========================================================================
GPT-Astra / Open / Episode 000

Completed scored attempt. Images are available in the paired videos.

Opaque provider signatures, image payloads, and local paths are omitted.


RESULT
{
  "benchmark_index": 0,
  "source_episode_index": 3,
  "house_index": 13,
  "status": "completed",
  "success": true,
  "oracle_success": true,
  "action_decisions": 20,
  "wall_seconds": 224.97,
  "usage": {
    "input_tokens": 375088,
    "cached_input_tokens": 344448,
    "cache_write_input_tokens": 0,
    "output_tokens": 4195,
    "reasoning_output_tokens": 1714
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task.
You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose.
Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion.
move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up.
roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial.
Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5).
The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y.
The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics.
Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration.
Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target.
You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time.
Each move must include a short note describing what you observe and why you chose that motion.
Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done.
Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available.



AGENT TRANSCRIPT (visible messages and completed tool calls)

I’ll inspect the robot’s view, then engage the handle and open the object.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"open the drawer.\", \"joint_positions\": [0.01417, -0.75426, -0.02259, -2.42381, 0.0644, 1.70442, -0.10257], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.33118, 0.01407, 0.98596], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.99498, 0.09373, 0.03512], [0.09073, -0.99273, 0.07912], [0.04228, -0.07554, -0.99625]], \"simulated_seconds_remaining\": 30.03, \"calls_remaining_including_this\": 57}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "x": 0.46,
    "y": 0,
    "z": 0.88,
    "pitch": 1.5708,
    "gripper": 1,
    "note": "The drawer has a horizontal metal handle on its wooden front. I am turning the fingers toward the cabinet and approaching above the handle to improve alignment."
  },
  "result": null,
  "error": {
    "message": "tool call error: tool call failed for `robot/move_to`\n\nCaused by:\n    Mcp error: -32602: Unexpected argument"
  },
  "status": "failed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.46,
      "y": 0,
      "z": 0.88,
      "pitch": 1.5708,
      "gripper": 1
    },
    "note": "The drawer has a metal handle on its wooden front. I am orienting the gripper toward the cabinet and approaching to see the handle more clearly."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"open the drawer.\", \"joint_positions\": [0.01417, -0.75426, -0.02259, -2.42381, 0.0644, 1.70442, -0.10257], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.33118, 0.01407, 0.98596], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.99498, 0.09373, 0.03512], [0.09073, -0.99273, 0.07912], [0.04228, -0.07554, -0.99625]], \"simulated_seconds_remaining\": 30.03, \"calls_remaining_including_this\": 56}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.42,
      "y": 0,
      "z": 0.88,
      "pitch": -1.3,
      "gripper": 1
    },
    "note": "The first wrist orientation was unreachable. I am turning the fingertips forward with the opposite pitch while lowering toward the drawer."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"open the drawer.\", \"joint_positions\": [0.01417, -0.75426, -0.02259, -2.42381, 0.0644, 1.70442, -0.10257], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.33118, 0.01407, 0.98596], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.99498, 0.09373, 0.03512], [0.09073, -0.99273, 0.07912], [0.04228, -0.07554, -0.99625]], \"simulated_seconds_remaining\": 30.03, \"calls_remaining_including_this\": 55}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.42,
      "z": 0.82,
      "pitch": -0.6
    },
    "note": "Both large rotations were rejected. I am taking a smaller forward and downward step with a modest wrist tilt to obtain a reachable approach."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"open the drawer.\", \"joint_positions\": [0.01417, -0.75426, -0.02259, -2.42381, 0.0644, 1.70442, -0.10257], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.33118, 0.01407, 0.98596], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.99498, 0.09373, 0.03512], [0.09073, -0.99273, 0.07912], [0.04228, -0.07554, -0.99625]], \"simulated_seconds_remaining\": 30.03, \"calls_remaining_including_this\": 54}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "z": 0.9
    },
    "note": "The arm has not moved because the tilted targets were unreachable. I am lowering vertically with the original orientation before attempting another rotation."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"open the drawer.\", \"joint_positions\": [0.01366, -0.75558, -0.02222, -2.64043, 0.06815, 1.91892, -0.11749], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.33113, 0.01408, 0.90125], \"tcp_roll_pitch_yaw\": [-0.0, 0.0003, 1e-05], \"tcp_rotation_matrix\": [[0.99499, 0.09373, 0.03482], [0.09074, -0.99273, 0.07912], [0.04198, -0.07556, -0.99626]], \"simulated_seconds_remaining\": 29.172, \"calls_remaining_including_this\": 53}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 13, \"motion_seconds\": 0.8580000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.43,
      "z": 0.78
    },
    "note": "The vertical move succeeded. The handle is lower and to the left in the exterior view, so I am advancing and lowering with the current wrist orientation."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"open the drawer.\", \"joint_positions\": [0.02751, -0.46712, -0.03595, -2.59387, 0.10042, 2.0993, -0.15451], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.3824, 0.01772, 0.83638], \"tcp_roll_pitch_yaw\": [0.02401, 0.0594, 0.00921], \"tcp_rotation_matrix\": [[0.99499, 0.09679, -0.0249], [0.09886, -0.98978, 0.10279], [-0.01469, -0.10473, -0.99439]], \"simulated_seconds_remaining\": 27.852, \"calls_remaining_including_this\": 52}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 20, \"motion_seconds\": 1.32, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.3,
      "z": 0.8,
      "pitch": 0.5
    },
    "note": "The advance stopped short, suggesting contact near the cabinet. I am backing away slightly and tilting the wrist to approach the front instead of the top."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"open the drawer.\", \"joint_positions\": [0.02432, -0.44413, -0.03528, -2.51072, 0.08361, 1.89022, -0.12007], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.35689, 0.01671, 0.85118], \"tcp_roll_pitch_yaw\": [0.01613, 0.21051, -0.00162], \"tcp_rotation_matrix\": [[0.9823, 0.07093, -0.17338], [0.08845, -0.9915, 0.09546], [-0.16514, -0.10911, -0.98022]], \"simulated_seconds_remaining\": 26.928, \"calls_remaining_including_this\": 51}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.28,
      "y": 0.25,
      "z": 0.9,
      "pitch": 0
    },
    "note": "The handle lies along the cabinet to the robot's left. I am moving left and slightly back at a higher clearance to position above that handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"open the drawer.\", \"joint_positions\": [0.26898, -0.69039, 0.36649, -2.57464, 0.31952, 1.98132, 0.35605], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.28041, 0.24879, 0.89977], \"tcp_roll_pitch_yaw\": [0.01607, 0.00103, -0.0014], \"tcp_rotation_matrix\": [[0.99515, 0.09226, 0.03423], [0.08865, -0.99152, 0.09507], [0.04271, -0.09158, -0.99488]], \"simulated_seconds_remaining\": 24.948, \"calls_remaining_including_this\": 50}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 30, \"motion_seconds\": 1.98, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

I’ve moved clear of the cabinet edge. I’m aligning with the drawer’s handle before closing the fingers.


{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.28,
      "y": 0.5,
      "z": 0.78,
      "roll": 0,
      "pitch": -0.7,
      "yaw": 0
    },
    "note": "The handle remains left and below the gripper. I am moving along the drawer front and pitching the fingertips forward for a frontal grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"open the drawer.\", \"joint_positions\": [-0.42626, -0.70447, 1.65553, -2.41972, 0.03492, 2.77743, 1.20794], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.27992, 0.49917, 0.78058], \"tcp_roll_pitch_yaw\": [1e-05, -0.69773, 0.00026], \"tcp_rotation_matrix\": [[0.73526, 0.12062, 0.66696], [0.09092, -0.9927, 0.07931], [0.67166, 0.00233, -0.74086]], \"simulated_seconds_remaining\": 22.77, \"calls_remaining_including_this\": 49}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 33, \"motion_seconds\": 2.178, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.37,
      "y": 0.5,
      "z": 0.88,
      "pitch": -1.3
    },
    "note": "The wrist view shows wood below the handle and the exterior view puts the fingers too low. I am raising the grasp point and making the approach more horizontal."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"open the drawer.\", \"joint_positions\": [-0.41053, -1.28554, 1.66441, -2.41459, -0.03264, 2.85455, 1.3816], \"gripper_open\": 1.0, \"tcp_xyz\": [0.32208, 0.50104, 0.82716], \"tcp_roll_pitch_yaw\": [-0.33353, -1.23668, 0.31401], \"tcp_rotation_matrix\": [[0.27037, 0.09871, 0.95768], [0.1925, -0.98019, 0.04669], [0.94332, 0.17173, -0.28402]], \"simulated_seconds_remaining\": 21.582, \"calls_remaining_including_this\": 48}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 18, \"motion_seconds\": 1.1880000000000002, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.25,
      "y": 0.65,
      "z": 1,
      "roll": 0,
      "pitch": -1.3,
      "yaw": 0
    },
    "note": "The fingers are below the handle and close to the wood. I am retreating slightly, raising to handle height, and shifting left to the middle of the bar."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 11, \"instruction\": \"open the drawer.\", \"joint_positions\": [-0.50701, -1.2114, 1.51119, -1.84178, -0.0515, 2.41529, 1.28961], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.25037, 0.64923, 0.99909], \"tcp_roll_pitch_yaw\": [-0.00178, -1.29976, 0.00184], \"tcp_rotation_matrix\": [[0.22564, 0.098, 0.96927], [0.09122, -0.99268, 0.07913], [0.96993, 0.07056, -0.23293]], \"simulated_seconds_remaining\": 19.668, \"calls_remaining_including_this\": 47}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 29, \"motion_seconds\": 1.9140000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.28,
      "y": 0.78,
      "z": 1.05,
      "roll": 0,
      "pitch": -1.3,
      "yaw": 0
    },
    "note": "The handle is now visible in the wrist image, above and left of the finger opening. I am shifting toward its center and slightly upward before grasping."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 12, \"instruction\": \"open the drawer.\", \"joint_positions\": [-0.98738, -1.22099, 1.66419, -0.96953, 0.00031, 1.65168, 1.22383], \"gripper_open\": 1.0, \"tcp_xyz\": [0.24195, 0.6925, 1.01696], \"tcp_roll_pitch_yaw\": [-0.32992, -1.19623, 0.00221], \"tcp_rotation_matrix\": [[0.35394, -0.19637, 0.91442], [0.10032, -0.9641, -0.24587], [0.92987, 0.17876, -0.32153]], \"simulated_seconds_remaining\": 18.414, \"calls_remaining_including_this\": 46}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 19, \"motion_seconds\": 1.254, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.38,
      "y": 0.68,
      "z": 1.08,
      "roll": 1.57,
      "pitch": 0,
      "yaw": 1.57
    },
    "note": "The handle remains above the gripper. I am aligning the jaw opening vertically around the horizontal bar and moving closer to its height."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 13, \"instruction\": \"open the drawer.\", \"joint_positions\": [-0.98738, -1.22099, 1.66419, -0.96953, 0.00031, 1.65168, 1.22383], \"gripper_open\": 1.0, \"tcp_xyz\": [0.24195, 0.6925, 1.01696], \"tcp_roll_pitch_yaw\": [-0.32992, -1.19623, 0.00221], \"tcp_rotation_matrix\": [[0.35394, -0.19637, 0.91442], [0.10032, -0.9641, -0.24587], [0.92987, 0.17876, -0.32153]], \"simulated_seconds_remaining\": 18.414, \"calls_remaining_including_this\": 45}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK requires a large joint jump; split the motion or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.3,
      "y": 0.63,
      "z": 1.08,
      "roll": 0.75,
      "pitch": -0.8,
      "yaw": -0.75
    },
    "note": "The full rotation required a large joint jump. I am splitting it into a smaller wrist rotation while keeping clearance in front of the handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 14, \"instruction\": \"open the drawer.\", \"joint_positions\": [-0.51948, -0.98341, 1.4463, -1.81074, 0.17824, 2.46113, 1.42401], \"gripper_open\": 1.0, \"tcp_xyz\": [0.2726, 0.65143, 1.05541], \"tcp_roll_pitch_yaw\": [0.70165, -0.80803, -0.66679], \"tcp_rotation_matrix\": [[0.51457, 0.0089, 0.8574], [-0.35154, -0.90986, 0.22042], [0.78207, -0.41483, -0.46506]], \"simulated_seconds_remaining\": 17.226, \"calls_remaining_including_this\": 44}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 18, \"motion_seconds\": 1.1880000000000002, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.28,
      "y": 0.63,
      "z": 1.08,
      "roll": 1.57,
      "pitch": 0,
      "yaw": -1.57
    },
    "note": "The intermediate rotation succeeded. I am completing the turn so the fingers can pinch above and below the drawer bar."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 15, \"instruction\": \"open the drawer.\", \"joint_positions\": [-0.67553, -1.74002, 1.23101, -1.77832, 0.37384, 2.35716, 2.5912], \"gripper_open\": 0.9961, \"tcp_xyz\": [0.27454, 0.6377, 1.07312], \"tcp_roll_pitch_yaw\": [1.56728, -0.01591, -1.55208], \"tcp_rotation_matrix\": [[-0.02337, 0.07408, 0.99698], [-0.99402, -0.10815, -0.01526], [0.10669, -0.99137, 0.07616]], \"simulated_seconds_remaining\": 15.312, \"calls_remaining_including_this\": 43}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 29, \"motion_seconds\": 1.9140000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.27,
      "y": 0.43,
      "z": 1.1
    },
    "note": "The wrist turn shows that I passed the bar along the cabinet. I am shifting back toward the visible handle while maintaining the vertical jaw orientation."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 16, \"instruction\": \"open the drawer.\", \"joint_positions\": [-0.25876, -1.77094, 1.22934, -2.49876, 0.42067, 2.65365, 2.36903], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.27003, 0.43128, 1.09986], \"tcp_roll_pitch_yaw\": [1.56724, -0.0158, -1.55213], \"tcp_rotation_matrix\": [[-0.02341, 0.07404, 0.99698], [-0.99403, -0.10805, -0.01532], [0.10659, -0.99139, 0.07612]], \"simulated_seconds_remaining\": 13.596, \"calls_remaining_including_this\": 42}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 26, \"motion_seconds\": 1.7160000000000002, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.27,
      "y": 0.38,
      "z": 1
    },
    "note": "The bar is clearly visible left of the wrist center, and the exterior view shows the gripper above its right end. I am lowering onto that end and adjusting along the bar."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 17, \"instruction\": \"open the drawer.\", \"joint_positions\": [-0.0325, -1.7837, 1.4699, -2.74855, 0.35202, 2.72896, 2.61157], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.27009, 0.38032, 1.00031], \"tcp_roll_pitch_yaw\": [1.56623, -0.01589, -1.55218], \"tcp_rotation_matrix\": [[-0.02336, 0.07303, 0.99706], [-0.99401, -0.10816, -0.01537], [0.10672, -0.99145, 0.07512]], \"simulated_seconds_remaining\": 12.54, \"calls_remaining_including_this\": 41}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 16, \"motion_seconds\": 1.056, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.31,
      "y": 0.48,
      "z": 1.02
    },
    "note": "Lowering brought the bar across the jaw gap, but its end is still ahead of the fingers in the wrist view. I am shifting along the bar and moving forward slightly to surround it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 18, \"instruction\": \"open the drawer.\", \"joint_positions\": [-0.35817, -1.7378, 1.40296, -2.41269, 0.33843, 2.7166, 2.62064], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.30954, 0.47884, 1.01976], \"tcp_roll_pitch_yaw\": [1.56621, -0.01589, -1.5522], \"tcp_rotation_matrix\": [[-0.02338, 0.073, 0.99706], [-0.99401, -0.10816, -0.01539], [0.10672, -0.99145, 0.0751]], \"simulated_seconds_remaining\": 11.484, \"calls_remaining_including_this\": 40}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 16, \"motion_seconds\": 1.056, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.36,
      "y": 0.49,
      "z": 1.015
    },
    "note": "The bar now runs into the center of the open fingers. I am advancing a short distance so both jaws straddle it before closing."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 19, \"instruction\": \"open the drawer.\", \"joint_positions\": [-0.43961, -1.70971, 1.39891, -2.35217, 0.35042, 2.70435, 2.62395], \"gripper_open\": 1.0, \"tcp_xyz\": [0.33452, 0.4844, 1.01731], \"tcp_roll_pitch_yaw\": [1.53875, 0.00147, -1.58209], \"tcp_rotation_matrix\": [[-0.05059, 0.04265, 0.99781], [-0.9946, -0.09276, -0.04646], [0.09057, -0.99477, 0.04711]], \"simulated_seconds_remaining\": 10.824, \"calls_remaining_including_this\": 39}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 10, \"motion_seconds\": 0.66, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The approach stopped at the handle, which is centered between the fingers in the wrist view. I am closing the jaws around the bar."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 20, \"instruction\": \"open the drawer.\", \"joint_positions\": [-0.43211, -1.71035, 1.3983, -2.35473, 0.3495, 2.69868, 2.62214], \"gripper_open\": 0.9743, \"tcp_xyz\": [0.33195, 0.48398, 1.01715], \"tcp_roll_pitch_yaw\": [1.53725, -6e-05, -1.58247], \"tcp_rotation_matrix\": [[-0.05083, 0.0411, 0.99786], [-0.99445, -0.09428, -0.04677], [0.09216, -0.9947, 0.04566]], \"simulated_seconds_remaining\": 9.9, \"calls_remaining_including_this\": 38}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.24,
      "gripper": 0
    },
    "note": "The jaws encountered resistance. I am pulling straight away from the cabinet to test whether the handle is secured and start opening the drawer."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "Episode ended. Do not call more tools. Return a brief final response."
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

I attempted to grasp and pull the drawer handle, but the episode ended before I could confirm it opened.

