand_name="right")
    planner.move_to_pose_with_screw(target_effector_pose, "right", attach_obj=True, object_name="cube", object_id=1)
    planner.open_hand("right")
```

```python
    # Step 4: Retract right hand to init pose
    planner.move_to_pose_with_screw(planner.right_hand_init_pose, "right", attach_obj=False)
```

```python
    # Step 5: Pick cube0 (obj_id=0) with left hand
    planner.hand_pre_pinch("left")
    constraints = []
    constraints.append(
        Constraint(
            env=planner.env,
            type="point2point",
            end_effector_frame="l_hand_base_link",
            hand_key_point=get_point_in_env(planner.env, point_name="pinch_point_base_left_hand"),
            object_key_point=get_point_in_env(planner.env, type_name="cube", obj_id=0)
        )
    )
    constraints.append(
        Constraint(
            env=planner.env,
            type="parallel",
            end_effector_frame="l_hand_base_link",
            hand_axis=get_axis_in_env(planner.env, axis_name="left_pinch_axis"),
            object_axis=np.array([0, 0, -1])
        )
    )
    _, target_effector_pose = planner.generate_end_effector_pose(constraints, hand_name="left")
    planner.move_to_pose_with_screw(target_effector_pose, "left", attach_obj=False)
    planner.hand_pinch("left", pinch_object="cube", obj_id=0)
```

```python
    # Step 6: Lift cube0 to safe height (0.07m) with left hand
    constraints = []
    constraints.append(
        Constraint(
            env=planner.env,
            type="point2point",
            end_effector_frame="l_hand_base_link",
            hand_key_point=get_point_in_env(planner.env, type_name="cube", obj_id=0),
            object_key_point=get_point_in_env(planner.env, type_name="cube", obj_id=0) + np.array([0, 0, 0.05])
        )
    )
    constraints.append(
        Constraint(
            env=planner.env,
            type="parallel",
            end_effector_frame="l_hand_base_link",
            hand_axis=get_axis_in_env(planner.env, axis_name="left_pinch_axis"),
            object_axis=np.array([0, 0, -1])
        )
    )
    _, target_effector_pose = planner.generate_end_effector_pose(constraints, hand_name="left")
    planner.move_to_pose_with_screw(target_effector_pose, "left", attach_obj=True, object_name="cube", object_id=0)
```

```python
    # Step 7: Move cube0 to stacking position above cube1 (-0.3, 0, 0.11)
    constraints = []
    constraints.append(
        Constraint(
            env=planner.env,
            type="point2point",
            end_effector_frame="l_hand_base_link",
            hand_key_point=get_point_in_env(planner.env, type_name="cube", obj_id=0),
            object_key_point=np.array([-0.3, 0, 0.11])
        )
    )
    constraints.append(
        Constraint(
            env=planner.env,
            type="parallel",
            end_effector_frame="l_hand_base_link",
            hand_axis=get_axis_in_env(planner.env, axis_name="left_pinch_axis"),
            object_axis=np.array([0, 0, -1])
        )
    )
    _, target_effector_pose = planner.generate_end_effector_pose(constraints, hand_name="left")
    planner.move_to_pose_with_screw(target_effector_pose, "left", attach_obj=True, object_name="cube", object_id=0)
```

```python
    # Step 8: Place cube0 on cube1 (-0.3, 0, 0.06) and release
    constraints = []
    constraints.append(
        Constraint(
            env=planner.env,
            type="point2point",
            end_effector_frame="l_hand_base_link",
            hand_key_point=get_point_in_env(planner.env, type_name="cube", obj_id=0),
            object_key_point=np.array([-0.3, 0, 0.06])
        )
    )
    constraints.append(
        Constraint(
            env=planner.env,
            type="parallel",
            end_effector_frame="l_hand_base_link",
            hand_axis=get_axis_in_env(planner.env, axis_name="left_pinch_axis"),
            object_axis=np.array([0, 0, -1])
        )
    )
    _, target_effector_pose = planner.generate_end_effector_pose(constraints, hand_name="left")
    planner.move_to_pose_with_screw(target_effector_pose, "left", attach_obj=True, object_name="cube", object_id=0)
    planner.open_hand("left")
```

```python
    # Step 9: Retract left hand to init pose
    planner.move_to_pose_with_screw(planner.left_hand_init_pose, "left", attach_obj=False)
```

```python
    # Step 10: Pick cube2 (obj_id=2) with right hand
    planner.hand_pre_pinch("right")
    constraints = []
    constraints.append(
        Constraint(
            env=planner.env,
            type="point2point",
            end_effector_frame="r_hand_base_link",
            hand_key_point=get_point_in_env(planner.env, point_name="pinch_point_base_right_hand"),
            object_key_point=get_point_in_env(planner.env, type_name="cube", obj_id=2)
        )
    )
    constraints.append(
        Constraint(
            env=planner.env,
            type="parallel",
            end_effector_frame="r_hand_base_link",
            hand_axis=get_axis_in_env(planner.env, axis_name="right_pinch_axis"),
            object_axis=np.array([0, 0, -1])
        )
    )
    _, target_effector_pose = planner.generate_end_effector_pose(constraints, hand_name="right")
    planner.move_to_pose_with_screw(target_effector_pose, "right", attach_obj=False)
    planner.hand_pinch("right", pinch_object="cube", obj_id=2)
```

```python
    # Step 11: Lift cube2 to safe height (0.07m) with right hand
    constraints = []
    constraints.append(
        Constraint(
            env=planner.env,
            type="point2point",
            end_effector_frame="r_hand_base_link",
            hand_key_point=get_point_in_env(planner.env, type_name="cube", obj_id=2),
            object_key_point=get_point_in_env(planner.env, type_name="cube", obj_id=2) + np.array([0, 0, 0.05])
        )
    )
    constraints.append(
        Constraint(
            env=planner.env,
            type="parallel",
            end_effector_frame="r_hand_base_link",
            hand_axis=get_axis_in_env(planner.env, axis_name="right_pinch_axis"),
            object_axis=np.array([0, 0, -1])
        )
    )
    _, target_effector_pose = planner.generate_end_effector_pose(constraints, hand_name="right")
    planner.move_to_pose_with_screw(target_effector_pose, "right", attach_obj=True, object_name="cube", object_id=2)
```

```python
    # Step 12: Move cube2 to top stacking position (-0.3, 0, 0.15)
    constraints = []
    constraints.append(
        Constraint(
            env=planner.env,
            type="point2point",
            end_effector_frame="r_hand_base_link",
            hand_key_point=get_point_in_env(planner.env, type_name="cube", obj_id=2),
            object_key_point=np.array([-0.3, 0, 0.15])
        )
    )
    constraints.append(
        Constraint(
            env=planner.env,
            type="parallel",
            end_effector_frame="r_hand_base_link",
            hand_axis=get_axis_in_env(planner.env, axis_name="right_pinch_axis"),
            object_axis=np.array([0, 0, -1])
        )
    )
    _, target_effector_pose = planner.generate_end_effector_pose(constraints, hand_name="right")
    planner.move_to_pose_with_screw(target_effector_pose, "right", attach_obj=True, object_name="cube", object_id=2)
```

```python
    # Step 13: Place cube2 on stack (-0.3, 0, 0.10) and release
    constraints = []
    constraints.append(
        Constraint(
            env=planner.env,
            type="point2point",
            end_effector_frame="r_hand_base_link",
            hand_key_point=get_point_in_env(planner.env, type_name="cube", obj_id=2),
            object_key_point=np.array([-0.3, 0, 0.10])
        )
    )
    constraints.append(
        Constraint(
            env=planner.env,
            type="parallel",
            end_effector_frame="r_hand_base_link",
            hand_axis=get_axis_in_env(planner.env, axis_name="right_pinch_axis"),
            object_axis=np.array([0, 0, -1])
        )
    )
    _, target_effector_pose = planner.generate_end_effector_pose(constraints, hand_name="right")
    planner.move_to_pose_with_screw(target_effector_pose, "right", attach_obj=True, object_name="cube", object_id=2)
    planner.open_hand("right")
```

```python
    # Step 14: Retract right hand to init pose
    planner.move_to_pose_with_screw(planner.right_hand_init_pose, "right", attach_obj=False)
```
The folder '/home/js/code/HumanoidGen/humanoidgen/motion_planning/h1_2/solution/mcts/blocks_stack_hard_mcts_20250612_174517/1_1' does not exist.
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Saved: /home/js/code/HumanoidGen/humanoidgen/motion_planning/h1_2/solution/mcts/blocks_stack_hard_mcts_20250612_174517/1_1/step10.py
Saved: /home/js/code/HumanoidGen/humanoidgen/motion_planning/h1_2/solution/mcts/blocks_stack_hard_mcts_20250612_174517/1_1/step11.py
Saved: /home/js/code/HumanoidGen/humanoidgen/motion_planning/h1_2/solution/mcts/blocks_stack_hard_mcts_20250612_174517/1_1/step12.py
Saved: /home/js/code/HumanoidGen/humanoidgen/motion_planning/h1_2/solution/mcts/blocks_stack_hard_mcts_20250612_174517/1_1/step13.py
Saved: /home/js/code/HumanoidGen/humanoidgen/motion_planning/h1_2/solution/mcts/blocks_stack_hard_mcts_20250612_174517/1_1/step14.py
Saved: /home/js/code/HumanoidGen/humanoidgen/motion_planning/h1_2/solution/mcts/blocks_stack_hard_mcts_20250612_174517/1_1/step15.py
Saved: /home/js/code/HumanoidGen/humanoidgen/motion_planning/h1_2/solution/mcts/blocks_stack_hard_mcts_20250612_174517/1_1/step16.py
Saved: /home/js/code/HumanoidGen/humanoidgen/motion_planning/h1_2/solution/mcts/blocks_stack_hard_mcts_20250612_174517/1_1/step17.py
Saved: /home/js/code/HumanoidGen/humanoidgen/motion_planning/h1_2/solution/mcts/blocks_stack_hard_mcts_20250612_174517/1_1/step18.py
Saved: /home/js/code/HumanoidGen/humanoidgen/motion_planning/h1_2/solution/mcts/blocks_stack_hard_mcts_20250612_174517/1_1/step19.py
Saved: /home/js/code/HumanoidGen/humanoidgen/motion_planning/h1_2/solution/mcts/blocks_stack_hard_mcts_20250612_174517/1_1/step20.py
Saved: /home/js/code/HumanoidGen/humanoidgen/motion_planning/h1_2/solution/mcts/blocks_stack_hard_mcts_20250612_174517/1_1/step21.py
Saved: /home/js/code/HumanoidGen/humanoidgen/motion_planning/h1_2/solution/mcts/blocks_stack_hard_mcts_20250612_174517/1_1/step22.py
Saved: /home/js/code/HumanoidGen/humanoidgen/motion_planning/h1_2/solution/mcts/blocks_stack_hard_mcts_20250612_174517/1_1/step23.py

══════════════════════════════════════════════════
[EXECUTION] Starting code validation             ═
step_indices: [3, 5, 4, 5, 5, 5, 0, 5, 3, 5, 4, 5, 5, 5, 0, 5, 3, 5, 4, 5, 5, 5, 0, 5]

🔁 Trial #1
   ├─ Initializing environment...
   ├─ Total steps to execute: 24
   └─ Execution progress:
=========== check_success ===========
cube[0] position: [-0.32064652  0.3338465   0.01999993]
cube[1] position: [-0.31908986 -0.3007163   0.01999993]
cube[2] position: [-0.4471032  -0.32448408  0.0199999 ]
xy_aligned: False
z_aligned: False
######################################################
start generate_end_effector_pose_tool() !!!
constraints num:  2
IK结果验证： [ 0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.         -0.6492481  -0.56711875  0.55017246  0.43169347 -0.77419867
  0.44276374  0.62514014  0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.        ]
right  target_effector_pose:
 Pose([-0.394273, -0.313267, 0.169011], [0.65905, 0.612623, -0.338958, 0.274689])
### start compute_hand_info() !!! ###
hand_name: right
grasp_axis: [-0.39168108 -0.33880906 -1.11135681]
grasp_point: [-0.31091605 -0.2969814   0.02959995]
### end compute_hand_info() !!! ###
End generate_end_effector_pose_tool() function!
######################################################
=========== check_success ===========
cube[0] position: [-0.32064652  0.3338465   0.01999993]
cube[1] position: [-0.3190903  -0.3007166   0.01999992]
cube[2] position: [-0.4471032  -0.32448408  0.0199999 ]
xy_aligned: False
z_aligned: False
=========== check_success ===========
cube[0] position: [-0.32064652  0.3338465   0.01999993]
cube[1] position: [-0.3133868  -0.3035413   0.02132037]
cube[2] position: [-0.4471032  -0.32448408  0.0199999 ]
xy_aligned: False
z_aligned: False
######################################################
start generate_end_effector_pose_tool() !!!
constraints num:  2
IK结果验证： [ 0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.         -0.67139491 -0.67173246  0.53212624  0.28003642 -0.73277547
  0.32860014  0.74599043  0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.        ]
right  target_effector_pose:
 Pose([-0.397591, -0.322331, 0.219002], [0.633563, 0.63733, -0.292016, 0.327314])
### start compute_hand_info() !!! ###
hand_name: right
grasp_axis: [-0.38320072 -0.34353888 -1.06136674]
grasp_point: [-0.31697969 -0.29275705  0.08016306]
### end compute_hand_info() !!! ###
End generate_end_effector_pose_tool() function!
######################################################
=========== check_success ===========
cube[0] position: [-0.32064652  0.3338465   0.01999993]
cube[1] position: [-0.31882158 -0.29886147  0.06891515]
cube[2] position: [-0.4471032  -0.32448408  0.0199999 ]
xy_aligned: False
z_aligned: False
######################################################
start generate_end_effector_pose_tool() !!!
constraints num:  2
IK结果验证： [ 0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.         -0.9428675  -0.13267982  0.78622113  0.53439926 -0.83985892
  0.41194026  0.71889473  0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.        ]
right  target_effector_pose:
 Pose([-0.371481, -0.0480818, 0.215944], [0.56335, 0.682831, -0.188291, 0.425353])
### start compute_hand_info() !!! ###
hand_name: right
grasp_axis: [-0.34961418 -0.03469093 -1.06442403]
grasp_point: [-0.30468166  0.00915738  0.07842895]
### end compute_hand_info() !!! ###
End generate_end_effector_pose_tool() function!
######################################################
=========== check_success ===========
cube[0] position: [-0.32064652  0.3338465   0.01999993]
cube[1] position: [-0.30448997 -0.00175081  0.06867268]
cube[2] position: [-0.4471032  -0.32448408  0.0199999 ]
xy_aligned: False
z_aligned: False
######################################################
start generate_end_effector_pose_tool() !!!
constraints num:  2
IK结果验证： [ 0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.         -0.88812072 -0.05058632  0.78224382  0.70009597 -0.85933721
  0.4663081   0.56390213  0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.        ]
right  target_effector_pose:
 Pose([-0.377073, -0.0423281, 0.165639], [0.587277, 0.670582, -0.22776, 0.391855])
### start compute_hand_info() !!! ###
hand_name: right
grasp_axis: [-0.3536469  -0.03194933 -1.1147295 ]
grasp_point: [-0.30404879  0.00670534  0.02811811]
### end compute_hand_info() !!! ###
End generate_end_effector_pose_tool() function!
######################################################
=========== check_success ===========
cube[0] position: [-0.32064652  0.3338465   0.01999993]
cube[1] position: [-0.30485114  0.00099357  0.02157045]
cube[2] position: [-0.4471032  -0.32448408  0.0199999 ]
xy_aligned: False
z_aligned: False
=========== check_success ===========
cube[0] position: [-0.32064652  0.3338465   0.01999993]
cube[1] position: [-0.303801    0.00152253  0.01999993]
cube[2] position: [-0.4471032  -0.32448408  0.0199999 ]
xy_aligned: False
z_aligned: False
=========== check_success ===========
cube[0] position: [-0.32064652  0.3338465   0.01999993]
cube[1] position: [-0.30380133  0.00152261  0.0199999 ]
cube[2] position: [-0.4471032  -0.32448408  0.0199999 ]
xy_aligned: False
z_aligned: False
=========== check_success ===========
cube[0] position: [-0.32064652  0.3338465   0.01999993]
cube[1] position: [-0.30380133  0.00152261  0.0199999 ]
cube[2] position: [-0.4471032  -0.32448408  0.0199999 ]
xy_aligned: False
z_aligned: False
######################################################
start generate_end_effector_pose_tool() !!!
constraints num:  2
IK结果验证： [-0.63761667  0.60237468 -0.51758034  0.45642421  0.75558855  0.45416309
 -0.61484885  0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.        ]
left  target_effector_pose:
 Pose([-0.396837, 0.341116, 0.170385], [0.599643, 0.668964, -0.24972, 0.361325])
### start compute_hand_info() !!! ###
hand_name: left
grasp_axis: [-0.39705341  0.3668011  -1.10998222]
grasp_point: [-0.31776594  0.35870723  0.03146989]
### end compute_hand_info() !!! ###
End generate_end_effector_pose_tool() function!
######################################################
=========== check_success ===========
cube[0] position: [-0.32064685  0.33384615  0.0199999 ]
cube[1] position: [-0.30380133  0.00152261  0.0199999 ]
cube[2] position: [-0.4471032  -0.32448408  0.0199999 ]
xy_aligned: False
z_aligned: False
=========== check_success ===========
cube[0] position: [-0.3162768   0.33820593  0.0213305 ]
cube[1] position: [-0.30380133  0.00152261  0.0199999 ]
cube[2] position: [-0.4471032  -0.32448408  0.0199999 ]
xy_aligned: False
z_aligned: False
######################################################
start generate_end_effector_pose_tool() !!!
constraints num:  2
IK结果验证： [-0.65289267  0.70998874 -0.49870245  0.30139291  0.71779663  0.33165433
 -0.73672711  0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.        ]
left  target_effector_pose:
 Pose([-0.401111, 0.349888, 0.220383], [0.627402, 0.64427, -0.30618, 0.312307])
### start compute_hand_info() !!! ###
hand_name: left
grasp_axis: [-0.38941832  0.37272215 -1.05998474]
grasp_point: [-0.31938847  0.35382408  0.08194503]
### end compute_hand_info() !!! ###
End generate_end_effector_pose_tool() function!
######################################################
=========== check_success ===========
cube[0] position: [-0.321268    0.33323398  0.07124279]
cube[1] position: [-0.30380133  0.00152261  0.0199999 ]
cube[2] position: [-0.4471032  -0.32448408  0.0199999 ]
xy_aligned: False
z_aligned: False
######################################################
start generate_end_effector_pose_tool() !!!
constraints num:  2
IK结果验证： [-1.00373875  0.1753053  -0.77510891  0.45517966  0.80961532  0.37499832
 -0.81785396  0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.        ]
left  target_effector_pose:
 Pose([-0.366954, 0.0491514, 0.256401], [0.688608, 0.548159, -0.445561, 0.163757])
### start compute_hand_info() !!! ###
hand_name: left
grasp_axis: [-0.34506724  0.03576921 -1.02396733]
grasp_point: [-0.29209699  0.01277496  0.11880571]
### end compute_hand_info() !!! ###
End generate_end_effector_pose_tool() function!
######################################################
=========== check_success ===========
cube[0] position: [-0.30300364 -0.00420984  0.10864741]
cube[1] position: [-0.30380133  0.00152261  0.0199999 ]
cube[2] position: [-0.4471032  -0.32448408  0.0199999 ]
xy_aligned: False
z_aligned: False
######################################################
start generate_end_effector_pose_tool() !!!
constraints num:  2
IK结果验证： [-0.93101762  0.11941221 -0.78887238  0.55677939  0.84527735  0.41588742
 -0.69448935  0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.        ]
left  target_effector_pose:
 Pose([-0.373075, 0.0462009, 0.206892], [0.68177, 0.565635, -0.422398, 0.191902])
### start compute_hand_info() !!! ###
hand_name: left
grasp_axis: [-0.35097077  0.03321209 -1.07347648]
grasp_point: [-0.29557685  0.01592218  0.06928215]
### end compute_hand_info() !!! ###
End generate_end_effector_pose_tool() function!
######################################################
=========== check_success ===========
cube[0] position: [-0.3033737  -0.00353495  0.06099357]
cube[1] position: [-0.30378297  0.00153958  0.02000245]
cube[2] position: [-0.4471032  -0.32448408  0.0199999 ]
xy_aligned: False
z_aligned: False
left hand pre grasp!!!!
=========== check_success ===========
cube[0] position: [-0.30294108 -0.0035544   0.05999819]
cube[1] position: [-0.30379972  0.00152303  0.02000009]
cube[2] position: [-0.4471032  -0.32448408  0.0199999 ]
xy_aligned: False
z_aligned: False
=========== check_success ===========
cube[0] position: [-0.30293667 -0.00355878  0.05999783]
cube[1] position: [-0.30379766  0.00152425  0.01999999]
cube[2] position: [-0.4471032  -0.32448408  0.0199999 ]
xy_aligned: False
z_aligned: False
=========== check_success ===========
cube[0] position: [-0.30293667 -0.00355878  0.05999783]
cube[1] position: [-0.30379766  0.00152425  0.01999999]
cube[2] position: [-0.4471032  -0.32448408  0.0199999 ]
xy_aligned: False
z_aligned: False
######################################################
start generate_end_effector_pose_tool() !!!
constraints num:  2
IK结果验证： [ 0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.         -0.27310579 -0.80721752  0.44291153 -0.04949609 -0.73855269
  0.22489754  0.64265992  0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.        ]
right  target_effector_pose:
 Pose([-0.513913, -0.356524, 0.168471], [0.612145, 0.655805, -0.244918, 0.367714])
### start compute_hand_info() !!! ###
hand_name: right
grasp_axis: [-0.50637445 -0.38100562 -1.1118977 ]
grasp_point: [-0.43910497 -0.31687243  0.02889862]
### end compute_hand_info() !!! ###
End generate_end_effector_pose_tool() function!
######################################################
=========== check_success ===========
cube[0] position: [-0.30293667 -0.00355878  0.05999783]
cube[1] position: [-0.30379766  0.00152425  0.01999999]
cube[2] position: [-0.4471037  -0.32448438  0.01999993]
xy_aligned: False
z_aligned: False
=========== check_success ===========
cube[0] position: [-0.30293667 -0.00355878  0.05999783]
cube[1] position: [-0.30379766  0.00152425  0.01999999]
cube[2] position: [-0.44129208 -0.3255359   0.02130366]
xy_aligned: False
z_aligned: False
######################################################
start generate_end_effector_pose_tool() !!!
constraints num:  2
IK结果验证： [ 0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.         -0.30061018 -0.90120858  0.39130708 -0.16375365 -0.6487029
  0.15155507  0.73504637  0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.        ]
right  target_effector_pose:
 Pose([-0.515225, -0.362394, 0.218323], [0.586756, 0.669084, -0.212334, 0.403681])
### start compute_hand_info() !!! ###
hand_name: right
grasp_axis: [-0.49284618 -0.37496915 -1.062045  ]
grasp_point: [-0.44399829 -0.31344455  0.07983203]
### end compute_hand_info() !!! ###
End generate_end_effector_pose_tool() function!
######################################################
Invalid start state!
attached_tool and point_cloud collide!
=========== check_success ===========
cube[0] position: [-0.30293667 -0.00355878  0.05999783]
cube[1] position: [-0.30379766  0.00152425  0.01999999]
cube[2] position: [-0.44583812 -0.32229352  0.06782872]
xy_aligned: False
z_aligned: False
######################################################
start generate_end_effector_pose_tool() !!!
constraints num:  2
IK结果验证： [ 0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.         -1.07513951 -0.20624905  0.75990908  0.41102132 -0.77418814
  0.36397434  0.90175948  0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.        ]
right  target_effector_pose:
 Pose([-0.361521, -0.0499526, 0.296694], [0.540723, 0.690692, -0.151469, 0.455653])
### start compute_hand_info() !!! ###
hand_name: right
grasp_axis: [-0.33879408 -0.03799865 -0.98367321]
grasp_point: [-0.30093706  0.01367788  0.15910886]
### end compute_hand_info() !!! ###
End generate_end_effector_pose_tool() function!
######################################################
=========== check_success ===========
cube[0] position: [-0.30293667 -0.00355878  0.05999783]
cube[1] position: [-0.30379766  0.00152425  0.01999999]
cube[2] position: [-0.3021506   0.00135182  0.14743039]
xy_aligned: True
z_aligned: False
######################################################
start generate_end_effector_pose_tool() !!!
constraints num:  2
IK结果验证： [ 0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.         -0.99376231 -0.15783253  0.77957506  0.48647875 -0.82081679
  0.38451393  0.79082976  0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.        ]
right  target_effector_pose:
 Pose([-0.366745, -0.0464823, 0.24639], [0.553278, 0.685939, -0.170197, 0.440913])
### start compute_hand_info() !!! ###
hand_name: right
grasp_axis: [-0.34289386 -0.03702198 -1.0339773 ]
grasp_point: [-0.30271853  0.0136082   0.10877248]
### end compute_hand_info() !!! ###
End generate_end_effector_pose_tool() function!
######################################################
=========== check_success ===========
cube[0] position: [-0.30293494 -0.0035911   0.05999561]
cube[1] position: [-0.3037987   0.00151914  0.02000055]
cube[2] position: [-0.30383998  0.00483739  0.10175501]
xy_aligned: True
z_aligned: True
=========== check_success ===========
cube[0] position: [-0.30295286 -0.00359349  0.05997684]
cube[1] position: [-0.3038006   0.00152598  0.01999953]
cube[2] position: [-0.30330625  0.00504919  0.09997637]
xy_aligned: True
z_aligned: True
 Execution5 succeeded.
Success rate now: 16.67%
Video created: /home/js/code/HumanoidGen/humanoidgen/videos/run_solve/blocks_stack_hard/blocks_stack_hard_20250612_180438.mp4
=========== check_success ===========
cube[0] position: [-0.30295286 -0.00359349  0.05997684]
cube[1] position: [-0.3038006   0.00152598  0.01999953]
cube[2] position: [-0.30330625  0.00504919  0.09997637]
xy_aligned: True
z_aligned: True

   ✅ Trial Result: Success
      ├─ Steps completed: 22/24
      └─ No errors detected

🔁 Trial #2
   ├─ Initializing environment...
   ├─ Total steps to execute: 24
   └─ Execution progress:
=========== check_success ===========
cube[0] position: [-0.317129    0.31132445  0.01999988]
cube[1] position: [-0.3160984  -0.3164929   0.01999994]
cube[2] position: [-0.44794863 -0.31038558  0.01999991]
xy_aligned: False
z_aligned: False
######################################################
start generate_end_effector_pose_tool() !!!
constraints num:  2
IK结果验证： [ 0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.         -0.65404733 -0.5742486   0.53466039  0.46536946 -0.76655333
  0.45472273  0.61441663  0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.        ]
right  target_effector_pose:
 Pose([-0.392024, -0.325565, 0.168869], [0.66566, 0.604118, -0.353854, 0.258314])
### start compute_hand_info() !!! ###
hand_name: right
grasp_axis: [-0.39099731 -0.35122846 -1.1114984 ]
grasp_point: [-0.30800046 -0.31340459  0.02943793]
### end compute_hand_info() !!! ###
End generate_end_effector_pose_tool() function!
######################################################
=========== check_success ===========
cube[0] position: [-0.317129    0.31132445  0.01999988]
cube[1] position: [-0.31609884 -0.3164932   0.01999993]
cube[2] position: [-0.44794863 -0.31038558  0.01999991]
xy_aligned: False
z_aligned: False
=========== check_success ===========
cube[0] position: [-0.317129    0.31132445  0.01999988]
cube[1] position: [-0.31069085 -0.3195654   0.02132938]
cube[2] position: [-0.44794863 -0.31038558  0.01999991]
xy_aligned: False
z_aligned: False
######################################################
start generate_end_effector_pose_tool() !!!
constraints num:  2
IK结果验证： [ 0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.         -0.67177931 -0.68222682  0.51819756  0.30758048 -0.72880674
  0.33878005  0.73860428  0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.        ]
right  target_effector_pose:
 Pose([-0.395945, -0.33492, 0.219126], [0.64106, 0.630519, -0.306106, 0.312709])
### start compute_hand_info() !!! ###
hand_name: right
grasp_axis: [-0.38341483 -0.35729347 -1.06124221]
grasp_point: [-0.3141717  -0.3090899   0.08022018]
### end compute_hand_info() !!! ###
End generate_end_effector_pose_tool() function!
