{
  "cycle": 2,
  "available_experience_version": 1,
  "lesson": {
    "geometry": "Demo: hex blue collar over narrow white hex-foot peg; round blue collar over wide stepped white cylinder, stems protruding. Metres in left base, table z=-.045; checkpoint1 triangulated approximate heights hex .014, round .027, narrow .076, wide .080 (+/- .003); textureless white depth unreliable. Cycle2 fresh top-plane centers and wrist alignment checks validated reuse: hex(.1598,-.1248), round(.3502,.1698), narrow(.1510,.0781), wide(.3231,-.0359). Canonical down wxyz=(0,1,0,0). Hex grasp z=-.031, round=-.022. Held widths cycle1 hex53.4mm/round52.2mm, cycle2 hex47.1mm/round52.0mm; hex width varies with yaw. Dimensions/diameters approximate, not precision metrology.",
    "recipe": "Reuse python3 scratch/operate.py COMMAND JSON_ARGS (Python3 stdlib, provided robot_client.py). It logs and captures after each action; operator must inspect before next action. Historical exact cycle2 commands/feedback in cycle_02_recipe.json; NEVER blind replay XY. From observed home ~(.350,.0156,.358), clear planned approach(.23,-.06,.16) succeeded; remaining moves linear. Hex source XY: approach .025, grasp -.031, close, lift .09, transfer fresh narrow XY at .09, descend .052,.030,-.020, open, withdraw .12. Round source XY: approach .12 then .025, grasp -.022, close, lift .10, transfer fresh wide XY at .10, descend .065,.032,-.008, open, withdraw .12, home. Both lifted holds and shaft entries visually confirmed; both collars remained engaged/stable after release, withdrawal, home and later capture; open empty gripper fraction .9991. No explicit joint targets; actual joints in capture metadata. Cycle1 stage512.465s; cycle2 467.965s, 48 counted commands.",
    "corrections": "Cycle1 initial two linear observation approaches failed IK without motion; planned clear approach worked. Wide receiver shifted ~1cm during hex pickup, likely finger contact; remeasured before round insertion. Check full open-finger clearance. Narrow preshape remains untested. Cycle2 no IK rejection, no observed receiver shift, no regrasp/insertion retry, one marked attempt. Hex final descent returned SETTLE_MISS3.9mm, achieved(.153871,.079752,-.018035); shaft visibly through collar. Opened at achieved pose without repeating/pushing; collar settled and stable after withdrawal. Error cause not established. This failed command is not a generally reusable successful action; release decision requires actual supported engagement evidence. Analysis view helper twice ran before new capture existed; waited for action completion then inspected actual fresh captures, no intervening action.",
    "next_cycle": "Actually reused checkpoint1 operate.py and grasp/insertion heights; new top-plane measurements and wrist observations validated upright poses, approach clearance and holds. Changed XY and initial planned approach; omitted repeated triangulation and failed linear approaches. Reuse cumulative checkpoint2 geometry, operate.py, and historical cycle_02_recipe.json with NEW observed source/receiver centers. Recheck upright orientation, estimated heights, complete finger envelope, held offsets, actual peg entry and stable release; remeasure any shifted part. Keep motion limits and per-action images. Home~(.350,.0156,.358): ensure first approach <=.25m, split if needed and plan only in clear space. Efficiency from prior solved geometry and direct clear approach, not skipped verification. Two ordered timings do not establish a controlled benefit. Only next assigned agent starts cycle3; current arm empty/open/withdrawn and cycle2 ended."
  },
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    {
      "source": "scratch/cycle_02_commands.jsonl",
      "sha256": "2dded24fd07977ca9438959e799fd0d8ebbbf905ee34a81083c969b68c1287bd",
      "snapshot": "experience/cycle_02/artifacts/scratch/cycle_02_commands.jsonl"
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    {
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      "snapshot": "experience/cycle_02/artifacts/scratch/attempts.md"
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      "snapshot": "experience/cycle_02/artifacts/scratch/cycle_02_RESULT.md"
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}