TURN USAGE
{
  "input_tokens": 375088,
  "cached_input_tokens": 344448,
  "cache_write_input_tokens": 0,
  "output_tokens": 4195,
  "reasoning_output_tokens": 1714
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.01417,
      -0.75426,
      -0.02259,
      -2.42381,
      0.0644,
      1.70442,
      -0.10257
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.33118,
      0.01407,
      0.98596
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99498,
        0.09373,
        0.03512
      ],
      [
        0.09073,
        -0.99273,
        0.07912
      ],
      [
        0.04228,
        -0.07554,
        -0.99625
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 24.81936683319509,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.46,
                    "y": 0,
                    "z": 0.88,
                    "pitch": 1.5708,
                    "gripper": 1
                  },
                  "note": "The drawer has a metal handle on its wooden front. I am orienting the gripper toward the cabinet and approaching to see the handle more clearly."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 2,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.01417,
      -0.75426,
      -0.02259,
      -2.42381,
      0.0644,
      1.70442,
      -0.10257
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.33118,
      0.01407,
      0.98596
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99498,
        0.09373,
        0.03512
      ],
      [
        0.09073,
        -0.99273,
        0.07912
      ],
      [
        0.04228,
        -0.07554,
        -0.99625
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 5.404687480069697,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.42,
                    "y": 0,
                    "z": 0.88,
                    "pitch": -1.3,
                    "gripper": 1
                  },
                  "note": "The first wrist orientation was unreachable. I am turning the fingertips forward with the opposite pitch while lowering toward the drawer."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 3,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.01417,
      -0.75426,
      -0.02259,
      -2.42381,
      0.0644,
      1.70442,
      -0.10257
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.33118,
      0.01407,
      0.98596
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99498,
        0.09373,
        0.03512
      ],
      [
        0.09073,
        -0.99273,
        0.07912
      ],
      [
        0.04228,
        -0.07554,
        -0.99625
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 4.404121493920684,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.42,
                    "z": 0.82,
                    "pitch": -0.6
                  },
                  "note": "Both large rotations were rejected. I am taking a smaller forward and downward step with a modest wrist tilt to obtain a reachable approach."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 4,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.01417,
      -0.75426,
      -0.02259,
      -2.42381,
      0.0644,
      1.70442,
      -0.10257
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.33118,
      0.01407,
      0.98596
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99498,
        0.09373,
        0.03512
      ],
      [
        0.09073,
        -0.99273,
        0.07912
      ],
      [
        0.04228,
        -0.07554,
        -0.99625
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 4.804046434350312,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.9
                  },
                  "note": "The arm has not moved because the tilted targets were unreachable. I am lowering vertically with the original orientation before attempting another rotation."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.01366,
      -0.75558,
      -0.02222,
      -2.64043,
      0.06815,
      1.91892,
      -0.11749
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.33113,
      0.01408,
      0.90125
    ],
    "tcp_roll_pitch_yaw": [
      -0.0,
      0.0003,
      1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99499,
        0.09373,
        0.03482
      ],
      [
        0.09074,
        -0.99273,
        0.07912
      ],
      [
        0.04198,
        -0.07556,
        -0.99626
      ]
    ],
    "simulated_seconds_remaining": 29.172,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 5.204876160249114,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.43,
                    "z": 0.78
                  },
                  "note": "The vertical move succeeded. The handle is lower and to the left in the exterior view, so I am advancing and lowering with the current wrist orientation."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.02751,
      -0.46712,
      -0.03595,
      -2.59387,
      0.10042,
      2.0993,
      -0.15451
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.3824,
      0.01772,
      0.83638
    ],
    "tcp_roll_pitch_yaw": [
      0.02401,
      0.0594,
      0.00921
    ],
    "tcp_rotation_matrix": [
      [
        0.99499,
        0.09679,
        -0.0249
      ],
      [
        0.09886,
        -0.98978,
        0.10279
      ],
      [
        -0.01469,
        -0.10473,
        -0.99439
      ]
    ],
    "simulated_seconds_remaining": 27.852,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 6.4056059354916215,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.3,
                    "z": 0.8,
                    "pitch": 0.5
                  },
                  "note": "The advance stopped short, suggesting contact near the cabinet. I am backing away slightly and tilting the wrist to approach the front instead of the top."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.02432,
      -0.44413,
      -0.03528,
      -2.51072,
      0.08361,
      1.89022,
      -0.12007
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.35689,
      0.01671,
      0.85118
    ],
    "tcp_roll_pitch_yaw": [
      0.01613,
      0.21051,
      -0.00162
    ],
    "tcp_rotation_matrix": [
      [
        0.9823,
        0.07093,
        -0.17338
      ],
      [
        0.08845,
        -0.9915,
        0.09546
      ],
      [
        -0.16514,
        -0.10911,
        -0.98022
      ]
    ],
    "simulated_seconds_remaining": 26.928,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 6.004742214456201,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.28,
                    "y": 0.25,
                    "z": 0.9,
                    "pitch": 0
                  },
                  "note": "The handle lies along the cabinet to the robot's left. I am moving left and slightly back at a higher clearance to position above that handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 30,
    "motion_seconds": 1.98,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.26898,
      -0.69039,
      0.36649,
      -2.57464,
      0.31952,
      1.98132,
      0.35605
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.28041,
      0.24879,
      0.89977
    ],
    "tcp_roll_pitch_yaw": [
      0.01607,
      0.00103,
      -0.0014
    ],
    "tcp_rotation_matrix": [
      [
        0.99515,
        0.09226,
        0.03423
      ],
      [
        0.08865,
        -0.99152,
        0.09507
      ],
      [
        0.04271,
        -0.09158,
        -0.99488
      ]
    ],
    "simulated_seconds_remaining": 24.948,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 10.207148319110274,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.28,
                    "y": 0.5,
                    "z": 0.78,
                    "roll": 0,
                    "pitch": -0.7,
                    "yaw": 0
                  },
                  "note": "The handle remains left and below the gripper. I am moving along the drawer front and pitching the fingertips forward for a frontal grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 33,
    "motion_seconds": 2.178,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.42626,
      -0.70447,
      1.65553,
      -2.41972,
      0.03492,
      2.77743,
      1.20794
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.27992,
      0.49917,
      0.78058
    ],
    "tcp_roll_pitch_yaw": [
      1e-05,
      -0.69773,
      0.00026
    ],
    "tcp_rotation_matrix": [
      [
        0.73526,
        0.12062,
        0.66696
      ],
      [
        0.09092,
        -0.9927,
        0.07931
      ],
      [
        0.67166,
        0.00233,
        -0.74086
      ]
    ],
    "simulated_seconds_remaining": 22.77,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 18.216311684809625,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.37,
                    "y": 0.5,
                    "z": 0.88,
                    "pitch": -1.3
                  },
                  "note": "The wrist view shows wood below the handle and the exterior view puts the fingers too low. I am raising the grasp point and making the approach more horizontal."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.41053,
      -1.28554,
      1.66441,
      -2.41459,
      -0.03264,
      2.85455,
      1.3816
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.32208,
      0.50104,
      0.82716
    ],
    "tcp_roll_pitch_yaw": [
      -0.33353,
      -1.23668,
      0.31401
    ],
    "tcp_rotation_matrix": [
      [
        0.27037,
        0.09871,
        0.95768
      ],
      [
        0.1925,
        -0.98019,
        0.04669
      ],
      [
        0.94332,
        0.17173,
        -0.28402
      ]
    ],
    "simulated_seconds_remaining": 21.582,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 10.209240009076893,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.25,
                    "y": 0.65,
                    "z": 1,
                    "roll": 0,
                    "pitch": -1.3,
                    "yaw": 0
                  },
                  "note": "The fingers are below the handle and close to the wood. I am retreating slightly, raising to handle height, and shifting left to the middle of the bar."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 29,
    "motion_seconds": 1.9140000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.50701,
      -1.2114,
      1.51119,
      -1.84178,
      -0.0515,
      2.41529,
      1.28961
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.25037,
      0.64923,
      0.99909
    ],
    "tcp_roll_pitch_yaw": [
      -0.00178,
      -1.29976,
      0.00184
    ],
    "tcp_rotation_matrix": [
      [
        0.22564,
        0.098,
        0.96927
      ],
      [
        0.09122,
        -0.99268,
        0.07913
      ],
      [
        0.96993,
        0.07056,
        -0.23293
      ]
    ],
    "simulated_seconds_remaining": 19.668,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 11.808625751174986,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.28,
                    "y": 0.78,
                    "z": 1.05,
                    "roll": 0,
                    "pitch": -1.3,
                    "yaw": 0
                  },
                  "note": "The handle is now visible in the wrist image, above and left of the finger opening. I am shifting toward its center and slightly upward before grasping."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.98738,
      -1.22099,
      1.66419,
      -0.96953,
      0.00031,
      1.65168,
      1.22383
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.24195,
      0.6925,
      1.01696
    ],
    "tcp_roll_pitch_yaw": [
      -0.32992,
      -1.19623,
      0.00221
    ],
    "tcp_rotation_matrix": [
      [
        0.35394,
        -0.19637,
        0.91442
      ],
      [
        0.10032,
        -0.9641,
        -0.24587
      ],
      [
        0.92987,
        0.17876,
        -0.32153
      ]
    ],
    "simulated_seconds_remaining": 18.414,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 7.605557382106781,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.38,
                    "y": 0.68,
                    "z": 1.08,
                    "roll": 1.57,
                    "pitch": 0,
                    "yaw": 1.57
                  },
                  "note": "The handle remains above the gripper. I am aligning the jaw opening vertically around the horizontal bar and moving closer to its height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 13,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.98738,
      -1.22099,
      1.66419,
      -0.96953,
      0.00031,
      1.65168,
      1.22383
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.24195,
      0.6925,
      1.01696
    ],
    "tcp_roll_pitch_yaw": [
      -0.32992,
      -1.19623,
      0.00221
    ],
    "tcp_rotation_matrix": [
      [
        0.35394,
        -0.19637,
        0.91442
      ],
      [
        0.10032,
        -0.9641,
        -0.24587
      ],
      [
        0.92987,
        0.17876,
        -0.32153
      ]
    ],
    "simulated_seconds_remaining": 18.414,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 6.807104048319161,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.3,
                    "y": 0.63,
                    "z": 1.08,
                    "roll": 0.75,
                    "pitch": -0.8,
                    "yaw": -0.75
                  },
                  "note": "The full rotation required a large joint jump. I am splitting it into a smaller wrist rotation while keeping clearance in front of the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.51948,
      -0.98341,
      1.4463,
      -1.81074,
      0.17824,
      2.46113,
      1.42401
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.2726,
      0.65143,
      1.05541
    ],
    "tcp_roll_pitch_yaw": [
      0.70165,
      -0.80803,
      -0.66679
    ],
    "tcp_rotation_matrix": [
      [
        0.51457,
        0.0089,
        0.8574
      ],
      [
        -0.35154,
        -0.90986,
        0.22042
      ],
      [
        0.78207,
        -0.41483,
        -0.46506
      ]
    ],
    "simulated_seconds_remaining": 17.226,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 5.003859183751047,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.28,
                    "y": 0.63,
                    "z": 1.08,
                    "roll": 1.57,
                    "pitch": 0,
                    "yaw": -1.57
                  },
                  "note": "The intermediate rotation succeeded. I am completing the turn so the fingers can pinch above and below the drawer bar."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 29,
    "motion_seconds": 1.9140000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.67553,
      -1.74002,
      1.23101,
      -1.77832,
      0.37384,
      2.35716,
      2.5912
    ],
    "gripper_open": 0.9961,
    "tcp_xyz": [
      0.27454,
      0.6377,
      1.07312
    ],
    "tcp_roll_pitch_yaw": [
      1.56728,
      -0.01591,
      -1.55208
    ],
    "tcp_rotation_matrix": [
      [
        -0.02337,
        0.07408,
        0.99698
      ],
      [
        -0.99402,
        -0.10815,
        -0.01526
      ],
      [
        0.10669,
        -0.99137,
        0.07616
      ]
    ],
    "simulated_seconds_remaining": 15.312,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 19.81456828955561,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.27,
                    "y": 0.43,
                    "z": 1.1
                  },
                  "note": "The wrist turn shows that I passed the bar along the cabinet. I am shifting back toward the visible handle while maintaining the vertical jaw orientation."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 26,
    "motion_seconds": 1.7160000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.25876,
      -1.77094,
      1.22934,
      -2.49876,
      0.42067,
      2.65365,
      2.36903
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.27003,
      0.43128,
      1.09986
    ],
    "tcp_roll_pitch_yaw": [
      1.56724,
      -0.0158,
      -1.55213
    ],
    "tcp_rotation_matrix": [
      [
        -0.02341,
        0.07404,
        0.99698
      ],
      [
        -0.99403,
        -0.10805,
        -0.01532
      ],
      [
        0.10659,
        -0.99139,
        0.07612
      ]
    ],
    "simulated_seconds_remaining": 13.596,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 12.409004878252745,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.27,
                    "y": 0.38,
                    "z": 1
                  },
                  "note": "The bar is clearly visible left of the wrist center, and the exterior view shows the gripper above its right end. I am lowering onto that end and adjusting along the bar."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.0325,
      -1.7837,
      1.4699,
      -2.74855,
      0.35202,
      2.72896,
      2.61157
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.27009,
      0.38032,
      1.00031
    ],
    "tcp_roll_pitch_yaw": [
      1.56623,
      -0.01589,
      -1.55218
    ],
    "tcp_rotation_matrix": [
      [
        -0.02336,
        0.07303,
        0.99706
      ],
      [
        -0.99401,
        -0.10816,
        -0.01537
      ],
      [
        0.10672,
        -0.99145,
        0.07512
      ]
    ],
    "simulated_seconds_remaining": 12.54,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 7.20542976539582,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.31,
                    "y": 0.48,
                    "z": 1.02
                  },
                  "note": "Lowering brought the bar across the jaw gap, but its end is still ahead of the fingers in the wrist view. I am shifting along the bar and moving forward slightly to surround it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.35817,
      -1.7378,
      1.40296,
      -2.41269,
      0.33843,
      2.7166,
      2.62064
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.30954,
      0.47884,
      1.01976
    ],
    "tcp_roll_pitch_yaw": [
      1.56621,
      -0.01589,
      -1.5522
    ],
    "tcp_rotation_matrix": [
      [
        -0.02338,
        0.073,
        0.99706
      ],
      [
        -0.99401,
        -0.10816,
        -0.01539
      ],
      [
        0.10672,
        -0.99145,
        0.0751
      ]
    ],
    "simulated_seconds_remaining": 11.484,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 6.405242568813264,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.36,
                    "y": 0.49,
                    "z": 1.015
                  },
                  "note": "The bar now runs into the center of the open fingers. I am advancing a short distance so both jaws straddle it before closing."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 19,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.43961,
      -1.70971,
      1.39891,
      -2.35217,
      0.35042,
      2.70435,
      2.62395
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.33452,
      0.4844,
      1.01731
    ],
    "tcp_roll_pitch_yaw": [
      1.53875,
      0.00147,
      -1.58209
    ],
    "tcp_rotation_matrix": [
      [
        -0.05059,
        0.04265,
        0.99781
      ],
      [
        -0.9946,
        -0.09276,
        -0.04646
      ],
      [
        0.09057,
        -0.99477,
        0.04711
      ]
    ],
    "simulated_seconds_remaining": 10.824,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 5.40460932161659,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The approach stopped at the handle, which is centered between the fingers in the wrist view. I am closing the jaws around the bar."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 20,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.43211,
      -1.71035,
      1.3983,
      -2.35473,
      0.3495,
      2.69868,
      2.62214
    ],
    "gripper_open": 0.9743,
    "tcp_xyz": [
      0.33195,
      0.48398,
      1.01715
    ],
    "tcp_roll_pitch_yaw": [
      1.53725,
      -6e-05,
      -1.58247
    ],
    "tcp_rotation_matrix": [
      [
        -0.05083,
        0.0411,
        0.99786
      ],
      [
        -0.99445,
        -0.09428,
        -0.04677
      ],
      [
        0.09216,
        -0.9947,
        0.04566
      ]
    ],
    "simulated_seconds_remaining": 9.9,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 6.404705896042287,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.24,
                    "gripper": 0
                  },
                  "note": "The jaws encountered resistance. I am pulling straight away from the cabinet to test whether the handle is secured and start opening the drawer."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

========================================================================
GPT-Astra / Open / Episode 001

Completed scored attempt. Images are available in the paired videos.

Opaque provider signatures, image payloads, and local paths are omitted.


RESULT
{
  "benchmark_index": 1,
  "source_episode_index": 55,
  "house_index": 14,
  "status": "completed",
  "success": true,
  "oracle_success": true,
  "action_decisions": 18,
  "wall_seconds": 270.26,
  "usage": {
    "input_tokens": 346507,
    "cached_input_tokens": 323456,
    "cache_write_input_tokens": 0,
    "output_tokens": 4589,
    "reasoning_output_tokens": 2470
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task.
You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose.
Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion.
move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up.
roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial.
Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5).
The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y.
The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics.
Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration.
Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target.
You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time.
Each move must include a short note describing what you observe and why you chose that motion.
Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done.
Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available.



AGENT TRANSCRIPT (visible messages and completed tool calls)

I’ll inspect the scene, then guide the gripper to the handle and open the object.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"open the oven.\", \"joint_positions\": [0.02484, -0.78918, 0.02534, -2.30574, 0.07859, 1.65311, -0.17456], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.33435, 0.0367, 1.05012], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.96682, 0.21806, 0.1331], [0.21085, -0.97527, 0.06621], [0.14425, -0.03595, -0.98889]], \"simulated_seconds_remaining\": 30.03, \"calls_remaining_including_this\": 57}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "x": 0.53,
    "y": 0.03,
    "z": 0.91,
    "note": "The oven is ahead, with a horizontal handle above its window. I am moving closer and lower to inspect the handle alignment."
  },
  "result": null,
  "error": {
    "message": "tool call error: tool call failed for `robot/move_to`\n\nCaused by:\n    Mcp error: -32602: Unexpected argument"
  },
  "status": "failed"
}