######################################################
=========== check_success ===========
cube[0] position: [-0.317129    0.31132445  0.01999988]
cube[1] position: [-0.3157789  -0.31496102  0.06909903]
cube[2] position: [-0.44794863 -0.31038558  0.01999991]
xy_aligned: False
z_aligned: False
######################################################
start generate_end_effector_pose_tool() !!!
constraints num:  2
IK结果验证： [ 0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.         -0.94153739 -0.13371065  0.78642655  0.53215458 -0.83959766
  0.41216973  0.71913855  0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.        ]
right  target_effector_pose:
 Pose([-0.371785, -0.0483988, 0.215723], [0.563165, 0.68304, -0.188206, 0.4253])
### start compute_hand_info() !!! ###
hand_name: right
grasp_axis: [-0.35027434 -0.03444509 -1.06464531]
grasp_point: [-0.30503999  0.00891966  0.07821427]
### end compute_hand_info() !!! ###
End generate_end_effector_pose_tool() function!
######################################################
=========== check_success ===========
cube[0] position: [-0.317129    0.31132445  0.01999988]
cube[1] position: [-0.30440617 -0.00166072  0.06865864]
cube[2] position: [-0.44794863 -0.31038558  0.01999991]
xy_aligned: False
z_aligned: False
######################################################
start generate_end_effector_pose_tool() !!!
constraints num:  2
IK结果验证： [ 0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.         -0.886643   -0.05179834  0.78307418  0.69744969 -0.85943295
  0.46628053  0.56425879  0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.        ]
right  target_effector_pose:
 Pose([-0.377428, -0.0426171, 0.165387], [0.587118, 0.670659, -0.227447, 0.392144])
### start compute_hand_info() !!! ###
hand_name: right
grasp_axis: [-0.3539714  -0.03231087 -1.11498145]
grasp_point: [-0.30444447  0.00647337  0.02786463]
### end compute_hand_info() !!! ###
End generate_end_effector_pose_tool() function!
######################################################
=========== check_success ===========
cube[0] position: [-0.317129    0.31132445  0.01999988]
cube[1] position: [-0.30495363  0.00103096  0.02157279]
cube[2] position: [-0.44794863 -0.31038558  0.01999991]
xy_aligned: False
z_aligned: False
=========== check_success ===========
cube[0] position: [-0.317129    0.31132445  0.01999988]
cube[1] position: [-0.3044172   0.00137574  0.01999992]
cube[2] position: [-0.44794863 -0.31038558  0.01999991]
xy_aligned: False
z_aligned: False
=========== check_success ===========
cube[0] position: [-0.317129    0.31132445  0.01999988]
cube[1] position: [-0.3044176   0.00137584  0.0199999 ]
cube[2] position: [-0.44794863 -0.31038558  0.01999991]
xy_aligned: False
z_aligned: False
=========== check_success ===========
cube[0] position: [-0.317129    0.31132445  0.01999988]
cube[1] position: [-0.3044176   0.00137584  0.0199999 ]
cube[2] position: [-0.44794863 -0.31038558  0.01999991]
xy_aligned: False
z_aligned: False
######################################################
start generate_end_effector_pose_tool() !!!
constraints num:  2
IK结果验证： [-0.65216434  0.57272348 -0.53966994  0.45261496  0.7690031   0.45053911
 -0.6187747   0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.        ]
left  target_effector_pose:
 Pose([-0.392836, 0.321602, 0.169188], [0.607082, 0.663399, -0.264025, 0.348774])
### start compute_hand_info() !!! ###
hand_name: left
grasp_axis: [-0.39110951  0.34722813 -1.11117947]
grasp_point: [-0.31299823  0.33582509  0.03032552]
### end compute_hand_info() !!! ###
End generate_end_effector_pose_tool() function!
######################################################
=========== check_success ===========
cube[0] position: [-0.31712946  0.31132412  0.01999994]
cube[1] position: [-0.3044176   0.00137584  0.0199999 ]
cube[2] position: [-0.44794863 -0.31038558  0.01999991]
xy_aligned: False
z_aligned: False
=========== check_success ===========
cube[0] position: [-0.31382933  0.31471607  0.02142361]
cube[1] position: [-0.3044176   0.00137584  0.0199999 ]
cube[2] position: [-0.44794863 -0.31038558  0.01999991]
xy_aligned: False
z_aligned: False
######################################################
start generate_end_effector_pose_tool() !!!
constraints num:  2
IK结果验证： [-0.67265835  0.67842859 -0.52428362  0.29755109  0.72984068  0.33235004
 -0.74223162  0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.        ]
left  target_effector_pose:
 Pose([-0.396342, 0.3299, 0.219276], [0.63355, 0.638053, -0.319016, 0.299553])
### start compute_hand_info() !!! ###
hand_name: left
grasp_axis: [-0.38400637  0.35238381 -1.06109236]
grasp_point: [-0.31455659  0.33056385  0.08082059]
### end compute_hand_info() !!! ###
End generate_end_effector_pose_tool() function!
######################################################
=========== check_success ===========
cube[0] position: [-0.31924814  0.30970934  0.0713414 ]
cube[1] position: [-0.3044176   0.00137584  0.0199999 ]
cube[2] position: [-0.44794863 -0.31038558  0.01999991]
xy_aligned: False
z_aligned: False
######################################################
start generate_end_effector_pose_tool() !!!
constraints num:  2
IK结果验证： [-1.00578829  0.16936565 -0.7759145   0.46704848  0.81268893  0.37930736
 -0.8125264   0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.        ]
left  target_effector_pose:
 Pose([-0.365986, 0.0479066, 0.255244], [0.687307, 0.550339, -0.443974, 0.166202])
### start compute_hand_info() !!! ###
hand_name: left
grasp_axis: [-0.34280345  0.0369097  -1.02512344]
grasp_point: [-0.29073031  0.01232953  0.11765774]
### end compute_hand_info() !!! ###
End generate_end_effector_pose_tool() function!
######################################################
=========== check_success ===========
cube[0] position: [-0.30348998 -0.00417859  0.10867801]
cube[1] position: [-0.3044176   0.00137584  0.0199999 ]
cube[2] position: [-0.44794863 -0.31038558  0.01999991]
xy_aligned: False
z_aligned: False
######################################################
start generate_end_effector_pose_tool() !!!
constraints num:  2
IK结果验证： [-0.93416876  0.11200347 -0.78733382  0.57379845  0.84696556  0.42131992
 -0.6867223   0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.        ]
left  target_effector_pose:
 Pose([-0.371692, 0.0451987, 0.205586], [0.680186, 0.56837, -0.419538, 0.19568])
### start compute_hand_info() !!! ###
hand_name: left
grasp_axis: [-0.34860305  0.0340432  -1.07478248]
grasp_point: [-0.29376604  0.0159681   0.06799079]
### end compute_hand_info() !!! ###
End generate_end_effector_pose_tool() function!
######################################################
=========== check_success ===========
cube[0] position: [-0.3020688  -0.00363012  0.06100738]
cube[1] position: [-0.30439734  0.0013925   0.01999786]
cube[2] position: [-0.44794863 -0.31038558  0.01999991]
xy_aligned: False
z_aligned: False
left hand pre grasp!!!!
=========== check_success ===========
cube[0] position: [-0.3016693  -0.00369303  0.05999854]
cube[1] position: [-0.3044167   0.00137602  0.01999997]
cube[2] position: [-0.44794863 -0.31038558  0.01999991]
xy_aligned: False
z_aligned: False
=========== check_success ===========
cube[0] position: [-0.30166358 -0.00370053  0.0599984 ]
cube[1] position: [-0.3044146   0.00137636  0.01999998]
cube[2] position: [-0.44794863 -0.31038558  0.01999991]
xy_aligned: False
z_aligned: False
=========== check_success ===========
cube[0] position: [-0.30166358 -0.00370053  0.0599984 ]
cube[1] position: [-0.3044146   0.00137636  0.01999998]
cube[2] position: [-0.44794863 -0.31038558  0.01999991]
xy_aligned: False
z_aligned: False
######################################################
start generate_end_effector_pose_tool() !!!
constraints num:  2
IK结果验证： [ 0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.         -0.28386145 -0.79427682  0.46292289 -0.06643743 -0.75037927
  0.2200926   0.65368173  0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.        ]
right  target_effector_pose:
 Pose([-0.513253, -0.344659, 0.168516], [0.605368, 0.660284, -0.232505, 0.378809])
### start compute_hand_info() !!! ###
hand_name: right
grasp_axis: [-0.50560136 -0.3691038  -1.11185257]
grasp_point: [-0.44005083 -0.30229243  0.02889008]
### end compute_hand_info() !!! ###
End generate_end_effector_pose_tool() function!
######################################################
=========== check_success ===========
cube[0] position: [-0.30166358 -0.00370053  0.0599984 ]
cube[1] position: [-0.3044146   0.00137636  0.01999998]
cube[2] position: [-0.44794902 -0.31038603  0.0199999 ]
xy_aligned: False
z_aligned: False
=========== check_success ===========
cube[0] position: [-0.30166358 -0.00370053  0.0599984 ]
cube[1] position: [-0.3044146   0.00137636  0.01999998]
cube[2] position: [-0.44295597 -0.31006268  0.02116801]
xy_aligned: False
z_aligned: False
######################################################
start generate_end_effector_pose_tool() !!!
constraints num:  2
IK结果验证： [ 0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.         -0.31312907 -0.88677477  0.41032638 -0.18080579 -0.65797323
  0.15091347  0.74474627  0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.        ]
right  target_effector_pose:
 Pose([-0.514576, -0.351079, 0.218152], [0.579645, 0.672689, -0.201996, 0.413158])
### start compute_hand_info() !!! ###
hand_name: right
grasp_axis: [-0.49098705 -0.36115229 -1.06221561]
grasp_point: [-0.44487528 -0.29966775  0.07977728]
### end compute_hand_info() !!! ###
End generate_end_effector_pose_tool() function!
######################################################
Invalid start state!
attached_tool and point_cloud collide!
=========== check_success ===========
cube[0] position: [-0.30166358 -0.00370053  0.0599984 ]
cube[1] position: [-0.3044146   0.00137636  0.01999998]
cube[2] position: [-0.44818598 -0.30785143  0.06827901]
xy_aligned: False
z_aligned: False
######################################################
start generate_end_effector_pose_tool() !!!
constraints num:  2
IK结果验证： [ 0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.         -1.07479515 -0.20409458  0.75976779  0.41706571 -0.77707004
  0.36920801  0.89865224  0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.        ]
right  target_effector_pose:
 Pose([-0.360762, -0.0501286, 0.29565], [0.542779, 0.689908, -0.154414, 0.453404])
### start compute_hand_info() !!! ###
hand_name: right
grasp_axis: [-0.33771856 -0.03878637 -0.98471767]
grasp_point: [-0.29960964  0.01293314  0.15805429]
### end compute_hand_info() !!! ###
End generate_end_effector_pose_tool() function!
######################################################
=========== check_success ===========
cube[0] position: [-0.30166358 -0.00370053  0.0599984 ]
cube[1] position: [-0.3044146   0.00137636  0.01999998]
cube[2] position: [-0.30287516  0.00146238  0.147167  ]
xy_aligned: True
z_aligned: False
######################################################
start generate_end_effector_pose_tool() !!!
constraints num:  2
IK结果验证： [ 0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.         -0.99496846 -0.15505486  0.77882093  0.49472793 -0.82271812
  0.39058946  0.78744211  0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.        ]
right  target_effector_pose:
 Pose([-0.365738, -0.0466162, 0.245684], [0.555686, 0.684834, -0.17354, 0.438292])
### start compute_hand_info() !!! ###
hand_name: right
grasp_axis: [-0.34146908 -0.03827537 -1.03468408]
grasp_point: [-0.30108057  0.01273731  0.10804117]
### end compute_hand_info() !!! ###
End generate_end_effector_pose_tool() function!
######################################################
=========== check_success ===========
cube[0] position: [-0.30166018 -0.00370267  0.05999779]
cube[1] position: [-0.3044131   0.00137707  0.01999984]
cube[2] position: [-0.3042341   0.00478796  0.10168386]
xy_aligned: True
z_aligned: True
=========== check_success ===========
cube[0] position: [-0.3016208  -0.00353826  0.0600328 ]
cube[1] position: [-0.30441523  0.00137584  0.0200008 ]
cube[2] position: [-0.30333915  0.00498109  0.10003606]
xy_aligned: True
z_aligned: True
 Execution6 succeeded.
Success rate now: 28.57%
Video created: /home/js/code/HumanoidGen/humanoidgen/videos/run_solve/blocks_stack_hard/blocks_stack_hard_20250612_180450.mp4
=========== check_success ===========
cube[0] position: [-0.3016208  -0.00353826  0.0600328 ]
cube[1] position: [-0.30441523  0.00137584  0.0200008 ]
cube[2] position: [-0.30333915  0.00498109  0.10003606]
xy_aligned: True
z_aligned: True

   ✅ Trial Result: Success
      ├─ Steps completed: 22/24
      └─ No errors detected

🔁 Trial #3
   ├─ Initializing environment...
   ├─ Total steps to execute: 24
   └─ Execution progress:
=========== check_success ===========
cube[0] position: [-0.31852633  0.30890942  0.01999993]
cube[1] position: [-0.31669745 -0.30045766  0.01999993]
cube[2] position: [-0.44987062 -0.33341396  0.0199999 ]
xy_aligned: False
z_aligned: False
######################################################
start generate_end_effector_pose_tool() !!!
constraints num:  2
IK结果验证： [ 0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.         -0.6563263  -0.56122055  0.55050165  0.44426305 -0.77490423
  0.44793157  0.62276445  0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.        ]
right  target_effector_pose:
 Pose([-0.39206, -0.312412, 0.169016], [0.66017, 0.61115, -0.341641, 0.271942])
### start compute_hand_info() !!! ###
hand_name: right
grasp_axis: [-0.3894024  -0.337949   -1.11135203]
grasp_point: [-0.30853708 -0.29683516  0.02962357]
### end compute_hand_info() !!! ###
End generate_end_effector_pose_tool() function!
######################################################
=========== check_success ===========
cube[0] position: [-0.31852633  0.30890942  0.01999993]
cube[1] position: [-0.31669796 -0.30045798  0.01999992]
cube[2] position: [-0.44987062 -0.33341396  0.0199999 ]
xy_aligned: False
z_aligned: False
=========== check_success ===========
cube[0] position: [-0.31852633  0.30890942  0.01999993]
cube[1] position: [-0.31127197 -0.30329442  0.02131674]
cube[2] position: [-0.44987062 -0.33341396  0.0199999 ]
xy_aligned: False
z_aligned: False
######################################################
start generate_end_effector_pose_tool() !!!
constraints num:  2
IK结果验证： [ 0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.         -0.67912609 -0.66626214  0.53356898  0.29206099 -0.73448762
  0.33380367  0.7448993   0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.        ]
right  target_effector_pose:
 Pose([-0.395077, -0.321607, 0.219273], [0.634863, 0.636111, -0.29476, 0.324697])
### start compute_hand_info() !!! ###
hand_name: right
grasp_axis: [-0.38063247 -0.34277864 -1.06109549]
grasp_point: [-0.31419599 -0.29269207  0.08045254]
### end compute_hand_info() !!! ###
End generate_end_effector_pose_tool() function!
######################################################
=========== check_success ===========
cube[0] position: [-0.31852633  0.30890942  0.01999993]
cube[1] position: [-0.31631318 -0.29849684  0.06929392]
cube[2] position: [-0.44987062 -0.33341396  0.0199999 ]
xy_aligned: False
z_aligned: False
######################################################
start generate_end_effector_pose_tool() !!!
constraints num:  2
IK结果验证： [ 0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.         -0.94330304 -0.13289177  0.78595316  0.53445883 -0.83985713
  0.41228546  0.7193101   0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.        ]
right  target_effector_pose:
 Pose([-0.371341, -0.0481957, 0.216155], [0.563497, 0.682746, -0.188492, 0.425206])
### start compute_hand_info() !!! ###
hand_name: right
grasp_axis: [-0.34941062 -0.03490771 -1.06421321]
grasp_point: [-0.30450129  0.00899395  0.07863868]
### end compute_hand_info() !!! ###
End generate_end_effector_pose_tool() function!
######################################################
=========== check_success ===========
cube[0] position: [-0.31852633  0.30890942  0.01999993]
cube[1] position: [-0.30438408 -0.00202114  0.06868253]
cube[2] position: [-0.44987062 -0.33341396  0.0199999 ]
xy_aligned: False
z_aligned: False
######################################################
start generate_end_effector_pose_tool() !!!
constraints num:  2
IK结果验证： [ 0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.         -0.88855895 -0.05031273  0.78193777  0.69992483 -0.85917301
  0.47        0.56440817  0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.        ]
right  target_effector_pose:
 Pose([-0.376963, -0.0423685, 0.165883], [0.587907, 0.67025, -0.228932, 0.390794])
### start compute_hand_info() !!! ###
hand_name: right
grasp_axis: [-0.35359542 -0.03185811 -1.11448597]
grasp_point: [-0.30377945  0.00643458  0.02836425]
### end compute_hand_info() !!! ###
End generate_end_effector_pose_tool() function!
######################################################
=========== check_success ===========
cube[0] position: [-0.31852633  0.30890942  0.01999993]
cube[1] position: [-0.30476204  0.00084704  0.02142232]
cube[2] position: [-0.44987062 -0.33341396  0.0199999 ]
xy_aligned: False
z_aligned: False
=========== check_success ===========
cube[0] position: [-0.31852633  0.30890942  0.01999993]
cube[1] position: [-0.3035927   0.00137593  0.01999995]
cube[2] position: [-0.44987062 -0.33341396  0.0199999 ]
xy_aligned: False
z_aligned: False
=========== check_success ===========
cube[0] position: [-0.31852633  0.30890942  0.01999993]
cube[1] position: [-0.30359283  0.00137622  0.0199999 ]
cube[2] position: [-0.44987062 -0.33341396  0.0199999 ]
xy_aligned: False
z_aligned: False
=========== check_success ===========
cube[0] position: [-0.31852633  0.30890942  0.01999993]
cube[1] position: [-0.30359283  0.00137622  0.0199999 ]
cube[2] position: [-0.44987062 -0.33341396  0.0199999 ]
xy_aligned: False
z_aligned: False
######################################################
start generate_end_effector_pose_tool() !!!
constraints num:  2
IK结果验证： [-0.64857453  0.57375439 -0.54191203  0.44239144  0.77005875  0.44687747
 -0.62139288  0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.        ]
left  target_effector_pose:
 Pose([-0.394056, 0.319956, 0.169179], [0.608978, 0.66196, -0.267622, 0.345447])
### start compute_hand_info() !!! ###
hand_name: left
grasp_axis: [-0.39210783  0.34556525 -1.11118785]
grasp_point: [-0.31407426  0.3333088   0.03031345]
### end compute_hand_info() !!! ###
End generate_end_effector_pose_tool() function!
######################################################
=========== check_success ===========
cube[0] position: [-0.31852677  0.30890927  0.01999993]
cube[1] position: [-0.30359283  0.00137622  0.0199999 ]
cube[2] position: [-0.44987062 -0.33341396  0.0199999 ]
xy_aligned: False
z_aligned: False
=========== check_success ===========
cube[0] position: [-0.31532347  0.31088218  0.0211496 ]
cube[1] position: [-0.30359283  0.00137622  0.0199999 ]
cube[2] position: [-0.44987062 -0.33341396  0.0199999 ]
xy_aligned: False
z_aligned: False
######################################################
start generate_end_effector_pose_tool() !!!
constraints num:  2
IK结果验证： [-0.67010471  0.67800395 -0.52638366  0.28868017  0.73031313  0.33273335
 -0.74367748  0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.        ]
left  target_effector_pose:
 Pose([-0.397419, 0.327954, 0.219141], [0.634638, 0.636757, -0.321415, 0.297434])
### start compute_hand_info() !!! ###
hand_name: left
grasp_axis: [-0.38438877  0.35003693 -1.06122729]
grasp_point: [-0.31557333  0.32799341  0.08071983]
### end compute_hand_info() !!! ###
End generate_end_effector_pose_tool() function!
######################################################
=========== check_success ===========
cube[0] position: [-0.32161382  0.30593655  0.07076648]
cube[1] position: [-0.30359283  0.00137622  0.0199999 ]
cube[2] position: [-0.44987062 -0.33341396  0.0199999 ]
xy_aligned: False
z_aligned: False
######################################################
start generate_end_effector_pose_tool() !!!
constraints num:  2
IK结果验证： [-1.00783528  0.16883061 -0.77508028  0.47043913  0.81351657  0.38271621
 -0.81269651  0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.        ]
left  target_effector_pose:
 Pose([-0.365213, 0.048183, 0.255715], [0.686623, 0.551727, -0.44263, 0.168004])
### start compute_hand_info() !!! ###
hand_name: left
grasp_axis: [-0.34161525  0.03809753 -1.02465283]
grasp_point: [-0.28972823  0.01309837  0.11812773]
### end compute_hand_info() !!! ###
End generate_end_effector_pose_tool() function!
######################################################
=========== check_success ===========
cube[0] position: [-0.30399296 -0.00414663  0.10867712]
cube[1] position: [-0.30359283  0.00137622  0.0199999 ]
cube[2] position: [-0.44987062 -0.33341396  0.0199999 ]
xy_aligned: False
z_aligned: False
######################################################
start generate_end_effector_pose_tool() !!!
constraints num:  2
IK结果验证： [-0.93676864  0.11090583 -0.78537657  0.57949395  0.84752889  0.42584166
 -0.68590832  0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.        ]
left  target_effector_pose:
 Pose([-0.370568, 0.0456981, 0.20598], [0.679145, 0.570241, -0.417425, 0.198353])
### start compute_hand_info() !!! ###
hand_name: left
grasp_axis: [-0.34700443  0.03557268 -1.0743884 ]
grasp_point: [-0.29236884  0.01718375  0.06838966]
### end compute_hand_info() !!! ###
End generate_end_effector_pose_tool() function!
######################################################
=========== check_success ===========
cube[0] position: [-0.30180496 -0.00317907  0.06074219]
cube[1] position: [-0.30357552  0.00138417  0.01999468]
cube[2] position: [-0.44987062 -0.33341396  0.0199999 ]
xy_aligned: False
z_aligned: False
left hand pre grasp!!!!
=========== check_success ===========
cube[0] position: [-0.30124038 -0.00320007  0.05999806]
cube[1] position: [-0.30359167  0.00137642  0.02000022]
cube[2] position: [-0.44987062 -0.33341396  0.0199999 ]
xy_aligned: False
z_aligned: False
=========== check_success ===========
cube[0] position: [-0.3012402  -0.00320979  0.05999744]
cube[1] position: [-0.30359143  0.00137654  0.01999999]
cube[2] position: [-0.44987062 -0.33341396  0.0199999 ]
xy_aligned: False
z_aligned: False
=========== check_success ===========
cube[0] position: [-0.3012402  -0.00320979  0.05999744]
cube[1] position: [-0.30359143  0.00137654  0.01999999]
cube[2] position: [-0.44987062 -0.33341396  0.0199999 ]
xy_aligned: False
z_aligned: False
######################################################
start generate_end_effector_pose_tool() !!!
constraints num:  2
IK结果验证： [ 0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.         -0.25717257 -0.81902292  0.42712266 -0.04776504 -0.7309203
  0.22296347  0.63509825  0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.        ]
right  target_effector_pose:
 Pose([-0.517324, -0.364404, 0.168459], [0.615215, 0.653684, -0.250543, 0.362542])
### start compute_hand_info() !!! ###
hand_name: right
grasp_axis: [-0.50999924 -0.38895234 -1.11190921]
grasp_point: [-0.44183057 -0.32602404  0.02890081]
### end compute_hand_info() !!! ###
End generate_end_effector_pose_tool() function!
######################################################
=========== check_success ===========
cube[0] position: [-0.3012402  -0.00320979  0.05999744]
cube[1] position: [-0.30359143  0.00137654  0.01999999]
cube[2] position: [-0.44987094 -0.33341518  0.01999994]
xy_aligned: False
z_aligned: False
=========== check_success ===========
cube[0] position: [-0.3012402  -0.00320979  0.05999744]
cube[1] position: [-0.30359143  0.00137654  0.01999999]
cube[2] position: [-0.44787982 -0.33342052  0.02124233]
xy_aligned: False
z_aligned: False
######################################################
start generate_end_effector_pose_tool() !!!
constraints num:  2
IK结果验证： [ 0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.         -0.27342794 -0.91017569  0.37652539 -0.16482805 -0.64880216
  0.1538056   0.721795    0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.        ]
right  target_effector_pose:
 Pose([-0.520889, -0.369316, 0.215182], [0.591124, 0.66679, -0.218318, 0.397871])
### start compute_hand_info() !!! ###
hand_name: right
grasp_axis: [-0.49974047 -0.38389792 -1.06518492]
grasp_point: [-0.44883598 -0.32192295  0.07657788]
### end compute_hand_info() !!! ###
End generate_end_effector_pose_tool() function!
######################################################
Invalid start state!
attached_tool and point_cloud collide!
=========== check_success ===========
cube[0] position: [-0.3012402  -0.00320979  0.05999744]
cube[1] position: [-0.30359143  0.00137654  0.01999999]
cube[2] position: [-0.45238656 -0.33056617  0.06721529]
xy_aligned: False
z_aligned: False
######################################################
start generate_end_effector_pose_tool() !!!
constraints num:  2
IK结果验证： [ 0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.         -1.0707831  -0.20046471  0.76134266  0.42138967 -0.7799502
  0.37032286  0.89275837  0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.        ]
right  target_effector_pose:
 Pose([-0.361027, -0.0494011, 0.292939], [0.543319, 0.689683, -0.155151, 0.452846])
### start compute_hand_info() !!! ###
hand_name: right
grasp_axis: [-0.33787093 -0.0382988  -0.9874284 ]
grasp_point: [-0.29972754  0.01350667  0.15533834]
### end compute_hand_info() !!! ###
End generate_end_effector_pose_tool() function!
######################################################
=========== check_success ===========
cube[0] position: [-0.3012402  -0.00320979  0.05999744]
cube[1] position: [-0.30359143  0.00137654  0.01999999]
cube[2] position: [-0.3026732   0.00133205  0.14725353]
xy_aligned: True
z_aligned: False
######################################################
start generate_end_effector_pose_tool() !!!
constraints num:  2
IK结果验证： [ 0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.         -0.99241518 -0.14993385  0.78013863  0.50339336 -0.82479717
  0.39329971  0.77977261  0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.        ]
right  target_effector_pose:
 Pose([-0.365803, -0.0456865, 0.242974], [0.556809, 0.684346, -0.175183, 0.436974])
### start compute_hand_info() !!! ###
hand_name: right
grasp_axis: [-0.34141889 -0.03769737 -1.03739411]
grasp_point: [-0.30084918  0.01332642  0.10532424]
### end compute_hand_info() !!! ###
End generate_end_effector_pose_tool() function!
######################################################
=========== check_success ===========
cube[0] position: [-0.3012345  -0.00321005  0.05999827]
cube[1] position: [-0.30358958  0.00137693  0.02000009]
cube[2] position: [-0.30401862  0.00475647  0.102531  ]
xy_aligned: True
z_aligned: True
=========== check_success ===========
cube[0] position: [-0.30119026 -0.00314274  0.0600298 ]
cube[1] position: [-0.3035928   0.00137744  0.02000057]
cube[2] position: [-0.3030094   0.00486332  0.10003654]
xy_aligned: True
z_aligned: True
 Execution7 succeeded.
Success rate now: 37.50%
Video created: /home/js/code/HumanoidGen/humanoidgen/videos/run_solve/blocks_stack_hard/blocks_stack_hard_20250612_180504.mp4
=========== check_success ===========
cube[0] position: [-0.30119026 -0.00314274  0.0600298 ]
cube[1] position: [-0.3035928   0.00137744  0.02000057]
cube[2] position: [-0.3030094   0.00486332  0.10003654]
xy_aligned: True
z_aligned: True

   ✅ Trial Result: Success
      ├─ Steps completed: 22/24
      └─ No errors detected

🔁 Trial #4
   ├─ Initializing environment...