{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"open the oven.\", \"joint_positions\": [0.02484, -0.78918, 0.02534, -2.30574, 0.07859, 1.65311, -0.17456], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.33435, 0.0367, 1.05012], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.96682, 0.21806, 0.1331], [0.21085, -0.97527, 0.06621], [0.14425, -0.03595, -0.98889]], \"simulated_seconds_remaining\": 30.03, \"calls_remaining_including_this\": 57}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.53,
      "y": 0.03,
      "z": 0.91
    },
    "note": "The oven is ahead with its handle above the dark window. I move closer and lower to locate the handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"open the oven.\", \"joint_positions\": [0.01745, -0.22594, 0.02166, -2.16395, 0.0771, 1.83582, -0.21693], \"gripper_open\": 1.0, \"tcp_xyz\": [0.45773, 0.03534, 0.90963], \"tcp_roll_pitch_yaw\": [0.00164, 0.23589, 0.02196], \"tcp_rotation_matrix\": [[0.96897, 0.22461, -0.10314], [0.23195, -0.97051, 0.06559], [-0.08536, -0.08747, -0.9925]], \"simulated_seconds_remaining\": 28.116, \"calls_remaining_including_this\": 56}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 29, \"motion_seconds\": 1.9140000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.53,
      "y": 0.03,
      "z": 0.91,
      "yaw": 1.35
    },
    "note": "The wrist view shows the horizontal oven handle just ahead of the fingertips. I turn the open fingers across the handle for a downward grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"open the oven.\", \"joint_positions\": [0.08008, -0.024, -0.00304, -1.92135, -0.08205, 1.3656, -1.43955], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.40888, 0.00901, 0.91628], \"tcp_roll_pitch_yaw\": [0.43442, 0.36828, 1.42768], \"tcp_rotation_matrix\": [[0.0107, 0.86693, -0.49831], [0.98964, -0.08054, -0.11887], [-0.14319, -0.49188, -0.85881]], \"simulated_seconds_remaining\": 26.07, \"calls_remaining_including_this\": 55}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 31, \"motion_seconds\": 2.0460000000000003, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.38,
      "y": 0.2,
      "z": 1.1,
      "roll": 0,
      "pitch": 0,
      "yaw": 1.35
    },
    "note": "The wrist view places the oven to the left of the gripper, and the previous pose did not settle at its target. I lift clear and shift left to align over the handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"open the oven.\", \"joint_positions\": [0.20522, -0.38278, 0.13959, -1.84947, 0.20083, 1.48413, -1.21338], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.3801, 0.19932, 1.09937], \"tcp_roll_pitch_yaw\": [0.00139, 0.00142, 1.35015], \"tcp_rotation_matrix\": [[0.0061, 0.99929, -0.03712], [0.98968, -0.00072, 0.14329], [0.14316, -0.03761, -0.98898]], \"simulated_seconds_remaining\": 24.024, \"calls_remaining_including_this\": 54}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 31, \"motion_seconds\": 2.0460000000000003, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.38,
      "y": 0.38,
      "z": 1.02
    },
    "note": "The exterior view shows the gripper above the right end of the oven handle. I shift toward its middle and lower slightly."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"open the oven.\", \"joint_positions\": [0.30852, -0.14605, 0.38164, -1.82191, 0.19189, 1.74606, -0.90728], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.37995, 0.37878, 1.02047], \"tcp_roll_pitch_yaw\": [0.00152, 0.00158, 1.35035], \"tcp_rotation_matrix\": [[0.00592, 0.99929, -0.03731], [0.9897, -0.00051, 0.14316], [0.14304, -0.03777, -0.989]], \"simulated_seconds_remaining\": 22.44, \"calls_remaining_including_this\": 53}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 24, \"motion_seconds\": 1.584, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.5,
      "y": 0.38,
      "z": 1.16
    },
    "note": "The gripper is centered across the oven but sits in front of and below the handle. I raise it and advance above the bar before descending."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"open the oven.\", \"joint_positions\": [0.30852, -0.14605, 0.38164, -1.82191, 0.19189, 1.74606, -0.90728], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.37995, 0.37878, 1.02047], \"tcp_roll_pitch_yaw\": [0.00152, 0.00158, 1.35035], \"tcp_rotation_matrix\": [[0.00592, 0.99929, -0.03731], [0.9897, -0.00051, 0.14316], [0.14304, -0.03777, -0.989]], \"simulated_seconds_remaining\": 22.44, \"calls_remaining_including_this\": 52}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK requires a large joint jump; split the motion or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "z": 1.12
    },
    "note": "The larger approach was rejected without movement. I first lift vertically to clear the handle height."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"open the oven.\", \"joint_positions\": [0.30828, -0.06746, 0.38665, -1.48379, 0.16024, 1.48641, -0.85389], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.37997, 0.37881, 1.11882], \"tcp_roll_pitch_yaw\": [0.00135, 0.00138, 1.35035], \"tcp_rotation_matrix\": [[0.00589, 0.99929, -0.0371], [0.98968, -0.00052, 0.14332], [0.1432, -0.03756, -0.98898]], \"simulated_seconds_remaining\": 21.45, \"calls_remaining_including_this\": 51}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 15, \"motion_seconds\": 0.99, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.47
    },
    "note": "The fingers are now at handle height but the wrist view still shows the door ahead. I advance a short distance toward the bar."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"open the oven.\", \"joint_positions\": [0.31168, 0.21447, 0.37614, -1.14216, 0.05791, 1.40353, -0.87843], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.46883, 0.37875, 1.11871], \"tcp_roll_pitch_yaw\": [0.00152, 0.00152, 1.35019], \"tcp_rotation_matrix\": [[0.00608, 0.99929, -0.03728], [0.98969, -0.00067, 0.14322], [0.14309, -0.03776, -0.98899]], \"simulated_seconds_remaining\": 20.526, \"calls_remaining_including_this\": 50}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.56,
      "z": 1.06
    },
    "note": "The handle remains toward the upper left in the wrist camera. I move forward and slightly down to bring the fingers over its projecting edge."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"open the oven.\", \"joint_positions\": [0.32892, 0.48137, 0.34632, -0.90691, -0.02011, 1.41875, -0.93671], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.55891, 0.37869, 1.06055], \"tcp_roll_pitch_yaw\": [0.00179, 0.00178, 1.35006], \"tcp_rotation_matrix\": [[0.00625, 0.99927, -0.03757], [0.98972, -0.00081, 0.14304], [0.14291, -0.03808, -0.989]], \"simulated_seconds_remaining\": 19.536, \"calls_remaining_including_this\": 49}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 15, \"motion_seconds\": 0.99, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "y": 0.2,
      "z": 1.1
    },
    "note": "The exterior view now places the fingers near the left end of the handle. I shift back toward its center while keeping clearance above it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"open the oven.\", \"joint_positions\": [0.05769, 0.19712, 0.26337, -1.19788, 0.09856, 1.39815, -1.23359], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.55898, 0.20118, 1.09976], \"tcp_roll_pitch_yaw\": [0.00166, 0.00178, 1.34977], \"tcp_rotation_matrix\": [[0.00652, 0.99928, -0.03741], [0.98972, -0.0011, 0.14302], [0.14287, -0.03796, -0.98901]], \"simulated_seconds_remaining\": 18.018, \"calls_remaining_including_this\": 48}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 23, \"motion_seconds\": 1.518, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.63,
      "z": 1.06
    },
    "note": "The wrist camera clearly shows the silver handle beside the door. I advance toward the visible bar and lower to its height."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 11, \"instruction\": \"open the oven.\", \"joint_positions\": [0.08972, 0.45377, 0.25403, -0.9186, 0.03733, 1.3735, -1.24074], \"gripper_open\": 0.9923, \"tcp_xyz\": [0.62803, 0.2006, 1.06432], \"tcp_roll_pitch_yaw\": [-0.00258, 0.00049, 1.34902], \"tcp_rotation_matrix\": [[0.00663, 0.99944, -0.03292], [0.98967, -0.00184, 0.14337], [0.14323, -0.03353, -0.98912]], \"simulated_seconds_remaining\": 17.16, \"calls_remaining_including_this\": 47}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 13, \"motion_seconds\": 0.8580000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.65,
      "z": 1.035
    },
    "note": "The handle now reaches the gap between the fingertips in the wrist view. I lower a small amount to seat the bar inside the open jaws."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 12, \"instruction\": \"open the oven.\", \"joint_positions\": [0.09438, 0.46937, 0.25231, -0.89294, 0.02934, 1.35889, -1.25161], \"gripper_open\": 0.9904, \"tcp_xyz\": [0.62956, 0.19937, 1.06396], \"tcp_roll_pitch_yaw\": [-0.00274, 0.00652, 1.36042], \"tcp_rotation_matrix\": [[-0.0045, 0.99935, -0.03565], [0.99051, 0.00936, 0.13712], [0.13736, -0.0347, -0.98991]], \"simulated_seconds_remaining\": 16.632, \"calls_remaining_including_this\": 46}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 8, \"motion_seconds\": 0.528, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The fingertips have contacted the handle and the pose stopped descending. I close the jaws to secure the bar."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 13, \"instruction\": \"open the oven.\", \"joint_positions\": [0.09438, 0.46937, 0.25231, -0.89294, 0.02934, 1.35889, -1.25161], \"gripper_open\": 0.0, \"tcp_xyz\": [0.62956, 0.19936, 1.06396], \"tcp_roll_pitch_yaw\": [-0.00274, 0.00652, 1.36043], \"tcp_rotation_matrix\": [[-0.00451, 0.99935, -0.03565], [0.99051, 0.00936, 0.13712], [0.13736, -0.0347, -0.98991]], \"simulated_seconds_remaining\": 15.708, \"calls_remaining_including_this\": 45}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 1,
      "x": 0.59,
      "z": 1.13,
      "yaw": 0.6
    },
    "note": "The jaws closed fully, indicating the bar was not captured. I reopen, lift clear, and rotate to fit the handle more squarely between the fingers."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 14, \"instruction\": \"open the oven.\", \"joint_positions\": [0.14577, 0.26326, 0.17997, -1.03826, 0.051, 1.40191, -0.49349], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.59019, 0.1994, 1.12975], \"tcp_roll_pitch_yaw\": [-0.00287, 0.00633, 0.60465], \"tcp_rotation_matrix\": [[0.67603, 0.7337, 0.06832], [0.72393, -0.6786, 0.12424], [0.13752, -0.03453, -0.9899]], \"simulated_seconds_remaining\": 14.388, \"calls_remaining_including_this\": 44}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 20, \"motion_seconds\": 1.32, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.62,
      "y": 0.17,
      "z": 1.055
    },
    "note": "The bar is now aligned lengthwise in the wrist view. I center the jaw gap over it and lower for another grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 15, \"instruction\": \"open the oven.\", \"joint_positions\": [0.10432, 0.18535, 0.1644, -1.27703, 0.08338, 1.60068, -0.57366], \"gripper_open\": 0.9883, \"tcp_xyz\": [0.60828, 0.18263, 1.08761], \"tcp_roll_pitch_yaw\": [-0.00915, -0.03787, 0.6218], \"tcp_rotation_matrix\": [[0.65733, 0.74622, 0.10527], [0.73208, -0.66544, 0.14575], [0.17882, -0.01874, -0.9837]], \"simulated_seconds_remaining\": 13.53, \"calls_remaining_including_this\": 43}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 13, \"motion_seconds\": 0.8580000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.58,
      "y": 0.21,
      "z": 1.015
    },
    "note": "The inner finger appears to touch the oven fascia near a knob. I offset outward while lowering so the fingers can straddle only the projecting handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 16, \"instruction\": \"open the oven.\", \"joint_positions\": [0.12676, 0.05924, 0.18491, -1.62794, 0.09924, 1.83127, -0.54899], \"gripper_open\": 0.9967, \"tcp_xyz\": [0.58048, 0.20961, 1.01627], \"tcp_roll_pitch_yaw\": [-0.0093, -0.03814, 0.62186], \"tcp_rotation_matrix\": [[0.65723, 0.74626, 0.10556], [0.73212, -0.6654, 0.14579], [0.17904, -0.01854, -0.98367]], \"simulated_seconds_remaining\": 12.672, \"calls_remaining_including_this\": 42}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 13, \"motion_seconds\": 0.8580000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The gripper has descended below the fascia, with the projecting bar inside the finger gap. I close around the handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 17, \"instruction\": \"open the oven.\", \"joint_positions\": [0.12315, 0.05836, 0.18031, -1.62715, 0.09546, 1.83149, -0.54953], \"gripper_open\": 0.1542, \"tcp_xyz\": [0.58254, 0.2041, 1.01709], \"tcp_roll_pitch_yaw\": [-0.01393, -0.03861, 0.61477], \"tcp_rotation_matrix\": [[0.66199, 0.74145, 0.10963], [0.72794, -0.67086, 0.14157], [0.17851, -0.01392, -0.98384]], \"simulated_seconds_remaining\": 11.748, \"calls_remaining_including_this\": 41}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.51,
      "y": 0.27,
      "z": 0.98
    },
    "note": "The jaws remain slightly separated around the bar, indicating a grasp. I pull outward and slightly downward to start rotating the oven door."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 18, \"instruction\": \"open the oven.\", \"joint_positions\": [0.18632, -0.09857, 0.24362, -1.88396, 0.01491, 1.96767, -0.42415], \"gripper_open\": 0.1689, \"tcp_xyz\": [0.52365, 0.24483, 0.99097], \"tcp_roll_pitch_yaw\": [-0.11175, -0.04049, 0.62663], \"tcp_rotation_matrix\": [[0.64625, 0.74479, 0.16627], [0.7464, -0.66226, 0.06546], [0.15887, 0.0818, -0.9839]], \"simulated_seconds_remaining\": 10.758, \"calls_remaining_including_this\": 40}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 15, \"motion_seconds\": 0.99, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.42,
      "y": 0.32,
      "z": 0.91,
      "roll": -0.3,
      "pitch": -0.3
    },
    "note": "A gap has opened above the door. I continue pulling the handle outward and down, tilting the gripper with the door's rotation."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "Episode ended. Do not call more tools. Return a brief final response."
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

Opened the oven door.

TURN USAGE
{
  "input_tokens": 346507,
  "cached_input_tokens": 323456,
  "cache_write_input_tokens": 0,
  "output_tokens": 4589,
  "reasoning_output_tokens": 2470
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "open the oven.",
    "joint_positions": [
      0.02484,
      -0.78918,
      0.02534,
      -2.30574,
      0.07859,
      1.65311,
      -0.17456
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.33435,
      0.0367,
      1.05012
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.96682,
        0.21806,
        0.1331
      ],
      [
        0.21085,
        -0.97527,
        0.06621
      ],
      [
        0.14425,
        -0.03595,
        -0.98889
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 29.82463149726391,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.53,
                    "y": 0.03,
                    "z": 0.91
                  },
                  "note": "The oven is ahead with its handle above the dark window. I move closer and lower to locate the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 29,
    "motion_seconds": 1.9140000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "open the oven.",
    "joint_positions": [
      0.01745,
      -0.22594,
      0.02166,
      -2.16395,
      0.0771,
      1.83582,
      -0.21693
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.45773,
      0.03534,
      0.90963
    ],
    "tcp_roll_pitch_yaw": [
      0.00164,
      0.23589,
      0.02196
    ],
    "tcp_rotation_matrix": [
      [
        0.96897,
        0.22461,
        -0.10314
      ],
      [
        0.23195,
        -0.97051,
        0.06559
      ],
      [
        -0.08536,
        -0.08747,
        -0.9925
      ]
    ],
    "simulated_seconds_remaining": 28.116,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 16.814200873486698,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.53,
                    "y": 0.03,
                    "z": 0.91,
                    "yaw": 1.35
                  },
                  "note": "The wrist view shows the horizontal oven handle just ahead of the fingertips. I turn the open fingers across the handle for a downward grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 31,
    "motion_seconds": 2.0460000000000003,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "open the oven.",
    "joint_positions": [
      0.08008,
      -0.024,
      -0.00304,
      -1.92135,
      -0.08205,
      1.3656,
      -1.43955
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.40888,
      0.00901,
      0.91628
    ],
    "tcp_roll_pitch_yaw": [
      0.43442,
      0.36828,
      1.42768
    ],
    "tcp_rotation_matrix": [
      [
        0.0107,
        0.86693,
        -0.49831
      ],
      [
        0.98964,
        -0.08054,
        -0.11887
      ],
      [
        -0.14319,
        -0.49188,
        -0.85881
      ]
    ],
    "simulated_seconds_remaining": 26.07,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 9.807719476521015,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.38,
                    "y": 0.2,
                    "z": 1.1,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 1.35
                  },
                  "note": "The wrist view places the oven to the left of the gripper, and the previous pose did not settle at its target. I lift clear and shift left to align over the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 31,
    "motion_seconds": 2.0460000000000003,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "open the oven.",
    "joint_positions": [
      0.20522,
      -0.38278,
      0.13959,
      -1.84947,
      0.20083,
      1.48413,
      -1.21338
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.3801,
      0.19932,
      1.09937
    ],
    "tcp_roll_pitch_yaw": [
      0.00139,
      0.00142,
      1.35015
    ],
    "tcp_rotation_matrix": [
      [
        0.0061,
        0.99929,
        -0.03712
      ],
      [
        0.98968,
        -0.00072,
        0.14329
      ],
      [
        0.14316,
        -0.03761,
        -0.98898
      ]
    ],
    "simulated_seconds_remaining": 24.024,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 8.206954238004982,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.38,
                    "y": 0.38,
                    "z": 1.02
                  },
                  "note": "The exterior view shows the gripper above the right end of the oven handle. I shift toward its middle and lower slightly."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 24,
    "motion_seconds": 1.584,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "open the oven.",
    "joint_positions": [
      0.30852,
      -0.14605,
      0.38164,
      -1.82191,
      0.19189,
      1.74606,
      -0.90728
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.37995,
      0.37878,
      1.02047
    ],
    "tcp_roll_pitch_yaw": [
      0.00152,
      0.00158,
      1.35035
    ],
    "tcp_rotation_matrix": [
      [
        0.00592,
        0.99929,
        -0.03731
      ],
      [
        0.9897,
        -0.00051,
        0.14316
      ],
      [
        0.14304,
        -0.03777,
        -0.989
      ]
    ],
    "simulated_seconds_remaining": 22.44,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 8.407661952078342,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.5,
                    "y": 0.38,
                    "z": 1.16
                  },
                  "note": "The gripper is centered across the oven but sits in front of and below the handle. I raise it and advance above the bar before descending."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 6,
  "state": {
    "instruction": "open the oven.",
    "joint_positions": [
      0.30852,
      -0.14605,
      0.38164,
      -1.82191,
      0.19189,
      1.74606,
      -0.90728
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.37995,
      0.37878,
      1.02047
    ],
    "tcp_roll_pitch_yaw": [
      0.00152,
      0.00158,
      1.35035
    ],
    "tcp_rotation_matrix": [
      [
        0.00592,
        0.99929,
        -0.03731
      ],
      [
        0.9897,
        -0.00051,
        0.14316
      ],
      [
        0.14304,
        -0.03777,
        -0.989
      ]
    ],
    "simulated_seconds_remaining": 22.44,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 4.204042716883123,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.12
                  },
                  "note": "The larger approach was rejected without movement. I first lift vertically to clear the handle height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "open the oven.",
    "joint_positions": [
      0.30828,
      -0.06746,
      0.38665,
      -1.48379,
      0.16024,
      1.48641,
      -0.85389
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.37997,
      0.37881,
      1.11882
    ],
    "tcp_roll_pitch_yaw": [
      0.00135,
      0.00138,
      1.35035
    ],
    "tcp_rotation_matrix": [
      [
        0.00589,
        0.99929,
        -0.0371
      ],
      [
        0.98968,
        -0.00052,
        0.14332
      ],
      [
        0.1432,
        -0.03756,
        -0.98898
      ]
    ],
    "simulated_seconds_remaining": 21.45,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 4.4037951631471515,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.47
                  },
                  "note": "The fingers are now at handle height but the wrist view still shows the door ahead. I advance a short distance toward the bar."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "open the oven.",
    "joint_positions": [
      0.31168,
      0.21447,
      0.37614,
      -1.14216,
      0.05791,
      1.40353,
      -0.87843
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.46883,
      0.37875,
      1.11871
    ],
    "tcp_roll_pitch_yaw": [
      0.00152,
      0.00152,
      1.35019
    ],
    "tcp_rotation_matrix": [
      [
        0.00608,
        0.99929,
        -0.03728
      ],
      [
        0.98969,
        -0.00067,
        0.14322
      ],
      [
        0.14309,
        -0.03776,
        -0.98899
      ]
    ],
    "simulated_seconds_remaining": 20.526,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 18.616439037956297,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.56,
                    "z": 1.06
                  },
                  "note": "The handle remains toward the upper left in the wrist camera. I move forward and slightly down to bring the fingers over its projecting edge."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "open the oven.",
    "joint_positions": [
      0.32892,
      0.48137,
      0.34632,
      -0.90691,
      -0.02011,
      1.41875,
      -0.93671
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.55891,
      0.37869,
      1.06055
    ],
    "tcp_roll_pitch_yaw": [
      0.00179,
      0.00178,
      1.35006
    ],
    "tcp_rotation_matrix": [
      [
        0.00625,
        0.99927,
        -0.03757
      ],
      [
        0.98972,
        -0.00081,
        0.14304
      ],
      [
        0.14291,
        -0.03808,
        -0.989
      ]
    ],
    "simulated_seconds_remaining": 19.536,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 18.415491618216038,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.2,
                    "z": 1.1
                  },
                  "note": "The exterior view now places the fingers near the left end of the handle. I shift back toward its center while keeping clearance above it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "open the oven.",
    "joint_positions": [
      0.05769,
      0.19712,
      0.26337,
      -1.19788,
      0.09856,
      1.39815,
      -1.23359
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.55898,
      0.20118,
      1.09976
    ],
    "tcp_roll_pitch_yaw": [
      0.00166,
      0.00178,
      1.34977
    ],
    "tcp_rotation_matrix": [
      [
        0.00652,
        0.99928,
        -0.03741
      ],
      [
        0.98972,
        -0.0011,
        0.14302
      ],
      [
        0.14287,
        -0.03796,
        -0.98901
      ]
    ],
    "simulated_seconds_remaining": 18.018,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 11.608760815113783,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.63,
                    "z": 1.06
                  },
                  "note": "The wrist camera clearly shows the silver handle beside the door. I advance toward the visible bar and lower to its height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "open the oven.",
    "joint_positions": [
      0.08972,
      0.45377,
      0.25403,
      -0.9186,
      0.03733,
      1.3735,
      -1.24074
    ],
    "gripper_open": 0.9923,
    "tcp_xyz": [
      0.62803,
      0.2006,
      1.06432
    ],
    "tcp_roll_pitch_yaw": [
      -0.00258,
      0.00049,
      1.34902
    ],
    "tcp_rotation_matrix": [
      [
        0.00663,
        0.99944,
        -0.03292
      ],
      [
        0.98967,
        -0.00184,
        0.14337
      ],
      [
        0.14323,
        -0.03353,
        -0.98912
      ]
    ],
    "simulated_seconds_remaining": 17.16,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 10.008444029837847,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.65,
                    "z": 1.035
                  },
                  "note": "The handle now reaches the gap between the fingertips in the wrist view. I lower a small amount to seat the bar inside the open jaws."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 8,
    "motion_seconds": 0.528,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "open the oven.",
    "joint_positions": [
      0.09438,
      0.46937,
      0.25231,
      -0.89294,
      0.02934,
      1.35889,
      -1.25161
    ],
    "gripper_open": 0.9904,
    "tcp_xyz": [
      0.62956,
      0.19937,
      1.06396
    ],
    "tcp_roll_pitch_yaw": [
      -0.00274,
      0.00652,
      1.36042
    ],
    "tcp_rotation_matrix": [
      [
        -0.0045,
        0.99935,
        -0.03565
      ],
      [
        0.99051,
        0.00936,
        0.13712
      ],
      [
        0.13736,
        -0.0347,
        -0.98991
      ]
    ],
    "simulated_seconds_remaining": 16.632,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 5.204658452421427,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The fingertips have contacted the handle and the pose stopped descending. I close the jaws to secure the bar."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "open the oven.",
    "joint_positions": [
      0.09438,
      0.46937,
      0.25231,
      -0.89294,
      0.02934,
      1.35889,
      -1.25161
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.62956,
      0.19936,
      1.06396
    ],
    "tcp_roll_pitch_yaw": [
      -0.00274,
      0.00652,
      1.36043
    ],
    "tcp_rotation_matrix": [
      [
        -0.00451,
        0.99935,
        -0.03565
      ],
      [
        0.99051,
        0.00936,
        0.13712
      ],
      [
        0.13736,
        -0.0347,
        -0.98991
      ]
    ],
    "simulated_seconds_remaining": 15.708,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 24.419962191022933,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 1,
                    "x": 0.59,
                    "z": 1.13,
                    "yaw": 0.6
                  },
                  "note": "The jaws closed fully, indicating the bar was not captured. I reopen, lift clear, and rotate to fit the handle more squarely between the fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "open the oven.",
    "joint_positions": [
      0.14577,
      0.26326,
      0.17997,
      -1.03826,
      0.051,
      1.40191,
      -0.49349
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.59019,
      0.1994,
      1.12975
    ],
    "tcp_roll_pitch_yaw": [
      -0.00287,
      0.00633,
      0.60465
    ],
    "tcp_rotation_matrix": [
      [
        0.67603,
        0.7337,
        0.06832
      ],
      [
        0.72393,
        -0.6786,
        0.12424
      ],
      [
        0.13752,
        -0.03453,
        -0.9899
      ]
    ],
    "simulated_seconds_remaining": 14.388,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 9.007880710065365,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.62,
                    "y": 0.17,
                    "z": 1.055
                  },
                  "note": "The bar is now aligned lengthwise in the wrist view. I center the jaw gap over it and lower for another grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "open the oven.",
    "joint_positions": [
      0.10432,
      0.18535,
      0.1644,
      -1.27703,
      0.08338,
      1.60068,
      -0.57366
    ],
    "gripper_open": 0.9883,
    "tcp_xyz": [
      0.60828,
      0.18263,
      1.08761
    ],
    "tcp_roll_pitch_yaw": [
      -0.00915,
      -0.03787,
      0.6218
    ],
    "tcp_rotation_matrix": [
      [
        0.65733,
        0.74622,
        0.10527
      ],
      [
        0.73208,
        -0.66544,
        0.14575
      ],
      [
        0.17882,
        -0.01874,
        -0.9837
      ]
    ],
    "simulated_seconds_remaining": 13.53,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 13.42798479180783,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.58,
                    "y": 0.21,
                    "z": 1.015
                  },
                  "note": "The inner finger appears to touch the oven fascia near a knob. I offset outward while lowering so the fingers can straddle only the projecting handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "open the oven.",
    "joint_positions": [
      0.12676,
      0.05924,
      0.18491,
      -1.62794,
      0.09924,
      1.83127,
      -0.54899
    ],
    "gripper_open": 0.9967,
    "tcp_xyz": [
      0.58048,
      0.20961,
      1.01627
    ],
    "tcp_roll_pitch_yaw": [
      -0.0093,
      -0.03814,
      0.62186
    ],
    "tcp_rotation_matrix": [
      [
        0.65723,
        0.74626,
        0.10556
      ],
      [
        0.73212,
        -0.6654,
        0.14579
      ],
      [
        0.17904,
        -0.01854,
        -0.98367
      ]
    ],
    "simulated_seconds_remaining": 12.672,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 7.20590990036726,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The gripper has descended below the fascia, with the projecting bar inside the finger gap. I close around the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "open the oven.",
    "joint_positions": [
      0.12315,
      0.05836,
      0.18031,
      -1.62715,
      0.09546,
      1.83149,
      -0.54953
    ],
    "gripper_open": 0.1542,
    "tcp_xyz": [
      0.58254,
      0.2041,
      1.01709
    ],
    "tcp_roll_pitch_yaw": [
      -0.01393,
      -0.03861,
      0.61477
    ],
    "tcp_rotation_matrix": [
      [
        0.66199,
        0.74145,
        0.10963
      ],
      [
        0.72794,
        -0.67086,
        0.14157
      ],
      [
        0.17851,
        -0.01392,
        -0.98384
      ]
    ],
    "simulated_seconds_remaining": 11.748,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 6.4084885232150555,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.51,
                    "y": 0.27,
                    "z": 0.98
                  },
                  "note": "The jaws remain slightly separated around the bar, indicating a grasp. I pull outward and slightly downward to start rotating the oven door."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "open the oven.",
    "joint_positions": [
      0.18632,
      -0.09857,
      0.24362,
      -1.88396,
      0.01491,
      1.96767,
      -0.42415
    ],
    "gripper_open": 0.1689,
    "tcp_xyz": [
      0.52365,
      0.24483,
      0.99097
    ],
    "tcp_roll_pitch_yaw": [
      -0.11175,
      -0.04049,
      0.62663
    ],
    "tcp_rotation_matrix": [
      [
        0.64625,
        0.74479,
        0.16627
      ],
      [
        0.7464,
        -0.66226,
        0.06546
      ],
      [
        0.15887,
        0.0818,
        -0.9839
      ]
    ],
    "simulated_seconds_remaining": 10.758,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 13.611469185911119,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.42,
                    "y": 0.32,
                    "z": 0.91,
                    "roll": -0.3,
                    "pitch": -0.3
                  },
                  "note": "A gap has opened above the door. I continue pulling the handle outward and down, tilting the gripper with the door's rotation."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

========================================================================
GPT-Astra / Open / Episode 002

Completed scored attempt. Images are available in the paired videos.

Opaque provider signatures, image payloads, and local paths are omitted.


RESULT
{
  "benchmark_index": 2,
  "source_episode_index": 69,
  "house_index": 15,
  "status": "completed",
  "success": true,
  "oracle_success": true,
  "action_decisions": 28,
  "wall_seconds": 282.41,
  "usage": {
    "input_tokens": 560019,
    "cached_input_tokens": 525568,
    "cache_write_input_tokens": 0,
    "output_tokens": 4679,
    "reasoning_output_tokens": 1672
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task.
You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose.
Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion.
move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up.
roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial.
Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5).
The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y.
The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics.
Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration.
Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target.
You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time.
Each move must include a short note describing what you observe and why you chose that motion.
Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done.
Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available.



AGENT TRANSCRIPT (visible messages and completed tool calls)

I’ll inspect the scene, locate the handle, and use small motions to open it.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"open the cabinet.\", \"joint_positions\": [0.00148, -0.747, 0.03948, -2.42962, -0.04851, 1.62331, 0.14131], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.3092, -0.00142, 0.97379], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.99282, -0.10509, -0.05721], [-0.10933, -0.99102, -0.07692], [-0.04862, 0.08262, -0.99539]], \"simulated_seconds_remaining\": 30.03, \"calls_remaining_including_this\": 57}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "x": 0.48,
    "y": 0,
    "z": 0.85,
    "pitch": -1.4,
    "gripper": 1,
    "note": "The cabinet has two vertical handles. I am approaching the front with the fingers directed toward the handles."
  },
  "result": null,
  "error": {
    "message": "tool call error: tool call failed for `robot/move_to`\n\nCaused by:\n    Mcp error: -32602: Unexpected argument"
  },
  "status": "failed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.48,
      "y": 0,
      "z": 0.85,
      "pitch": -1.4,
      "gripper": 1
    },
    "note": "The cabinet has two vertical handles. I am approaching the front with the fingers directed toward the handles."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"open the cabinet.\", \"joint_positions\": [0.00148, -0.747, 0.03948, -2.42962, -0.04851, 1.62331, 0.14131], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.3092, -0.00142, 0.97379], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.99282, -0.10509, -0.05721], [-0.10933, -0.99102, -0.07692], [-0.04862, 0.08262, -0.99539]], \"simulated_seconds_remaining\": 30.03, \"calls_remaining_including_this\": 56}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.4,
      "z": 0.85,
      "pitch": -0.7
    },
    "note": "The full approach orientation was unreachable. I am lowering closer to the handles and rotating in a smaller step."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"open the cabinet.\", \"joint_positions\": [0.00148, -0.747, 0.03948, -2.42962, -0.04851, 1.62331, 0.14131], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.3092, -0.00142, 0.97379], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.99282, -0.10509, -0.05721], [-0.10933, -0.99102, -0.07692], [-0.04862, 0.08262, -0.99539]], \"simulated_seconds_remaining\": 30.03, \"calls_remaining_including_this\": 55}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.39,
      "z": 0.9
    },
    "note": "The rotated pose was rejected. I am first making a short translation toward the cabinet while retaining the reachable orientation."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.00736, -0.47401, 0.04245, -2.42192, -0.05881, 1.88782, 0.15753], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.38902, -0.00143, 0.90078], \"tcp_roll_pitch_yaw\": [-1e-05, 0.00029, -2e-05], \"tcp_rotation_matrix\": [[0.9928, -0.10508, -0.0575], [-0.10935, -0.99102, -0.07693], [-0.04891, 0.08266, -0.99538]], \"simulated_seconds_remaining\": 28.974, \"calls_remaining_including_this\": 54}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 16, \"motion_seconds\": 1.056, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "pitch": -0.4
    },
    "note": "The translation succeeded. I am testing a modest forward tilt so the fingers can enter around a vertical handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.00836, -0.78859, 0.04441, -2.76443, -0.07442, 2.31087, 0.19228], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.38896, -0.00144, 0.90073], \"tcp_roll_pitch_yaw\": [-7e-05, -0.39575, -2e-05], \"tcp_rotation_matrix\": [[0.93482, -0.12886, 0.33093], [-0.10935, -0.99102, -0.07699], [0.33788, 0.03579, -0.94051]], \"simulated_seconds_remaining\": 28.116, \"calls_remaining_including_this\": 53}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 13, \"motion_seconds\": 0.8580000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.54,
      "z": 1
    },
    "note": "The exterior view places the handles above and ahead of the fingertips. I am moving upward and forward to align with their height."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.02744, -0.32543, 0.05046, -2.16285, -0.08324, 2.17259, 0.18174], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.53891, -0.00144, 0.99928], \"tcp_roll_pitch_yaw\": [-5e-05, -0.39579, -4e-05], \"tcp_rotation_matrix\": [[0.9348, -0.12887, 0.33096], [-0.10937, -0.99102, -0.07698], [0.33791, 0.03577, -0.9405]], \"simulated_seconds_remaining\": 26.598, \"calls_remaining_including_this\": 52}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 23, \"motion_seconds\": 1.518, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "pitch": -1.1
    },
    "note": "The fingertips are now at handle height. I am rotating toward the cabinet face before advancing to the handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.22649, -0.52991, 0.18952, -2.74713, -0.19954, 3.26677, 0.3584], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.53894, -0.00152, 0.99898], \"tcp_roll_pitch_yaw\": [-0.00041, -1.09494, -4e-05], \"tcp_rotation_matrix\": [[0.49798, -0.12199, 0.85856], [-0.10937, -0.99099, -0.07737], [0.86026, -0.05537, -0.50684]], \"simulated_seconds_remaining\": 25.344, \"calls_remaining_including_this\": 51}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 19, \"motion_seconds\": 1.254, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "y": 0.1,
      "pitch": -1.35
    },
    "note": "Both handles appear to the right in the wrist image and left of the gripper in the exterior view. I am shifting left in the base frame to align with the nearer handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.71603, -0.63525, 0.95814, -2.80517, 0.10117, 3.62769, 0.54384], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.53893, 0.09916, 0.99908], \"tcp_roll_pitch_yaw\": [-0.00127, -1.34758, 0.00101], \"tcp_rotation_matrix\": [[0.26717, -0.10405, 0.95802], [-0.10912, -0.99103, -0.07721], [0.95745, -0.08391, -0.27612]], \"simulated_seconds_remaining\": 24.354, \"calls_remaining_including_this\": 50}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 15, \"motion_seconds\": 0.99, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.63,
      "y": 0.12,
      "z": 0.995
    },
    "note": "The right-hand handle is nearly centered between the fingers. I am advancing toward it with a small lateral correction."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-1.18583, -0.53454, 1.39366, -2.54568, 0.19992, 3.6673, 0.52964], \"gripper_open\": 1.0, \"tcp_xyz\": [0.62243, 0.11451, 0.99747], \"tcp_roll_pitch_yaw\": [0.17762, -1.37597, -0.19456], \"tcp_rotation_matrix\": [[0.23409, -0.1211, 0.96464], [-0.14705, -0.98521, -0.08799], [0.96103, -0.12125, -0.24844]], \"simulated_seconds_remaining\": 23.43, \"calls_remaining_including_this\": 49}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "y": 0.142,
      "x": 0.65
    },
    "note": "The handle remains slightly right of the grasp center. I am correcting left and moving a little deeper so the fingers straddle the bar."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-1.30213, -0.58684, 1.53987, -2.54337, 0.32524, 3.80195, 0.56495], \"gripper_open\": 1.0, \"tcp_xyz\": [0.62258, 0.1149, 0.99921], \"tcp_roll_pitch_yaw\": [0.77347, -1.45334, -0.81563], \"tcp_rotation_matrix\": [[0.12319, -0.13576, 0.98305], [-0.19544, -0.97452, -0.11009], [0.97295, -0.17857, -0.14658]], \"simulated_seconds_remaining\": 22.902, \"calls_remaining_including_this\": 48}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 8, \"motion_seconds\": 0.528, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

The fingers are contacting the cabinet before the handle is centered. I’ll back off slightly and adjust the alignment.