   ├─ Total steps to execute: 24
   └─ Execution progress:
=========== check_success ===========
cube[0] position: [-0.31701288  0.32469255  0.0199999 ]
cube[1] position: [-0.31772837 -0.31556553  0.01999993]
cube[2] position: [-0.45300683 -0.3237856   0.01999993]
xy_aligned: False
z_aligned: False
######################################################
start generate_end_effector_pose_tool() !!!
constraints num:  2
IK结果验证： [ 0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.         -0.64930881 -0.57767703  0.53545016  0.45469564 -0.76660557
  0.45074161  0.61698066  0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.        ]
right  target_effector_pose:
 Pose([-0.393528, -0.325263, 0.16903], [0.664511, 0.605674, -0.351185, 0.261253])
### start compute_hand_info() !!! ###
hand_name: right
grasp_axis: [-0.39226585 -0.35091714 -1.11133724]
grasp_point: [-0.30961416 -0.31236147  0.02959947]
### end compute_hand_info() !!! ###
End generate_end_effector_pose_tool() function!
######################################################
=========== check_success ===========
cube[0] position: [-0.31701288  0.32469255  0.0199999 ]
cube[1] position: [-0.31772852 -0.31556603  0.01999994]
cube[2] position: [-0.45300683 -0.3237856   0.01999993]
xy_aligned: False
z_aligned: False
=========== check_success ===========
cube[0] position: [-0.31701288  0.32469255  0.0199999 ]
cube[1] position: [-0.31454584 -0.31713825  0.02133643]
cube[2] position: [-0.45300683 -0.3237856   0.01999993]
xy_aligned: False
z_aligned: False
######################################################
start generate_end_effector_pose_tool() !!!
constraints num:  2
IK结果验证： [ 0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.         -0.66916558 -0.68379198  0.51956456  0.29875128 -0.72818999
  0.33959837  0.74056367  0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.        ]
right  target_effector_pose:
 Pose([-0.397073, -0.333948, 0.219388], [0.640181, 0.631315, -0.304552, 0.314416])
### start compute_hand_info() !!! ###
hand_name: right
grasp_axis: [-0.38417243 -0.35611123 -1.06097981]
grasp_point: [-0.31540723 -0.30767856  0.08050176]
### end compute_hand_info() !!! ###
End generate_end_effector_pose_tool() function!
######################################################
=========== check_success ===========
cube[0] position: [-0.31701288  0.32469255  0.0199999 ]
cube[1] position: [-0.31971744 -0.31240907  0.069267  ]
cube[2] position: [-0.45300683 -0.3237856   0.01999993]
xy_aligned: False
z_aligned: False
######################################################
start generate_end_effector_pose_tool() !!!
constraints num:  2
IK结果验证： [ 0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.         -0.94717558 -0.12806969  0.78406014  0.54806572 -0.84162695
  0.41822794  0.7146493   0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.        ]
right  target_effector_pose:
 Pose([-0.369675, -0.0479566, 0.215797], [0.566413, 0.681026, -0.192386, 0.422335])
### start compute_hand_info() !!! ###
hand_name: right
grasp_axis: [-0.34653847 -0.03688681 -1.06457123]
grasp_point: [-0.30205869  0.00823779  0.07824975]
### end compute_hand_info() !!! ###
End generate_end_effector_pose_tool() function!
######################################################
=========== check_success ===========
cube[0] position: [-0.31701288  0.32469255  0.0199999 ]
cube[1] position: [-0.30446133 -0.00226465  0.06849236]
cube[2] position: [-0.45300683 -0.3237856   0.01999993]
xy_aligned: False
z_aligned: False
######################################################
start generate_end_effector_pose_tool() !!!
constraints num:  2
IK结果验证： [ 0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.         -0.89363825 -0.04683885  0.77566607  0.71737411 -0.85907476
  0.46113086  0.55805304  0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.        ]
right  target_effector_pose:
 Pose([-0.374819, -0.0428708, 0.165631], [0.588401, 0.669895, -0.229614, 0.390259])
### start compute_hand_info() !!! ###
hand_name: right
grasp_axis: [-0.35125576 -0.03279612 -1.11473768]
grasp_point: [-0.30151435  0.00573749  0.0281077 ]
### end compute_hand_info() !!! ###
End generate_end_effector_pose_tool() function!
######################################################
=========== check_success ===========
cube[0] position: [-0.31701288  0.32469255  0.0199999 ]
cube[1] position: [-0.30436245  0.00072049  0.0214955 ]
cube[2] position: [-0.45300683 -0.3237856   0.01999993]
xy_aligned: False
z_aligned: False
=========== check_success ===========
cube[0] position: [-0.31701288  0.32469255  0.0199999 ]
cube[1] position: [-0.30189997  0.00116999  0.01999992]
cube[2] position: [-0.45300683 -0.3237856   0.01999993]
xy_aligned: False
z_aligned: False
=========== check_success ===========
cube[0] position: [-0.31701288  0.32469255  0.0199999 ]
cube[1] position: [-0.30189997  0.00116999  0.01999993]
cube[2] position: [-0.45300683 -0.3237856   0.01999993]
xy_aligned: False
z_aligned: False
=========== check_success ===========
cube[0] position: [-0.31701288  0.32469255  0.0199999 ]
cube[1] position: [-0.30189997  0.00116999  0.01999993]
cube[2] position: [-0.45300683 -0.3237856   0.01999993]
xy_aligned: False
z_aligned: False
######################################################
start generate_end_effector_pose_tool() !!!
constraints num:  2
IK结果验证： [-0.65041065  0.58577453 -0.52712565  0.46511692  0.76153646  0.45851966
 -0.61544769  0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.        ]
left  target_effector_pose:
 Pose([-0.393133, 0.332591, 0.170229], [0.6012, 0.667804, -0.252754, 0.358764])
### start compute_hand_info() !!! ###
hand_name: left
grasp_axis: [-0.39277286  0.35827166 -1.11013846]
grasp_point: [-0.31387164  0.34948248  0.0313352 ]
### end compute_hand_info() !!! ###
End generate_end_effector_pose_tool() function!
######################################################
=========== check_success ===========
cube[0] position: [-0.31701303  0.32469207  0.01999993]
cube[1] position: [-0.30189997  0.00116999  0.01999993]
cube[2] position: [-0.45300683 -0.3237856   0.01999993]
xy_aligned: False
z_aligned: False
=========== check_success ===========
cube[0] position: [-0.30985898  0.3297953   0.02125917]
cube[1] position: [-0.30189997  0.00116999  0.01999993]
cube[2] position: [-0.45300683 -0.3237856   0.01999993]
xy_aligned: False
z_aligned: False
######################################################
start generate_end_effector_pose_tool() !!!
constraints num:  2
IK结果验证： [-0.66641229  0.69461254 -0.50872812  0.31016317  0.72345394  0.32988835
 -0.73817163  0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.        ]
left  target_effector_pose:
 Pose([-0.397284, 0.342122, 0.220183], [0.629415, 0.642401, -0.310259, 0.308053])
### start compute_hand_info() !!! ###
hand_name: left
grasp_axis: [-0.38584421  0.36507841 -1.06018496]
grasp_point: [-0.31557685  0.34502537  0.08171049]
### end compute_hand_info() !!! ###
End generate_end_effector_pose_tool() function!
######################################################
=========== check_success ===========
cube[0] position: [-0.31528205  0.32493532  0.07106082]
cube[1] position: [-0.30189997  0.00116999  0.01999993]
cube[2] position: [-0.45300683 -0.3237856   0.01999993]
xy_aligned: False
z_aligned: False
######################################################
start generate_end_effector_pose_tool() !!!
constraints num:  2
IK结果验证： [-0.99887533  0.18110869 -0.77495058  0.44278396  0.80682692  0.37149456
 -0.82127777  0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.        ]
left  target_effector_pose:
 Pose([-0.368395, 0.0505597, 0.256324], [0.690092, 0.546027, -0.446712, 0.161479])
### start compute_hand_info() !!! ###
hand_name: left
grasp_axis: [-0.3485788   0.03427663 -1.02404409]
grasp_point: [-0.29399982  0.01338028  0.11869362]
### end compute_hand_info() !!! ###
End generate_end_effector_pose_tool() function!
######################################################
=========== check_success ===========
cube[0] position: [-0.3026583 -0.0041634  0.1086797]
cube[1] position: [-0.30189997  0.00116999  0.01999993]
cube[2] position: [-0.45300683 -0.3237856   0.01999993]
xy_aligned: False
z_aligned: False
######################################################
start generate_end_effector_pose_tool() !!!
constraints num:  2
IK结果验证： [-0.9255108   0.12623901 -0.79089517  0.5416533   0.84403459  0.41183257
 -0.69890419  0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.        ]
left  target_effector_pose:
 Pose([-0.374769, 0.0475028, 0.206826], [0.683049, 0.563472, -0.424561, 0.188922])
### start compute_hand_info() !!! ###
hand_name: left
grasp_axis: [-0.35364746  0.03298097 -1.07354251]
grasp_point: [-0.29763472  0.01639719  0.06919645]
### end compute_hand_info() !!! ###
End generate_end_effector_pose_tool() function!
######################################################
=========== check_success ===========
cube[0] position: [-0.30355996 -0.00354611  0.06096322]
cube[1] position: [-0.30188063  0.00118572  0.02000221]
cube[2] position: [-0.45300683 -0.3237856   0.01999993]
xy_aligned: False
z_aligned: False
left hand pre grasp!!!!
=========== check_success ===========
cube[0] position: [-0.30352083 -0.00404843  0.05999938]
cube[1] position: [-0.3019004   0.00117093  0.01999994]
cube[2] position: [-0.45300683 -0.3237856   0.01999993]
xy_aligned: False
z_aligned: False
=========== check_success ===========
cube[0] position: [-0.30352074 -0.00405194  0.05999873]
cube[1] position: [-0.30190068  0.00116997  0.01999993]
cube[2] position: [-0.45300683 -0.3237856   0.01999993]
xy_aligned: False
z_aligned: False
=========== check_success ===========
cube[0] position: [-0.30352074 -0.00405194  0.05999873]
cube[1] position: [-0.30190068  0.00116997  0.01999993]
cube[2] position: [-0.45300683 -0.3237856   0.01999993]
xy_aligned: False
z_aligned: False
######################################################
start generate_end_effector_pose_tool() !!!
constraints num:  2
IK结果验证： [ 0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.         -0.25792499 -0.81559021  0.43865537 -0.06442102 -0.73680189
  0.20608904  0.64002089  0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.        ]
right  target_effector_pose:
 Pose([-0.518921, -0.357088, 0.168522], [0.608388, 0.658417, -0.237734, 0.373944])
### start compute_hand_info() !!! ###
hand_name: right
grasp_axis: [-0.51176726 -0.38168384 -1.11184653]
grasp_point: [-0.44506424 -0.31589829  0.02888897]
### end compute_hand_info() !!! ###
End generate_end_effector_pose_tool() function!
######################################################
=========== check_success ===========
cube[0] position: [-0.30352074 -0.00405194  0.05999873]
cube[1] position: [-0.30190068  0.00116997  0.01999993]
cube[2] position: [-0.45300728 -0.32378596  0.01999992]
xy_aligned: False
z_aligned: False
=========== check_success ===========
cube[0] position: [-0.30352074 -0.00405194  0.05999873]
cube[1] position: [-0.30190068  0.00116997  0.01999993]
cube[2] position: [-0.44664904 -0.32483217  0.02128215]
xy_aligned: False
z_aligned: False
######################################################
start generate_end_effector_pose_tool() !!!
constraints num:  2
IK结果验证： [ 0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.         -0.28415215 -0.90815678  0.38536539 -0.18152359 -0.64700927
  0.14459779  0.73341315  0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.        ]
right  target_effector_pose:
 Pose([-0.520423, -0.362591, 0.218389], [0.584438, 0.670292, -0.208308, 0.407122])
### start compute_hand_info() !!! ###
hand_name: right
grasp_axis: [-0.49803884 -0.37514804 -1.06197923]
grasp_point: [-0.44979439 -0.31283039  0.07988064]
### end compute_hand_info() !!! ###
End generate_end_effector_pose_tool() function!
######################################################
Invalid start state!
attached_tool and point_cloud collide!
=========== check_success ===========
cube[0] position: [-0.30352074 -0.00405194  0.05999873]
cube[1] position: [-0.30190068  0.00116997  0.01999993]
cube[2] position: [-0.45134255 -0.3227915   0.06857056]
xy_aligned: False
z_aligned: False
######################################################
start generate_end_effector_pose_tool() !!!
constraints num:  2
IK结果验证： [ 0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.         -1.07506869 -0.20642504  0.75987611  0.41068489 -0.7740609
  0.36377888  0.90188578  0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.        ]
right  target_effector_pose:
 Pose([-0.361554, -0.0499902, 0.296721], [0.540643, 0.690733, -0.151373, 0.455719])
### start compute_hand_info() !!! ###
hand_name: right
grasp_axis: [-0.33886363 -0.03796943 -0.98364589]
grasp_point: [-0.30099268  0.01366424  0.15913766]
### end compute_hand_info() !!! ###
End generate_end_effector_pose_tool() function!
######################################################
=========== check_success ===========
cube[0] position: [-0.30352074 -0.00405194  0.05999873]
cube[1] position: [-0.30190068  0.00116997  0.01999993]
cube[2] position: [-0.30214098  0.00142292  0.14751385]
xy_aligned: True
z_aligned: False
######################################################
start generate_end_effector_pose_tool() !!!
constraints num:  2
IK结果验证： [ 0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.         -0.99356033 -0.15797909  0.77958788  0.48615377 -0.82076229
  0.38440483  0.790839    0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.        ]
right  target_effector_pose:
 Pose([-0.366791, -0.0465221, 0.246355], [0.553215, 0.685981, -0.170143, 0.440947])
### start compute_hand_info() !!! ###
hand_name: right
grasp_axis: [-0.34298049 -0.03696306 -1.0340126 ]
grasp_point: [-0.30278049  0.0135902   0.1087397 ]
### end compute_hand_info() !!! ###
End generate_end_effector_pose_tool() function!
######################################################
=========== check_success ===========
cube[0] position: [-0.30352223 -0.00407846  0.06000185]
cube[1] position: [-0.30190468  0.00116251  0.02000089]
cube[2] position: [-0.3038202   0.00483725  0.10173152]
xy_aligned: True
z_aligned: True
=========== check_success ===========
cube[0] position: [-0.30358115 -0.00408654  0.06003165]
cube[1] position: [-0.30190894  0.00116662  0.02000068]
cube[2] position: [-0.30334455  0.00503577  0.10003462]
xy_aligned: True
z_aligned: True
 Execution8 succeeded.
Success rate now: 44.44%
Video created: /home/js/code/HumanoidGen/humanoidgen/videos/run_solve/blocks_stack_hard/blocks_stack_hard_20250612_180516.mp4
=========== check_success ===========
cube[0] position: [-0.30358115 -0.00408654  0.06003165]
cube[1] position: [-0.30190894  0.00116662  0.02000068]
cube[2] position: [-0.30334455  0.00503577  0.10003462]
xy_aligned: True
z_aligned: True

   ✅ Trial Result: Success
      ├─ Steps completed: 22/24
      └─ No errors detected

🔁 Trial #5
   ├─ Initializing environment...
   ├─ Total steps to execute: 24
   └─ Execution progress:
=========== check_success ===========
cube[0] position: [-0.3158215   0.31512973  0.01999992]
cube[1] position: [-0.3208319  -0.30453086  0.01999992]
cube[2] position: [-0.45360678 -0.31347808  0.01999992]
xy_aligned: False
z_aligned: False
######################################################
start generate_end_effector_pose_tool() !!!
constraints num:  2
IK结果验证： [ 0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.         -0.64300122 -0.57494865  0.54618402  0.42593748 -0.77176336
  0.44024811  0.62539704  0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.        ]
right  target_effector_pose:
 Pose([-0.396026, -0.316917, 0.169085], [0.659402, 0.612254, -0.339593, 0.273879])
### start compute_hand_info() !!! ###
hand_name: right
grasp_axis: [-0.39373791 -0.34249134 -1.11128228]
grasp_point: [-0.31265911 -0.30082593  0.02965797]
### end compute_hand_info() !!! ###
End generate_end_effector_pose_tool() function!
######################################################
=========== check_success ===========
cube[0] position: [-0.3158215   0.31512973  0.01999992]
cube[1] position: [-0.3208319  -0.30453086  0.01999992]
cube[2] position: [-0.45360678 -0.31347808  0.01999992]
xy_aligned: False
z_aligned: False
=========== check_success ===========
cube[0] position: [-0.3158215   0.31512973  0.01999992]
cube[1] position: [-0.3173934  -0.30614564  0.02141299]
cube[2] position: [-0.45360678 -0.31347808  0.01999992]
xy_aligned: False
z_aligned: False
######################################################
start generate_end_effector_pose_tool() !!!
constraints num:  2
IK结果验证： [ 0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.         -0.66331188 -0.679557    0.52829202  0.27211948 -0.73025384
  0.32919509  0.74575231  0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.        ]
right  target_effector_pose:
 Pose([-0.399938, -0.325588, 0.218785], [0.634179, 0.636831, -0.293, 0.326211])
### start compute_hand_info() !!! ###
hand_name: right
grasp_axis: [-0.38586219 -0.34700933 -1.06158301]
grasp_point: [-0.31925444 -0.29630167  0.07992783]
### end compute_hand_info() !!! ###
End generate_end_effector_pose_tool() function!
######################################################
=========== check_success ===========
cube[0] position: [-0.3158215   0.31512973  0.01999992]
cube[1] position: [-0.32256356 -0.30153143  0.06879213]
cube[2] position: [-0.45360678 -0.31347808  0.01999992]
xy_aligned: False
z_aligned: False
######################################################
start generate_end_effector_pose_tool() !!!
constraints num:  2
IK结果验证： [ 0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.         -0.94541064 -0.12902919  0.78474544  0.54470959 -0.84117716
  0.41707577  0.71501947  0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.        ]
right  target_effector_pose:
 Pose([-0.370255, -0.0479857, 0.215511], [0.56566, 0.681536, -0.191523, 0.422914])
### start compute_hand_info() !!! ###
hand_name: right
grasp_axis: [-0.34757189 -0.03602058 -1.06485706]
grasp_point: [-0.30283437  0.00847817  0.07797858]
### end compute_hand_info() !!! ###
End generate_end_effector_pose_tool() function!
######################################################
=========== check_success ===========
cube[0] position: [-0.3158215   0.31512973  0.01999992]
cube[1] position: [-0.30459997 -0.00146905  0.06865989]
cube[2] position: [-0.45360678 -0.31347808  0.01999992]
xy_aligned: False
z_aligned: False
######################################################
start generate_end_effector_pose_tool() !!!
constraints num:  2
IK结果验证： [ 0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.         -0.89155955 -0.04762436  0.77751296  0.71327823 -0.85906205
  0.46286189  0.55865537  0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.        ]
right  target_effector_pose:
 Pose([-0.375533, -0.0427788, 0.165283], [0.588209, 0.670025, -0.229329, 0.390492])
### start compute_hand_info() !!! ###
hand_name: right
grasp_axis: [-0.35202583 -0.03257907 -1.11508549]
grasp_point: [-0.30227582  0.0059042   0.0277612 ]
### end compute_hand_info() !!! ###
End generate_end_effector_pose_tool() function!
######################################################
=========== check_success ===========
cube[0] position: [-0.3158215   0.31512973  0.01999992]
cube[1] position: [-0.30476132  0.00077694  0.02168706]
cube[2] position: [-0.45360678 -0.31347808  0.01999992]
xy_aligned: False
z_aligned: False
=========== check_success ===========
cube[0] position: [-0.3158215   0.31512973  0.01999992]
cube[1] position: [-0.30356488  0.00109898  0.01999995]
cube[2] position: [-0.45360678 -0.31347808  0.01999992]
xy_aligned: False
z_aligned: False
=========== check_success ===========
cube[0] position: [-0.3158215   0.31512973  0.01999992]
cube[1] position: [-0.30356613  0.00109842  0.01999995]
cube[2] position: [-0.45360678 -0.31347808  0.01999992]
xy_aligned: False
z_aligned: False
=========== check_success ===========
cube[0] position: [-0.3158215   0.31512973  0.01999992]
cube[1] position: [-0.30356613  0.00109842  0.01999995]
cube[2] position: [-0.45360678 -0.31347808  0.01999992]
xy_aligned: False
z_aligned: False
######################################################
start generate_end_effector_pose_tool() !!!
constraints num:  2
IK结果验证： [-0.65516867  0.57242551 -0.53598013  0.46530363  0.76734569  0.45459958
 -0.6147657   0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.        ]
left  target_effector_pose:
 Pose([-0.391724, 0.324374, 0.16888], [0.604539, 0.665331, -0.259144, 0.353145])
### start compute_hand_info() !!! ###
hand_name: left
grasp_axis: [-0.3905389   0.35003153 -1.11148726]
grasp_point: [-0.31212039  0.33976025  0.03000732]
### end compute_hand_info() !!! ###
End generate_end_effector_pose_tool() function!
######################################################
=========== check_success ===========
cube[0] position: [-0.3158218   0.31512937  0.01999991]
cube[1] position: [-0.30356613  0.00109842  0.01999995]
cube[2] position: [-0.45360678 -0.31347808  0.01999992]
xy_aligned: False
z_aligned: False
=========== check_success ===========
cube[0] position: [-0.31141242  0.319334    0.02127844]
cube[1] position: [-0.30356613  0.00109842  0.01999995]
cube[2] position: [-0.45360678 -0.31347808  0.01999992]
xy_aligned: False
z_aligned: False
######################################################
start generate_end_effector_pose_tool() !!!
constraints num:  2
IK结果验证： [-0.67355887  0.67972136 -0.52062922  0.30790361  0.72943994  0.3341138
 -0.73922173  0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.        ]
left  target_effector_pose:
 Pose([-0.395538, 0.333076, 0.218947], [0.631685, 0.640095, -0.315009, 0.303349])
### start compute_hand_info() !!! ###
hand_name: left
grasp_axis: [-0.38382384  0.35589297 -1.06142087]
grasp_point: [-0.31380408  0.33476839  0.08047038]
### end compute_hand_info() !!! ###
End generate_end_effector_pose_tool() function!
######################################################
=========== check_success ===========
cube[0] position: [-0.31673855  0.31437173  0.07110253]
cube[1] position: [-0.30356613  0.00109842  0.01999995]
cube[2] position: [-0.45360678 -0.31347808  0.01999992]
xy_aligned: False
z_aligned: False
######################################################
start generate_end_effector_pose_tool() !!!
constraints num:  2
IK结果验证： [-1.00304737  0.17211739 -0.77592327  0.46083351  0.81126433  0.37683215
 -0.81376809  0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.        ]
left  target_effector_pose:
 Pose([-0.366774, 0.0485185, 0.255066], [0.688148, 0.549029, -0.444793, 0.16486])
### start compute_hand_info() !!! ###
hand_name: left
grasp_axis: [-0.34448965  0.03581022 -1.0253017 ]
grasp_point: [-0.29175974  0.01245297  0.11747522]
### end compute_hand_info() !!! ###
End generate_end_effector_pose_tool() function!
######################################################
=========== check_success ===========
cube[0] position: [-0.3030475  -0.00423082  0.10868523]
cube[1] position: [-0.30356613  0.00109842  0.01999995]
cube[2] position: [-0.45360678 -0.31347808  0.01999992]
xy_aligned: False
z_aligned: False
######################################################
start generate_end_effector_pose_tool() !!!
constraints num:  2
IK结果验证： [-0.93083613  0.1154121  -0.78888602  0.56464671  0.84604978  0.41813238
 -0.68926611  0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.        ]
left  target_effector_pose:
 Pose([-0.372859, 0.0455393, 0.205505], [0.681252, 0.566645, -0.421181, 0.19343])
### start compute_hand_info() !!! ###
hand_name: left
grasp_axis: [-0.35054632  0.03291297 -1.07486355]
grasp_point: [-0.29520936  0.01563877  0.06789806]
### end compute_hand_info() !!! ###
End generate_end_effector_pose_tool() function!
######################################################
=========== check_success ===========
cube[0] position: [-0.30322826 -0.00355684  0.06095689]
cube[1] position: [-0.30354145  0.00111518  0.0199962 ]
cube[2] position: [-0.45360678 -0.31347808  0.01999992]
xy_aligned: False
z_aligned: False
left hand pre grasp!!!!
=========== check_success ===========
cube[0] position: [-0.30268607 -0.00358833  0.05999822]
cube[1] position: [-0.30356666  0.00109827  0.02000009]
cube[2] position: [-0.45360678 -0.31347808  0.01999992]
xy_aligned: False
z_aligned: False
=========== check_success ===========
cube[0] position: [-0.3026878  -0.00358806  0.05999836]
cube[1] position: [-0.30356774  0.00109864  0.02000004]
cube[2] position: [-0.45360678 -0.31347808  0.01999992]
xy_aligned: False
z_aligned: False
=========== check_success ===========
cube[0] position: [-0.3026878  -0.00358806  0.05999836]
cube[1] position: [-0.30356774  0.00109864  0.02000004]
cube[2] position: [-0.45360678 -0.31347808  0.01999992]
xy_aligned: False
z_aligned: False
######################################################
start generate_end_effector_pose_tool() !!!
constraints num:  2
IK结果验证： [ 0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.         -0.26552588 -0.80490446  0.45332579 -0.07922683 -0.74709484
  0.20956541  0.65017095  0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.        ]
right  target_effector_pose:
 Pose([-0.518565, -0.348085, 0.168569], [0.604369, 0.661061, -0.230233, 0.380432])
### start compute_hand_info() !!! ###
hand_name: right
grasp_axis: [-0.51170304 -0.37276269 -1.11179996]
grasp_point: [-0.44572455 -0.30530437  0.02887998]
### end compute_hand_info() !!! ###
End generate_end_effector_pose_tool() function!
######################################################
=========== check_success ===========
cube[0] position: [-0.3026878  -0.00358806  0.05999836]
cube[1] position: [-0.30356774  0.00109864  0.02000004]
cube[2] position: [-0.45360717 -0.31347868  0.01999991]
xy_aligned: False
z_aligned: False
=========== check_success ===========
cube[0] position: [-0.3026878  -0.00358806  0.05999836]
cube[1] position: [-0.30356774  0.00109864  0.02000004]
cube[2] position: [-0.44994992 -0.31309292  0.02115012]
xy_aligned: False
z_aligned: False
######################################################
start generate_end_effector_pose_tool() !!!
constraints num:  2
IK结果验证： [ 0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.         -0.28676817 -0.89469589  0.39966877 -0.19287186 -0.65966903
  0.14863247  0.73563147  0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.        ]
right  target_effector_pose:
 Pose([-0.521169, -0.354648, 0.215649], [0.580805, 0.672112, -0.202754, 0.412094])
### start compute_hand_info() !!! ###
hand_name: right
grasp_axis: [-0.49831553 -0.36630506 -1.06471897]
grasp_point: [-0.45136779 -0.30364036  0.07717591]
### end compute_hand_info() !!! ###
End generate_end_effector_pose_tool() function!
######################################################
Invalid start state!
attached_tool and point_cloud collide!
=========== check_success ===========
cube[0] position: [-0.3026878  -0.00358806  0.05999836]
cube[1] position: [-0.30356774  0.00109864  0.02000004]
cube[2] position: [-0.4554021  -0.31113705  0.06820483]
xy_aligned: False
z_aligned: False
######################################################
start generate_end_effector_pose_tool() !!!
constraints num:  2
IK结果验证： [ 0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.         -1.07033827 -0.20112769  0.76062844  0.42265517 -0.78098104
  0.37327125  0.89223527  0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.        ]
right  target_effector_pose:
 Pose([-0.360611, -0.0501961, 0.292702], [0.544452, 0.689301, -0.156899, 0.451462])
### start compute_hand_info() !!! ###
hand_name: right
grasp_axis: [-0.33741876 -0.03916603 -0.98766547]
grasp_point: [-0.29899629  0.01240553  0.15510245]
### end compute_hand_info() !!! ###
End generate_end_effector_pose_tool() function!
######################################################
=========== check_success ===========
cube[0] position: [-0.3026878  -0.00358806  0.05999836]
cube[1] position: [-0.30356774  0.00109864  0.02000004]
cube[2] position: [-0.30309916  0.00147378  0.14720279]
xy_aligned: True
z_aligned: False
######################################################
start generate_end_effector_pose_tool() !!!
constraints num:  2
IK结果验证： [ 0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.         -0.99231805 -0.15020958  0.77914043  0.50556792 -0.8253795
  0.39717611  0.77878964  0.          0.          0.          0.