{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.57,
      "y": 0.15,
      "roll": 0,
      "pitch": -1.2,
      "yaw": 0
    },
    "note": "The grasp point stopped advancing, indicating contact. I am backing away and centering on the right handle before trying again."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 11, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.73573, -0.60459, 1.06311, -2.60915, 0.25605, 3.33704, 0.42805], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.57078, 0.14969, 0.99945], \"tcp_roll_pitch_yaw\": [0.00219, -1.20444, -0.00266], \"tcp_rotation_matrix\": [[0.40096, -0.11539, 0.9088], [-0.11029, -0.9909, -0.07715], [0.90943, -0.06929, -0.41004]], \"simulated_seconds_remaining\": 22.176, \"calls_remaining_including_this\": 47}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 11, \"motion_seconds\": 0.726, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.635,
      "y": 0.13
    },
    "note": "The handle is now inside the open finger span. I am approaching again with the grasp center shifted slightly right."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 12, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-1.03901, -0.47033, 1.27885, -2.44742, 0.18885, 3.38014, 0.40548], \"gripper_open\": 1.0, \"tcp_xyz\": [0.63159, 0.14292, 0.99816], \"tcp_roll_pitch_yaw\": [-0.01348, -1.20423, 0.03201], \"tcp_rotation_matrix\": [[0.40316, -0.09552, 0.91013], [-0.09712, -0.99339, -0.06123], [0.90996, -0.06371, -0.40977]], \"simulated_seconds_remaining\": 21.45, \"calls_remaining_including_this\": 46}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 11, \"motion_seconds\": 0.726, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The right handle sits between the fingertips. I am closing the gripper to secure it before pulling."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 13, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-1.04236, -0.47111, 1.273, -2.45107, 0.19144, 3.37999, 0.40542], \"gripper_open\": 0.5308, \"tcp_xyz\": [0.63192, 0.13595, 0.99801], \"tcp_roll_pitch_yaw\": [-0.00795, -1.20394, 0.01512], \"tcp_rotation_matrix\": [[0.40229, -0.10718, 0.90922], [-0.10364, -0.99207, -0.07109], [0.90963, -0.06563, -0.41021]], \"simulated_seconds_remaining\": 20.526, \"calls_remaining_including_this\": 45}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.54
    },
    "note": "The gripper stopped partway closed against the handle. I am pulling outward a short distance to check that the door follows."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 14, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.57522, -0.64022, 0.92912, -2.70973, 0.24822, 3.343, 0.40524], \"gripper_open\": 0.9744, \"tcp_xyz\": [0.5401, 0.14136, 0.99487], \"tcp_roll_pitch_yaw\": [-0.01843, -1.19784, 0.03482], \"tcp_rotation_matrix\": [[0.40874, -0.09771, 0.90741], [-0.09603, -0.99334, -0.0637], [0.90759, -0.06111, -0.4154]], \"simulated_seconds_remaining\": 19.602, \"calls_remaining_including_this\": 44}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.56,
      "y": 0.13,
      "gripper": 0
    },
    "note": "The door has moved outward slightly, but the fingers reopened. I am closing again around the displaced handle while maintaining contact."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 15, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.63955, -0.57641, 0.9469, -2.67041, 0.22451, 3.37293, 0.38404], \"gripper_open\": 0.0, \"tcp_xyz\": [0.55919, 0.13043, 0.99487], \"tcp_roll_pitch_yaw\": [-0.01832, -1.19783, 0.03467], \"tcp_rotation_matrix\": [[0.40874, -0.09776, 0.9074], [-0.09609, -0.99333, -0.06373], [0.90758, -0.06114, -0.41541]], \"simulated_seconds_remaining\": 18.678, \"calls_remaining_including_this\": 43}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 1
    },
    "note": "The fingers closed fully, so the handle was beyond them. I am reopening to advance around it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 16, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.62903, -0.57443, 0.96147, -2.66844, 0.14467, 3.37252, 0.38479], \"gripper_open\": 0.9415, \"tcp_xyz\": [0.55564, 0.15509, 0.98793], \"tcp_roll_pitch_yaw\": [-0.18931, -1.17347, 0.26461], \"tcp_rotation_matrix\": [[0.42546, -0.02696, 0.90457], [-0.00544, -0.99961, -0.02723], [0.90496, 0.00666, -0.42545]], \"simulated_seconds_remaining\": 17.754, \"calls_remaining_including_this\": 42}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.61,
      "y": 0.13,
      "z": 0.995,
      "roll": 0,
      "pitch": -1.2,
      "yaw": 0,
      "gripper": 1
    },
    "note": "The displaced handle remains visible between the fingers. I am moving deeper around it and restoring the approach orientation."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 17, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.90478, -0.49949, 1.17247, -2.52333, 0.10468, 3.38344, 0.43391], \"gripper_open\": 0.9435, \"tcp_xyz\": [0.60581, 0.15559, 0.98921], \"tcp_roll_pitch_yaw\": [-0.1447, -1.18251, 0.20112], \"tcp_rotation_matrix\": [[0.42066, -0.04921, 0.90588], [-0.03181, -0.99871, -0.03948], [0.90666, -0.0122, -0.42168]], \"simulated_seconds_remaining\": 17.028, \"calls_remaining_including_this\": 41}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 11, \"motion_seconds\": 0.726, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The fingers now extend alongside the bar. I am clamping it and will keep the close command active during the pull."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 18, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.91364, -0.50015, 1.16021, -2.52993, 0.11025, 3.38096, 0.43414], \"gripper_open\": 0.2335, \"tcp_xyz\": [0.60713, 0.14035, 0.9888], \"tcp_roll_pitch_yaw\": [-0.12767, -1.18141, 0.1584], \"tcp_rotation_matrix\": [[0.42159, -0.07614, 0.90358], [-0.04874, -0.99693, -0.06127], [0.90548, -0.01821, -0.42401]], \"simulated_seconds_remaining\": 16.104, \"calls_remaining_including_this\": 40}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.49,
      "gripper": 0
    },
    "note": "The partial gripper closure indicates a grasp on the bar. I am pulling outward while holding the gripper closed."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 19, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.39145, -0.77633, 0.79954, -2.84459, 0.17524, 3.28774, 0.44875], \"gripper_open\": 0.0, \"tcp_xyz\": [0.49135, 0.1405, 0.98882], \"tcp_roll_pitch_yaw\": [-0.129, -1.18141, 0.15999], \"tcp_rotation_matrix\": [[0.42154, -0.07579, 0.90364], [-0.04814, -0.99697, -0.06116], [0.90553, -0.01772, -0.42391]], \"simulated_seconds_remaining\": 15.048, \"calls_remaining_including_this\": 39}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 16, \"motion_seconds\": 1.056, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.56,
      "y": 0.12,
      "gripper": 1,
      "roll": 0,
      "pitch": -1.05,
      "yaw": 0
    },
    "note": "The door moved but the handle slipped out. I am reopening and approaching the shifted handle with a less steep wrist angle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 20, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.54345, -0.55533, 0.80329, -2.61478, 0.12509, 3.14986, 0.40404], \"gripper_open\": 0.9973, \"tcp_xyz\": [0.55923, 0.12013, 0.98867], \"tcp_roll_pitch_yaw\": [-0.0011, -1.05112, 0.00126], \"tcp_rotation_matrix\": [[0.53527, -0.1236, 0.83559], [-0.10871, -0.99109, -0.07697], [0.83766, -0.04964, -0.54393]], \"simulated_seconds_remaining\": 14.124, \"calls_remaining_including_this\": 38}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.655,
      "y": 0.15,
      "gripper": 1
    },
    "note": "The handle is right of center in the wrist view. I am aligning left and advancing farther so the jaws can wrap behind it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 21, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-1.09925, -0.41517, 1.30498, -2.31612, 0.0122, 3.14162, 0.52108], \"gripper_open\": 1.0, \"tcp_xyz\": [0.65144, 0.151, 0.98762], \"tcp_roll_pitch_yaw\": [-0.01429, -1.05191, 0.01459], \"tcp_rotation_matrix\": [[0.53476, -0.12169, 0.8362], [-0.10222, -0.99162, -0.07894], [0.8388, -0.04326, -0.54272]], \"simulated_seconds_remaining\": 13.134, \"calls_remaining_including_this\": 37}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 15, \"motion_seconds\": 0.99, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.68,
      "y": 0.135,
      "gripper": 1
    },
    "note": "The bar is within the finger span. I am adding a small amount of insertion depth and centering before closing."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 22, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-1.168, -0.42448, 1.37155, -2.29433, 0.02605, 3.14957, 0.51575], \"gripper_open\": 1.0, \"tcp_xyz\": [0.6591, 0.15328, 0.98593], \"tcp_roll_pitch_yaw\": [-0.03051, -1.05861, 0.02806], \"tcp_rotation_matrix\": [[0.52892, -0.12206, 0.83985], [-0.09596, -0.99186, -0.08371], [0.84323, -0.03631, -0.53632]], \"simulated_seconds_remaining\": 12.606, \"calls_remaining_including_this\": 36}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 8, \"motion_seconds\": 0.528, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "Forward travel has stopped at the cabinet, with the handle between the jaws. I am closing at this deeper position."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 23, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-1.15395, -0.43543, 1.35981, -2.30471, 0.03219, 3.15356, 0.51922], \"gripper_open\": 1.0, \"tcp_xyz\": [0.65627, 0.15299, 0.9858], \"tcp_roll_pitch_yaw\": [-0.03328, -1.06272, 0.0257], \"tcp_rotation_matrix\": [[0.52496, -0.12665, 0.84165], [-0.09743, -0.99131, -0.0884], [0.84553, -0.03559, -0.53273]], \"simulated_seconds_remaining\": 11.682, \"calls_remaining_including_this\": 35}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.55,
      "y": 0.1,
      "gripper": 1,
      "pitch": -1.25,
      "roll": 0,
      "yaw": 0
    },
    "note": "The jaws cannot close at this alignment, likely because a finger contacts the adjacent handle. I am withdrawing and shifting toward the selected handle's outer side."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 24, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.67018, -0.58213, 0.92521, -2.74558, -0.06764, 3.54056, 0.49867], \"gripper_open\": 0.9571, \"tcp_xyz\": [0.54697, 0.14167, 0.98485], \"tcp_roll_pitch_yaw\": [-0.34368, -1.2271, 0.46091], \"tcp_rotation_matrix\": [[0.36024, 0.02371, 0.93256], [0.04567, -0.99893, 0.00775], [0.93174, 0.0398, -0.36093]], \"simulated_seconds_remaining\": 10.626, \"calls_remaining_including_this\": 34}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 16, \"motion_seconds\": 1.056, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The door followed the withdrawal and the bar is still between the fingers. I am closing at the new handle position."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 25, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.67018, -0.58213, 0.92521, -2.74558, -0.06764, 3.54056, 0.49867], \"gripper_open\": 0.0, \"tcp_xyz\": [0.54695, 0.14166, 0.98485], \"tcp_roll_pitch_yaw\": [-0.34368, -1.22714, 0.46091], \"tcp_rotation_matrix\": [[0.36021, 0.02371, 0.93257], [0.04565, -0.99893, 0.00776], [0.93175, 0.03978, -0.36091]], \"simulated_seconds_remaining\": 9.702, \"calls_remaining_including_this\": 33}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "z": 1.075,
      "gripper": 1,
      "roll": 0,
      "pitch": -1.2,
      "yaw": 0
    },
    "note": "The handle ends above the grasp center in the wrist view. I am raising the gripper to clamp the middle of the bar."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 26, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.46928, -0.67898, 0.71213, -2.57521, -0.01528, 3.12747, 0.55639], \"gripper_open\": 0.9965, \"tcp_xyz\": [0.547, 0.14172, 1.07421], \"tcp_roll_pitch_yaw\": [-0.00333, -1.20098, 0.00468], \"tcp_rotation_matrix\": [[0.40435, -0.11346, 0.90754], [-0.1076, -0.99129, -0.07599], [0.90825, -0.06692, -0.41303]], \"simulated_seconds_remaining\": 8.778, \"calls_remaining_including_this\": 32}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.635,
      "z": 1.035,
      "gripper": 1
    },
    "note": "The exterior view now brackets the handle height. I am moving to its middle height and inserting the open fingers around it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 27, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.94569, -0.48976, 1.11738, -2.39185, -0.07825, 3.27331, 0.62538], \"gripper_open\": 0.9902, \"tcp_xyz\": [0.63383, 0.14642, 1.0386], \"tcp_roll_pitch_yaw\": [-0.00994, -1.20753, 0.01904], \"tcp_rotation_matrix\": [[0.39922, -0.10491, 0.91083], [-0.10223, -0.99233, -0.06949], [0.91114, -0.06537, -0.40688]], \"simulated_seconds_remaining\": 7.854, \"calls_remaining_including_this\": 31}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The fingers flank the handle at its middle height. I am closing to establish a firmer grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 28, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.94867, -0.49075, 1.11187, -2.39469, -0.07668, 3.27209, 0.62528], \"gripper_open\": 0.6311, \"tcp_xyz\": [0.6342, 0.1402, 1.03856], \"tcp_roll_pitch_yaw\": [-0.00575, -1.20682, 0.00474], \"tcp_rotation_matrix\": [[0.39879, -0.11525, 0.90977], [-0.10772, -0.99109, -0.07833], [0.91069, -0.06676, -0.40765]], \"simulated_seconds_remaining\": 6.93, \"calls_remaining_including_this\": 30}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.48,
      "y": 0.1,
      "gripper": 0
    },
    "note": "The jaws have made contact around the bar. I am pulling outward and slightly toward the door's hinge side while maintaining closure."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "Episode ended. Do not call more tools. Return a brief final response."
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

I pulled the cabinet door partially open, but the episode ended before I could confirm full opening.

TURN USAGE
{
  "input_tokens": 560019,
  "cached_input_tokens": 525568,
  "cache_write_input_tokens": 0,
  "output_tokens": 4679,
  "reasoning_output_tokens": 1672
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.00148,
      -0.747,
      0.03948,
      -2.42962,
      -0.04851,
      1.62331,
      0.14131
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.3092,
      -0.00142,
      0.97379
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99282,
        -0.10509,
        -0.05721
      ],
      [
        -0.10933,
        -0.99102,
        -0.07692
      ],
      [
        -0.04862,
        0.08262,
        -0.99539
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 27.218808386474848,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48,
                    "y": 0,
                    "z": 0.85,
                    "pitch": -1.4,
                    "gripper": 1
                  },
                  "note": "The cabinet has two vertical handles. I am approaching the front with the fingers directed toward the handles."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 2,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.00148,
      -0.747,
      0.03948,
      -2.42962,
      -0.04851,
      1.62331,
      0.14131
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.3092,
      -0.00142,
      0.97379
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99282,
        -0.10509,
        -0.05721
      ],
      [
        -0.10933,
        -0.99102,
        -0.07692
      ],
      [
        -0.04862,
        0.08262,
        -0.99539
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 5.0046263029798865,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "z": 0.85,
                    "pitch": -0.7
                  },
                  "note": "The full approach orientation was unreachable. I am lowering closer to the handles and rotating in a smaller step."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 3,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.00148,
      -0.747,
      0.03948,
      -2.42962,
      -0.04851,
      1.62331,
      0.14131
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.3092,
      -0.00142,
      0.97379
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99282,
        -0.10509,
        -0.05721
      ],
      [
        -0.10933,
        -0.99102,
        -0.07692
      ],
      [
        -0.04862,
        0.08262,
        -0.99539
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 6.605456339195371,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.39,
                    "z": 0.9
                  },
                  "note": "The rotated pose was rejected. I am first making a short translation toward the cabinet while retaining the reachable orientation."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.00736,
      -0.47401,
      0.04245,
      -2.42192,
      -0.05881,
      1.88782,
      0.15753
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.38902,
      -0.00143,
      0.90078
    ],
    "tcp_roll_pitch_yaw": [
      -1e-05,
      0.00029,
      -2e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.9928,
        -0.10508,
        -0.0575
      ],
      [
        -0.10935,
        -0.99102,
        -0.07693
      ],
      [
        -0.04891,
        0.08266,
        -0.99538
      ]
    ],
    "simulated_seconds_remaining": 28.974,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 5.2045485265553,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.4
                  },
                  "note": "The translation succeeded. I am testing a modest forward tilt so the fingers can enter around a vertical handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.00836,
      -0.78859,
      0.04441,
      -2.76443,
      -0.07442,
      2.31087,
      0.19228
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.38896,
      -0.00144,
      0.90073
    ],
    "tcp_roll_pitch_yaw": [
      -7e-05,
      -0.39575,
      -2e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.93482,
        -0.12886,
        0.33093
      ],
      [
        -0.10935,
        -0.99102,
        -0.07699
      ],
      [
        0.33788,
        0.03579,
        -0.94051
      ]
    ],
    "simulated_seconds_remaining": 28.116,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 10.008589200675488,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.54,
                    "z": 1
                  },
                  "note": "The exterior view places the handles above and ahead of the fingertips. I am moving upward and forward to align with their height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.02744,
      -0.32543,
      0.05046,
      -2.16285,
      -0.08324,
      2.17259,
      0.18174
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.53891,
      -0.00144,
      0.99928
    ],
    "tcp_roll_pitch_yaw": [
      -5e-05,
      -0.39579,
      -4e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.9348,
        -0.12887,
        0.33096
      ],
      [
        -0.10937,
        -0.99102,
        -0.07698
      ],
      [
        0.33791,
        0.03577,
        -0.9405
      ]
    ],
    "simulated_seconds_remaining": 26.598,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 5.804801903665066,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.1
                  },
                  "note": "The fingertips are now at handle height. I am rotating toward the cabinet face before advancing to the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.22649,
      -0.52991,
      0.18952,
      -2.74713,
      -0.19954,
      3.26677,
      0.3584
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.53894,
      -0.00152,
      0.99898
    ],
    "tcp_roll_pitch_yaw": [
      -0.00041,
      -1.09494,
      -4e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.49798,
        -0.12199,
        0.85856
      ],
      [
        -0.10937,
        -0.99099,
        -0.07737
      ],
      [
        0.86026,
        -0.05537,
        -0.50684
      ]
    ],
    "simulated_seconds_remaining": 25.344,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 13.811383410356939,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.1,
                    "pitch": -1.35
                  },
                  "note": "Both handles appear to the right in the wrist image and left of the gripper in the exterior view. I am shifting left in the base frame to align with the nearer handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.71603,
      -0.63525,
      0.95814,
      -2.80517,
      0.10117,
      3.62769,
      0.54384
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.53893,
      0.09916,
      0.99908
    ],
    "tcp_roll_pitch_yaw": [
      -0.00127,
      -1.34758,
      0.00101
    ],
    "tcp_rotation_matrix": [
      [
        0.26717,
        -0.10405,
        0.95802
      ],
      [
        -0.10912,
        -0.99103,
        -0.07721
      ],
      [
        0.95745,
        -0.08391,
        -0.27612
      ]
    ],
    "simulated_seconds_remaining": 24.354,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 10.608269651420414,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.63,
                    "y": 0.12,
                    "z": 0.995
                  },
                  "note": "The right-hand handle is nearly centered between the fingers. I am advancing toward it with a small lateral correction."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -1.18583,
      -0.53454,
      1.39366,
      -2.54568,
      0.19992,
      3.6673,
      0.52964
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.62243,
      0.11451,
      0.99747
    ],
    "tcp_roll_pitch_yaw": [
      0.17762,
      -1.37597,
      -0.19456
    ],
    "tcp_rotation_matrix": [
      [
        0.23409,
        -0.1211,
        0.96464
      ],
      [
        -0.14705,
        -0.98521,
        -0.08799
      ],
      [
        0.96103,
        -0.12125,
        -0.24844
      ]
    ],
    "simulated_seconds_remaining": 23.43,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 8.609078077599406,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.142,
                    "x": 0.65
                  },
                  "note": "The handle remains slightly right of the grasp center. I am correcting left and moving a little deeper so the fingers straddle the bar."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 8,
    "motion_seconds": 0.528,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -1.30213,
      -0.58684,
      1.53987,
      -2.54337,
      0.32524,
      3.80195,
      0.56495
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.62258,
      0.1149,
      0.99921
    ],
    "tcp_roll_pitch_yaw": [
      0.77347,
      -1.45334,
      -0.81563
    ],
    "tcp_rotation_matrix": [
      [
        0.12319,
        -0.13576,
        0.98305
      ],
      [
        -0.19544,
        -0.97452,
        -0.11009
      ],
      [
        0.97295,
        -0.17857,
        -0.14658
      ]
    ],
    "simulated_seconds_remaining": 22.902,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 7.606301859021187,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.57,
                    "y": 0.15,
                    "roll": 0,
                    "pitch": -1.2,
                    "yaw": 0
                  },
                  "note": "The grasp point stopped advancing, indicating contact. I am backing away and centering on the right handle before trying again."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.73573,
      -0.60459,
      1.06311,
      -2.60915,
      0.25605,
      3.33704,
      0.42805
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.57078,
      0.14969,
      0.99945
    ],
    "tcp_roll_pitch_yaw": [
      0.00219,
      -1.20444,
      -0.00266
    ],
    "tcp_rotation_matrix": [
      [
        0.40096,
        -0.11539,
        0.9088
      ],
      [
        -0.11029,
        -0.9909,
        -0.07715
      ],
      [
        0.90943,
        -0.06929,
        -0.41004
      ]
    ],
    "simulated_seconds_remaining": 22.176,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 7.406195475719869,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.635,
                    "y": 0.13
                  },
                  "note": "The handle is now inside the open finger span. I am approaching again with the grasp center shifted slightly right."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -1.03901,
      -0.47033,
      1.27885,
      -2.44742,
      0.18885,
      3.38014,
      0.40548
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.63159,
      0.14292,
      0.99816
    ],
    "tcp_roll_pitch_yaw": [
      -0.01348,
      -1.20423,
      0.03201
    ],
    "tcp_rotation_matrix": [
      [
        0.40316,
        -0.09552,
        0.91013
      ],
      [
        -0.09712,
        -0.99339,
        -0.06123
      ],
      [
        0.90996,
        -0.06371,
        -0.40977
      ]
    ],
    "simulated_seconds_remaining": 21.45,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 4.804975552484393,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The right handle sits between the fingertips. I am closing the gripper to secure it before pulling."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -1.04236,
      -0.47111,
      1.273,
      -2.45107,
      0.19144,
      3.37999,
      0.40542
    ],
    "gripper_open": 0.5308,
    "tcp_xyz": [
      0.63192,
      0.13595,
      0.99801
    ],
    "tcp_roll_pitch_yaw": [
      -0.00795,
      -1.20394,
      0.01512
    ],
    "tcp_rotation_matrix": [
      [
        0.40229,
        -0.10718,
        0.90922
      ],
      [
        -0.10364,
        -0.99207,
        -0.07109
      ],
      [
        0.90963,
        -0.06563,
        -0.41021
      ]
    ],
    "simulated_seconds_remaining": 20.526,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 6.806028208695352,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.54
                  },
                  "note": "The gripper stopped partway closed against the handle. I am pulling outward a short distance to check that the door follows."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.57522,
      -0.64022,
      0.92912,
      -2.70973,
      0.24822,
      3.343,
      0.40524
    ],
    "gripper_open": 0.9744,
    "tcp_xyz": [
      0.5401,
      0.14136,
      0.99487
    ],
    "tcp_roll_pitch_yaw": [
      -0.01843,
      -1.19784,
      0.03482
    ],
    "tcp_rotation_matrix": [
      [
        0.40874,
        -0.09771,
        0.90741
      ],
      [
        -0.09603,
        -0.99334,
        -0.0637
      ],
      [
        0.90759,
        -0.06111,
        -0.4154
      ]
    ],
    "simulated_seconds_remaining": 19.602,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 5.805260203778744,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.56,
                    "y": 0.13,
                    "gripper": 0
                  },
                  "note": "The door has moved outward slightly, but the fingers reopened. I am closing again around the displaced handle while maintaining contact."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.63955,
      -0.57641,
      0.9469,
      -2.67041,
      0.22451,
      3.37293,
      0.38404
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.55919,
      0.13043,
      0.99487
    ],
    "tcp_roll_pitch_yaw": [
      -0.01832,
      -1.19783,
      0.03467
    ],
    "tcp_rotation_matrix": [
      [
        0.40874,
        -0.09776,
        0.9074
      ],
      [
        -0.09609,
        -0.99333,
        -0.06373
      ],
      [
        0.90758,
        -0.06114,
        -0.41541
      ]
    ],
    "simulated_seconds_remaining": 18.678,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 5.805481192655861,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 1
                  },
                  "note": "The fingers closed fully, so the handle was beyond them. I am reopening to advance around it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.62903,
      -0.57443,
      0.96147,
      -2.66844,
      0.14467,
      3.37252,
      0.38479
    ],
    "gripper_open": 0.9415,
    "tcp_xyz": [
      0.55564,
      0.15509,
      0.98793
    ],
    "tcp_roll_pitch_yaw": [
      -0.18931,
      -1.17347,
      0.26461
    ],
    "tcp_rotation_matrix": [
      [
        0.42546,
        -0.02696,
        0.90457
      ],
      [
        -0.00544,
        -0.99961,
        -0.02723
      ],
      [
        0.90496,
        0.00666,
        -0.42545
      ]
    ],
    "simulated_seconds_remaining": 17.754,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 6.405858961865306,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.61,
                    "y": 0.13,
                    "z": 0.995,
                    "roll": 0,
                    "pitch": -1.2,
                    "yaw": 0,
                    "gripper": 1
                  },
                  "note": "The displaced handle remains visible between the fingers. I am moving deeper around it and restoring the approach orientation."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.90478,
      -0.49949,
      1.17247,
      -2.52333,
      0.10468,
      3.38344,
      0.43391
    ],
    "gripper_open": 0.9435,
    "tcp_xyz": [
      0.60581,
      0.15559,
      0.98921
    ],
    "tcp_roll_pitch_yaw": [
      -0.1447,
      -1.18251,
      0.20112
    ],
    "tcp_rotation_matrix": [
      [
        0.42066,
        -0.04921,
        0.90588
      ],
      [
        -0.03181,
        -0.99871,
        -0.03948
      ],
      [
        0.90666,
        -0.0122,
        -0.42168
      ]
    ],
    "simulated_seconds_remaining": 17.028,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 5.405144392512739,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The fingers now extend alongside the bar. I am clamping it and will keep the close command active during the pull."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.91364,
      -0.50015,
      1.16021,
      -2.52993,
      0.11025,
      3.38096,
      0.43414
    ],
    "gripper_open": 0.2335,
    "tcp_xyz": [
      0.60713,
      0.14035,
      0.9888
    ],
    "tcp_roll_pitch_yaw": [
      -0.12767,
      -1.18141,
      0.1584
    ],
    "tcp_rotation_matrix": [
      [
        0.42159,
        -0.07614,
        0.90358
      ],
      [
        -0.04874,
        -0.99693,
        -0.06127
      ],
      [
        0.90548,
        -0.01821,
        -0.42401
      ]
    ],
    "simulated_seconds_remaining": 16.104,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 5.804886161349714,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.49,
                    "gripper": 0
                  },
                  "note": "The partial gripper closure indicates a grasp on the bar. I am pulling outward while holding the gripper closed."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 19,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.39145,
      -0.77633,
      0.79954,
      -2.84459,
      0.17524,
      3.28774,
      0.44875
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.49135,
      0.1405,
      0.98882
    ],
    "tcp_roll_pitch_yaw": [
      -0.129,
      -1.18141,
      0.15999
    ],
    "tcp_rotation_matrix": [
      [
        0.42154,
        -0.07579,
        0.90364
      ],
      [
        -0.04814,
        -0.99697,
        -0.06116
      ],
      [
        0.90553,
        -0.01772,
        -0.42391
      ]
    ],
    "simulated_seconds_remaining": 15.048,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 8.006470837630332,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.56,
                    "y": 0.12,
                    "gripper": 1,
                    "roll": 0,
                    "pitch": -1.05,
                    "yaw": 0
                  },
                  "note": "The door moved but the handle slipped out. I am reopening and approaching the shifted handle with a less steep wrist angle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 20,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.54345,
      -0.55533,
      0.80329,
      -2.61478,
      0.12509,
      3.14986,
      0.40404
    ],
    "gripper_open": 0.9973,
    "tcp_xyz": [
      0.55923,
      0.12013,
      0.98867
    ],
    "tcp_roll_pitch_yaw": [
      -0.0011,
      -1.05112,
      0.00126
    ],
    "tcp_rotation_matrix": [
      [
        0.53527,
        -0.1236,
        0.83559
      ],
      [
        -0.10871,
        -0.99109,
        -0.07697
      ],
      [
        0.83766,
        -0.04964,
        -0.54393
      ]
    ],
    "simulated_seconds_remaining": 14.124,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 5.804494398646057,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.655,
                    "y": 0.15,
                    "gripper": 1
                  },
                  "note": "The handle is right of center in the wrist view. I am aligning left and advancing farther so the jaws can wrap behind it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 21,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -1.09925,
      -0.41517,
      1.30498,
      -2.31612,
      0.0122,
      3.14162,
      0.52108
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.65144,
      0.151,
      0.98762
    ],
    "tcp_roll_pitch_yaw": [
      -0.01429,
      -1.05191,
      0.01459
    ],
    "tcp_rotation_matrix": [
      [
        0.53476,
        -0.12169,
        0.8362
      ],
      [
        -0.10222,
        -0.99162,
        -0.07894
      ],
      [
        0.8388,
        -0.04326,
        -0.54272
      ]
    ],
    "simulated_seconds_remaining": 13.134,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 6.605888077057898,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.68,
                    "y": 0.135,
                    "gripper": 1
                  },
                  "note": "The bar is within the finger span. I am adding a small amount of insertion depth and centering before closing."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 8,
    "motion_seconds": 0.528,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 22,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -1.168,
      -0.42448,
      1.37155,
      -2.29433,
      0.02605,
      3.14957,
      0.51575
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.6591,
      0.15328,
      0.98593
    ],
    "tcp_roll_pitch_yaw": [
      -0.03051,
      -1.05861,
      0.02806
    ],
    "tcp_rotation_matrix": [
      [
        0.52892,
        -0.12206,
        0.83985
      ],
      [
        -0.09596,
        -0.99186,
        -0.08371
      ],
      [
        0.84323,
        -0.03631,
        -0.53632
      ]
    ],
    "simulated_seconds_remaining": 12.606,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 5.004311693832278,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "Forward travel has stopped at the cabinet, with the handle between the jaws. I am closing at this deeper position."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 23,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -1.15395,
      -0.43543,
      1.35981,
      -2.30471,
      0.03219,
      3.15356,
      0.51922
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.65627,
      0.15299,
      0.9858
    ],
    "tcp_roll_pitch_yaw": [
      -0.03328,
      -1.06272,
      0.0257
    ],
    "tcp_rotation_matrix": [
      [
        0.52496,
        -0.12665,
        0.84165
      ],
      [
        -0.09743,
        -0.99131,
        -0.0884
      ],
      [
        0.84553,
        -0.03559,
        -0.53273
      ]
    ],
    "simulated_seconds_remaining": 11.682,
    "calls_remaining_including_this": 35
  },
  "api_seconds": 9.808274350129068,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.55,
                    "y": 0.1,
                    "gripper": 1,
                    "pitch": -1.25,
                    "roll": 0,
                    "yaw": 0
                  },
                  "note": "The jaws cannot close at this alignment, likely because a finger contacts the adjacent handle. I am withdrawing and shifting toward the selected handle's outer side."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 24,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.67018,
      -0.58213,
      0.92521,
      -2.74558,
      -0.06764,
      3.54056,
      0.49867
    ],
    "gripper_open": 0.9571,
    "tcp_xyz": [
      0.54697,
      0.14167,
      0.98485
    ],
    "tcp_roll_pitch_yaw": [
      -0.34368,
      -1.2271,
      0.46091
    ],
    "tcp_rotation_matrix": [
      [
        0.36024,
        0.02371,
        0.93256
      ],
      [
        0.04567,
        -0.99893,
        0.00775
      ],
      [
        0.93174,
        0.0398,
        -0.36093
      ]
    ],
    "simulated_seconds_remaining": 10.626,
    "calls_remaining_including_this": 34
  },
  "api_seconds": 6.405345561914146,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The door followed the withdrawal and the bar is still between the fingers. I am closing at the new handle position."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 25,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.67018,
      -0.58213,
      0.92521,
      -2.74558,
      -0.06764,
      3.54056,
      0.49867
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.54695,
      0.14166,
      0.98485
    ],
    "tcp_roll_pitch_yaw": [
      -0.34368,
      -1.22714,
      0.46091
    ],
    "tcp_rotation_matrix": [
      [
        0.36021,
        0.02371,
        0.93257
      ],
      [
        0.04565,
        -0.99893,
        0.00776
      ],
      [
        0.93175,
        0.03978,
        -0.36091
      ]
    ],
    "simulated_seconds_remaining": 9.702,
    "calls_remaining_including_this": 33
  },
  "api_seconds": 8.21124597452581,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.075,
                    "gripper": 1,
                    "roll": 0,
                    "pitch": -1.2,
                    "yaw": 0
                  },
                  "note": "The handle ends above the grasp center in the wrist view. I am raising the gripper to clamp the middle of the bar."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 26,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.46928,
      -0.67898,
      0.71213,
      -2.57521,
      -0.01528,
      3.12747,
      0.55639
    ],
    "gripper_open": 0.9965,
    "tcp_xyz": [
      0.547,
      0.14172,
      1.07421
    ],
    "tcp_roll_pitch_yaw": [
      -0.00333,
      -1.20098,
      0.00468
    ],
    "tcp_rotation_matrix": [
      [
        0.40435,
        -0.11346,
        0.90754
      ],
      [
        -0.1076,
        -0.99129,
        -0.07599
      ],
      [
        0.90825,
        -0.06692,
        -0.41303
      ]
    ],
    "simulated_seconds_remaining": 8.778,
    "calls_remaining_including_this": 32
  },
  "api_seconds": 16.012977946549654,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.635,
                    "z": 1.035,
                    "gripper": 1
                  },
                  "note": "The exterior view now brackets the handle height. I am moving to its middle height and inserting the open fingers around it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 27,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.94569,
      -0.48976,
      1.11738,
      -2.39185,
      -0.07825,
      3.27331,
      0.62538
    ],
    "gripper_open": 0.9902,
    "tcp_xyz": [
      0.63383,
      0.14642,
      1.0386
    ],
    "tcp_roll_pitch_yaw": [
      -0.00994,
      -1.20753,
      0.01904
    ],
    "tcp_rotation_matrix": [
      [
        0.39922,
        -0.10491,
        0.91083
      ],
      [
        -0.10223,
        -0.99233,
        -0.06949
      ],
      [
        0.91114,
        -0.06537,
        -0.40688
      ]
    ],
    "simulated_seconds_remaining": 7.854,
    "calls_remaining_including_this": 31
  },
  "api_seconds": 4.404199851676822,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The fingers flank the handle at its middle height. I am closing to establish a firmer grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 28,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.94867,
      -0.49075,
      1.11187,
      -2.39469,
      -0.07668,
      3.27209,
      0.62528
    ],
    "gripper_open": 0.6311,
    "tcp_xyz": [
      0.6342,
      0.1402,
      1.03856
    ],
    "tcp_roll_pitch_yaw": [
      -0.00575,
      -1.20682,
      0.00474
    ],
    "tcp_rotation_matrix": [
      [
        0.39879,
        -0.11525,
        0.90977
      ],
      [
        -0.10772,
        -0.99109,
        -0.07833
      ],
      [
        0.91069,
        -0.06676,
        -0.40765
      ]
    ],
    "simulated_seconds_remaining": 6.93,
    "calls_remaining_including_this": 30
  },
  "api_seconds": 4.804461385123432,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48,
                    "y": 0.1,
                    "gripper": 0
                  },
                  "note": "The jaws have made contact around the bar. I am pulling outward and slightly toward the door's hinge side while maintaining closure."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

========================================================================
GPT-Astra / Open / Episode 003

Completed scored attempt. Images are available in the paired videos.

Opaque provider signatures, image payloads, and local paths are omitted.


RESULT
{
  "benchmark_index": 3,
  "source_episode_index": 89,
  "house_index": 16,
  "status": "completed",
  "success": false,
  "oracle_success": false,
  "action_decisions": 29,
  "wall_seconds": 303.98,
  "usage": {
    "input_tokens": 632590,
    "cached_input_tokens": 590208,
    "cache_write_input_tokens": 0,
    "output_tokens": 5774,
    "reasoning_output_tokens": 2529
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task.
You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose.
Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion.
move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up.
roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial.
Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5).
The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y.
The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics.
Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration.
Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target.
You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time.
Each move must include a short note describing what you observe and why you chose that motion.
Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done.
Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available.



AGENT TRANSCRIPT (visible messages and completed tool calls)