  0.          0.          0.          0.          0.          0.
  0.          0.        ]
right  target_effector_pose:
 Pose([-0.365296, -0.04648, 0.242733], [0.558129, 0.683843, -0.17734, 0.435203])
### start compute_hand_info() !!! ###
hand_name: right
grasp_axis: [-0.34091924 -0.03846677 -1.03763435]
grasp_point: [-0.29998034  0.01214446  0.10508924]
### end compute_hand_info() !!! ###
End generate_end_effector_pose_tool() function!
######################################################
=========== check_success ===========
cube[0] position: [-0.30268744 -0.00359167  0.05999827]
cube[1] position: [-0.30356812  0.00109814  0.01999996]
cube[2] position: [-0.30410257  0.00480103  0.10202875]
xy_aligned: True
z_aligned: True
=========== check_success ===========
cube[0] position: [-0.30253103 -0.00357143  0.06003466]
cube[1] position: [-0.30357373  0.00110483  0.01999942]
cube[2] position: [-0.3025867   0.00508906  0.10003866]
xy_aligned: True
z_aligned: True
 Execution9 succeeded.
Success rate now: 50.00%
Video created: /home/js/code/HumanoidGen/humanoidgen/videos/run_solve/blocks_stack_hard/blocks_stack_hard_20250612_180528.mp4
=========== check_success ===========
cube[0] position: [-0.30253103 -0.00357143  0.06003466]
cube[1] position: [-0.30357373  0.00110483  0.01999942]
cube[2] position: [-0.3025867   0.00508906  0.10003866]
xy_aligned: True
z_aligned: True

   ✅ Trial Result: Success
      ├─ Steps completed: 22/24
      └─ No errors detected

══════════════════════════════════════════════════
[EXECUTION] Final Validation Report              ═
   Trial 1: ✅ FULL SUCCESS
   Trial 2: ✅ FULL SUCCESS
   Trial 3: ✅ FULL SUCCESS
   Trial 4: ✅ FULL SUCCESS
   Trial 5: ✅ FULL SUCCESS

══════════════════════════════════════════════════
[PROHIBITION] Updating constraints for Node 1    ═
🛑 Adding primary prohibited code:
   ├─ Code : ['', '']
   ├─ Parent Node: 1
   └─ Total prohibitions: 1

──────────────────────────────────────────────────
[NODE CREATION] Step 1/5                         ─
🌱 Creating child node 2:
   ├─ Parent: 1
parent_node: 1
📊 [Value Update] Node 2
   ├─ Parent: 1
   ├─ Value: None → 0.0
   ├─ Visitation: None → 0.0
   ├─ Subtree Value: None → 0.0
   └─ Subtree Visits: None → 0.0
✅ Node created: 2
   └─ Current tree size: 3 nodes

──────────────────────────────────────────────────
[NODE CREATION] Step 2/5                         ─
🌱 Creating child node 3:
   ├─ Parent: 2
parent_node: 2
📊 [Value Update] Node 3
   ├─ Parent: 2
   ├─ Value: None → 0.0
   ├─ Visitation: None → 0.0
   ├─ Subtree Value: None → 0.0
   └─ Subtree Visits: None → 0.0
✅ Node created: 3
   └─ Current tree size: 4 nodes

──────────────────────────────────────────────────
[NODE CREATION] Step 3/5                         ─
🌱 Creating child node 4:
   ├─ Parent: 3
parent_node: 3
📊 [Value Update] Node 4
   ├─ Parent: 3
   ├─ Value: None → 0.0
   ├─ Visitation: None → 0.0
   ├─ Subtree Value: None → 0.0
   └─ Subtree Visits: None → 0.0
✅ Node created: 4
   └─ Current tree size: 5 nodes

──────────────────────────────────────────────────
[NODE CREATION] Step 4/5                         ─
🌱 Creating child node 5:
   ├─ Parent: 4
parent_node: 4
📊 [Value Update] Node 5
   ├─ Parent: 4
   ├─ Value: None → 0.0
   ├─ Visitation: None → 0.0
   ├─ Subtree Value: None → 0.0
   └─ Subtree Visits: None → 0.0
✅ Node created: 5
   └─ Current tree size: 6 nodes

──────────────────────────────────────────────────
[NODE CREATION] Step 5/5                         ─
🌱 Creating child node 6:
   ├─ Parent: 5
parent_node: 5
📊 [Value Update] Node 6
   ├─ Parent: 5
   ├─ Value: None → 0.0
   ├─ Visitation: None → 0.0
   ├─ Subtree Value: None → 0.0
   └─ Subtree Visits: None → 0.0
✅ Node created: 6
   └─ Current tree size: 7 nodes

══════════════════════════════════════════════════
[COMPLETED] Added 5 new nodes                    ═
   ├─ Final node counter: 7
   └─ Current focus node: 6

📈 [Reward Update] Node 1
📊 [Value Update] Node 1
   ├─ Parent: 0
   ├─ Value: 0.0 → 0.49748743718592964
   ├─ Visitation: 1.0 → 1.99
   ├─ Subtree Value: 0.0 → 0.49748743718592964
   └─ Subtree Visits: 1.0 → 1.99

📈 [Reward Update] Node 0
📊 [Value Update] Node 0
   ├─ Parent: ROOT
   ├─ Value: 1.0 → 1.0
   ├─ Visitation: 1.0 → 1.0
   ├─ Subtree Value: 0.49748743718592964 → 0.6633109996296421
   └─ Subtree Visits: 1.99 → 2.9701

✅ [Job Complete] Node 1
   ├─ Active Jobs: 1 → 0 (root)
   ├─ Subtree Jobs: 1 → 0
📊 [Value Update] Node 1
   ├─ Parent: 0
   ├─ Value: 0.49748743718592964 → 1.0
   ├─ Visitation: 1.99 → 1.0
   ├─ Subtree Value: 0.49748743718592964 → 1.0
   └─ Subtree Visits: 1.99 → 1.0

✅ [Job Complete] Node 0
   ├─ Active Jobs: 0 → 0
   ├─ Subtree Jobs: 1 → 0
📊 [Value Update] Node 0
   ├─ Parent: ROOT
   ├─ Value: 1.0 → 1.0
   ├─ Visitation: 1.0 → 1.0
   ├─ Subtree Value: 0.6633109996296421 → 1.0
   └─ Subtree Visits: 2.9701 → 1.99

══════════════════════════════════════════════════
[SAMPLE GENERATION] Creating initial solution    ═
📝 Code Summary:
   ├─ Sample Number: #2
   ├─ File Name: step0.py
   ├─ Code Length: 11901 chars

🔍 Code Preview:
   01 │ from humanoidgen.motion_planning.h1_2.solution.generated.sol
   02 │ def step(planner:HumanoidMotionPlanner):
   03 │ 
      ...

✅ Test 1 Succeeded (#1)

============================== TEST 2/20 STARTED ==============================

══════════════════════════════════════════════════
[TREE INIT] Starting tree structure initialization═
Creating the root node...
📊 [Value Update] Node 0
   ├─ Parent: ROOT
   ├─ Value: None → 0.0
   ├─ Visitation: None → 0.0
   ├─ Subtree Value: None → 0.0
   └─ Subtree Visits: None → 0.0

🆕 Tree initialized with root node ID: 7

🔗 [Status] Root node linked to selection system
══════════════════════════════════════════════════


══════════════════════════════════════════════════
[NODE SELECTION] Starting Node Selection         ═

════════════════════════════════════════
[Final Expansion] Node 0 (depth 0)
Trigger new job with gamma=0.99
════════════════════════════════════════


🆕 [Job Start] Node 0
   ├─ Active Jobs: 0 → 1 (root)
   ├─ Subtree Jobs: 0 → 1
📊 [Value Update] Node 0
   ├─ Parent: ROOT
   ├─ Value: 0.0 → 0.0
   ├─ Visitation: 0.0 → 1.0
   ├─ Subtree Value: 0.0 → 0.0
   └─ Subtree Visits: 0.0 → 1.0
SELECTED NODE ID: 0

══════════════════════════════════════════════════

══════════════════════════════════════════════════
[Code GEN] Start generating for Node 0           ═

📊 [States] Asset State Comparison
   ├─ Current State: [{'type_name': 'cube', 'obj_id': 0, 'pose': Pose(raw_pose=tensor([[-3.1814e-01,  3.2924e-01,  2.0000e-02,  9.9834e-01,  4.4983e-06,
         -3.4159e-06,  5.7534e-02]]))}, {'type_name': 'cube', 'obj_id': 1, 'pose': Pose(raw_pose=tensor([[-3.1754e-01, -3.1565e-01,  2.0000e-02,  9.9710e-01,  3.8997e-06,
         -3.4915e-06,  7.6107e-02]]))}, {'type_name': 'cube', 'obj_id': 2, 'pose': Pose(raw_pose=tensor([[-4.4892e-01, -3.1284e-01,  2.0000e-02,  9.9905e-01,  5.5080e-06,
         -2.9400e-06,  4.3612e-02]]))}]

📝 [Code Tracking]
   ├─ Executed Code:
 

🚫 [Code Tracking]  
├─ Prohibited Code:
 
You are a professional assistant [34mfor[39;49;00m generating code that enables dual-arm robots to perform tabletop tasks. Please generate logically structured code to execute the user-specified tasks based on the provided context.[37m[39;49;00m
======[37m[39;49;00m
Static Scene Elements:[37m[39;49;00m
The static scene elements include a robot [35mand[39;49;00m a table. The robot[33m'[39;49;00m[33ms base_link (position between torso_link and pelvis) has a pose of pose.p = [-0.85, 0, 0], pose.q = [1, 0, 0, 0]. The table surface spans x ∈ [-0.42, -0.19], y ∈ [-1.1, 1.16], z = 0.[39;49;00m[37m[39;49;00m
======[37m[39;49;00m
World Coordinate System Information:[37m[39;49;00m
Since the robot[33m'[39;49;00m[33ms base coordinate frame has pose.q = [1, 0, 0, 0], its xyz directions align with the world coordinate system: x points forward, y points to the robot[39;49;00m[33m'[39;49;00ms left, [35mand[39;49;00m z points upward.[37m[39;49;00m
======[37m[39;49;00m
Intrinsic Asset Attributes:[37m[39;49;00m
[{[33m'[39;49;00m[33mtype_name[39;49;00m[33m'[39;49;00m: [33m'[39;49;00m[33mcube[39;49;00m[33m'[39;49;00m, [33m'[39;49;00m[33mobj_id[39;49;00m[33m'[39;49;00m: [34m0[39;49;00m, [33m'[39;49;00m[33mbounding box[39;49;00m[33m'[39;49;00m: [[34m0.04[39;49;00m, [34m0.04[39;49;00m, [34m0.04[39;49;00m], [33m'[39;49;00m[33mstatus[39;49;00m[33m'[39;49;00m: {[33m'[39;49;00m[33mface_robot[39;49;00m[33m'[39;49;00m: {[33m'[39;49;00m[33mdescription[39;49;00m[33m'[39;49;00m: [33m'[39;49;00m[33mPlaced flat on the table, with the front face parallel to the body.[39;49;00m[33m'[39;49;00m, [33m'[39;49;00m[33morientation[39;49;00m[33m'[39;49;00m: [[34m1[39;49;00m, [34m0[39;49;00m, [34m0[39;49;00m, [34m0[39;49;00m]}}}, {[33m'[39;49;00m[33mtype_name[39;49;00m[33m'[39;49;00m: [33m'[39;49;00m[33mcube[39;49;00m[33m'[39;49;00m, [33m'[39;49;00m[33mobj_id[39;49;00m[33m'[39;49;00m: [34m1[39;49;00m, [33m'[39;49;00m[33mbounding box[39;49;00m[33m'[39;49;00m: [[34m0.04[39;49;00m, [34m0.04[39;49;00m, [34m0.04[39;49;00m], [33m'[39;49;00m[33mstatus[39;49;00m[33m'[39;49;00m: {[33m'[39;49;00m[33mface_robot[39;49;00m[33m'[39;49;00m: {[33m'[39;49;00m[33mdescription[39;49;00m[33m'[39;49;00m: [33m'[39;49;00m[33mPlaced flat on the table, with the front face parallel to the body.[39;49;00m[33m'[39;49;00m, [33m'[39;49;00m[33morientation[39;49;00m[33m'[39;49;00m: [[34m1[39;49;00m, [34m0[39;49;00m, [34m0[39;49;00m, [34m0[39;49;00m]}}}, {[33m'[39;49;00m[33mtype_name[39;49;00m[33m'[39;49;00m: [33m'[39;49;00m[33mcube[39;49;00m[33m'[39;49;00m, [33m'[39;49;00m[33mobj_id[39;49;00m[33m'[39;49;00m: [34m2[39;49;00m, [33m'[39;49;00m[33mbounding box[39;49;00m[33m'[39;49;00m: [[34m0.04[39;49;00m, [34m0.04[39;49;00m, [34m0.04[39;49;00m], [33m'[39;49;00m[33mstatus[39;49;00m[33m'[39;49;00m: {[33m'[39;49;00m[33mface_robot[39;49;00m[33m'[39;49;00m: {[33m'[39;49;00m[33mdescription[39;49;00m[33m'[39;49;00m: [33m'[39;49;00m[33mPlaced flat on the table, with the front face parallel to the body.[39;49;00m[33m'[39;49;00m, [33m'[39;49;00m[33morientation[39;49;00m[33m'[39;49;00m: [[34m1[39;49;00m, [34m0[39;49;00m, [34m0[39;49;00m, [34m0[39;49;00m]}}}][37m[39;49;00m
Note: The [33m'[39;49;00m[33morientation[39;49;00m[33m'[39;49;00m [35min[39;49;00m [33m'[39;49;00m[33mstatus[39;49;00m[33m'[39;49;00m represents the rotation [35min[39;49;00m the world coordinate system under its corresponding [33m'[39;49;00m[33mdescription[39;49;00m[33m'[39;49;00m.[37m[39;49;00m
======[37m[39;49;00m
Initial Asset State:[37m[39;49;00m
[{[33m'[39;49;00m[33mtype_name[39;49;00m[33m'[39;49;00m: [33m'[39;49;00m[33mcube[39;49;00m[33m'[39;49;00m, [33m'[39;49;00m[33mobj_id[39;49;00m[33m'[39;49;00m: [34m0[39;49;00m, [33m'[39;49;00m[33mpose[39;49;00m[33m'[39;49;00m: Pose(raw_pose=tensor([[-[34m3.1814e-01[39;49;00m,  [34m3.2924e-01[39;49;00m,  [34m2.0000e-02[39;49;00m,  [34m9.9834e-01[39;49;00m,  [34m4.4983e-06[39;49;00m,[37m[39;49;00m
         -[34m3.4159e-06[39;49;00m,  [34m5.7534e-02[39;49;00m]]))}, {[33m'[39;49;00m[33mtype_name[39;49;00m[33m'[39;49;00m: [33m'[39;49;00m[33mcube[39;49;00m[33m'[39;49;00m, [33m'[39;49;00m[33mobj_id[39;49;00m[33m'[39;49;00m: [34m1[39;49;00m, [33m'[39;49;00m[33mpose[39;49;00m[33m'[39;49;00m: Pose(raw_pose=tensor([[-[34m3.1754e-01[39;49;00m, -[34m3.1565e-01[39;49;00m,  [34m2.0000e-02[39;49;00m,  [34m9.9710e-01[39;49;00m,  [34m3.8997e-06[39;49;00m,[37m[39;49;00m
         -[34m3.4915e-06[39;49;00m,  [34m7.6107e-02[39;49;00m]]))}, {[33m'[39;49;00m[33mtype_name[39;49;00m[33m'[39;49;00m: [33m'[39;49;00m[33mcube[39;49;00m[33m'[39;49;00m, [33m'[39;49;00m[33mobj_id[39;49;00m[33m'[39;49;00m: [34m2[39;49;00m, [33m'[39;49;00m[33mpose[39;49;00m[33m'[39;49;00m: Pose(raw_pose=tensor([[-[34m4.4892e-01[39;49;00m, -[34m3.1284e-01[39;49;00m,  [34m2.0000e-02[39;49;00m,  [34m9.9905e-01[39;49;00m,  [34m5.5080e-06[39;49;00m,[37m[39;49;00m
         -[34m2.9400e-06[39;49;00m,  [34m4.3612e-02[39;49;00m]]))}][37m[39;49;00m
Note: The asset([36mobject[39;49;00m) state(pose) when the scene [35mis[39;49;00m just initialized, before [36many[39;49;00m actions are executed. Pose consists of Cartesian coordinates [35mand[39;49;00m a quaternion [35min[39;49;00m the world coordinate system: [x, y, z, w, x, y, z](The following [34m7[39;49;00m-dimensional poses [36mall[39;49;00m follow this [36mformat[39;49;00m).[37m[39;49;00m
======[37m[39;49;00m
Current Asset State:[37m[39;49;00m
[{[33m'[39;49;00m[33mtype_name[39;49;00m[33m'[39;49;00m: [33m'[39;49;00m[33mcube[39;49;00m[33m'[39;49;00m, [33m'[39;49;00m[33mobj_id[39;49;00m[33m'[39;49;00m: [34m0[39;49;00m, [33m'[39;49;00m[33mpose[39;49;00m[33m'[39;49;00m: Pose(raw_pose=tensor([[-[34m3.1814e-01[39;49;00m,  [34m3.2924e-01[39;49;00m,  [34m2.0000e-02[39;49;00m,  [34m9.9834e-01[39;49;00m,  [34m4.4983e-06[39;49;00m,[37m[39;49;00m
         -[34m3.4159e-06[39;49;00m,  [34m5.7534e-02[39;49;00m]]))}, {[33m'[39;49;00m[33mtype_name[39;49;00m[33m'[39;49;00m: [33m'[39;49;00m[33mcube[39;49;00m[33m'[39;49;00m, [33m'[39;49;00m[33mobj_id[39;49;00m[33m'[39;49;00m: [34m1[39;49;00m, [33m'[39;49;00m[33mpose[39;49;00m[33m'[39;49;00m: Pose(raw_pose=tensor([[-[34m3.1754e-01[39;49;00m, -[34m3.1565e-01[39;49;00m,  [34m2.0000e-02[39;49;00m,  [34m9.9710e-01[39;49;00m,  [34m3.8997e-06[39;49;00m,[37m[39;49;00m
         -[34m3.4915e-06[39;49;00m,  [34m7.6107e-02[39;49;00m]]))}, {[33m'[39;49;00m[33mtype_name[39;49;00m[33m'[39;49;00m: [33m'[39;49;00m[33mcube[39;49;00m[33m'[39;49;00m, [33m'[39;49;00m[33mobj_id[39;49;00m[33m'[39;49;00m: [34m2[39;49;00m, [33m'[39;49;00m[33mpose[39;49;00m[33m'[39;49;00m: Pose(raw_pose=tensor([[-[34m4.4892e-01[39;49;00m, -[34m3.1284e-01[39;49;00m,  [34m2.0000e-02[39;49;00m,  [34m9.9905e-01[39;49;00m,  [34m5.5080e-06[39;49;00m,[37m[39;49;00m
         -[34m2.9400e-06[39;49;00m,  [34m4.3612e-02[39;49;00m]]))}][37m[39;49;00m
Note: Current states(poses) of assets(objects) on the tabletop[37m[39;49;00m
======[37m[39;49;00m
Executed Action Code:[37m[39;49;00m
[37m[39;49;00m
Note: [37m[39;49;00m
- Code [34mfor[39;49;00m actions executed by the robot to transform the asset state on the tabletop [34mfrom[39;49;00m[37m [39;49;00m[04m[36mthe[39;49;00m initial state to the current state.[37m[39;49;00m
======[37m[39;49;00m
Prohibited Next Actions:[37m[39;49;00m
[37m[39;49;00m
Note: The [36mnext[39;49;00m step cannot execute the prohibited actions listed above. [33m'[39;49;00m[33mSame[39;49;00m[33m'[39;49;00m means completely identical. For [33m'[39;49;00m[33mmove[39;49;00m[33m'[39;49;00m, [36many[39;49;00m addition, removal, [35mor[39;49;00m modification of constraints [35mis[39;49;00m considered a different action. Applies only to the [36mnext[39;49;00m step; subsequent steps can still choose those actions.[37m[39;49;00m
======[37m[39;49;00m
Robot Attributes:[37m[39;49;00m
hand_key_point:{[37m[39;49;00m
    [33m"[39;49;00m[33mleft_hand[39;49;00m[33m"[39;49;00m:[[33m"[39;49;00m[33mbase_left_hand[39;49;00m[33m"[39;49;00m,[33m"[39;49;00m[33mgrasp_point_base_left_hand[39;49;00m[33m"[39;49;00m,[33m"[39;49;00m[33mpinch_point_base_left_hand[39;49;00m[33m"[39;49;00m],[37m[39;49;00m
    [33m"[39;49;00m[33mright_hand[39;49;00m[33m"[39;49;00m:[[33m"[39;49;00m[33mbase_right_hand[39;49;00m[33m"[39;49;00m,[33m"[39;49;00m[33mgrasp_point_base_right_hand[39;49;00m[33m"[39;49;00m,[33m"[39;49;00m[33mpinch_point_base_right_hand[39;49;00m[33m"[39;49;00m][37m[39;49;00m
}[37m[39;49;00m
hand_key_axis:{[37m[39;49;00m
    [33m"[39;49;00m[33mleft_hand[39;49;00m[33m"[39;49;00m:[[33m"[39;49;00m[33mleft_pinch_axis[39;49;00m[33m"[39;49;00m,[33m"[39;49;00m[33mleft_pinch_wrist_2_palm_axis[39;49;00m[33m"[39;49;00m,[33m"[39;49;00m[33mleft_ring_2_index[39;49;00m[33m"[39;49;00m,[33m"[39;49;00m[33mleft_grasp_axis[39;49;00m[33m"[39;49;00m,[33m"[39;49;00m[33mleft_grasp_wrist_2_palm_axis[39;49;00m[33m"[39;49;00m],[37m[39;49;00m
    [33m"[39;49;00m[33mright_hand[39;49;00m[33m"[39;49;00m:[[33m"[39;49;00m[33mright_pinch_axis[39;49;00m[33m"[39;49;00m,[33m"[39;49;00m[33mright_pinch_wrist_2_palm_axis[39;49;00m[33m"[39;49;00m,[33m"[39;49;00m[33mright_ring_2_index[39;49;00m[33m"[39;49;00m,[33m"[39;49;00m[33mright_grasp_axis[39;49;00m[33m"[39;49;00m,[33m"[39;49;00m[33mright_grasp_wrist_2_palm_axis[39;49;00m[33m"[39;49;00m][37m[39;49;00m
}[37m[39;49;00m
default_pose:{[37m[39;49;00m
    [33m"[39;49;00m[33mleft_hand[39;49;00m[33m"[39;49;00m:[left_hand_init_pose],[37m[39;49;00m
    [33m"[39;49;00m[33mright_hand[39;49;00m[33m"[39;49;00m:[right_hand_init_pose][37m[39;49;00m
}[37m[39;49;00m
======[37m[39;49;00m
Available Class:[37m[39;49;00m
Constraint(env,[36mtype[39;49;00m,end_effector_frame,hand_key_point,object_key_point,hand_axis,object_axis):[37m[39;49;00m
    Function: [37m[39;49;00m
        [33m"[39;49;00m[33mConstraint[39;49;00m[33m"[39;49;00m defines hard constraints that must be strictly satisfied. [37m[39;49;00m
        Establishes spatial equivalence constraints between:[37m[39;49;00m
            - (point2point) Specified end-effector point [04m[91m→[39;49;00m target point.[37m[39;49;00m
            - (parallel) Specified end-effector axis direction [04m[91m→[39;49;00m target axis direction.[37m[39;49;00m
    Args:[37m[39;49;00m
    - env (Environment, Mandatory): The planner[33m'[39;49;00m[33ms bound operating environment. Must reference the planner[39;49;00m[33m'[39;49;00ms environment instance through [04m[91m`[39;49;00mplanner.env[04m[91m`[39;49;00m [36mproperty[39;49;00m.[37m[39;49;00m
    - [36mtype[39;49;00m ([36mstr[39;49;00m, Mandatory): [33m"[39;49;00m[33mpoint2point[39;49;00m[33m"[39;49;00m [35mor[39;49;00m [33m"[39;49;00m[33mparallel[39;49;00m[33m"[39;49;00m.[37m[39;49;00m
    - end_effector_frame ([36mstr[39;49;00m, Mandatory): [33m"[39;49;00m[33ml_hand_base_link[39;49;00m[33m"[39;49;00m [35mor[39;49;00m [33m"[39;49;00m[33mr_hand_base_link[39;49;00m[33m"[39;49;00m.[37m[39;49;00m
    - hand_key_point (np.ndarray): [Required when [33m'[39;49;00m[33mtype[39;49;00m[33m'[39;49;00m [35mis[39;49;00m [33m'[39;49;00m[33mpoint2point[39;49;00m[33m'[39;49;00m] Pre-motion end-effector anchor point [35min[39;49;00m world coordinates.[37m[39;49;00m
    - object_key_point (np.ndarray): [Required when [33m'[39;49;00m[33mtype[39;49;00m[33m'[39;49;00m [35mis[39;49;00m [33m'[39;49;00m[33mpoint2point[39;49;00m[33m'[39;49;00m] Target[33m'[39;49;00m[33ms corresponding point in world coordinates.[39;49;00m[37m[39;49;00m
    - hand_axis (np.ndarray): [Required when [33m'[39;49;00m[33mtype[39;49;00m[33m'[39;49;00m [35mis[39;49;00m [33m'[39;49;00m[33mparallel[39;49;00m[33m'[39;49;00m] Pre-motion end-effector alignment axis [35min[39;49;00m world coordinates.[37m[39;49;00m
    - object_axis (np.ndarray): [Required when [33m'[39;49;00m[33mtype[39;49;00m[33m'[39;49;00m [35mis[39;49;00m [33m'[39;49;00m[33mparallel[39;49;00m[33m'[39;49;00m] Target[33m'[39;49;00m[33ms reference axis in world coordinates.[39;49;00m[37m[39;49;00m
    Example:[37m[39;49;00m
        [37m# Right palm facing down to grasp(Top-down grasping of the object)[39;49;00m[37m[39;49;00m
        Constraint([37m[39;49;00m
            env=planner.env,[37m[39;49;00m
            [36mtype[39;49;00m=[33m"[39;49;00m[33mparallel[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            end_effector_frame=[33m"[39;49;00m[33mr_hand_base_link[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            hand_axis=get_axis_in_env(planner.env,axis_name=[33m"[39;49;00m[33mright_grasp_axis[39;49;00m[33m"[39;49;00m), [37m# The back of the palm points toward the front of the palm. Pinch action is similar.[39;49;00m[37m[39;49;00m
            object_axis=np.array([[34m0[39;49;00m,[34m0[39;49;00m,-[34m1[39;49;00m]), [37m# World frame, [39;49;00m[37m[39;49;00m
        )[37m[39;49;00m
[37m[39;49;00m
        [37m# Right palm facing up to grasp(Down-Top grasping of the object). If there is a table or other objects below the target, it often causes collisions and makes it unreachable.[39;49;00m[37m[39;49;00m
        Constraint([37m[39;49;00m
            env=planner.env,[37m[39;49;00m
            [36mtype[39;49;00m=[33m"[39;49;00m[33mparallel[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            end_effector_frame=[33m"[39;49;00m[33mr_hand_base_link[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            hand_axis=get_axis_in_env(planner.env,axis_name=[33m"[39;49;00m[33mright_grasp_axis[39;49;00m[33m"[39;49;00m), [37m# The back of the palm points toward the front of the palm. Pinch action is similar.[39;49;00m[37m[39;49;00m
            object_axis=np.array([[34m0[39;49;00m,[34m0[39;49;00m,[34m1[39;49;00m]), [37m# World frame, [39;49;00m[37m[39;49;00m
        )[37m[39;49;00m
[37m[39;49;00m
        [37m# The direction from the right wrist to the palm center is facing forward.[39;49;00m[37m[39;49;00m
        Constraint([37m[39;49;00m
            env=planner.env,[37m[39;49;00m
            [36mtype[39;49;00m=[33m"[39;49;00m[33mparallel[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            end_effector_frame=[33m"[39;49;00m[33mr_hand_base_link[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            hand_axis=get_axis_in_env(planner.env,axis_name=[33m"[39;49;00m[33mright_grasp_wrist_2_palm_axis[39;49;00m[33m"[39;49;00m), [37m# The direction from the wrist to the palm center[39;49;00m[37m[39;49;00m
            object_axis=np.array([[34m1[39;49;00m,[34m0[39;49;00m,[34m0[39;49;00m]), [37m# World frame[39;49;00m[37m[39;49;00m
        )[37m[39;49;00m
[37m[39;49;00m
        [37m# The direction from the right pinky finger to the index finger is parallel to the x-axis of object0.[39;49;00m[37m[39;49;00m
        Constraint([37m[39;49;00m
            env=planner.env,[37m[39;49;00m
            [36mtype[39;49;00m=[33m"[39;49;00m[33mparallel[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            end_effector_frame=[33m"[39;49;00m[33mr_hand_base_link[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            hand_axis=get_axis_in_env(planner.env,axis_name=[33m"[39;49;00m[33mright_ring_2_index[39;49;00m[33m"[39;49;00m), [37m# The direction from the right pinky finger to the index finger[39;49;00m[37m[39;49;00m
            object_axis=get_axis_in_env(planner.env, [33m"[39;49;00m[33mx[39;49;00m[33m"[39;49;00m, obj_type=[33m"[39;49;00m[33mobject[39;49;00m[33m"[39;49;00m, obj_id=[34m0[39;49;00m), [37m# The coordinates of object0's x-axis in the world coordinate system.[39;49;00m[37m[39;49;00m
        )[37m[39;49;00m
[37m[39;49;00m
        [37m# After object0 is in hand, align its x-axis parallel to the world coordinate system's z-axis, making its x-axis point upward.[39;49;00m[37m[39;49;00m
        Constraint([37m[39;49;00m
            env=planner.env,[37m[39;49;00m
            [36mtype[39;49;00m=[33m"[39;49;00m[33mpoint2point[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            end_effector_frame=[33m"[39;49;00m[33mr_hand_base_link[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            hand_key_point=get_axis_in_env(planner.env, [33m"[39;49;00m[33mx[39;49;00m[33m"[39;49;00m, obj_type=[33m"[39;49;00m[33mobject[39;49;00m[33m"[39;49;00m, obj_id=[34m0[39;49;00m),[37m[39;49;00m
            object_key_point=object_axis=np.array([[34m0[39;49;00m,[34m0[39;49;00m,[34m1[39;49;00m]), [37m# np.array([0, 0.1, 0.1]) in the object0's coordinate system.[39;49;00m[37m[39;49;00m
        )[37m[39;49;00m
[37m[39;49;00m
        [37m# The right-hand grasp point coincides with [0, 0.1, 0.1] in the object0's coordinate system.[39;49;00m[37m[39;49;00m
        Constraint([37m[39;49;00m
            env=planner.env,[37m[39;49;00m
            [36mtype[39;49;00m=[33m"[39;49;00m[33mpoint2point[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            end_effector_frame=[33m"[39;49;00m[33mr_hand_base_link[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            hand_key_point=get_point_in_env(planner.env,point_name=[33m"[39;49;00m[33mgrasp_point_base_right_hand[39;49;00m[33m"[39;49;00m),[37m[39;49;00m
            object_key_point=get_point_in_env(planner.env,type_name=[33m"[39;49;00m[33mobject[39;49;00m[33m"[39;49;00m,obj_id=[34m0[39;49;00m,related_point=np.array([[34m0[39;49;00m, [34m0.1[39;49;00m, [34m0.1[39;49;00m])), [37m# np.array([0, 0.1, 0.1]) in the object0's coordinate system.[39;49;00m[37m[39;49;00m
        )[37m[39;49;00m
[37m[39;49;00m
        [37m# After object0 is in hand, position it 0.1m above object1.[39;49;00m[37m[39;49;00m
        Constraint([37m[39;49;00m
            env=planner.env,[37m[39;49;00m
            [36mtype[39;49;00m=[33m"[39;49;00m[33mpoint2point[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            end_effector_frame=[33m"[39;49;00m[33mr_hand_base_link[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            hand_key_point=get_point_in_env(planner.env,type_name=[33m"[39;49;00m[33mobject[39;49;00m[33m"[39;49;00m,obj_id=[34m0[39;49;00m),[37m[39;49;00m
            object_key_point=get_point_in_env(planner.env,type_name=[33m"[39;49;00m[33mobject[39;49;00m[33m"[39;49;00m,obj_id=[34m1[39;49;00m)+np.array([[34m0[39;49;00m, [34m0[39;49;00m, [34m0.1[39;49;00m]), [37m# np.array([0, 0, 0.1]) in the world(robot) coordinate system.[39;49;00m[37m[39;49;00m
        )[37m[39;49;00m
    Note: [37m[39;49;00m
        [33m'[39;49;00m[33mhand_key_point[39;49;00m[33m'[39;49;00m [35mand[39;49;00m [33m'[39;49;00m[33mobject_key_point[39;49;00m[33m'[39;49;00m represent two points [35min[39;49;00m the world coordinate system. [33m'[39;49;00m[33mhand_key_point[39;49;00m[33m'[39;49;00m moves [34mwith[39;49;00m the corresponding end-effector, [35mand[39;49;00m [36mtype[39;49;00m=[33m'[39;49;00m[33mpoint2point[39;49;00m[33m'[39;49;00m indicates the intention [34mfor[39;49;00m the two points to coincide. [37m[39;49;00m
        [33m'[39;49;00m[33mhand_axis[39;49;00m[33m'[39;49;00m [35mand[39;49;00m [33m'[39;49;00m[33mobject_axis[39;49;00m[33m'[39;49;00m have similar meanings to [33m'[39;49;00m[33mpoint[39;49;00m[33m'[39;49;00m.[37m[39;49;00m
        [33m'[39;49;00m[33mright_grasp_axis[39;49;00m[33m'[39;49;00m [35mor[39;49;00m [33m'[39;49;00m[33mright_pinch_axis[39;49;00m[33m'[39;49;00m parallel [[34m0[39;49;00m,[34m0[39;49;00m,-[34m1[39;49;00m] means executing [34mwith[39;49;00m the palm facing downward.[37m[39;49;00m
        [33m'[39;49;00m[33mright_grasp_axis[39;49;00m[33m'[39;49;00m [35mor[39;49;00m [33m'[39;49;00m[33mright_pinch_axis[39;49;00m[33m'[39;49;00m parallel [[34m1[39;49;00m,[34m0[39;49;00m,[34m0[39;49;00m] means executing [34mwith[39;49;00m the palm facing forward.[37m[39;49;00m
        [33m'[39;49;00m[33mright_grasp_axis[39;49;00m[33m'[39;49;00m [35mor[39;49;00m [33m'[39;49;00m[33mright_pinch_axis[39;49;00m[33m'[39;49;00m parallel [[34m0[39;49;00m,[34m1[39;49;00m,[34m0[39;49;00m] means executing [34mwith[39;49;00m the palm facing left.[37m[39;49;00m
        [33m'[39;49;00m[33mleft_grasp_axis[39;49;00m[33m'[39;49;00m [35mor[39;49;00m [33m'[39;49;00m[33mleft_pinch_axis[39;49;00m[33m'[39;49;00m parallel [[34m0[39;49;00m,-[34m1[39;49;00m,[34m0[39;49;00m] means executing [34mwith[39;49;00m the palm facing right.[37m[39;49;00m
[37m[39;49;00m
[37m[39;49;00m
Const(env,[36mtype[39;49;00m,end_effector_frame,hand_key_point,object_key_point,hand_axis,object_axis):[37m[39;49;00m
    The usage [35mis[39;49;00m similar to the Constraint class, but it [35mis[39;49;00m [35mnot[39;49;00m a strict constraint; it [35mis[39;49;00m an optimization objective.[37m[39;49;00m
======[37m[39;49;00m
Available functions:[37m[39;49;00m
[37m[39;49;00m
[34mdef[39;49;00m[37m [39;49;00m[32mget_point_in_env[39;49;00m(env, point_name,type_name, obj_id,related_point,openness):[37m[39;49;00m
    Function: Get specified point position [35min[39;49;00m world frame.[37m[39;49;00m
    Return: point_position (np.ndarray)[37m[39;49;00m
    Args:[37m[39;49;00m
    - env (Environment, Mandatory): The planner[33m'[39;49;00m[33ms bound operating environment. Must reference the planner[39;49;00m[33m'[39;49;00ms environment instance through [04m[91m`[39;49;00mplanner.env[04m[91m`[39;49;00m [36mproperty[39;49;00m.[37m[39;49;00m
    - point_name ([36mstr[39;49;00m, optional): The point name. Example: [33m"[39;49;00m[33mgrasp_point_base_left_hand[39;49;00m[33m"[39;49;00m.[37m[39;49;00m
    - type_name ([36mstr[39;49;00m, optional): The reference [36mobject[39;49;00m relative to the target point.[37m[39;49;00m
    - obj_id ([36mint[39;49;00m, optional): The reference [36mobject[39;49;00m [36mid[39;49;00m.[37m[39;49;00m
    - related_point (np.ndarray,optional): The coordinates of the target point relative to the [36mobject[39;49;00m center [35min[39;49;00m the [36mobject[39;49;00m coordinate system. Default: np.array([[34m0[39;49;00m,[34m0[39;49;00m,[34m0[39;49;00m])[37m[39;49;00m
    - openness ([36mint[39;49;00m, optional): Represents the openness degree of the articulated [36mobject[39;49;00m. If type_name [35mis[39;49;00m an articulated [36mobject[39;49;00m, this value can be [36mset[39;49;00m to obtain the coordinates corresponding to point_name at a specific openness degree.[37m[39;49;00m
    Example:[37m[39;49;00m
        [37m# Get the current coordinates of the right-hand pinch point in the world coordinate system.[39;49;00m[37m[39;49;00m
        get_point_in_env(planner.env,point_name=[33m"[39;49;00m[33mgrasp_point_base_pinch_hand[39;49;00m[33m"[39;49;00m)[37m[39;49;00m
[37m[39;49;00m
[34mdef[39;49;00m[37m [39;49;00m[32mget_axis_in_env[39;49;00m(env, axis_name, obj_type, obj_id):[37m[39;49;00m
    Function: Get specified direction vector [35min[39;49;00m world frame.[37m[39;49;00m
    Return: direction_vector (np.ndarray)[37m[39;49;00m
    Args:[37m[39;49;00m
    - env (Environment, Mandatory): The planner[33m'[39;49;00m[33ms bound operating environment. Must reference the planner[39;49;00m[33m'[39;49;00ms environment instance through [04m[91m`[39;49;00mplanner.env[04m[91m`[39;49;00m [36mproperty[39;49;00m.[37m[39;49;00m
    - axis_name ([36mstr[39;49;00m, Mandatory): The axis name. Example: [33m"[39;49;00m[33mright_pinch_axis[39;49;00m[33m"[39;49;00m.[37m[39;49;00m
    - obj_type ([36mstr[39;49;00m, optional): The reference [36mobject[39;49;00m relative to the target axis.[37m[39;49;00m
    - obj_id ([36mint[39;49;00m, optional): The reference [36mobject[39;49;00m [36mid[39;49;00m.[37m[39;49;00m
[37m[39;49;00m
[34mdef[39;49;00m[37m [39;49;00m[32mopen_hand[39;49;00m([36mself[39;49;00m, hand_name):[37m[39;49;00m
    Function: Control the hand to [36mopen[39;49;00m.[37m[39;49;00m
    Return: [34mNone[39;49;00m[37m[39;49;00m
    Args:[37m[39;49;00m
    - hand_name ([36mstr[39;49;00m, Mandatory): [33m"[39;49;00m[33mall[39;49;00m[33m"[39;49;00m, [33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m, [35mor[39;49;00m [33m"[39;49;00m[33mleft[39;49;00m[33m"[39;49;00m.[37m[39;49;00m
[37m[39;49;00m
[34mdef[39;49;00m[37m [39;49;00m[32mhand_pre_grasp[39;49;00m(hand_name):[37m[39;49;00m
    Function: Adjusts the thumb movement of the specified hand to position it opposite the index finger, preparing [34mfor[39;49;00m subsequent grasping operations. This should typically be called before executing [33m'[39;49;00m[33mmove_to_pose_with_screw[39;49;00m[33m'[39;49;00m to reach the pre-grasp pose.[37m[39;49;00m
    Return: [34mNone[39;49;00m[37m[39;49;00m
    Args:[37m[39;49;00m
    - hand_name ([36mstr[39;49;00m, Mandatory): [33m"[39;49;00m[33mall[39;49;00m[33m"[39;49;00m, [33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m, [35mor[39;49;00m [33m"[39;49;00m[33mleft[39;49;00m[33m"[39;49;00m. Default: [33m"[39;49;00m[33mall[39;49;00m[33m"[39;49;00m.[37m[39;49;00m
[37m[39;49;00m
[34mdef[39;49;00m[37m [39;49;00m[32mhand_grasp[39;49;00m(hand_name, grasp_object, obj_id):[37m[39;49;00m
    Function: Control the hand to close.[37m[39;49;00m
    Return: [34mNone[39;49;00m[37m[39;49;00m
    Args:[37m[39;49;00m
    - hand_name ([36mstr[39;49;00m, Mandatory): [33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m, [35mor[39;49;00m [33m"[39;49;00m[33mleft[39;49;00m[33m"[39;49;00m.[37m[39;49;00m
    - grasp_object ([36mstr[39;49;00m, Mandatory): The [36mtype[39;49;00m of the grasped [36mobject[39;49;00m. Example: [33m"[39;49;00m[33mcan[39;49;00m[33m"[39;49;00m.[37m[39;49;00m
    - obj_id ([36mint[39;49;00m, Mandatory): The [36mobject[39;49;00m [36mid[39;49;00m of the grasped [36mobject[39;49;00m. Example: If grasp_object=[33m"[39;49;00m[33mcan[39;49;00m[33m"[39;49;00m [35mand[39;49;00m obj_id=[34m0[39;49;00m, indicates the first can [36mobject[39;49;00m added to the environment.[37m[39;49;00m
[37m[39;49;00m
[34mdef[39;49;00m[37m [39;49;00m[32mhand_pre_pinch[39;49;00m(hand_name):[37m[39;49;00m
    Function: Adjusts the thumb movement of the specified hand to position it opposite the index finger, preparing [34mfor[39;49;00m subsequent pinching operations. This should typically be called before executing [33m'[39;49;00m[33mmove_to_pose_with_screw[39;49;00m[33m'[39;49;00m to reach the pre-pinch pose.[37m[39;49;00m
    Return: [34mNone[39;49;00m[37m[39;49;00m
    Args:[37m[39;49;00m
    - hand_name ([36mstr[39;49;00m, optional): [33m"[39;49;00m[33mall[39;49;00m[33m"[39;49;00m, [33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m, [35mor[39;49;00m [33m"[39;49;00m[33mleft[39;49;00m[33m"[39;49;00m. Default: [33m"[39;49;00m[33mall[39;49;00m[33m"[39;49;00m.[37m[39;49;00m
[37m[39;49;00m
[34mdef[39;49;00m[37m [39;49;00m[32mhand_pinch[39;49;00m(hand_name, pinch_object, obj_id):[37m[39;49;00m
    Function: Only control the closing operation of the thumb [35mand[39;49;00m index finger. Typically used [34mfor[39;49;00m small [35mand[39;49;00m hard-to-grasp objects.[37m[39;49;00m
    Return: [34mNone[39;49;00m[37m[39;49;00m
    Args:[37m[39;49;00m
    - hand_name ([36mstr[39;49;00m, Mandatory): [33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m, [35mor[39;49;00m [33m"[39;49;00m[33mleft[39;49;00m[33m"[39;49;00m.[37m[39;49;00m
    - pinch_object ([36mstr[39;49;00m, Mandatory): The [36mtype[39;49;00m of the pinched [36mobject[39;49;00m. Example: [33m"[39;49;00m[33mcan[39;49;00m[33m"[39;49;00m.[37m[39;49;00m
    - obj_id ([36mint[39;49;00m, Mandatory): The [36mobject[39;49;00m [36mid[39;49;00m of the pinched [36mobject[39;49;00m. Example: If pinch_object=[33m"[39;49;00m[33mcan[39;49;00m[33m"[39;49;00m [35mand[39;49;00m obj_id=[34m0[39;49;00m, indicates the first can [36mobject[39;49;00m added to the environment.[37m[39;49;00m
[37m[39;49;00m
 [34mdef[39;49;00m[37m [39;49;00m[32mgenerate_end_effector_pose[39;49;00m(constraints,hand_name):[37m[39;49;00m
    Function: Calculate the target pose that the robotic arm needs to move to [35min[39;49;00m this step based on the constraint [35mand[39;49;00m cost.[37m[39;49;00m
    Return: _,target_effector_pose[37m[39;49;00m
    Args:[37m[39;49;00m
    - constraints ([36mlist[39;49;00m, Mandatory): A [36mlist[39;49;00m of Constraint objects, [34mwith[39;49;00m the number of Constraints determined by specific requirements.[37m[39;49;00m
    - hand_name ([36mstr[39;49;00m, Mandatory): [33m"[39;49;00m[33mleft[39;49;00m[33m"[39;49;00m [35mor[39;49;00m [33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m[37m[39;49;00m
[37m[39;49;00m
[34mdef[39;49;00m[37m [39;49;00m[32mmove_to_pose_with_screw[39;49;00m(pose: sapien.Pose, hand_name, attach_obj=[34mFalse[39;49;00m, object_name=[34mNone[39;49;00m, object_id=[34m0[39;49;00m):[37m[39;49;00m
    Function: Control the robotic arm to move the end-effector of [33m'[39;49;00m[33mhand_name[39;49;00m[33m'[39;49;00m to the [33m'[39;49;00m[33mpose[39;49;00m[33m'[39;49;00m.[37m[39;49;00m
    Return: [34mNone[39;49;00m[37m[39;49;00m
    Args:[37m[39;49;00m
    - pose (sapien.Pose, Mandatory): The target pose [34mfor[39;49;00m the movement of [33m'[39;49;00m[33mhand_name[39;49;00m[33m'[39;49;00m.[37m[39;49;00m
    - hand_name ([36mstr[39;49;00m, Mandatory): The specified robotic arm [34mfor[39;49;00m the movement.[37m[39;49;00m
    - attach_obj ([36mbool[39;49;00m, Mandatory): Whether there [35mis[39;49;00m an attached [36mobject[39;49;00m [35min[39;49;00m the hand during the movement.[37m[39;49;00m
    - object_name ([36mstr[39;49;00m): [Required when [33m'[39;49;00m[33mattach_obj[39;49;00m[33m'[39;49;00m [35mis[39;49;00m [34mTrue[39;49;00m] The [36mtype[39;49;00m of the attached [36mobject[39;49;00m.[37m[39;49;00m
    - obj_id ([36mint[39;49;00m, Mandatory): [Required when [33m'[39;49;00m[33mattach_obj[39;49;00m[33m'[39;49;00m [35mis[39;49;00m [34mTrue[39;49;00m] The [36mobject[39;49;00m [36mid[39;49;00m of the attached [36mobject[39;49;00m.[37m[39;49;00m
 [37m[39;49;00m
======[37m[39;49;00m
Incorrect example code:[37m[39;49;00m
[34m1.[39;49;00m The right hand grasps the can, when can on the table:[37m[39;49;00m
step [34m1[39;49;00m: Grasp can0[37m[39;49;00m
[04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00mpython[37m[39;49;00m
    [37m# Set the right hand fingers to a pre-grasp pose[39;49;00m[37m[39;49;00m
    planner.hand_pre_grasp([33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m)[37m[39;49;00m
[37m[39;49;00m
    constraints=[][37m[39;49;00m
[37m[39;49;00m
    constraints.append([37m[39;49;00m
        Constraint([37m[39;49;00m
            env=planner.env,[37m[39;49;00m
            [36mtype[39;49;00m=[33m"[39;49;00m[33mparallel[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            end_effector_frame=[33m"[39;49;00m[33mr_hand_base_link[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            hand_axis=get_axis_in_env(planner.env, axis_name=[33m"[39;49;00m[33mright_grasp_axis[39;49;00m[33m"[39;49;00m),[37m[39;49;00m
            object_axis=np.array([[34m0[39;49;00m, [34m0[39;49;00m, [34m1[39;49;00m])[37m[39;49;00m
        )[37m[39;49;00m
    )[37m[39;49;00m
    [37m# Generate the target pose for the end-effector and move the right hand to the target pose[39;49;00m[37m[39;49;00m
    _, target_effector_pose = planner.generate_end_effector_pose(constraints,hand_name=[33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m)[37m[39;49;00m
    planner.move_to_pose_with_screw(target_effector_pose,[33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m,attach_obj=[34mFalse[39;49;00m)[37m[39;49;00m
[37m[39;49;00m
    [37m# Close the right hand to grasp the can[39;49;00m[37m[39;49;00m
    planner.hand_grasp([33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m,grasp_object=[33m"[39;49;00m[33mcan[39;49;00m[33m"[39;49;00m,obj_id=[34m0[39;49;00m)[37m[39;49;00m
[04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00m[37m[39;49;00m
Reason [34mfor[39;49;00m the error: [04m[91m`[39;49;00mobject_axis=np.array([[34m0[39;49;00m, [34m0[39;49;00m, [34m1[39;49;00m])[04m[91m`[39;49;00m represents the positive z-axis [35min[39;49;00m the world coordinate system. If it [35mis[39;49;00m parallel to the grasp axis, it indicates a bottom-up grasping direction. For an [36mobject[39;49;00m on a table, the hand cannot reach below the [36mobject[39;49;00m. To perform a top-down grasp along the -z direction, use [04m[91m`[39;49;00mobject_axis=np.array([[34m0[39;49;00m, [34m0[39;49;00m, -[34m1[39;49;00m])[04m[91m`[39;49;00m.[37m[39;49;00m
[37m[39;49;00m
======[37m[39;49;00m
Correct example code:[37m[39;49;00m
[34m1.[39;49;00m The right hand grasps the can [34mfrom[39;49;00m[37m [39;49;00m[04m[36mright[39;49;00m to left, then lifts it by [34m0.1[39;49;00mm, [35mand[39;49;00m then releases it.[37m[39;49;00m
step [34m1[39;49;00m: Grasp can0[37m[39;49;00m
[04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00mpython[37m[39;49;00m
    [37m# Set the right hand fingers to a pre-grasp pose[39;49;00m[37m[39;49;00m
    planner.hand_pre_grasp([33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m)[37m[39;49;00m
[37m[39;49;00m
    constraints=[][37m[39;49;00m
    [37m# Add a point-to-point constraint to align the grasp point of the right hand with the can's center point[39;49;00m[37m[39;49;00m
    constraints.append([37m[39;49;00m
        Constraint([37m[39;49;00m
            env=planner.env,[37m[39;49;00m
            [36mtype[39;49;00m=[33m"[39;49;00m[33mpoint2point[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            end_effector_frame=[33m"[39;49;00m[33mr_hand_base_link[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            hand_key_point=get_point_in_env(planner.env,point_name=[33m"[39;49;00m[33mgrasp_point_base_right_hand[39;49;00m[33m"[39;49;00m), [37m# Grasp point on the right hand[39;49;00m[37m[39;49;00m
            object_key_point=get_point_in_env(planner.env,type_name=[33m"[39;49;00m[33mcan[39;49;00m[33m"[39;49;00m,obj_id=[34m0[39;49;00m), [37m# Center point of the can[39;49;00m[37m[39;49;00m
        )[37m[39;49;00m
    )[37m[39;49;00m
    [37m# Add a Constraint to align the pinky-to-index axis of the right hand with the world z-axis[39;49;00m[37m[39;49;00m
    constraints.append([37m[39;49;00m
        Constraint([37m[39;49;00m
            env=planner.env,[37m[39;49;00m
            [36mtype[39;49;00m=[33m"[39;49;00m[33mparallel[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            end_effector_frame=[33m"[39;49;00m[33mr_hand_base_link[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            hand_axis=get_axis_in_env(planner.env,axis_name=[33m"[39;49;00m[33mright_ring_2_index[39;49;00m[33m"[39;49;00m), [37m# The direction from the pinky finger to the index finger[39;49;00m[37m[39;49;00m
            object_axis=np.array([[34m0[39;49;00m,[34m0[39;49;00m,[34m1[39;49;00m]), [37m# World frame. Or the specific axis of the object, such as `get_axis_in_env(planner.env, axis_name="z", obj_type="can", obj_id=0)`.[39;49;00m[37m[39;49;00m
        )[37m[39;49;00m
    )[37m[39;49;00m
    [37m# Generate the target pose for the end-effector and move the right hand to the target pose[39;49;00m[37m[39;49;00m
    _, target_effector_pose = planner.generate_end_effector_pose(constraints,hand_name=[33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m)[37m[39;49;00m
    planner.move_to_pose_with_screw(target_effector_pose,[33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m,attach_obj=[34mFalse[39;49;00m)[37m[39;49;00m
[37m[39;49;00m
    [37m# Close the right hand to grasp the can[39;49;00m[37m[39;49;00m
    planner.hand_grasp([33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m,grasp_object=[33m"[39;49;00m[33mcan[39;49;00m[33m"[39;49;00m,obj_id=[34m0[39;49;00m)[37m[39;49;00m
[04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00m[37m[39;49;00m
step [34m2[39;49;00m: Lift the can by [34m0.1[39;49;00mm [34mwhile[39;49;00m keeping its pose unchanged[37m[39;49;00m
[04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00mpython[37m[39;49;00m
    constraints=[][37m[39;49;00m
    [37m# Add a point-to-point constraint to lift the can by 0.1m[39;49;00m[37m[39;49;00m
    constraints.append([37m[39;49;00m
        Constraint([37m[39;49;00m
            env=planner.env,[37m[39;49;00m
            [36mtype[39;49;00m=[33m"[39;49;00m[33mpoint2point[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            end_effector_frame=[33m"[39;49;00m[33mr_hand_base_link[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            hand_key_point=get_point_in_env(planner.env,type_name=[33m"[39;49;00m[33mcan[39;49;00m[33m"[39;49;00m,obj_id=[34m0[39;49;00m), [37m# can center point now[39;49;00m[37m[39;49;00m
            object_key_point=get_point_in_env(planner.env,type_name=[33m"[39;49;00m[33mcan[39;49;00m[33m"[39;49;00m,obj_id=[34m0[39;49;00m)+np.array([[34m0[39;49;00m,[34m0[39;49;00m,[34m0.1[39;49;00m]), [37m# can center point after being lifted by 0.1m[39;49;00m[37m[39;49;00m
        )[37m[39;49;00m
    )[37m[39;49;00m
    [37m# Add a parallel constraint to keep the x-axis of the can unchanged[39;49;00m[37m[39;49;00m
    constraints.append([37m[39;49;00m
        Constraint([37m[39;49;00m
            env=planner.env,[37m[39;49;00m
            [36mtype[39;49;00m=[33m"[39;49;00m[33mparallel[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            end_effector_frame=[33m"[39;49;00m[33mr_hand_base_link[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            hand_axis=get_axis_in_env(planner.env,axis_name=[33m"[39;49;00m[33mx[39;49;00m[33m"[39;49;00m,obj_type=[33m"[39;49;00m[33mcan[39;49;00m[33m"[39;49;00m,obj_id=[34m0[39;49;00m), [37m# The x-axis of the can[39;49;00m[37m[39;49;00m
            object_axis=get_axis_in_env(planner.env,axis_name=[33m"[39;49;00m[33mx[39;49;00m[33m"[39;49;00m,obj_type=[33m"[39;49;00m[33mcan[39;49;00m[33m"[39;49;00m,obj_id=[34m0[39;49;00m), [37m# Keep the x-axis unchanged[39;49;00m[37m[39;49;00m
        )[37m[39;49;00m
    )[37m[39;49;00m
    [37m# Add a parallel constraint to keep the y-axis of the can unchanged[39;49;00m[37m[39;49;00m
    constraints.append([37m[39;49;00m
        Constraint([37m[39;49;00m
            env=planner.env,[37m[39;49;00m
            [36mtype[39;49;00m=[33m"[39;49;00m[33mparallel[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            end_effector_frame=[33m"[39;49;00m[33mr_hand_base_link[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            hand_axis=get_axis_in_env(planner.env,axis_name=[33m"[39;49;00m[33my[39;49;00m[33m"[39;49;00m,obj_type=[33m"[39;49;00m[33mcan[39;49;00m[33m"[39;49;00m,obj_id=[34m0[39;49;00m), [37m# The y-axis of the can[39;49;00m[37m[39;49;00m
            object_axis=get_axis_in_env(planner.env,axis_name=[33m"[39;49;00m[33my[39;49;00m[33m"[39;49;00m,obj_type=[33m"[39;49;00m[33mcan[39;49;00m[33m"[39;49;00m,obj_id=[34m0[39;49;00m), [37m# Keep the y-axis unchanged[39;49;00m[37m[39;49;00m
        )[37m[39;49;00m
    )[37m[39;49;00m
    [37m# Generate the target pose for the end-effector and move the right hand to the target pose[39;49;00m[37m[39;49;00m
    _, target_effector_pose = planner.generate_end_effector_pose(constraints,hand_name=[33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m)[37m[39;49;00m
    planner.move_to_pose_with_screw(target_effector_pose,[33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m,attach_obj=[34mTrue[39;49;00m,object_name=[33m"[39;49;00m[33mcan[39;49;00m[33m"[39;49;00m,object_id=[34m0[39;49;00m)[37m[39;49;00m
[37m[39;49;00m
    [37m# Open the right hand to release the can[39;49;00m[37m[39;49;00m
    planner.open_hand([33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m)[37m[39;49;00m
[04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00m[37m[39;49;00m
step3: Move the right hand back to its initial pose[37m[39;49;00m
[04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00mpython[37m[39;49;00m
    [37m# Move the right hand back to its initial pose[39;49;00m[37m[39;49;00m
    planner.move_to_pose_with_screw(planner.right_hand_init_pose, [33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m,attach_obj=[34mFalse[39;49;00m)[37m[39;49;00m
[04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00m[37m[39;49;00m
[37m[39;49;00m
[34m2.[39;49;00m Based on step [34m1[39;49;00m of Example [34m1[39;49;00m, place the can into the bowl after grasping it.[37m[39;49;00m
[37m[39;49;00m
step [34m2[39;49;00m: Move the can above the bowl [35mand[39;49;00m ensure the palm [35mis[39;49;00m facing downward.[37m[39;49;00m
[04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00mpython[37m[39;49;00m
    constraints=[][37m[39;49;00m
    [37m# Add a point-to-point constraint to lift the can by 0.1m[39;49;00m[37m[39;49;00m
    constraints.append([37m[39;49;00m
        Constraint([37m[39;49;00m
            env=planner.env,[37m[39;49;00m
            [36mtype[39;49;00m=[33m"[39;49;00m[33mpoint2point[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            end_effector_frame=[33m"[39;49;00m[33mr_hand_base_link[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            hand_key_point=get_point_in_env(planner.env,type_name=[33m"[39;49;00m[33mcan[39;49;00m[33m"[39;49;00m,obj_id=[34m0[39;49;00m), [37m# can center point now[39;49;00m[37m[39;49;00m
            object_key_point=get_point_in_env(planner.env,type_name=[33m"[39;49;00m[33mbowl[39;49;00m[33m"[39;49;00m,obj_id=[34m0[39;49;00m)+np.array([[34m0[39;49;00m,[34m0[39;49;00m,[34m0.1[39;49;00m]), [37m# can center point over the bowl[39;49;00m[37m[39;49;00m
        )[37m[39;49;00m
    )[37m[39;49;00m
    [37m# Palm facing down[39;49;00m[37m[39;49;00m
    constraints.append([37m[39;49;00m
        Constraint([37m[39;49;00m
            env=planner.env,[37m[39;49;00m
            [36mtype[39;49;00m=[33m"[39;49;00m[33mparallel[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            end_effector_frame=[33m"[39;49;00m[33mr_hand_base_link[39;49;00m[33m"[39;49;00m,[37m[39;49;00m
            hand_axis=get_axis_in_env(planner.env,axis_name=[33m"[39;49;00m[33mright_grasp_axis[39;49;00m[33m"[39;49;00m), [37m# The back of the palm points toward the front of the palm.[39;49;00m[37m[39;49;00m
            object_axis=np.array([[34m0[39;49;00m,[34m0[39;49;00m,-[34m1[39;49;00m]), [37m# World frame, [39;49;00m[37m[39;49;00m
        )[37m[39;49;00m
    )[37m[39;49;00m
[37m[39;49;00m
    [37m# Generate the target pose for the end-effector and move the right hand to the target pose[39;49;00m[37m[39;49;00m
    _, target_effector_pose = planner.generate_end_effector_pose(constraints,hand_name=[33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m)[37m[39;49;00m
    planner.move_to_pose_with_screw(target_effector_pose,[33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m,attach_obj=[34mTrue[39;49;00m,object_name=[33m"[39;49;00m[33mcan[39;49;00m[33m"[39;49;00m,object_id=[34m0[39;49;00m)[37m[39;49;00m
[37m[39;49;00m
    [37m# Open the right hand to release the can[39;49;00m[37m[39;49;00m
    planner.open_hand([33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m)[37m[39;49;00m
[04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00m[37m[39;49;00m
step3: Move the right hand back to its initial pose[37m[39;49;00m
[04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00mpython[37m[39;49;00m
    [37m# Move the right hand back to its initial pose[39;49;00m[37m[39;49;00m
    planner.move_to_pose_with_screw(planner.right_hand_init_pose, [33m"[39;49;00m[33mright[39;49;00m[33m"[39;49;00m,attach_obj=[34mFalse[39;49;00m)[37m[39;49;00m
[04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00m[37m[39;49;00m
[37m[39;49;00m
======[37m[39;49;00m
Notes:  [37m[39;49;00m
- [04m[91m`[39;49;00mtype_id[04m[91m`[39;49;00m represents different models of the same [36mtype[39;49;00m of [36mobject[39;49;00m, [34mwhile[39;49;00m [04m[91m`[39;49;00mobj_id[04m[91m`[39;49;00m indicates the order [35min[39;49;00m which objects of the same [36mtype[39;49;00m are added.  [37m[39;49;00m
- The left hand[33m'[39;49;00m[33ms operable range is x∈[-0.42, -0.19], y∈[-0.07, 0.36]; the right hand[39;49;00m[33m'[39;49;00ms [36mrange[39;49;00m [35mis[39;49;00m x[04m[91m∈[39;49;00m[-[34m0.42[39;49;00m, -[34m0.19[39;49;00m], y[04m[91m∈[39;49;00m[-[34m0.36[39;49;00m, [34m0.07[39;49;00m]. It must be ensured that the hand moves within this [36mrange[39;49;00m. For actions such [34mas[39;49;00m grasping, pinching, [35mor[39;49;00m placing an [36mobject[39;49;00m, it must be ensured that they are [36mall[39;49;00m within the operational [36mrange[39;49;00m of the corresponding hand.[37m[39;49;00m
- The [36mobject[39;49;00m[33m'[39;49;00m[33ms bounding box (bbox) represents its dimensions in its own coordinate system (axis-aligned when the orientation quaternion is q=[1,0,0,0]). For example, a can with bbox:[39;49;00m[33m{[39;49;00m[33m"[39;49;00m[33mmin[39;49;00m[33m"[39;49;00m[33m: [-0.08,-0.08,-0.02],[39;49;00m[33m"[39;49;00m[33mmax[39;49;00m[33m"[39;49;00m[33m: [0.08,0.08,0.02]} has lengths of 0.16 units along X/Y-axes and 0.04 units along the Z-axis.[39;49;00m[37m[39;49;00m
- Please place each step [35min[39;49;00m a separate code block, enclosed within [04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00mpython [04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00m tags. The number of steps should correspond exactly to the number of [04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00mpython [04m[91m`[39;49;00m[04m[91m`[39;49;00m[04m[91m`[39;49;00m blocks [35min[39;49;00m your response, [34mwith[39;49;00m no extra [35mor[39;49;00m missing blocks.[37m[39;49;00m
- Variables [35min[39;49;00m different code blocks are [35mnot[39;49;00m shared, meaning variables [34mfrom[39;49;00m[37m [39;49;00m[04m[36mprevious[39;49;00m code blocks cannot be used [35min[39;49;00m subsequent ones.[37m[39;49;00m
- When placing an [36mobject[39;49;00m, release it slightly above the target position.[37m[39;49;00m
- To avoid collisions, consider splitting a move action into multiple moves. For example, when placing a can into a bowl, first move the can to a height above the bowl, then lower it to just above the bowl before releasing it. However, ensure the height [35mis[39;49;00m neither too high nor too low to avoid inverse kinematics issues [35mor[39;49;00m collisions. Typically, an additional height of [34m0.03[39;49;00m cm [35mis[39;49;00m added.[37m[39;49;00m
- When planning, please take collision issues into account. For example, [34mif[39;49;00m the height of an [36mobject[39;49;00m relative to the table [35mis[39;49;00m z=[34m0.03[39;49;00m<[34m0.08[39;49;00m, do [35mnot[39;49;00m use the right hand to grasp [34mfrom[39;49;00m[37m [39;49;00m[04m[36mright[39;49;00m to left, [34mas[39;49;00m it will cause a collision between the hand [35mand[39;49;00m the table. Similarly, when placing the [36mobject[39;49;00m somewhere, it [35mis[39;49;00m acceptable to release it slightly above the target position.[37m[39;49;00m
- If [33m'[39;49;00m[33mExecuted Action Code[39;49;00m[33m'[39;49;00m [35mis[39;49;00m empty, it means no code has been executed. If [35mnot[39;49;00m empty, generate only the subsequent actions to be executed.[37m[39;49;00m
- If [33m'[39;49;00m[33mProhibited Next Actions[39;49;00m[33m'[39;49;00m [35mis[39;49;00m empty, there are no restrictions on the [36mnext[39;49;00m action. If [35mnot[39;49;00m empty, avoid executing [36many[39;49;00m action identical to the listed ones [35min[39;49;00m the first subsequent step.[37m[39;49;00m
- When performing operations such [34mas[39;49;00m moving an [36mobject[39;49;00m to a specific location [34mfor[39;49;00m placement, various factors should be fully considered. For example, when placing an [36mobject[39;49;00m on a table, it [35mis[39;49;00m acceptable to suspend it slightly above the table.[37m[39;49;00m