I’ll observe the scene, locate the handle, and guide the gripper to open it.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.02176, -0.82087, 0.07061, -2.44601, 0.0163, 1.6187, 0.04161], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.299, 0.01593, 0.98705], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.99985, -0.01612, -0.00675], [-0.01635, -0.99923, -0.03555], [-0.00617, 0.03566, -0.99935]], \"simulated_seconds_remaining\": 30.03, \"calls_remaining_including_this\": 57}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "x": 0.48,
    "y": 0.16,
    "z": 1.04,
    "pitch": -1.57,
    "gripper": 1,
    "note": "The cabinet has vertical pulls ahead and left of the gripper. I am turning the fingers toward the cabinet and approaching the pull area."
  },
  "result": null,
  "error": {
    "message": "tool call error: tool call failed for `robot/move_to`\n\nCaused by:\n    Mcp error: -32602: Unexpected argument"
  },
  "status": "failed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.48,
      "y": 0.16,
      "z": 1.04,
      "pitch": -1.57,
      "gripper": 1
    },
    "note": "The cabinet has vertical pulls ahead and left of the gripper. I am turning the fingers toward the cabinet and approaching the pull area."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.69357, -0.95717, 1.15129, -2.91705, 0.26868, 3.78134, 0.65883], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.47954, 0.15957, 1.04], \"tcp_roll_pitch_yaw\": [-0.0494, -1.56555, 0.04884], \"tcp_rotation_matrix\": [[0.0114, -0.0363, 0.99928], [-0.0161, -0.99922, -0.03611], [0.99981, -0.01568, -0.01197]], \"simulated_seconds_remaining\": 27.654, \"calls_remaining_including_this\": 56}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 36, \"motion_seconds\": 2.3760000000000003, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "y": 0.29,
      "z": 1.13
    },
    "note": "The wrist view places the vertical pull left and above the fingers. I am shifting left and upward to center it between the jaws."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.63971, -1.16508, 1.14296, -2.58007, 0.33892, 3.29309, 0.67341], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.47952, 0.28903, 1.12933], \"tcp_roll_pitch_yaw\": [-0.05564, -1.56573, 0.0553], \"tcp_rotation_matrix\": [[0.01122, -0.03608, 0.99929], [-0.01608, -0.99923, -0.0359], [0.99981, -0.01566, -0.01179]], \"simulated_seconds_remaining\": 26.268, \"calls_remaining_including_this\": 55}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 21, \"motion_seconds\": 1.3860000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "y": 0.02,
      "z": 1.08
    },
    "note": "The pull shifted farther left in the wrist image, revealing the camera's lateral direction. I am correcting rightward to bring that pull toward the image center."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.5199, -0.6775, 0.47764, -2.97365, -0.13832, 3.94644, 0.40463], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.47954, 0.02122, 1.08023], \"tcp_roll_pitch_yaw\": [-0.01848, -1.56565, 0.01787], \"tcp_rotation_matrix\": [[0.0113, -0.03636, 0.99927], [-0.01626, -0.99921, -0.03617], [0.9998, -0.01584, -0.01188]], \"simulated_seconds_remaining\": 24.156, \"calls_remaining_including_this\": 54}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 32, \"motion_seconds\": 2.112, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.65,
      "y": -0.045,
      "z": 1.1
    },
    "note": "Both cabinet pulls are visible near the middle-left of the wrist view. I am approaching the right-hand pull while correcting the remaining lateral offset."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.69337, -0.07862, 0.57666, -2.58377, -0.14089, 4.26215, 0.15336], \"gripper_open\": 1.0, \"tcp_xyz\": [0.59476, -0.02376, 1.09875], \"tcp_roll_pitch_yaw\": [3.11341, -1.40115, -3.05945], \"tcp_rotation_matrix\": [[-0.16128, 0.02191, 0.98667], [-0.02985, -0.9994, 0.01732], [0.98646, -0.02666, 0.16183]], \"simulated_seconds_remaining\": 22.638, \"calls_remaining_including_this\": 53}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 23, \"motion_seconds\": 1.518, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The right pull is now centered in the open jaws, and forward travel has met the cabinet. I am closing the fingers around the pull."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.69454, -0.08053, 0.57499, -2.59467, -0.13936, 4.28087, 0.15345], \"gripper_open\": 0.9097, \"tcp_xyz\": [0.59049, -0.02514, 1.09851], \"tcp_roll_pitch_yaw\": [3.11186, -1.39157, -3.06012], \"tcp_rotation_matrix\": [[-0.17074, 0.01997, 0.98511], [-0.03052, -0.99942, 0.01497], [0.98484, -0.02751, 0.17125]], \"simulated_seconds_remaining\": 21.714, \"calls_remaining_including_this\": 52}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.49,
      "gripper": 0
    },
    "note": "The jaws stopped against an object while closing. I am making a short outward pull to check whether the cabinet handle is securely engaged."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.69193, -0.40207, 0.45784, -2.88831, -0.26136, 4.33116, 0.35271], \"gripper_open\": 0.0, \"tcp_xyz\": [0.49127, -0.02515, 1.09853], \"tcp_roll_pitch_yaw\": [3.1125, -1.39156, -3.06078], \"tcp_rotation_matrix\": [[-0.17076, 0.01995, 0.98511], [-0.03041, -0.99943, 0.01497], [0.98484, -0.0274, 0.17127]], \"simulated_seconds_remaining\": 20.724, \"calls_remaining_including_this\": 51}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 15, \"motion_seconds\": 0.99, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.54,
      "y": -0.06,
      "pitch": -1.57,
      "roll": 0,
      "yaw": 0,
      "gripper": 1
    },
    "note": "The pull did not follow the gripper, so the first closure missed it. I am reopening and leveling the jaws with a small lateral correction before another approach."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.70732, -0.40047, 0.37615, -2.74047, -0.42087, 4.02356, 0.44315], \"gripper_open\": 0.9965, \"tcp_xyz\": [0.53949, -0.05963, 1.0986], \"tcp_roll_pitch_yaw\": [3.03361, -1.56949, -3.03301], \"tcp_rotation_matrix\": [[0.00488, -0.03504, 0.99937], [-0.01649, -0.99925, -0.03496], [0.99985, -0.01631, -0.00545]], \"simulated_seconds_remaining\": 19.8, \"calls_remaining_including_this\": 50}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.585,
      "y": -0.04
    },
    "note": "The right pull lies between the fingertips. I am advancing only a few centimeters to surround the bar without pressing deeply into the door."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.71943, -0.28476, 0.51436, -2.63405, -0.24954, 3.99165, 0.32296], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.58397, -0.0404, 1.09859], \"tcp_roll_pitch_yaw\": [3.07252, -1.56954, -3.07177], \"tcp_rotation_matrix\": [[0.00492, -0.03489, 0.99938], [-0.01644, -0.99926, -0.0348], [0.99985, -0.01625, -0.00549]], \"simulated_seconds_remaining\": 19.14, \"calls_remaining_including_this\": 49}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 10, \"motion_seconds\": 0.66, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The right bar is centered between the fingertips at the shallower approach depth. I am closing to secure it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.72711, -0.28622, 0.50353, -2.64739, -0.17712, 3.99306, 0.32272], \"gripper_open\": 0.0302, \"tcp_xyz\": [0.57909, -0.06935, 1.09818], \"tcp_roll_pitch_yaw\": [1.75513, -1.51903, -1.82633], \"tcp_rotation_matrix\": [[-0.00808, -0.10611, 0.99432], [-0.06679, -0.99208, -0.10642], [0.99773, -0.06727, 0.00093]], \"simulated_seconds_remaining\": 18.216, \"calls_remaining_including_this\": 48}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.56,
      "y": 0.01,
      "roll": 0,
      "pitch": -1.57,
      "yaw": 0,
      "gripper": 1
    },
    "note": "The nearby second pull appears to have deflected the fingers during closure. I am shifting so that only the chosen pull enters the jaw opening."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 11, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.66584, -0.41258, 0.60218, -2.72194, -0.09269, 3.95687, 0.30953], \"gripper_open\": 0.9965, \"tcp_xyz\": [0.56027, 0.00899, 1.09821], \"tcp_roll_pitch_yaw\": [0.82163, -1.56993, -0.82245], \"tcp_rotation_matrix\": [[0.00674, -0.03649, 0.99931], [-0.01699, -0.99919, -0.03637], [0.99983, -0.01673, -0.00736]], \"simulated_seconds_remaining\": 17.292, \"calls_remaining_including_this\": 47}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.62
    },
    "note": "The neighboring pull is now outside the left fingertip. I am moving forward to seat the chosen bar farther inside the fingers."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 12, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.74791, -0.20657, 0.74139, -2.54308, 0.0248, 3.95069, 0.13879], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.61883, 0.00899, 1.09819], \"tcp_roll_pitch_yaw\": [0.81986, -1.56985, -0.82067], \"tcp_rotation_matrix\": [[0.0068, -0.03647, 0.99931], [-0.01705, -0.99919, -0.03635], [0.99983, -0.01679, -0.00742]], \"simulated_seconds_remaining\": 16.566, \"calls_remaining_including_this\": 46}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 11, \"motion_seconds\": 0.726, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The chosen pull extends into the finger opening while the other pull remains clear. I am closing at this deeper position."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 13, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.75452, -0.20575, 0.73265, -2.54646, 0.11202, 3.95064, 0.13829], \"gripper_open\": 0.114, \"tcp_xyz\": [0.61651, -0.02267, 1.09858], \"tcp_roll_pitch_yaw\": [1.64137, -1.50901, -1.72101], \"tcp_rotation_matrix\": [[-0.00439, -0.1146, 0.9934], [-0.0778, -0.99036, -0.1146], [0.99696, -0.07779, -0.00457]], \"simulated_seconds_remaining\": 15.642, \"calls_remaining_including_this\": 45}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.5,
      "gripper": 0
    },
    "note": "The fingers have stopped with a small gap around the bar. I am pulling outward to start swinging the cabinet door."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 14, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.57285, -0.60886, 0.44492, -2.89154, -0.11977, 3.92081, 0.41192], \"gripper_open\": 0.0, \"tcp_xyz\": [0.50137, -0.02251, 1.09858], \"tcp_roll_pitch_yaw\": [1.64076, -1.5096, -1.72], \"tcp_rotation_matrix\": [[-0.00423, -0.11421, 0.99345], [-0.07723, -0.99045, -0.1142], [0.997, -0.07721, -0.00463]], \"simulated_seconds_remaining\": 14.586, \"calls_remaining_including_this\": 44}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 16, \"motion_seconds\": 1.056, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.6,
      "y": 0.015,
      "roll": 0,
      "pitch": -1.57,
      "yaw": 0,
      "gripper": 1
    },
    "note": "The door has started to separate, but the bar slipped out during the pull. I am reopening and approaching the displaced handle for a deeper grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 15, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.71403, -0.28114, 0.69999, -2.60641, 0.01159, 3.95083, 0.1907], \"gripper_open\": 1.0, \"tcp_xyz\": [0.59855, 0.01061, 1.09857], \"tcp_roll_pitch_yaw\": [1.38584, -1.56793, -1.39384], \"tcp_rotation_matrix\": [[0.00654, -0.04367, 0.99902], [-0.01922, -0.99887, -0.04353], [0.99979, -0.01892, -0.00737]], \"simulated_seconds_remaining\": 13.596, \"calls_remaining_including_this\": 43}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 15, \"motion_seconds\": 0.99, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.665
    },
    "note": "The moved handle is centered between the jaws. I am advancing so the fingers pass behind the bar before closing."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 16, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.75317, -0.03294, 0.83215, -2.44693, 0.25475, 4.09155, -0.06687], \"gripper_open\": 1.0, \"tcp_xyz\": [0.63879, -0.01178, 1.10412], \"tcp_roll_pitch_yaw\": [2.59233, -1.46243, -2.6809], \"tcp_rotation_matrix\": [[-0.09215, -0.11944, 0.98856], [-0.0649, -0.98995, -0.12565], [0.99363, -0.07574, 0.08347]], \"simulated_seconds_remaining\": 12.87, \"calls_remaining_including_this\": 42}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 11, \"motion_seconds\": 0.726, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The bar is aligned within the fingers at the cabinet surface. I am securing the grasp before pulling again."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 17, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.75145, -0.03589, 0.83432, -2.45634, 0.25793, 4.10789, -0.06709], \"gripper_open\": 0.9994, \"tcp_xyz\": [0.63527, -0.01034, 1.10421], \"tcp_roll_pitch_yaw\": [2.64835, -1.45565, -2.73765], \"tcp_rotation_matrix\": [[-0.10093, -0.11986, 0.98765], [-0.06198, -0.99003, -0.12648], [0.99296, -0.07398, 0.09249]], \"simulated_seconds_remaining\": 11.946, \"calls_remaining_including_this\": 41}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.608,
      "gripper": 0
    },
    "note": "The door surface is preventing the jaws from closing. I am easing outward while maintaining closure so the fingers can clamp the projecting handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 18, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.7564, -0.14069, 0.79626, -2.55004, 0.23968, 4.10683, 0.03204], \"gripper_open\": 0.4566, \"tcp_xyz\": [0.60802, -0.02307, 1.10245], \"tcp_roll_pitch_yaw\": [2.55274, -1.45273, -2.66853], \"tcp_rotation_matrix\": [[-0.10058, -0.14554, 0.98423], [-0.0706, -0.9857, -0.15298], [0.99242, -0.08488, 0.08887]], \"simulated_seconds_remaining\": 11.022, \"calls_remaining_including_this\": 40}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.55,
      "y": -0.04,
      "gripper": 0
    },
    "note": "The jaws have partially closed around the handle. I am pulling outward with a small sideways adjustment to follow the door's opening arc."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 19, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.72028, -0.34595, 0.64873, -2.73594, 0.05438, 4.10598, 0.23852], \"gripper_open\": 0.0389, \"tcp_xyz\": [0.55264, -0.03081, 1.10147], \"tcp_roll_pitch_yaw\": [2.68523, -1.46597, -2.77569], \"tcp_rotation_matrix\": [[-0.09302, -0.12179, 0.98819], [-0.05427, -0.9904, -0.12717], [0.99418, -0.06546, 0.08551]], \"simulated_seconds_remaining\": 10.098, \"calls_remaining_including_this\": 39}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.59,
      "y": 0.045,
      "roll": 0,
      "pitch": -1.57,
      "yaw": 0,
      "gripper": 1
    },
    "note": "The handle remains just outside the closed fingertips. I am shifting the open gripper sideways to capture it securely."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 20, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.69743, -0.33608, 0.76663, -2.62549, 0.12022, 3.92724, 0.16712], \"gripper_open\": 1.0, \"tcp_xyz\": [0.5894, 0.03771, 1.10159], \"tcp_roll_pitch_yaw\": [1.79892, -1.56673, -1.81155], \"tcp_rotation_matrix\": [[0.00499, -0.04826, 0.99882], [-0.02037, -0.99863, -0.04815], [0.99978, -0.02011, -0.00597]], \"simulated_seconds_remaining\": 9.174, \"calls_remaining_including_this\": 38}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.625,
      "y": 0.045
    },
    "note": "The target bar is just inside the left finger, with the adjacent pull well clear. I am advancing slightly to place the finger behind it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 21, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.77107, -0.20617, 0.89233, -2.50927, 0.22083, 3.93026, 0.02635], \"gripper_open\": 0.9967, \"tcp_xyz\": [0.62382, 0.04468, 1.10156], \"tcp_roll_pitch_yaw\": [1.77893, -1.56661, -1.79166], \"tcp_rotation_matrix\": [[0.00504, -0.04836, 0.99882], [-0.02052, -0.99862, -0.04825], [0.99978, -0.02025, -0.00603]], \"simulated_seconds_remaining\": 8.646, \"calls_remaining_including_this\": 37}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 8, \"motion_seconds\": 0.528, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "y": -0.015
    },
    "note": "The door moved during the approach and carried the bar left of the jaw opening. I am sliding sideways at this depth to place the bar between the fingers."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 22, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.77688, -0.19588, 0.72602, -2.52844, -0.16988, 3.9576, 0.17253], \"gripper_open\": 1.0, \"tcp_xyz\": [0.62144, 0.02922, 1.09625], \"tcp_roll_pitch_yaw\": [-1.41535, -1.48118, 1.51378], \"tcp_rotation_matrix\": [[0.01285, 0.06286, 0.99794], [0.07373, -0.99536, 0.06175], [0.9972, 0.07279, -0.01742]], \"simulated_seconds_remaining\": 7.92, \"calls_remaining_including_this\": 36}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 11, \"motion_seconds\": 0.726, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.53,
      "gripper": 0
    },
    "note": "The left finger is engaged against the handle. I am closing while pulling outward to hook the bar and swing the door."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 23, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.67097, -0.50687, 0.52208, -2.7861, -0.35414, 3.98882, 0.41565], \"gripper_open\": 0.0, \"tcp_xyz\": [0.53128, 0.02923, 1.09627], \"tcp_roll_pitch_yaw\": [-1.4158, -1.48102, 1.51422], \"tcp_rotation_matrix\": [[0.01282, 0.06284, 0.99794], [0.07389, -0.99535, 0.06173], [0.99718, 0.07295, -0.0174]], \"simulated_seconds_remaining\": 6.996, \"calls_remaining_including_this\": 35}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.605,
      "y": -0.045,
      "z": 1.16,
      "roll": 0,
      "pitch": -1.57,
      "yaw": 0,
      "gripper": 1
    },
    "note": "The pull slipped free again. I am moving higher on the straight section of the bar and centering the open jaws for a final grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 24, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.70898, -0.32596, 0.4484, -2.485, -0.39432, 3.82615, 0.46873], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.60421, -0.04425, 1.15935], \"tcp_roll_pitch_yaw\": [-0.84519, -1.56956, 0.84616], \"tcp_rotation_matrix\": [[0.007, -0.03469, 0.99937], [-0.01542, -0.99928, -0.03458], [0.99986, -0.01517, -0.00753]], \"simulated_seconds_remaining\": 5.874, \"calls_remaining_including_this\": 34}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 17, \"motion_seconds\": 1.122, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.625,
      "y": -0.02,
      "z": 1.1,
      "roll": 0.6,
      "pitch": -1.57,
      "yaw": 0
    },
    "note": "The two closely spaced pulls interfere with a level grasp. I am angling the jaws and lowering onto the right bar to clear the neighboring pull."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 25, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.74247, 0.16543, 0.23038, -2.06804, -1.18536, 4.42911, 0.8402], \"gripper_open\": 1.0, \"tcp_xyz\": [0.5927, -0.0511, 1.14046], \"tcp_roll_pitch_yaw\": [3.10575, -1.41525, -2.47705], \"tcp_rotation_matrix\": [[-0.10738, 0.56145, 0.82052], [-0.10517, -0.82707, 0.55217], [0.98864, -0.027, 0.14786]], \"simulated_seconds_remaining\": 4.752, \"calls_remaining_including_this\": 33}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 17, \"motion_seconds\": 1.122, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The angled approach has placed a pull between the fingertips. I am closing to hold it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 26, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.75746, 0.17, 0.21214, -2.07034, -1.17164, 4.42533, 0.8403], \"gripper_open\": 0.4734, \"tcp_xyz\": [0.59354, -0.07354, 1.13833], \"tcp_roll_pitch_yaw\": [3.03454, -1.41222, -2.45065], \"tcp_rotation_matrix\": [[-0.10756, 0.52444, 0.84463], [-0.11089, -0.85058, 0.51402], [0.98799, -0.03838, 0.14964]], \"simulated_seconds_remaining\": 3.828, \"calls_remaining_including_this\": 32}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.36,
      "y": -0.14,
      "gripper": 0
    },
    "note": "The jaws remain partly open against the pull. I am drawing the handle outward and toward the door's swing direction to open the cabinet."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 27, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.75746, 0.17, 0.21214, -2.07034, -1.17164, 4.42533, 0.8403], \"gripper_open\": 0.4734, \"tcp_xyz\": [0.59354, -0.07354, 1.13833], \"tcp_roll_pitch_yaw\": [3.03454, -1.41222, -2.45065], \"tcp_rotation_matrix\": [[-0.10756, 0.52444, 0.84463], [-0.11089, -0.85058, 0.51402], [0.98799, -0.03838, 0.14964]], \"simulated_seconds_remaining\": 3.828, \"calls_remaining_including_this\": 31}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.48,
      "y": -0.1,
      "gripper": 0
    },
    "note": "The larger pull was outside the arm's reachable configuration. I am using a shorter outward motion while retaining the grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 28, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.75746, 0.17, 0.21214, -2.07034, -1.17164, 4.42533, 0.8403], \"gripper_open\": 0.4734, \"tcp_xyz\": [0.59354, -0.07354, 1.13833], \"tcp_roll_pitch_yaw\": [3.03454, -1.41222, -2.45065], \"tcp_rotation_matrix\": [[-0.10756, 0.52444, 0.84463], [-0.11089, -0.85058, 0.51402], [0.98799, -0.03838, 0.14964]], \"simulated_seconds_remaining\": 3.828, \"calls_remaining_including_this\": 30}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.46,
      "roll": 0,
      "pitch": -1.57,
      "yaw": 0,
      "gripper": 0
    },
    "note": "The angled wrist configuration blocks retraction. I am straightening the wrist while pulling the handle outward."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 29, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.82033, -0.69592, 0.1904, -2.79883, -0.9032, 4.00162, 0.85423], \"gripper_open\": 0.0, \"tcp_xyz\": [0.46086, -0.07338, 1.13848], \"tcp_roll_pitch_yaw\": [2.59955, -1.57056, -2.5954], \"tcp_rotation_matrix\": [[0.00603, -0.03151, 0.99949], [-0.01645, -0.99937, -0.0314], [0.99985, -0.01625, -0.00655]], \"simulated_seconds_remaining\": 2.64, \"calls_remaining_including_this\": 29}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 18, \"motion_seconds\": 1.1880000000000002, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "give_up",
  "arguments": {
    "note": "I could not establish a secure handle grasp. The cabinet remains closed, and the remaining motion time is insufficient for another approach and opening pull."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "Episode ended. Do not call more tools. Return a brief final response."
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

I couldn’t secure the handle firmly enough to open the cabinet. The episode has ended.