- Before executing grasp [35mor[39;49;00m pinch actions, pre-grasp [35mand[39;49;00m pre-pinch actions must be performed respectively. Before executing another grasp [35mor[39;49;00m pinch action, the corresponding pre-action must be performed again.[37m[39;49;00m
- When calling [04m[91m`[39;49;00mConstraint[04m[91m`[39;49;00m, parameter names must be explicitly specified using the [04m[91m`[39;49;00mname=value[04m[91m`[39;49;00m [36mformat[39;49;00m.[37m[39;49;00m
- Each line of code must have at least one level of indentation. [37m[39;49;00m
- [33m"[39;49;00m[33mright_hand_init_pose[39;49;00m[33m"[39;49;00m [35mand[39;49;00m [33m"[39;49;00m[33mleft_hand_init_pose[39;49;00m[33m"[39;49;00m are non-collision pose, which can avoid collisions [34mwith[39;49;00m other hand [35mor[39;49;00m [36mobject[39;49;00m.[37m[39;49;00m
======[37m[39;49;00m
Please generate the code to [34mcontinue[39;49;00m executing the task [33m'[39;49;00m[33mStack the three cubes on the table into a single pile.[39;49;00m[33m'[39;49;00m.[37m[39;49;00m
Note: [37m[39;49;00m
 -When placing the cube, it should first be positioned at a certain distance above the target cube before lowering it down(lowering it down does [35mnot[39;49;00m require a move, just [36mopen[39;49;00m the hand). [37m[39;49;00m
-It [35mis[39;49;00m necessary to keep the palm facing downward when pinching [35mand[39;49;00m moving the cube.[37m[39;49;00m
 -Use the pinch action to operate the cube. [37m[39;49;00m
 -The arms can only operate within their respective ranges.[37m[39;49;00m

================= Solve Generate!
Task prompt text: [{'role': 'user', 'content': 'You are a professional assistant for generating code that enables dual-arm robots to perform tabletop tasks. Please generate logically structured code to execute the user-specified tasks based on the provided context.\n======\nStatic Scene Elements:\nThe static scene elements include a robot and a table. The robot\'s base_link (position between torso_link and pelvis) has a pose of pose.p = [-0.85, 0, 0], pose.q = [1, 0, 0, 0]. The table surface spans x ∈ [-0.42, -0.19], y ∈ [-1.1, 1.16], z = 0.\n======\nWorld Coordinate System Information:\nSince the robot\'s base coordinate frame has pose.q = [1, 0, 0, 0], its xyz directions align with the world coordinate system: x points forward, y points to the robot\'s left, and z points upward.\n======\nIntrinsic Asset Attributes:\n[{\'type_name\': \'cube\', \'obj_id\': 0, \'bounding box\': [0.04, 0.04, 0.04], \'status\': {\'face_robot\': {\'description\': \'Placed flat on the table, with the front face parallel to the body.\', \'orientation\': [1, 0, 0, 0]}}}, {\'type_name\': \'cube\', \'obj_id\': 1, \'bounding box\': [0.04, 0.04, 0.04], \'status\': {\'face_robot\': {\'description\': \'Placed flat on the table, with the front face parallel to the body.\', \'orientation\': [1, 0, 0, 0]}}}, {\'type_name\': \'cube\', \'obj_id\': 2, \'bounding box\': [0.04, 0.04, 0.04], \'status\': {\'face_robot\': {\'description\': \'Placed flat on the table, with the front face parallel to the body.\', \'orientation\': [1, 0, 0, 0]}}}]\nNote: The \'orientation\' in \'status\' represents the rotation in the world coordinate system under its corresponding \'description\'.\n======\nInitial Asset State:\n[{\'type_name\': \'cube\', \'obj_id\': 0, \'pose\': Pose(raw_pose=tensor([[-3.1814e-01,  3.2924e-01,  2.0000e-02,  9.9834e-01,  4.4983e-06,\n         -3.4159e-06,  5.7534e-02]]))}, {\'type_name\': \'cube\', \'obj_id\': 1, \'pose\': Pose(raw_pose=tensor([[-3.1754e-01, -3.1565e-01,  2.0000e-02,  9.9710e-01,  3.8997e-06,\n         -3.4915e-06,  7.6107e-02]]))}, {\'type_name\': \'cube\', \'obj_id\': 2, \'pose\': Pose(raw_pose=tensor([[-4.4892e-01, -3.1284e-01,  2.0000e-02,  9.9905e-01,  5.5080e-06,\n         -2.9400e-06,  4.3612e-02]]))}]\nNote: The asset(object) state(pose) when the scene is just initialized, before any actions are executed. Pose consists of Cartesian coordinates and a quaternion in the world coordinate system: [x, y, z, w, x, y, z](The following 7-dimensional poses all follow this format).\n======\nCurrent Asset State:\n[{\'type_name\': \'cube\', \'obj_id\': 0, \'pose\': Pose(raw_pose=tensor([[-3.1814e-01,  3.2924e-01,  2.0000e-02,  9.9834e-01,  4.4983e-06,\n         -3.4159e-06,  5.7534e-02]]))}, {\'type_name\': \'cube\', \'obj_id\': 1, \'pose\': Pose(raw_pose=tensor([[-3.1754e-01, -3.1565e-01,  2.0000e-02,  9.9710e-01,  3.8997e-06,\n         -3.4915e-06,  7.6107e-02]]))}, {\'type_name\': \'cube\', \'obj_id\': 2, \'pose\': Pose(raw_pose=tensor([[-4.4892e-01, -3.1284e-01,  2.0000e-02,  9.9905e-01,  5.5080e-06,\n         -2.9400e-06,  4.3612e-02]]))}]\nNote: Current states(poses) of assets(objects) on the tabletop\n======\nExecuted Action Code:\n\nNote: \n- Code for actions executed by the robot to transform the asset state on the tabletop from the initial state to the current state.\n======\nProhibited Next Actions:\n\nNote: The next step cannot execute the prohibited actions listed above. \'Same\' means completely identical. For \'move\', any addition, removal, or modification of constraints is considered a different action. Applies only to the next step; subsequent steps can still choose those actions.\n======\nRobot Attributes:\nhand_key_point:{\n    "left_hand":["base_left_hand","grasp_point_base_left_hand","pinch_point_base_left_hand"],\n    "right_hand":["base_right_hand","grasp_point_base_right_hand","pinch_point_base_right_hand"]\n}\nhand_key_axis:{\n    "left_hand":["left_pinch_axis","left_pinch_wrist_2_palm_axis","left_ring_2_index","left_grasp_axis","left_grasp_wrist_2_palm_axis"],\n    "right_hand":["right_pinch_axis","right_pinch_wrist_2_palm_axis","right_ring_2_index","right_grasp_axis","right_grasp_wrist_2_palm_axis"]\n}\ndefault_pose:{\n    "left_hand":[left_hand_init_pose],\n    "right_hand":[right_hand_init_pose]\n}\n======\nAvailable Class:\nConstraint(env,type,end_effector_frame,hand_key_point,object_key_point,hand_axis,object_axis):\n    Function: \n        "Constraint" defines hard constraints that must be strictly satisfied. \n        Establishes spatial equivalence constraints between:\n            - (point2point) Specified end-effector point → target point.\n            - (parallel) Specified end-effector axis direction → target axis direction.\n    Args:\n    - env (Environment, Mandatory): The planner\'s bound operating environment. Must reference the planner\'s environment instance through `planner.env` property.\n    - type (str, Mandatory): "point2point" or "parallel".\n    - end_effector_frame (str, Mandatory): "l_hand_base_link" or "r_hand_base_link".\n    - hand_key_point (np.ndarray): [Required when \'type\' is \'point2point\'] Pre-motion end-effector anchor point in world coordinates.\n    - object_key_point (np.ndarray): [Required when \'type\' is \'point2point\'] Target\'s corresponding point in world coordinates.\n    - hand_axis (np.ndarray): [Required when \'type\' is \'parallel\'] Pre-motion end-effector alignment axis in world coordinates.\n    - object_axis (np.ndarray): [Required when \'type\' is \'parallel\'] Target\'s reference axis in world coordinates.\n    Example:\n        # Right palm facing down to grasp(Top-down grasping of the object)\n        Constraint(\n            env=planner.env,\n            type="parallel",\n            end_effector_frame="r_hand_base_link",\n            hand_axis=get_axis_in_env(planner.env,axis_name="right_grasp_axis"), # The back of the palm points toward the front of the palm. Pinch action is similar.\n            object_axis=np.array([0,0,-1]), # World frame, \n        )\n\n        # Right palm facing up to grasp(Down-Top grasping of the object). If there is a table or other objects below the target, it often causes collisions and makes it unreachable.\n        Constraint(\n            env=planner.env,\n            type="parallel",\n            end_effector_frame="r_hand_base_link",\n            hand_axis=get_axis_in_env(planner.env,axis_name="right_grasp_axis"), # The back of the palm points toward the front of the palm. Pinch action is similar.\n            object_axis=np.array([0,0,1]), # World frame, \n        )\n\n        # The direction from the right wrist to the palm center is facing forward.\n        Constraint(\n            env=planner.env,\n            type="parallel",\n            end_effector_frame="r_hand_base_link",\n            hand_axis=get_axis_in_env(planner.env,axis_name="right_grasp_wrist_2_palm_axis"), # The direction from the wrist to the palm center\n            object_axis=np.array([1,0,0]), # World frame\n        )\n\n        # The direction from the right pinky finger to the index finger is parallel to the x-axis of object0.\n        Constraint(\n            env=planner.env,\n            type="parallel",\n            end_effector_frame="r_hand_base_link",\n            hand_axis=get_axis_in_env(planner.env,axis_name="right_ring_2_index"), # The direction from the right pinky finger to the index finger\n            object_axis=get_axis_in_env(planner.env, "x", obj_type="object", obj_id=0), # The coordinates of object0\'s x-axis in the world coordinate system.\n        )\n\n        # After object0 is in hand, align its x-axis parallel to the world coordinate system\'s z-axis, making its x-axis point upward.\n        Constraint(\n            env=planner.env,\n            type="point2point",\n            end_effector_frame="r_hand_base_link",\n            hand_key_point=get_axis_in_env(planner.env, "x", obj_type="object", obj_id=0),\n            object_key_point=object_axis=np.array([0,0,1]), # np.array([0, 0.1, 0.1]) in the object0\'s coordinate system.\n        )\n\n        # The right-hand grasp point coincides with [0, 0.1, 0.1] in the object0\'s coordinate system.\n        Constraint(\n            env=planner.env,\n            type="point2point",\n            end_effector_frame="r_hand_base_link",\n            hand_key_point=get_point_in_env(planner.env,point_name="grasp_point_base_right_hand"),\n            object_key_point=get_point_in_env(planner.env,type_name="object",obj_id=0,related_point=np.array([0, 0.1, 0.1])), # np.array([0, 0.1, 0.1]) in the object0\'s coordinate system.\n        )\n\n        # After object0 is in hand, position it 0.1m above object1.\n        Constraint(\n            env=planner.env,\n            type="point2point",\n            end_effector_frame="r_hand_base_link",\n            hand_key_point=get_point_in_env(planner.env,type_name="object",obj_id=0),\n            object_key_point=get_point_in_env(planner.env,type_name="object",obj_id=1)+np.array([0, 0, 0.1]), # np.array([0, 0, 0.1]) in the world(robot) coordinate system.\n        )\n    Note: \n        \'hand_key_point\' and \'object_key_point\' represent two points in the world coordinate system. \'hand_key_point\' moves with the corresponding end-effector, and type=\'point2point\' indicates the intention for the two points to coincide. \n        \'hand_axis\' and \'object_axis\' have similar meanings to \'point\'.\n        \'right_grasp_axis\' or \'right_pinch_axis\' parallel [0,0,-1] means executing with the palm facing downward.\n        \'right_grasp_axis\' or \'right_pinch_axis\' parallel [1,0,0] means executing with the palm facing forward.\n        \'right_grasp_axis\' or \'right_pinch_axis\' parallel [0,1,0] means executing with the palm facing left.\n        \'left_grasp_axis\' or \'left_pinch_axis\' parallel [0,-1,0] means executing with the palm facing right.\n\n\nConst(env,type,end_effector_frame,hand_key_point,object_key_point,hand_axis,object_axis):\n    The usage is similar to the Constraint class, but it is not a strict constraint; it is an optimization objective.\n======\nAvailable functions:\n\ndef get_point_in_env(env, point_name,type_name, obj_id,related_point,openness):\n    Function: Get specified point position in world frame.\n    Return: point_position (np.ndarray)\n    Args:\n    - env (Environment, Mandatory): The planner\'s bound operating environment. Must reference the planner\'s environment instance through `planner.env` property.\n    - point_name (str, optional): The point name. Example: "grasp_point_base_left_hand".\n    - type_name (str, optional): The reference object relative to the target point.\n    - obj_id (int, optional): The reference object id.\n    - related_point (np.ndarray,optional): The coordinates of the target point relative to the object center in the object coordinate system. Default: np.array([0,0,0])\n    - openness (int, optional): Represents the openness degree of the articulated object. If type_name is an articulated object, this value can be set to obtain the coordinates corresponding to point_name at a specific openness degree.\n    Example:\n        # Get the current coordinates of the right-hand pinch point in the world coordinate system.\n        get_point_in_env(planner.env,point_name="grasp_point_base_pinch_hand")\n\ndef get_axis_in_env(env, axis_name, obj_type, obj_id):\n    Function: Get specified direction vector in world frame.\n    Return: direction_vector (np.ndarray)\n    Args:\n    - env (Environment, Mandatory): The planner\'s bound operating environment. Must reference the planner\'s environment instance through `planner.env` property.\n    - axis_name (str, Mandatory): The axis name. Example: "right_pinch_axis".\n    - obj_type (str, optional): The reference object relative to the target axis.\n    - obj_id (int, optional): The reference object id.\n\ndef open_hand(self, hand_name):\n    Function: Control the hand to open.\n    Return: None\n    Args:\n    - hand_name (str, Mandatory): "all", "right", or "left".\n\ndef hand_pre_grasp(hand_name):\n    Function: Adjusts the thumb movement of the specified hand to position it opposite the index finger, preparing for subsequent grasping operations. This should typically be called before executing \'move_to_pose_with_screw\' to reach the pre-grasp pose.\n    Return: None\n    Args:\n    - hand_name (str, Mandatory): "all", "right", or "left". Default: "all".\n\ndef hand_grasp(hand_name, grasp_object, obj_id):\n    Function: Control the hand to close.\n    Return: None\n    Args:\n    - hand_name (str, Mandatory): "right", or "left".\n    - grasp_object (str, Mandatory): The type of the grasped object. Example: "can".\n    - obj_id (int, Mandatory): The object id of the grasped object. Example: If grasp_object="can" and obj_id=0, indicates the first can object added to the environment.\n\ndef hand_pre_pinch(hand_name):\n    Function: Adjusts the thumb movement of the specified hand to position it opposite the index finger, preparing for subsequent pinching operations. This should typically be called before executing \'move_to_pose_with_screw\' to reach the pre-pinch pose.\n    Return: None\n    Args:\n    - hand_name (str, optional): "all", "right", or "left". Default: "all".\n\ndef hand_pinch(hand_name, pinch_object, obj_id):\n    Function: Only control the closing operation of the thumb and index finger. Typically used for small and hard-to-grasp objects.\n    Return: None\n    Args:\n    - hand_name (str, Mandatory): "right", or "left".\n    - pinch_object (str, Mandatory): The type of the pinched object. Example: "can".\n    - obj_id (int, Mandatory): The object id of the pinched object. Example: If pinch_object="can" and obj_id=0, indicates the first can object added to the environment.\n\n def generate_end_effector_pose(constraints,hand_name):\n    Function: Calculate the target pose that the robotic arm needs to move to in this step based on the constraint and cost.\n    Return: _,target_effector_pose\n    Args:\n    - constraints (list, Mandatory): A list of Constraint objects, with the number of Constraints determined by specific requirements.\n    - hand_name (str, Mandatory): "left" or "right"\n\ndef move_to_pose_with_screw(pose: sapien.Pose, hand_name, attach_obj=False, object_name=None, object_id=0):\n    Function: Control the robotic arm to move the end-effector of \'hand_name\' to the \'pose\'.\n    Return: None\n    Args:\n    - pose (sapien.Pose, Mandatory): The target pose for the movement of \'hand_name\'.\n    - hand_name (str, Mandatory): The specified robotic arm for the movement.\n    - attach_obj (bool, Mandatory): Whether there is an attached object in the hand during the movement.\n    - object_name (str): [Required when \'attach_obj\' is True] The type of the attached object.\n    - obj_id (int, Mandatory): [Required when \'attach_obj\' is True] The object id of the attached object.\n \n======\nIncorrect example code:\n1. The right hand grasps the can, when can on the table:\nstep 1: Grasp can0\n```python\n    # Set the right hand fingers to a pre-grasp pose\n    planner.hand_pre_grasp("right")\n\n    constraints=[]\n\n    constraints.append(\n        Constraint(\n            env=planner.env,\n            type="parallel",\n            end_effector_frame="r_hand_base_link",\n            hand_axis=get_axis_in_env(planner.env, axis_name="right_grasp_axis"),\n            object_axis=np.array([0, 0, 1])\n        )\n    )\n    # Generate the target pose for the end-effector and move the right hand to the target pose\n    _, target_effector_pose = planner.generate_end_effector_pose(constraints,hand_name="right")\n    planner.move_to_pose_with_screw(target_effector_pose,"right",attach_obj=False)\n\n    # Close the right hand to grasp the can\n    planner.hand_grasp("right",grasp_object="can",obj_id=0)\n```\nReason for the error: `object_axis=np.array([0, 0, 1])` represents the positive z-axis in the world coordinate system. If it is parallel to the grasp axis, it indicates a bottom-up grasping direction. For an object on a table, the hand cannot reach below the object. To perform a top-down grasp along the -z direction, use `object_axis=np.array([0, 0, -1])`.\n\n======\nCorrect example code:\n1. The right hand grasps the can from right to left, then lifts it by 0.1m, and then releases it.\nstep 1: Grasp can0\n```python\n    # Set the right hand fingers to a pre-grasp pose\n    planner.hand_pre_grasp("right")\n\n    constraints=[]\n    # Add a point-to-point constraint to align the grasp point of the right hand with the can\'s center point\n    constraints.append(\n        Constraint(\n            env=planner.env,\n            type="point2point",\n            end_effector_frame="r_hand_base_link",\n            hand_key_point=get_point_in_env(planner.env,point_name="grasp_point_base_right_hand"), # Grasp point on the right hand\n            object_key_point=get_point_in_env(planner.env,type_name="can",obj_id=0), # Center point of the can\n        )\n    )\n    # Add a Constraint to align the pinky-to-index axis of the right hand with the world z-axis\n    constraints.append(\n        Constraint(\n            env=planner.env,\n            type="parallel",\n            end_effector_frame="r_hand_base_link",\n            hand_axis=get_axis_in_env(planner.env,axis_name="right_ring_2_index"), # The direction from the pinky finger to the index finger\n            object_axis=np.array([0,0,1]), # World frame. Or the specific axis of the object, such as `get_axis_in_env(planner.env, axis_name="z", obj_type="can", obj_id=0)`.\n        )\n    )\n    # Generate the target pose for the end-effector and move the right hand to the target pose\n    _, target_effector_pose = planner.generate_end_effector_pose(constraints,hand_name="right")\n    planner.move_to_pose_with_screw(target_effector_pose,"right",attach_obj=False)\n\n    # Close the right hand to grasp the can\n    planner.hand_grasp("right",grasp_object="can",obj_id=0)\n```\nstep 2: Lift the can by 0.1m while keeping its pose unchanged\n```python\n    constraints=[]\n    # Add a point-to-point constraint to lift the can by 0.1m\n    constraints.append(\n        Constraint(\n            env=planner.env,\n            type="point2point",\n            end_effector_frame="r_hand_base_link",\n            hand_key_point=get_point_in_env(planner.env,type_name="can",obj_id=0), # can center point now\n            object_key_point=get_point_in_env(planner.env,type_name="can",obj_id=0)+np.array([0,0,0.1]), # can center point after being lifted by 0.1m\n        )\n    )\n    # Add a parallel constraint to keep the x-axis of the can unchanged\n    constraints.append(\n        Constraint(\n            env=planner.env,\n            type="parallel",\n            end_effector_frame="r_hand_base_link",\n            hand_axis=get_axis_in_env(planner.env,axis_name="x",obj_type="can",obj_id=0), # The x-axis of the can\n            object_axis=get_axis_in_env(planner.env,axis_name="x",obj_type="can",obj_id=0), # Keep the x-axis unchanged\n        )\n    )\n    # Add a parallel constraint to keep the y-axis of the can unchanged\n    constraints.append(\n        Constraint(\n            env=planner.env,\n            type="parallel",\n            end_effector_frame="r_hand_base_link",\n            hand_axis=get_axis_in_env(planner.env,axis_name="y",obj_type="can",obj_id=0), # The y-axis of the can\n            object_axis=get_axis_in_env(planner.env,axis_name="y",obj_type="can",obj_id=0), # Keep the y-axis unchanged\n        )\n    )\n    # Generate the target pose for the end-effector and move the right hand to the target pose\n    _, target_effector_pose = planner.generate_end_effector_pose(constraints,hand_name="right")\n    planner.move_to_pose_with_screw(target_effector_pose,"right",attach_obj=True,object_name="can",object_id=0)\n\n    # Open the right hand to release the can\n    planner.open_hand("right")\n```\nstep3: Move the right hand back to its initial pose\n```python\n    # Move the right hand back to its initial pose\n    planner.move_to_pose_with_screw(planner.right_hand_init_pose, "right",attach_obj=False)\n```\n\n2. Based on step 1 of Example 1, place the can into the bowl after grasping it.\n\nstep 2: Move the can above the bowl and ensure the palm is facing downward.\n```python\n    constraints=[]\n    # Add a point-to-point constraint to lift the can by 0.1m\n    constraints.append(\n        Constraint(\n            env=planner.env,\n            type="point2point",\n            end_effector_frame="r_hand_base_link",\n            hand_key_point=get_point_in_env(planner.env,type_name="can",obj_id=0), # can center point now\n            object_key_point=get_point_in_env(planner.env,type_name="bowl",obj_id=0)+np.array([0,0,0.1]), # can center point over the bowl\n        )\n    )\n    # Palm facing down\n    constraints.append(\n        Constraint(\n            env=planner.env,\n            type="parallel",\n            end_effector_frame="r_hand_base_link",\n            hand_axis=get_axis_in_env(planner.env,axis_name="right_grasp_axis"), # The back of the palm points toward the front of the palm.\n            object_axis=np.array([0,0,-1]), # World frame, \n        )\n    )\n\n    # Generate the target pose for the end-effector and move the right hand to the target pose\n    _, target_effector_pose = planner.generate_end_effector_pose(constraints,hand_name="right")\n    planner.move_to_pose_with_screw(target_effector_pose,"right",attach_obj=True,object_name="can",object_id=0)\n\n    # Open the right hand to release the can\n    planner.open_hand("right")\n```\nstep3: Move the right hand back to its initial pose\n```python\n    # Move the right hand back to its initial pose\n    planner.move_to_pose_with_screw(planner.right_hand_init_pose, "right",attach_obj=False)\n```\n\n======\nNotes:  \n- `type_id` represents different models of the same type of object, while `obj_id` indicates the order in which objects of the same type are added.  \n- The left hand\'s operable range is x∈[-0.42, -0.19], y∈[-0.07, 0.36]; the right hand\'s range is x∈[-0.42, -0.19], y∈[-0.36, 0.07]. It must be ensured that the hand moves within this range. For actions such as grasping, pinching, or placing an object, it must be ensured that they are all within the operational range of the corresponding hand.\n- The object\'s bounding box (bbox) represents its dimensions in its own coordinate system (axis-aligned when the orientation quaternion is q=[1,0,0,0]). For example, a can with bbox:{"min": [-0.08,-0.08,-0.02],"max": [0.08,0.08,0.02]} has lengths of 0.16 units along X/Y-axes and 0.04 units along the Z-axis.\n- Please place each step in a separate code block, enclosed within ```python ``` tags. The number of steps should correspond exactly to the number of ```python ``` blocks in your response, with no extra or missing blocks.\n- Variables in different code blocks are not shared, meaning variables from previous code blocks cannot be used in subsequent ones.\n- When placing an object, release it slightly above the target position.\n- To avoid collisions, consider splitting a move action into multiple moves. For example, when placing a can into a bowl, first move the can to a height above the bowl, then lower it to just above the bowl before releasing it. However, ensure the height is neither too high nor too low to avoid inverse kinematics issues or collisions. Typically, an additional height of 0.03 cm is added.\n- When planning, please take collision issues into account. For example, if the height of an object relative to the table is z=0.03<0.08, do not use the right hand to grasp from right to left, as it will cause a collision between the hand and the table. Similarly, when placing the object somewhere, it is acceptable to release it slightly above the target position.\n- If \'Executed Action Code\' is empty, it means no code has been executed. If not empty, generate only the subsequent actions to be executed.\n- If \'Prohibited Next Actions\' is empty, there are no restrictions on the next action. If not empty, avoid executing any action identical to the listed ones in the first subsequent step.\n- When performing operations such as moving an object to a specific location for placement, various factors should be fully considered. For example, when placing an object on a table, it is acceptable to suspend it slightly above the table.\n- Before executing grasp or pinch actions, pre-grasp and pre-pinch actions must be performed respectively. Before executing another grasp or pinch action, the corresponding pre-action must be performed again.\n- When calling `Constraint`, parameter names must be explicitly specified using the `name=value` format.\n- Each line of code must have at least one level of indentation. \n- "right_hand_init_pose" and "left_hand_init_pose" are non-collision pose, which can avoid collisions with other hand or object.\n======\nPlease generate the code to continue executing the task \'Stack the three cubes on the table into a single pile.\'.\nNote: \n -When placing the cube, it should first be positioned at a certain distance above the target cube before lowering it down(lowering it down does not require a move, just open the hand). \n-It is necessary to keep the palm facing downward when pinching and moving the cube.\n -Use the pinch action to operate the cube. \n -The arms can only operate within their respective ranges.'}]
calling LLM..........
model(call_llm): deepseek-reasoner
failed chat completion Connection error.
Task prompt text: [{'role': 'user', 'content': 'You are a professional assistant for generating code that enables dual-arm robots to perform tabletop tasks. Please generate logically structured code to execute the user-specified tasks based on the provided context.\n======\nStatic Scene Elements:\nThe static scene elements include a robot and a table. The robot\'s base_link (position between torso_link and pelvis) has a pose of pose.p = [-0.85, 0, 0], pose.q = [1, 0, 0, 0]. The table surface spans x ∈ [-0.42, -0.19], y ∈ [-1.1, 1.16], z = 0.\n======\nWorld Coordinate System Information:\nSince the robot\'s base coordinate frame has pose.q = [1, 0, 0, 0], its xyz directions align with the world coordinate system: x points forward, y points to the robot\'s left, and z points upward.\n======\nIntrinsic Asset Attributes:\n[{\'type_name\': \'cube\', \'obj_id\': 0, \'bounding box\': [0.04, 0.04, 0.04], \'status\': {\'face_robot\': {\'description\': \'Placed flat on the table, with the front face parallel to the body.\', \'orientation\': [1, 0, 0, 0]}}}, {\'type_name\': \'cube\', \'obj_id\': 1, \'bounding box\': [0.04, 0.04, 0.04], \'status\': {\'face_robot\': {\'description\': \'Placed flat on the table, with the front face parallel to the body.\', \'orientation\': [1, 0, 0, 0]}}}, {\'type_name\': \'cube\', \'obj_id\': 2, \'bounding box\': [0.04, 0.04, 0.04], \'status\': {\'face_robot\': {\'description\': \'Placed flat on the table, with the front face parallel to the body.\', \'orientation\': [1, 0, 0, 0]}}}]\nNote: The \'orientation\' in \'status\' represents the rotation in the world coordinate system under its corresponding \'description\'.\n======\nInitial Asset State:\n[{\'type_name\': \'cube\', \'obj_id\': 0, \'pose\': Pose(raw_pose=tensor([[-3.1814e-01,  3.2924e-01,  2.0000e-02,  9.9834e-01,  4.4983e-06,\n         -3.4159e-06,  5.7534e-02]]))}, {\'type_name\': \'cube\', \'obj_id\': 1, \'pose\': Pose(raw_pose=tensor([[-3.1754e-01, -3.1565e-01,  2.0000e-02,  9.9710e-01,  3.8997e-06,\n         -3.4915e-06,  7.6107e-02]]))}, {\'type_name\': \'cube\', \'obj_id\': 2, \'pose\': Pose(raw_pose=tensor([[-4.4892e-01, -3.1284e-01,  2.0000e-02,  9.9905e-01,  5.5080e-06,\n         -2.9400e-06,  4.3612e-02]]))}]\nNote: The asset(object) state(pose) when the scene is just initialized, before any actions are executed. Pose consists of Cartesian coordinates and a quaternion in the world coordinate system: [x, y, z, w, x, y, z](The following 7-dimensional poses all follow this format).\n======\nCurrent Asset State:\n[{\'type_name\': \'cube\', \'obj_id\': 0, \'pose\': Pose(raw_pose=tensor([[-3.1814e-01,  3.2924e-01,  2.0000e-02,  9.9834e-01,  4.4983e-06,\n         -3.4159e-06,  5.7534e-02]]))}, {\'type_name\': \'cube\', \'obj_id\': 1, \'pose\': Pose(raw_pose=tensor([[-3.1754e-01, -3.1565e-01,  2.0000e-02,  9.9710e-01,  3.8997e-06,\n         -3.4915e-06,  7.6107e-02]]))}, {\'type_name\': \'cube\', \'obj_id\': 2, \'pose\': Pose(raw_pose=tensor([[-4.4892e-01, -3.1284e-01,  2.0000e-02,  9.9905e-01,  5.5080e-06,\n         -2.9400e-06,  4.3612e-02]]))}]\nNote: Current states(poses) of assets(objects) on the tabletop\n======\nExecuted Action Code:\n\nNote: \n- Code for actions executed by the robot to transform the asset state on the tabletop from the initial state to the current state.\n======\nProhibited Next Actions:\n\nNote: The next step cannot execute the prohibited actions listed above. \'Same\' means completely identical. For \'move\', any addition, removal, or modification of constraints is considered a different action. Applies only to the next step; subsequent steps can still choose those actions.\n======\nRobot Attributes:\nhand_key_point:{\n    "left_hand":["base_left_hand","grasp_point_base_left_hand","pinch_point_base_left_hand"],\n    "right_hand":["base_right_hand","grasp_point_base_right_hand","pinch_point_base_right_hand"]\n}\nhand_key_axis:{\n    "left_hand":["left_pinch_axis","left_pinch_wrist_2_palm_axis","left_ring_2_index","left_grasp_axis","left_grasp_wrist_2_palm_axis"],\n    "right_hand":["right_pinch_axis","right_pinch_wrist_2_palm_axis","right_ring_2_index","right_grasp_axis","right_grasp_wrist_2_palm_axis"]\n}\ndefault_pose:{\n    "left_hand":[left_hand_init_pose],\n    "right_hand":[right_hand_init_pose]\n}\n======\nAvailable Class:\nConstraint(env,type,end_effector_frame,hand_key_point,object_key_point,hand_axis,object_axis):\n    Function: \n        "Constraint" defines hard constraints that must be strictly satisfied. \n        Establishes spatial equivalence constraints between:\n            - (point2point) Specified end-effector point → target point.\n            - (parallel) Specified end-effector axis direction → target axis direction.\n    Args:\n    - env (Environment, Mandatory): The planner\'s bound operating environment. Must reference the planner\'s environment instance through `planner.env` property.\n    - type (str, Mandatory): "point2point" or "parallel".\n    - end_effector_frame (str, Mandatory): "l_hand_base_link" or "r_hand_base_link".\n    - hand_key_point (np.ndarray): [Required when \'type\' is \'point2point\'] Pre-motion end-effector anchor point in world coordinates.\n    - object_key_point (np.ndarray): [Required when \'type\' is \'point2point\'] Target\'s corresponding point in world coordinates.\n    - hand_axis (np.ndarray): [Required when \'type\' is \'parallel\'] Pre-motion end-effector alignment axis in world coordinates.\n    - object_axis (np.ndarray): [Required when \'type\' is \'parallel\'] Target\'s reference axis in world coordinates.\n    Example:\n        # Right palm facing down to grasp(Top-down grasping of the object)\n        Constraint(\n            env=planner.env,\n            type="parallel",\n            end_effector_frame="r_hand_base_link",\n            hand_axis=get_axis_in_env(planner.env,axis_name="right_grasp_axis"), # The back of the palm points toward the front of the palm. Pinch action is similar.\n            object_axis=np.array([0,0,-1]), # World frame, \n        )\n\n        # Right palm facing up to grasp(Down-Top grasping of the object). If there is a table or other objects below the target, it often causes collisions and makes it unreachable.\n        Constraint(\n            env=planner.env,\n            type="parallel",\n            end_effector_frame="r_hand_base_link",\n            hand_axis=get_axis_in_env(planner.env,axis_name="right_grasp_axis"), # The back of the palm points toward the front of the palm. Pinch action is similar.\n            object_axis=np.array([0,0,1]), # World frame, \n        )\n\n        # The direction from the right wrist to the palm center is facing forward.\n        Constraint(\n            env=planner.env,\n            type="parallel",\n            end_effector_frame="r_hand_base_link",\n            hand_axis=get_axis_in_env(planner.env,axis_name="right_grasp_wrist_2_palm_axis"), # The direction from the wrist to the palm center\n            object_axis=np.array([1,0,0]), # World frame\n        )\n\n        # The direction from the right pinky finger to the index finger is parallel to the x-axis of object0.\n        Constraint(\n            env=planner.env,\n            type="parallel",\n            end_effector_frame="r_hand_base_link",\n            hand_axis=get_axis_in_env(planner.env,axis_name="right_ring_2_index"), # The direction from the right pinky finger to the index finger\n            object_axis=get_axis_in_env(planner.env, "x", obj_type="object", obj_id=0), # The coordinates of object0\'s x-axis in the world coordinate system.\n        )\n\n        # After object0 is in hand, align its x-axis parallel to the world coordinate system\'s z-axis, making its x-axis point upward.\n        Constraint(\n            env=planner.env,\n            type="point2point",\n            end_effector_frame="r_hand_base_link",\n            hand_key_point=get_axis_in_env(planner.env, "x", obj_type="object", obj_id=0),\n            object_key_point=object_axis=np.array([0,0,1]), # np.array([0, 0.1, 0.1]) in the object0\'s coordinate system.\n        )\n\n        # The right-hand grasp point coincides with [0, 0.1, 0.1] in the object0\'s coordinate system.\n        Constraint(\n            env=planner.env,\n            type="point2point",\n            end_effector_frame="r_hand_base_link",\n            hand_key_point=get_point_in_env(planner.env,point_name="grasp_point_base_right_hand"),\n            object_key_point=get_point_in_env(planner.env,type_name="object",obj_id=0,related_point=np.array([0, 0.1, 0.1])), # np.array([0, 0.1, 0.1]) in the object0\'s coordinate system.\n        )\n\n        # After object0 is in hand, position it 0.1m above object1.\n        Constraint(\n            env=planner.env,\n            type="point2point",\n            end_effector_frame="r_hand_base_link",\n            hand_key_point=get_point_in_env(planner.env,type_name="object",obj_id=0),\n            object_key_point=get_point_in_env(planner.env,type_name="object",obj_id=1)+np.array([0, 0, 0.1]), # np.array([0, 0, 0.1]) in the world(robot) coordinate system.\n        )\n    Note: \n        \'hand_key_point\' and \'object_key_point\' represent two points in the world coordinate system. \'hand_key_point\' moves with the corresponding end-effector, and type=\'point2point\' indicates the intention for the two points to coincide. \n        \'hand_axis\' and \'object_axis\' have similar meanings to \'point\'.\n        \'right_grasp_axis\' or \'right_pinch_axis\' parallel [0,0,-1] means executing with the palm facing downward.\n        \'right_grasp_axis\' or \'right_pinch_axis\' parallel [1,0,0] means executing with the palm facing forward.\n        \'right_grasp_axis\' or \'right_pinch_axis\' parallel [0,1,0] means executing with the palm facing left.\n        \'left_grasp_axis\' or \'left_pinch_axis\' parallel [0,-1,0] means executing with the palm facing right.\n\n\nConst(env,type,end_effector_frame,hand_key_point,object_key_point,hand_axis,object_axis):\n    The usage is similar to the Constraint class, but it is not a strict constraint; it is an optimization objective.\n======\nAvailable functions:\n\ndef get_point_in_env(env, point_name,type_name, obj_id,related_point,openness):\n    Function: Get specified point position in world frame.\n    Return: point_position (np.ndarray)\n    Args:\n    - env (Environment, Mandatory): The planner\'s bound operating environment. Must reference the planner\'s environment instance through `planner.env` property.\n    - point_name (str, optional): The point name. Example: "grasp_point_base_left_hand".\n    - type_name (str, optional): The reference object relative to the target point.\n    - obj_id (int, optional): The reference object id.\n    - related_point (np.ndarray,optional): The coordinates of the target point relative to the object center in the object coordinate system. Default: np.array([0,0,0])\n    - openness (int, optional): Represents the openness degree of the articulated object. If type_name is an articulated object, this value can be set to obtain the coordinates corresponding to point_name at a specific openness degree.\n    Example:\n        # Get the current coordinates of the right-hand pinch point in the world coordinate system.\n        get_point_in_env(planner.env,point_name="grasp_point_base_pinch_hand")\n\ndef get_axis_in_env(env, axis_name, obj_type, obj_id):\n    Function: Get specified direction vector in world frame.\n    Return: direction_vector (np.ndarray)\n    Args:\n    - env (Environment, Mandatory): The planner\'s bound operating environment. Must reference the planner\'s environment instance through `planner.env` property.\n    - axis_name (str, Mandatory): The axis name. Example: "right_pinch_axis".\n    - obj_type (str, optional): The reference object relative to the target axis.\n    - obj_id (int, optional): The reference object id.\n\ndef open_hand(self, hand_name):\n    Function: Control the hand to open.\n    Return: None\n    Args:\n    - hand_name (str, Mandatory): "all", "right", or "left".\n\ndef hand_pre_grasp(hand_name):\n    Function: Adjusts the thumb movement of the specified hand to position it opposite the index finger, preparing for subsequent grasping operations. This should typically be called before executing \'move_to_pose_with_screw\' to reach the pre-grasp pose.\n    Return: None\n    Args:\n    - hand_name (str, Mandatory): "all", "right", or "left". Default: "all".\n\ndef hand_grasp(hand_name, grasp_object, obj_id):\n    Function: Control the hand to close.\n    Return: None\n    Args:\n    - hand_name (str, Mandatory): "right", or "left".\n    - grasp_object (str, Mandatory): The type of the grasped object. Example: "can".\n    - obj_id (int, Mandatory): The object id of the grasped object. Example: If grasp_object="can" and obj_id=0, indicates the first can object added to the environment.\n\ndef hand_pre_pinch(hand_name):\n    Function: Adjusts the thumb movement of the specified hand to position it opposite the index finger, preparing for subsequent pinching operations. This should typically be called before executing \'move_to_pose_with_screw\' to reach the pre-pinch pose.\n    Return: None\n    Args:\n    - hand_name (str, optional): "all", "right", or "left". Default: "all".\n\ndef hand_pinch(hand_name, pinch_object, obj_id):\n    Function: Only control the closing operation of the thumb and index finger. Typically used for small and hard-to-grasp objects.\n    Return: None\n    Args:\n    - hand_name (str, Mandatory): "right", or "left".\n    - pinch_object (str, Mandatory): The type of the pinched object. Example: "can".\n    - obj_id (int, Mandatory): The object id of the pinched object. Example: If pinch_object="can" and obj_id=0, indicates the first can object added to the environment.\n\n def generate_end_effector_pose(constraints,hand_name):\n    Function: Calculate the target pose that the robotic arm needs to move to in this step based on the constraint and cost.\n    Return: _,target_effector_pose\n    Args:\n    - constraints (list, Mandatory): A list of Constraint objects, with the number of Constraints determined by specific requirements.\n    - hand_name (str, Mandatory): "left" or "right"\n\ndef move_to_pose_with_screw(pose: sapien.Pose, hand_name, attach_obj=False, object_name=None, object_id=0):\n    Function: Control the robotic arm to move the end-effector of \'hand_name\' to the \'pose\'.\n    Return: None\n    Args:\n    - pose (sapien.Pose, Mandatory): The target pose for the movement of \'hand_name\'.\n    - hand_name (str, Mandatory): The specified robotic arm for the movement.\n    - attach_obj (bool, Mandatory): Whether there is an attached object in the hand during the movement.\n    - object_name (str): [Required when \'attach_obj\' is True] The type of the attached object.\n    - obj_id (int, Mandatory): [Required when \'attach_obj\' is True] The object id of the attached object.\n \n======\nIncorrect example code:\n1. The right hand grasps the can, when can on the table:\nstep 1: Grasp can0\n```python\n    # Set the right hand fingers to a pre-grasp pose\n    planner.hand_pre_grasp("right")\n\n    constraints=[]\n\n    constraints.append(\n        Constraint(\n            env=planner.env,\n            type="parallel",\n            end_effector_frame="r_hand_base_link",\n            hand_axis=get_axis_in_env(planner.env, axis_name="right_grasp_axis"),\n            object_axis=np.array([0, 0, 1])\n        )\n    )\n    # Generate the target pose for the end-effector and move the right hand to the target pose\n    _, target_effector_pose = planner.generate_end_effector_pose(constraints,hand_name="right")\n    planner.move_to_pose_with_screw(target_effector_pose,"right",attach_obj=False)\n\n    # Close the right hand to grasp the can\n    planner.hand_grasp("right",grasp_object="can",obj_id=0)\n```\nReason for the error: `object_axis=np.array([0, 0, 1])` represents the positive z-axis in the world coordinate system. If it is parallel to the grasp axis, it indicates a bottom-up grasping direction. For an object on a table, the hand cannot reach below the object. To perform a top-down grasp along the -z direction, use `object_axis=np.array([0, 0, -1])`.\n\n======\nCorrect example code:\n1. The right hand grasps the can from right to left, then lifts it by 0.1m, and then releases it.\nstep 1: Grasp can0\n```python\n    # Set the right hand fingers to a pre-grasp pose\n    planner.hand_pre_grasp("right")\n\n    constraints=[]\n    # Add a point-to-point constraint to align the grasp point of the right hand with the can\'s center point\n    constraints.append(\n        Constraint(\n            env=planner.env,\n            type="point2point",\n            end_effector_frame="r_hand_base_link",\n            hand_key_point=get_point_in_env(planner.env,point_name="grasp_point_base_right_hand"), # Grasp point on the right hand\n            object_key_point=get_point_in_env(planner.env,type_name="can",obj_id=0), # Center point of the can\n        )\n    )\n    # Add a Constraint to align the pinky-to-index axis of the right hand with the world z-axis\n    constraints.append(\n        Constraint(\n            env=planner.env,\n            type="parallel",\n            end_effector_frame="r_hand_base_link",\n            hand_axis=get_axis_in_env(planner.env,axis_name="right_ring_2_index"), # The direction from the pinky finger to the index finger\n            object_axis=np.array([0,0,1]), # World frame. Or the specific axis of the object, such as `get_axis_in_env(planner.env, axis_name="z", obj_type="can", obj_id=0)`.\n        )\n    )\n    # Generate the target pose for the end-effector and move the right hand to the target pose\n    _, target_effector_pose = planner.generate_end_effector_pose(constraints,hand_name="right")\n    planner.move_to_pose_with_screw(target_effector_pose,"right",attach_obj=False)\n\n    # Close the right hand to grasp the can\n    planner.hand_grasp("right",grasp_object="can",obj_id=0)\n```\nstep 2: Lift the can by 0.1m while keeping its pose unchanged\n```python\n    constraints=[]\n    # Add a point-to-point constraint to lift the can by 0.1m\n    constraints.append(\n        Constraint(\n            env=planner.env,\n            type="point2point",\n            end_effector_frame="r_hand_base_link",\n            hand_key_point=get_point_in_env(planner.env,type_name="can",obj_id=0), # can center point now\n            object_key_point=get_point_in_env(planner.env,type_name="can",obj_id=0)+np.array([0,0,0.1]), # can center point after being lifted by 0.1m\n        )\n    )\n    # Add a parallel constraint to keep the x-axis of the can unchanged\n    constraints.append(\n        Constraint(\n            env=planner.env,\n            type="parallel",\n            end_effector_frame="r_hand_base_link",\n            hand_axis=get_axis_in_env(planner.env,axis_name="x",obj_type="can",obj_id=0), # The x-axis of the can\n            object_axis=get_axis_in_env(planner.env,axis_name="x",obj_type="can",obj_id=0), # Keep the x-axis unchanged\n        )\n    )\n    # Add a parallel constraint to keep the y-axis of the can unchanged\n    constraints.append(\n        Constraint(\n            env=planner.env,\n            type="parallel",\n            end_effector_frame="r_hand_base_link",\n            hand_axis=get_axis_in_env(planner.env,axis_name="y",obj_type="can",obj_id=0), # The y-axis of the can\n            object_axis=get_axis_in_env(planner.env,axis_name="y",obj_type="can",obj_id=0), # Keep the y-axis unchanged\n        )\n    )\n    # Generate the target pose for the end-effector and move the right hand to the target pose\n    _, target_effector_pose = planner.generate_end_effector_pose(constraints,hand_name="right")\n    planner.move_to_pose_with_screw(target_effector_pose,"right",attach_obj=True,object_name="can",object_id=0)\n\n    # Open the right hand to release the can\n    planner.open_hand("right")\n```\nstep3: Move the right hand back to its initial pose\n```python\n    # Move the right hand back to its initial pose\n    planner.move_to_pose_with_screw(planner.right_hand_init_pose, "right",attach_obj=False)\n```\n\n2. Based on step 1 of Example 1, place the can into the bowl after grasping it.\n\nstep 2: Move the can above the bowl and ensure the palm is facing downward.\n```python\n    constraints=[]\n    # Add a point-to-point constraint to lift the can by 0.1m\n    constraints.append(\n        Constraint(\n            env=planner.env,\n            type="point2point",\n            end_effector_frame="r_hand_base_link",\n            hand_key_point=get_point_in_env(planner.env,type_name="can",obj_id=0), # can center point now\n            object_key_point=get_point_in_env(planner.env,type_name="bowl",obj_id=0)+np.array([0,0,0.1]), # can center point over the bowl\n        )\n    )\n    # Palm facing down\n    constraints.append(\n        Constraint(\n            env=planner.env,\n            type="parallel",\n            end_effector_frame="r_hand_base_link",\n            hand_axis=get_axis_in_env(planner.env,axis_name="right_grasp_axis"), # The back of the palm points toward the front of the palm.\n            object_axis=np.array([0,0,-1]), # World frame, \n        )\n    )\n\n    # Generate the target pose for the end-effector and move the right hand to the target pose\n    _, target_effector_pose = planner.generate_end_effector_pose(constraints,hand_name="right")\n    planner.move_to_pose_with_screw(target_effector_pose,"right",attach_obj=True,object_name="can",object_id=0)\n\n    # Open the right hand to release the can\n    planner.open_hand("right")\n```\nstep3: Move the right hand back to its initial pose\n```python\n    # Move the right hand back to its initial pose\n    planner.move_to_pose_with_screw(planner.right_hand_init_pose, "right",attach_obj=False)\n```\n\n======\nNotes:  \n- `type_id` represents different models of the same type of object, while `obj_id` indicates the order in which objects of the same type are added.  \n- The left hand\'s operable range is x∈[-0.42, -0.19], y∈[-0.07, 0.36]; the right hand\'s range is x∈[-0.42, -0.19], y∈[-0.36, 0.07]. It must be ensured that the hand moves within this range. For actions such as grasping, pinching, or placing an object, it must be ensured that they are all within the operational range of the corresponding hand.\n- The object\'s bounding box (bbox) represents its dimensions in its own coordinate system (axis-aligned when the orientation quaternion is q=[1,0,0,0]). For example, a can with bbox:{"min": [-0.08,-0.08,-0.02],"max": [0.08,0.08,0.02]} has lengths of 0.16 units along X/Y-axes and 0.04 units along the Z-axis.\n- Please place each step in a separate code block, enclosed within ```python ``` tags. The number of steps should correspond exactly to the number of ```python ``` blocks in your response, with no extra or missing blocks.\n- Variables in different code blocks are not shared, meaning variables from previous code blocks cannot be used in subsequent ones.\n- When placing an object, release it slightly above the target position.\n- To avoid collisions, consider splitting a move action into multiple moves. For example, when placing a can into a bowl, first move the can to a height above the bowl, then lower it to just above the bowl before releasing it. However, ensure the height is neither too high nor too low to avoid inverse kinematics issues or collisions. Typically, an additional height of 0.03 cm is added.\n- When planning, please take collision issues into account. For example, if the height of an object relative to the table is z=0.03<0.08, do not use the right hand to grasp from right to left, as it will cause a collision between the hand and the table. Similarly, when placing the object somewhere, it is acceptable to release it slightly above the target position.\n- If \'Executed Action Code\' is empty, it means no code has been executed. If not empty, generate only the subsequent actions to be executed.\n- If \'Prohibited Next Actions\' is empty, there are no restrictions on the next action. If not empty, avoid executing any action identical to the listed ones in the first subsequent step.\n- When performing operations such as moving an object to a specific location for placement, various factors should be fully considered. For example, when placing an object on a table, it is acceptable to suspend it slightly above the table.\n- Before executing grasp or pinch actions, pre-grasp and pre-pinch actions must be performed respectively. Before executing another grasp or pinch action, the corresponding pre-action must be performed again.\n- When calling `Constraint`, parameter names must be explicitly specified using the `name=value` format.\n- Each line of code must have at least one level of indentation. \n- "right_hand_init_pose" and "left_hand_init_pose" are non-collision pose, which can avoid collisions with other hand or object.\n======\nPlease generate the code to continue executing the task \'Stack the three cubes on the table into a single pile.\'.\nNote: \n -When placing the cube, it should first be positioned at a certain distance above the target cube before lowering it down(lowering it down does not require a move, just open the hand). \n-It is necessary to keep the palm facing downward when pinching and moving the cube.\n -Use the pinch action to operate the cube. \n -The arms can only operate within their respective ranges.'}]
calling LLM..........
model(call_llm): deepseek-reasoner
failed chat completion Connection error.
Task prompt text: [{'role': 'user', 'content': 'You are a professional assistant for generating code that enables dual-arm robots to perform tabletop tasks. Please generate logically structured code to execute the user-specified tasks based on the provided context.\n======\nStatic Scene Elements:\nThe static scene elements include a robot and a table. The robot\'s base_link (position between torso_link and pelvis) has a pose of pose.p = [-0.85, 0, 0], pose.q = [1, 0, 0, 0]. The table surface spans x ∈ [-0.42, -0.19], y ∈ [-1.1, 1.16], z = 0.\n======\nWorld Coordinate System Information:\nSince the robot\'s base coordinate frame has pose.q = [1, 0, 0, 0], its xyz directions align with the world coordinate system: x points forward, y points to the robot\'s left, and z points upward.\n======\nIntrinsic Asset Attributes:\n[{\'type_name\': \'cube\', \'obj_id\': 0, \'bounding box\': [0.04, 0.04, 0.04], \'status\': {\'face_robot\': {\'description\': \'Placed flat on the table, with the front face parallel to the body.\', \'orientation\': [1, 0, 0, 0]}}}, {\'type_name\': \'cube\', \'obj_id\': 1, \'bounding box\': [0.04, 0.04, 0.04], \'status\': {\'face_robot\': {\'description\': \'Placed flat on the table, with the front face parallel to the body.\', \'orientation\': [1, 0, 0, 0]}}}, {\'type_name\': \'cube\', \'obj_id\': 2, \'bounding box\': [0.04, 0.04, 0.04], \'status\': {\'face_robot\': {\'description\': \'Placed flat on the table, with the front face parallel to the body.\', \'orientation\': [1, 0, 0, 0]}}}]\nNote: The \'orientation\' in \'status\' represents the rotation in the world coordinate system under its corresponding \'description\'.\n======\nInitial Asset State:\n[{\'type_name\': \'cube\', \'obj_id\': 0, \'pose\': Pose(raw_pose=tensor([[-3.1814e-01,  3.2924e-01,  2.0000e-02,  9.9834e-01,  4.4983e-06,\n         -3.4159e-06,  5.7534e-02]]))}, {\'type_name\': \'cube\', \'obj_id\': 1, \'pose\': Pose(raw_pose=tensor([[-3.1754e-01, -3.1565e-01,  2.0000e-02,  9.9710e-01,  3.8997e-06,\n         -3.4915e-06,  7.6107e-02]]))}, {\'type_name\': \'cube\', \'obj_id\': 2, \'pose\': Pose(raw_pose=tensor([[-4.4892e-01, -3.1284e-01,  2.0000e-02,  9.9905e-01,  5.5080e-06,\n         -2.9400e-06,  4.3612e-02]]))}]\nNote: The asset(object) state(pose) when the scene is just initialized, before any actions are executed. Pose consists of Cartesian coordinates and a quaternion in the world coordinate system: [x, y, z, w, x, y, z](The following 7-dimensional poses all follow this format).\n======\nCurrent Asset State:\n[{\'type_name\': \'cube\', \'obj_id\': 0, \'pose\': Pose(raw_pose=tensor([[-3.1814e-01,  3.2924e-01,  2.0000e-02,  9.9834e-01,  4.4983e-06,\n         -3.4159e-06,  5.7534e-02]]))}, {\'type_name\': \'cube\', \'obj_id\': 1, \'pose\': Pose(raw_pose=tensor([[-3.1754e-01, -3.1565e-01,  2.0000e-02,  9.9710e-01,  3.8997e-06,\n         -3.4915e-06,  7.6107e-02]]))}, {\'type_name\': \'cube\', \'obj_id\': 2, \'pose\': Pose(raw_pose=tensor([[-4.4892e-01, -3.1284e-01,  2.0000e-02,  9.9905e-01,  5.5080e-06,\n         -2.9400e-06,  4.3612e-02]]))}]\nNote: Current states(poses) of assets(objects) on the tabletop\n======\nExecuted Action Code:\n\nNote: \n- Code for actions executed by the robot to transform the asset state on the tabletop from the initial state to the current state.\n======\nProhibited Next Actions:\n\nNote: The next step cannot execute the prohibited actions listed above. \'Same\' means completely identical. For \'move\', any addition, removal, or modification of constraints is considered a different action. Applies only to the next step; subsequent steps can still choose those actions.\n======\nRobot Attributes:\nhand_key_point:{\n    "left_hand":["base_left_hand","grasp_point_base_left_hand","pinch_point_base_left_hand"],\n    "right_hand":["base_right_hand","grasp_point_base_right_hand","pinch_point_base_right_hand"]\n}\nhand_key_axis:{\n    "left_hand":["left_pinch_axis","left_pinch_wrist_2_palm_axis","left_ring_2_index","left_grasp_axis","left_grasp_wrist_2_palm_axis"],\n    "right_hand":["right_pinch_axis","right_pinch_wrist_2_palm_axis","right_ring_2_index","right_grasp_axis","right_grasp_wrist_2_palm_axis"]\n}\ndefault_pose:{\n    "left_hand":[left_hand_init_pose],\n    "right_hand":[right_hand_init_pose]\n}\n======\nAvailable Class:\nConstraint(env,type,end_effector_frame,hand_key_point,object_key_point,hand_axis,object_axis):\n    Function: \n        "Constraint" defines hard constraints that must be strictly satisfied. \n        Establishes spatial equivalence constraints between:\n            - (point2point) Specified end-effector point → target point.\n            - (parallel) Specified end-effector axis direction → target axis direction.\n    Args:\n    - env (Environment, Mandatory): The planner\'s bound operating environment. Must reference the planner\'s environment instance through `planner.env` property.\n    - type (str, Mandatory): "point2point" or "parallel".\n    - end_effector_frame (str, Mandatory): "l_hand_base_link" or "r_hand_base_link".\n    - hand_key_point (np.ndarray): [Required when \'type\' is \'point2point\'] Pre-motion end-effector anchor point in world coordinates.\n    - object_key_point (np.ndarray): [Required when \'type\' is \'point2point\'] Target\'s corresponding point in world coordinates.\n    - hand_axis (np.ndarray): [Required when \'type\' is \'parallel\'] Pre-motion end-effector alignment axis in world coordinates.\n    - object_axis (np.ndarray): [Required when \'type\' is \'parallel\'] Target\'s reference axis in world coordinates.\n    Example:\n        # Right palm facing down to grasp(Top-down grasping of the object)\n        Constraint(\n            env=planner.env,\n            type="parallel",\n            end_effector_frame="r_hand_base_link",\n            hand_axis=get_axis_in_env(planner.env,axis_name="right_grasp_axis"), # The back of the palm points toward the front of the palm. Pinch action is similar.\n            object_axis=np.array([0,0,-1]), # World frame, \n        )\n\n        # Right palm facing up to grasp(Down-Top grasping of the object). If there is a table or other objects below the target, it often causes collisions and makes it unreachable.\n        Constraint(\n            env=planner.env,\n            type="parallel",\n            end_effector_frame="r_hand_base_link",\n            hand_axis=get_axis_in_env(planner.env,axis_name="right_grasp_axis"), # The back of the palm points toward the front of the palm. Pinch action is similar.\n            object_axis=np.array([0,0,1]), # World frame, \n        )\n\n        # The direction from the right wrist to the palm center is facing forward.\n        Constraint(\n            env=planner.env,\n            type="parallel",\n            end_effector_frame="r_hand_base_link",\n            hand_axis=get_axis_in_env(planner.env,axis_name="right_grasp_wrist_2_palm_axis"), # The direction from the wrist to the palm center\n            object_axis=np.array([1,0,0]), # World frame\n        )\n\n        # The direction from the right pinky finger to the index finger is parallel to the x-axis of object0.\n        Constraint(\n            env=planner.env,\n            type="parallel",\n            end_effector_frame="r_hand_base_link",\n            hand_axis=get_axis_in_env(planner.env,axis_name="right_ring_2_index"), # The direction from the right pinky finger to the index finger\n            object_axis=get_axis_in_env(planner.env, "x", obj_type="object", obj_id=0), # The coordinates of object0\'s x-axis in the world coordinate system.\n        )\n\n        # After object0 is in hand, align its x-axis parallel to the world coordinate system\'s z-axis, making its x-axis point upward.\n        Constraint(\n            env=planner.env,\n            type="point2point",\n            end_effector_frame="r_hand_base_link",\n            hand_key_point=get_axis_in_env(planner.env, "x", obj_type="object", obj_id=0),\n            object_key_point=object_axis=np.array([0,0,1]), # np.array([0, 0.1, 0.1]) in the object0\'s coordinate system.\n        )\n\n        # The right-hand grasp point coincides with [0, 0.1, 0.1] in the object0\'s coordinate system.\n        Constraint(\n            env=planner.env,\n            type="point2point",\n            end_effector_frame="r_hand_base_link",\n            hand_key_point=get_point_in_env(planner.env,point_name="grasp_point_base_right_hand"),\n            object_key_point=get_point_in_env(planner.env,type_name="object",obj_id=0,related_point=np.array([0, 0.1, 0.1])), # np.array([0, 0.1, 0.1]) in the object0\'s coordinate system.\n        )\n\n        # After object0 is in hand, position it 0.1m above object1.\n        Constraint(\n            env=planner.env,\n            type="point2point",\n            end_effector_frame="r_hand_base_link",\n            hand_key_point=get_point_in_env(planner.env,type_name="object",obj_id=0),\n            object_key_point=get_point_in_env(planner.env,type_name="object",obj_id=1)+np.array([0, 0, 0.1]), # np.array([0, 0, 0.1]) in the world(robot) coordinate system.\n        )\n    Note: \n        \'hand_key_point\' and \'object_key_point\' represent two points in the world coordinate system. \'hand_key_point\' moves with the corresponding end-effector, and type=\'point2point\' indicates the intention for the two points to coincide. \n        \'hand_axis\' and \'object_axis\' have similar meanings to \'point\'.\n        \'right_grasp_axis\' or \'right_pinch_axis\' parallel [0,0,-1] means executing with the palm facing downward.\n        \'right_grasp_axis\' or \'right_pinch_axis\' parallel [1,0,0] means executing with the palm facing forward.\n        \'right_grasp_axis\' or \'right_pinch_axis\' parallel [0,1,0] means executing with the palm facing left.\n        \'left_grasp_axis\' or \'left_pinch_axis\' parallel [0,-1,0] means executing with the palm facing right.\n\n\nConst(env,type,end_effector_frame,hand_key_point,object_key_point,hand_axis,object_axis):\n    The usage is similar to the Constraint class, but it is not a strict constraint; it is an optimization objective.\n======\nAvailable functions:\n\ndef get_point_in_env(env, point_name,type_name, obj_id,related_point,openness):\n    Function: Get specified point position in world frame.\n    Return: point_position (np.ndarray)\n    Args:\n    - env (Environment, Mandatory): The planner\'s bound operating environment. Must reference the planner\'s environment instance through `planner.env` property.\n    - point_name (str, optional): The point name. Example: "grasp_point_base_left_hand".\n    - type_name (str, optional): The reference object relative to the target point.\n    - obj_id (int, optional): The reference object id.\n    - related_point (np.ndarray,optional): The coordinates of the target point relative to the object center in the object coordinate system. Default: np.array([0,0,0])\n    - openness (int, optional): Represents the openness degree of the articulated object. If type_name is an articulated object, this value can be set to obtain the coordinates corresponding to point_name at a specific openness degree.\n    Example:\n        # Get the current coordinates of the right-hand pinch point in the world coordinate system.\n        get_point_in_env(planner.env,point_name="grasp_point_base_pinch_hand")\n\ndef get_axis_in_env(env, axis_name, obj_type, obj_id):\n    Function: Get specified direction vector in world frame.\n    Return: direction_vector (np.ndarray)\n    Args:\n    - env (Environment, Mandatory): The planner\'s bound operating environment. Must reference the planner\'s environment instance through `planner.env` property.\n    - axis_name (str, Mandatory): The axis name. Example: "right_pinch_axis".\n    - obj_type (str, optional): The reference object relative to the target axis.\n    - obj_id (int, optional): The reference object id.\n\ndef open_hand(self, hand_name):\n    Function: Control the hand to open.\n    Return: None\n    Args:\n    - hand_name (str, Mandatory): "all", "right", or "left".\n\ndef hand_pre_grasp(hand_name):\n    Function: Adjusts the thumb movement of the specified hand to position it opposite the index finger, preparing for subsequent grasping operations. This should typically be called before executing \'move_to_pose_with_screw\' to reach the pre-grasp pose.\n    Return: None\n    Args:\n    - hand_name (str, Mandatory): "all", "right", or "left". Default: "all".\n\ndef hand_grasp(hand_name, grasp_object, obj_id):\n    Function: Control the hand to close.\n    Return: None\n    Args:\n    - hand_name (str, Mandatory): "right", or "left".\n    - grasp_object (str, Mandatory): The type of the grasped object. Example: "can".\n    - obj_id (int, Mandatory): The object id of the grasped object. Example: If grasp_object="can" and obj_id=0, indicates the first can object added to the environment.\n\ndef hand_pre_pinch(hand_name):\n    Function: Adjusts the thumb movement of the specified hand to position it opposite the index finger, preparing for subsequent pinching operations. This should typically be called before executing \'move_to_pose_with_screw\' to reach the pre-pinch pose.\n    Return: None\n    Args:\n    - hand_name (str, optional): "all", "right", or "left". Default: "all".\n\ndef hand_pinch(hand_name, pinch_object, obj_id):\n    Function: Only control the closing operation of the thumb and index finger. Typically used for small and hard-to-grasp objects.\n    Return: None\n    Args:\n    - hand_name (str, Mandatory): "right", or "left".\n    - pinch_object (str, Mandatory): The type of the pinched object. Example: "can".\n    - obj_id (int, Mandatory): The object id of the pinched object. Example: If pinch_object="can" and obj_id=0, indicates the first can object added to the environment.\n\n def generate_end_effector_pose(constraints,hand_name):\n    Function: Calculate the target pose that the robotic arm needs to move to in this step based on the constraint and cost.\n    Return: _,target_effector_pose\n    Args:\n    - constraints (list, Mandatory): A list of Constraint objects, with the number of Constraints determined by specific requirements.\n    - hand_name (str, Mandatory): "left" or "right"\n\ndef move_to_pose_with_screw(pose: sapien.Pose, hand_name, attach_obj=False, object_name=None, object_id=0):\n    Function: Control the robotic arm to move the end-effector of \'hand_name\' to the \'pose\'.\n    Return: None\n    Args:\n    - pose (sapien.Pose, Mandatory): The target pose for the movement of \'hand_name\'.\n    - hand_name (str, Mandatory): The specified robotic arm for the movement.\n    - attach_obj (bool, Mandatory): Whether there is an attached object in the hand during the movement.\n    - object_name (str): [Required when \'attach_obj\' is True] The type of the attached object.\n    - obj_id (int, Mandatory): [Required when \'attach_obj\' is True] The object id of the attached object.\n \n======\nIncorrect example code:\n1. The right hand grasps the can, when can on the table:\nstep 1: Grasp can0\n```python\n    # Set the right hand fingers to a pre-grasp pose\n    planner.hand_pre_grasp("right")\n\n    constraints=[]\n\n    constraints.append(\n        Constraint(\n            env=planner.env,\n            type="parallel",\n            end_effector_frame="r_hand_base_link",\n            hand_axis=get_axis_in_env(planner.env, axis_name="right_grasp_axis"),\n            object_axis=np.array([0, 0, 1])\n        )\n    )\n    # Generate the target pose for the end-effector and move the right hand to the target pose\n    _, target_effector_pose = planner.generate_end_effector_pose(constraints,hand_name="right")\n    planner.move_to_pose_with_screw(target_effector_pose,"right",attach_obj=False)\n\n    # Close the right hand to grasp the can\n    planner.hand_grasp("right",grasp_object="can",obj_id=0)\n```\nReason for the error: `object_axis=np.array([0, 0, 1])` represents the positive z-axis in the world coordinate system. If it is parallel to the grasp axis, it indicates a bottom-up grasping direction. For an object on a table, the hand cannot reach below the object. To perform a top-down grasp along the -z direction, use `object_axis=np.array([0, 0, -1])`.\n\n======\nCorrect example code:\n1. The right hand grasps the can from right to left, then lifts it by 0.1m, and then releases it.\nstep 1: Grasp can0\n```python\n    # Set the right hand fingers to a pre-grasp pose\n    planner.hand_pre_grasp("right")\n\n    constraints=[]\n    # Add a point-to-point constraint to align the grasp point of the right hand with the can\'s center point\n    constraints.append(\n        Constraint(\n            env=planner.env,\n            type="point2point",\n            end_effector_frame="r_hand_base_link",\n            hand_key_point=get_point_in_env(planner.env,point_name="grasp_point_base_right_hand"), # Grasp point on the right hand\n            object_key_point=get_point_in_env(planner.env,type_name="can",obj_id=0), # Center point of the can\n        )\n    )\n    # Add a Constraint to align the pinky-to-index axis of the right hand with the world z-axis\n    constraints.append(\n        Constraint(\n            env=planner.env,\n            type="parallel",\n            end_effector_frame="r_hand_base_link",\n            hand_axis=get_axis_in_env(planner.env,axis_name="right_ring_2_index"), # The direction from the pinky finger to the index finger\n            object_axis=np.array([0,0,1]), # World frame. Or the specific axis of the object, such as `get_axis_in_env(planner.env, axis_name="z", obj_type="can", obj_id=0)`.\n        )\n    )\n    # Generate the target pose for the end-effector and move the right hand to the target pose\n    _, target_effector_pose = planner.generate_end_effector_pose(constraints,hand_name="right")\n    planner.move_to_pose_with_screw(target_effector_pose,"right",attach_obj=False)\n\n    # Close the right hand to grasp the can\n    planner.hand_grasp("right",grasp_object="can",obj_id=0)\n```\nstep 2: Lift the can by 0.1m while keeping its pose unchanged\n```python\n    constraints=[]\n    # Add a point-to-point constraint to lift the can by 0.1m\n    constraints.append(\n        Constraint(\n            env=planner.env,\n            type="point2point",\n            end_effector_frame="r_hand_base_link",\n            hand_key_point=get_point_in_env(planner.env,type_name="can",obj_id=0), # can center point now\n            object_key_point=get_point_in_env(planner.env,type_name="can",obj_id=0)+np.array([0,0,0.1]), # can center point after being lifted by 0.1m\n        )\n    )\n    # Add a parallel constraint to keep the x-axis of the can unchanged\n    constraints.append(\n        Constraint(\n            env=planner.env,\n            type="parallel",\n            end_effector_frame="r_hand_base_link",\n            hand_axis=get_axis_in_env(planner.env,axis_name="x",obj_type="can",obj_id=0), # The x-axis of the can\n            object_axis=get_axis_in_env(planner.env,axis_name="x",obj_type="can",obj_id=0), # Keep the x-axis unchanged\n        )\n    )\n    # Add a parallel constraint to keep the y-axis of the can unchanged\n    constraints.append(\n        Constraint(\n            env=planner.env,\n            type="parallel",\n            end_effector_frame="r_hand_base_link",\n            hand_axis=get_axis_in_env(planner.env,axis_name="y",obj_type="can",obj_id=0), # The y-axis of the can\n            object_axis=get_axis_in_env(planner.env,axis_name="y",obj_type="can",obj_id=0), # Keep the y-axis unchanged\n        )\n    )\n    # Generate the target pose for the end-effector and move the right hand to the target pose\n    _, target_effector_pose = planner.generate_end_effector_pose(constraints,hand_name="right")\n    planner.move_to_pose_with_screw(target_effector_pose,"right",attach_obj=True,object_name="can",object_id=0)\n\n    # Open the right hand to release the can\n    planner.open_hand("right")\n```\nstep3: Move the right hand back to its initial pose\n```python\n    # Move the right hand back to its initial pose\n    planner.move_to_pose_with_screw(planner.right_hand_init_pose, "right",attach_obj=False)\n```\n\n2. Based on step 1 of Example 1, place the can into the bowl after grasping it.\n\nstep 2: Move the can above the bowl and ensure the palm is facing downward.\n```python\n    constraints=[]\n    # Add a point-to-point constraint to lift the can by 0.1m\n    constraints.append(\n        Constraint(\n            env=planner.env,\n            type="point2point",\n            end_effector_frame="r_hand_base_link",\n            hand_key_point=get_point_in_env(planner.env,type_name="can",obj_id=0), # can center point now\n            object_key_point=get_point_in_env(planner.env,type_name="bowl",obj_id=0)+np.array([0,0,0.1]), # can center point over the bowl\n        )\n    )\n    # Palm facing down\n    constraints.append(\n        Constraint(\n            env=planner.env,\n            type="parallel",\n            end_effector_frame="r_hand_base_link",\n            hand_axis=get_axis_in_env(planner.env,axis_name="right_grasp_axis"), # The back of the palm points toward the front of the palm.\n            object_axis=np.array([0,0,-1]), # World frame, \n        )\n    )\n\n    # Generate the target pose for the end-effector and move the right hand to the target pose\n    _, target_effector_pose = planner.generate_end_effector_pose(constraints,hand_name="right")\n    planner.move_to_pose_with_screw(target_effector_pose,"right",attach_obj=True,object_name="can",object_id=0)\n\n    # Open the right hand to release the can\n    planner.open_hand("right")\n```\nstep3: Move the right hand back to its initial pose\n```python\n    # Move the right hand back to its initial pose\n    planner.move_to_pose_with_screw(planner.right_hand_init_pose, "right",attach_obj=False)\n```\n\n======\nNotes:  \n- `type_id` represents different models of the same type of object, while `obj_id` indicates the order in which objects of the same type are added.  \n- The left hand\'s operable range is x∈[-0.42, -0.19], y∈[-0.07, 0.36]; the right hand\'s range is x∈[-0.42, -0.19], y∈[-0.36, 0.07]. It must be ensured that the hand moves within this range. For actions such as grasping, pinching, or placing an object, it must be ensured that they are all within the operational range of the corresponding hand.\n- The object\'s bounding box (bbox) represents its dimensions in its own coordinate system (axis-aligned when the orientation quaternion is q=[1,0,0,0]). For example, a can with bbox:{"min": [-0.08,-0.08,-0.02],"max": [0.08,0.08,0.02]} has lengths of 0.16 units along X/Y-axes and 0.04 units along the Z-axis.\n- Please place each step in a separate code block, enclosed within ```python ``` tags. The number of steps should correspond exactly to the number of ```python ``` blocks in your response, with no extra or missing blocks.\n- Variables in different code blocks are not shared, meaning variables from previous code blocks cannot be used in subsequent ones.\n- When placing an object, release it slightly above the target position.\n- To avoid collisions, consider splitting a move action into multiple moves. For example, when placing a can into a bowl, first move the can to a height above the bowl, then lower it to just above the bowl before releasing it. However, ensure the height is neither too high nor too low to avoid inverse kinematics issues or collisions. Typically, an additional height of 0.03 cm is added.\n- When planning, please take collision issues into account. For example, if the height of an object relative to the table is z=0.03<0.08, do not use the right hand to grasp from right to left, as it will cause a collision between the hand and the table. Similarly, when placing the object somewhere, it is acceptable to release it slightly above the target position.\n- If \'Executed Action Code\' is empty, it means no code has been executed. If not empty, generate only the subsequent actions to be executed.\n- If \'Prohibited Next Actions\' is empty, there are no restrictions on the next action. If not empty, avoid executing any action identical to the listed ones in the first subsequent step.\n- When performing operations such as moving an object to a specific location for placement, various factors should be fully considered. For example, when placing an object on a table, it is acceptable to suspend it slightly above the table.\n- Before executing grasp or pinch actions, pre-grasp and pre-pinch actions must be performed respectively. Before executing another grasp or pinch action, the corresponding pre-action must be performed again.\n- When calling `Constraint`, parameter names must be explicitly specified using the `name=value` format.\n- Each line of code must have at least one level of indentation. \n- "right_hand_init_pose" and "left_hand_init_pose" are non-collision pose, which can avoid collisions with other hand or object.\n======\nPlease generate the code to continue executing the task \'Stack the three cubes on the table into a single pile.\'.\nNote: \n -When placing the cube, it should first be positioned at a certain distance above the target cube before lowering it down(lowering it down does not require a move, just open the hand). \n-It is necessary to keep the palm facing downward when pinching and moving the cube.\n -Use the pinch action to operate the cube. \n -The arms can only operate within their respective ranges.'}]
calling LLM..........
model(call_llm): deepseek-reasoner
failed chat completion Connection error.