TURN USAGE
{
  "input_tokens": 632590,
  "cached_input_tokens": 590208,
  "cache_write_input_tokens": 0,
  "output_tokens": 5774,
  "reasoning_output_tokens": 2529
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.02176,
      -0.82087,
      0.07061,
      -2.44601,
      0.0163,
      1.6187,
      0.04161
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.299,
      0.01593,
      0.98705
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99985,
        -0.01612,
        -0.00675
      ],
      [
        -0.01635,
        -0.99923,
        -0.03555
      ],
      [
        -0.00617,
        0.03566,
        -0.99935
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 24.019518681801856,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48,
                    "y": 0.16,
                    "z": 1.04,
                    "pitch": -1.57,
                    "gripper": 1
                  },
                  "note": "The cabinet has vertical pulls ahead and left of the gripper. I am turning the fingers toward the cabinet and approaching the pull area."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 36,
    "motion_seconds": 2.3760000000000003,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.69357,
      -0.95717,
      1.15129,
      -2.91705,
      0.26868,
      3.78134,
      0.65883
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.47954,
      0.15957,
      1.04
    ],
    "tcp_roll_pitch_yaw": [
      -0.0494,
      -1.56555,
      0.04884
    ],
    "tcp_rotation_matrix": [
      [
        0.0114,
        -0.0363,
        0.99928
      ],
      [
        -0.0161,
        -0.99922,
        -0.03611
      ],
      [
        0.99981,
        -0.01568,
        -0.01197
      ]
    ],
    "simulated_seconds_remaining": 27.654,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 9.809065956622362,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.29,
                    "z": 1.13
                  },
                  "note": "The wrist view places the vertical pull left and above the fingers. I am shifting left and upward to center it between the jaws."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.63971,
      -1.16508,
      1.14296,
      -2.58007,
      0.33892,
      3.29309,
      0.67341
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.47952,
      0.28903,
      1.12933
    ],
    "tcp_roll_pitch_yaw": [
      -0.05564,
      -1.56573,
      0.0553
    ],
    "tcp_rotation_matrix": [
      [
        0.01122,
        -0.03608,
        0.99929
      ],
      [
        -0.01608,
        -0.99923,
        -0.0359
      ],
      [
        0.99981,
        -0.01566,
        -0.01179
      ]
    ],
    "simulated_seconds_remaining": 26.268,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 8.807319672778249,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.02,
                    "z": 1.08
                  },
                  "note": "The pull shifted farther left in the wrist image, revealing the camera's lateral direction. I am correcting rightward to bring that pull toward the image center."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 32,
    "motion_seconds": 2.112,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.5199,
      -0.6775,
      0.47764,
      -2.97365,
      -0.13832,
      3.94644,
      0.40463
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.47954,
      0.02122,
      1.08023
    ],
    "tcp_roll_pitch_yaw": [
      -0.01848,
      -1.56565,
      0.01787
    ],
    "tcp_rotation_matrix": [
      [
        0.0113,
        -0.03636,
        0.99927
      ],
      [
        -0.01626,
        -0.99921,
        -0.03617
      ],
      [
        0.9998,
        -0.01584,
        -0.01188
      ]
    ],
    "simulated_seconds_remaining": 24.156,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 11.008858654648066,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.65,
                    "y": -0.045,
                    "z": 1.1
                  },
                  "note": "Both cabinet pulls are visible near the middle-left of the wrist view. I am approaching the right-hand pull while correcting the remaining lateral offset."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.69337,
      -0.07862,
      0.57666,
      -2.58377,
      -0.14089,
      4.26215,
      0.15336
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.59476,
      -0.02376,
      1.09875
    ],
    "tcp_roll_pitch_yaw": [
      3.11341,
      -1.40115,
      -3.05945
    ],
    "tcp_rotation_matrix": [
      [
        -0.16128,
        0.02191,
        0.98667
      ],
      [
        -0.02985,
        -0.9994,
        0.01732
      ],
      [
        0.98646,
        -0.02666,
        0.16183
      ]
    ],
    "simulated_seconds_remaining": 22.638,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 7.805796702392399,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The right pull is now centered in the open jaws, and forward travel has met the cabinet. I am closing the fingers around the pull."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.69454,
      -0.08053,
      0.57499,
      -2.59467,
      -0.13936,
      4.28087,
      0.15345
    ],
    "gripper_open": 0.9097,
    "tcp_xyz": [
      0.59049,
      -0.02514,
      1.09851
    ],
    "tcp_roll_pitch_yaw": [
      3.11186,
      -1.39157,
      -3.06012
    ],
    "tcp_rotation_matrix": [
      [
        -0.17074,
        0.01997,
        0.98511
      ],
      [
        -0.03052,
        -0.99942,
        0.01497
      ],
      [
        0.98484,
        -0.02751,
        0.17125
      ]
    ],
    "simulated_seconds_remaining": 21.714,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 6.009683017618954,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.49,
                    "gripper": 0
                  },
                  "note": "The jaws stopped against an object while closing. I am making a short outward pull to check whether the cabinet handle is securely engaged."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.69193,
      -0.40207,
      0.45784,
      -2.88831,
      -0.26136,
      4.33116,
      0.35271
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.49127,
      -0.02515,
      1.09853
    ],
    "tcp_roll_pitch_yaw": [
      3.1125,
      -1.39156,
      -3.06078
    ],
    "tcp_rotation_matrix": [
      [
        -0.17076,
        0.01995,
        0.98511
      ],
      [
        -0.03041,
        -0.99943,
        0.01497
      ],
      [
        0.98484,
        -0.0274,
        0.17127
      ]
    ],
    "simulated_seconds_remaining": 20.724,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 12.61062259785831,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.54,
                    "y": -0.06,
                    "pitch": -1.57,
                    "roll": 0,
                    "yaw": 0,
                    "gripper": 1
                  },
                  "note": "The pull did not follow the gripper, so the first closure missed it. I am reopening and leveling the jaws with a small lateral correction before another approach."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.70732,
      -0.40047,
      0.37615,
      -2.74047,
      -0.42087,
      4.02356,
      0.44315
    ],
    "gripper_open": 0.9965,
    "tcp_xyz": [
      0.53949,
      -0.05963,
      1.0986
    ],
    "tcp_roll_pitch_yaw": [
      3.03361,
      -1.56949,
      -3.03301
    ],
    "tcp_rotation_matrix": [
      [
        0.00488,
        -0.03504,
        0.99937
      ],
      [
        -0.01649,
        -0.99925,
        -0.03496
      ],
      [
        0.99985,
        -0.01631,
        -0.00545
      ]
    ],
    "simulated_seconds_remaining": 19.8,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 17.821093812584877,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.585,
                    "y": -0.04
                  },
                  "note": "The right pull lies between the fingertips. I am advancing only a few centimeters to surround the bar without pressing deeply into the door."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.71943,
      -0.28476,
      0.51436,
      -2.63405,
      -0.24954,
      3.99165,
      0.32296
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.58397,
      -0.0404,
      1.09859
    ],
    "tcp_roll_pitch_yaw": [
      3.07252,
      -1.56954,
      -3.07177
    ],
    "tcp_rotation_matrix": [
      [
        0.00492,
        -0.03489,
        0.99938
      ],
      [
        -0.01644,
        -0.99926,
        -0.0348
      ],
      [
        0.99985,
        -0.01625,
        -0.00549
      ]
    ],
    "simulated_seconds_remaining": 19.14,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 5.211956569924951,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The right bar is centered between the fingertips at the shallower approach depth. I am closing to secure it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.72711,
      -0.28622,
      0.50353,
      -2.64739,
      -0.17712,
      3.99306,
      0.32272
    ],
    "gripper_open": 0.0302,
    "tcp_xyz": [
      0.57909,
      -0.06935,
      1.09818
    ],
    "tcp_roll_pitch_yaw": [
      1.75513,
      -1.51903,
      -1.82633
    ],
    "tcp_rotation_matrix": [
      [
        -0.00808,
        -0.10611,
        0.99432
      ],
      [
        -0.06679,
        -0.99208,
        -0.10642
      ],
      [
        0.99773,
        -0.06727,
        0.00093
      ]
    ],
    "simulated_seconds_remaining": 18.216,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 14.811506187543273,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.56,
                    "y": 0.01,
                    "roll": 0,
                    "pitch": -1.57,
                    "yaw": 0,
                    "gripper": 1
                  },
                  "note": "The nearby second pull appears to have deflected the fingers during closure. I am shifting so that only the chosen pull enters the jaw opening."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.66584,
      -0.41258,
      0.60218,
      -2.72194,
      -0.09269,
      3.95687,
      0.30953
    ],
    "gripper_open": 0.9965,
    "tcp_xyz": [
      0.56027,
      0.00899,
      1.09821
    ],
    "tcp_roll_pitch_yaw": [
      0.82163,
      -1.56993,
      -0.82245
    ],
    "tcp_rotation_matrix": [
      [
        0.00674,
        -0.03649,
        0.99931
      ],
      [
        -0.01699,
        -0.99919,
        -0.03637
      ],
      [
        0.99983,
        -0.01673,
        -0.00736
      ]
    ],
    "simulated_seconds_remaining": 17.292,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 5.204549956135452,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.62
                  },
                  "note": "The neighboring pull is now outside the left fingertip. I am moving forward to seat the chosen bar farther inside the fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.74791,
      -0.20657,
      0.74139,
      -2.54308,
      0.0248,
      3.95069,
      0.13879
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.61883,
      0.00899,
      1.09819
    ],
    "tcp_roll_pitch_yaw": [
      0.81986,
      -1.56985,
      -0.82067
    ],
    "tcp_rotation_matrix": [
      [
        0.0068,
        -0.03647,
        0.99931
      ],
      [
        -0.01705,
        -0.99919,
        -0.03635
      ],
      [
        0.99983,
        -0.01679,
        -0.00742
      ]
    ],
    "simulated_seconds_remaining": 16.566,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 7.206031369045377,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The chosen pull extends into the finger opening while the other pull remains clear. I am closing at this deeper position."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.75452,
      -0.20575,
      0.73265,
      -2.54646,
      0.11202,
      3.95064,
      0.13829
    ],
    "gripper_open": 0.114,
    "tcp_xyz": [
      0.61651,
      -0.02267,
      1.09858
    ],
    "tcp_roll_pitch_yaw": [
      1.64137,
      -1.50901,
      -1.72101
    ],
    "tcp_rotation_matrix": [
      [
        -0.00439,
        -0.1146,
        0.9934
      ],
      [
        -0.0778,
        -0.99036,
        -0.1146
      ],
      [
        0.99696,
        -0.07779,
        -0.00457
      ]
    ],
    "simulated_seconds_remaining": 15.642,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 6.205489287152886,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.5,
                    "gripper": 0
                  },
                  "note": "The fingers have stopped with a small gap around the bar. I am pulling outward to start swinging the cabinet door."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.57285,
      -0.60886,
      0.44492,
      -2.89154,
      -0.11977,
      3.92081,
      0.41192
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.50137,
      -0.02251,
      1.09858
    ],
    "tcp_roll_pitch_yaw": [
      1.64076,
      -1.5096,
      -1.72
    ],
    "tcp_rotation_matrix": [
      [
        -0.00423,
        -0.11421,
        0.99345
      ],
      [
        -0.07723,
        -0.99045,
        -0.1142
      ],
      [
        0.997,
        -0.07721,
        -0.00463
      ]
    ],
    "simulated_seconds_remaining": 14.586,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 8.406955263577402,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.6,
                    "y": 0.015,
                    "roll": 0,
                    "pitch": -1.57,
                    "yaw": 0,
                    "gripper": 1
                  },
                  "note": "The door has started to separate, but the bar slipped out during the pull. I am reopening and approaching the displaced handle for a deeper grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.71403,
      -0.28114,
      0.69999,
      -2.60641,
      0.01159,
      3.95083,
      0.1907
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.59855,
      0.01061,
      1.09857
    ],
    "tcp_roll_pitch_yaw": [
      1.38584,
      -1.56793,
      -1.39384
    ],
    "tcp_rotation_matrix": [
      [
        0.00654,
        -0.04367,
        0.99902
      ],
      [
        -0.01922,
        -0.99887,
        -0.04353
      ],
      [
        0.99979,
        -0.01892,
        -0.00737
      ]
    ],
    "simulated_seconds_remaining": 13.596,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 5.004184063524008,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.665
                  },
                  "note": "The moved handle is centered between the jaws. I am advancing so the fingers pass behind the bar before closing."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.75317,
      -0.03294,
      0.83215,
      -2.44693,
      0.25475,
      4.09155,
      -0.06687
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.63879,
      -0.01178,
      1.10412
    ],
    "tcp_roll_pitch_yaw": [
      2.59233,
      -1.46243,
      -2.6809
    ],
    "tcp_rotation_matrix": [
      [
        -0.09215,
        -0.11944,
        0.98856
      ],
      [
        -0.0649,
        -0.98995,
        -0.12565
      ],
      [
        0.99363,
        -0.07574,
        0.08347
      ]
    ],
    "simulated_seconds_remaining": 12.87,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 4.403939220122993,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The bar is aligned within the fingers at the cabinet surface. I am securing the grasp before pulling again."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.75145,
      -0.03589,
      0.83432,
      -2.45634,
      0.25793,
      4.10789,
      -0.06709
    ],
    "gripper_open": 0.9994,
    "tcp_xyz": [
      0.63527,
      -0.01034,
      1.10421
    ],
    "tcp_roll_pitch_yaw": [
      2.64835,
      -1.45565,
      -2.73765
    ],
    "tcp_rotation_matrix": [
      [
        -0.10093,
        -0.11986,
        0.98765
      ],
      [
        -0.06198,
        -0.99003,
        -0.12648
      ],
      [
        0.99296,
        -0.07398,
        0.09249
      ]
    ],
    "simulated_seconds_remaining": 11.946,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 7.806694246828556,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.608,
                    "gripper": 0
                  },
                  "note": "The door surface is preventing the jaws from closing. I am easing outward while maintaining closure so the fingers can clamp the projecting handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.7564,
      -0.14069,
      0.79626,
      -2.55004,
      0.23968,
      4.10683,
      0.03204
    ],
    "gripper_open": 0.4566,
    "tcp_xyz": [
      0.60802,
      -0.02307,
      1.10245
    ],
    "tcp_roll_pitch_yaw": [
      2.55274,
      -1.45273,
      -2.66853
    ],
    "tcp_rotation_matrix": [
      [
        -0.10058,
        -0.14554,
        0.98423
      ],
      [
        -0.0706,
        -0.9857,
        -0.15298
      ],
      [
        0.99242,
        -0.08488,
        0.08887
      ]
    ],
    "simulated_seconds_remaining": 11.022,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 6.005243797786534,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.55,
                    "y": -0.04,
                    "gripper": 0
                  },
                  "note": "The jaws have partially closed around the handle. I am pulling outward with a small sideways adjustment to follow the door's opening arc."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 19,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.72028,
      -0.34595,
      0.64873,
      -2.73594,
      0.05438,
      4.10598,
      0.23852
    ],
    "gripper_open": 0.0389,
    "tcp_xyz": [
      0.55264,
      -0.03081,
      1.10147
    ],
    "tcp_roll_pitch_yaw": [
      2.68523,
      -1.46597,
      -2.77569
    ],
    "tcp_rotation_matrix": [
      [
        -0.09302,
        -0.12179,
        0.98819
      ],
      [
        -0.05427,
        -0.9904,
        -0.12717
      ],
      [
        0.99418,
        -0.06546,
        0.08551
      ]
    ],
    "simulated_seconds_remaining": 10.098,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 11.008561663329601,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.59,
                    "y": 0.045,
                    "roll": 0,
                    "pitch": -1.57,
                    "yaw": 0,
                    "gripper": 1
                  },
                  "note": "The handle remains just outside the closed fingertips. I am shifting the open gripper sideways to capture it securely."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 20,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.69743,
      -0.33608,
      0.76663,
      -2.62549,
      0.12022,
      3.92724,
      0.16712
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.5894,
      0.03771,
      1.10159
    ],
    "tcp_roll_pitch_yaw": [
      1.79892,
      -1.56673,
      -1.81155
    ],
    "tcp_rotation_matrix": [
      [
        0.00499,
        -0.04826,
        0.99882
      ],
      [
        -0.02037,
        -0.99863,
        -0.04815
      ],
      [
        0.99978,
        -0.02011,
        -0.00597
      ]
    ],
    "simulated_seconds_remaining": 9.174,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 6.605526722967625,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.625,
                    "y": 0.045
                  },
                  "note": "The target bar is just inside the left finger, with the adjacent pull well clear. I am advancing slightly to place the finger behind it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 8,
    "motion_seconds": 0.528,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 21,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.77107,
      -0.20617,
      0.89233,
      -2.50927,
      0.22083,
      3.93026,
      0.02635
    ],
    "gripper_open": 0.9967,
    "tcp_xyz": [
      0.62382,
      0.04468,
      1.10156
    ],
    "tcp_roll_pitch_yaw": [
      1.77893,
      -1.56661,
      -1.79166
    ],
    "tcp_rotation_matrix": [
      [
        0.00504,
        -0.04836,
        0.99882
      ],
      [
        -0.02052,
        -0.99862,
        -0.04825
      ],
      [
        0.99978,
        -0.02025,
        -0.00603
      ]
    ],
    "simulated_seconds_remaining": 8.646,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 6.60671232175082,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": -0.015
                  },
                  "note": "The door moved during the approach and carried the bar left of the jaw opening. I am sliding sideways at this depth to place the bar between the fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 22,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.77688,
      -0.19588,
      0.72602,
      -2.52844,
      -0.16988,
      3.9576,
      0.17253
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.62144,
      0.02922,
      1.09625
    ],
    "tcp_roll_pitch_yaw": [
      -1.41535,
      -1.48118,
      1.51378
    ],
    "tcp_rotation_matrix": [
      [
        0.01285,
        0.06286,
        0.99794
      ],
      [
        0.07373,
        -0.99536,
        0.06175
      ],
      [
        0.9972,
        0.07279,
        -0.01742
      ]
    ],
    "simulated_seconds_remaining": 7.92,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 7.206086225807667,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.53,
                    "gripper": 0
                  },
                  "note": "The left finger is engaged against the handle. I am closing while pulling outward to hook the bar and swing the door."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 23,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.67097,
      -0.50687,
      0.52208,
      -2.7861,
      -0.35414,
      3.98882,
      0.41565
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.53128,
      0.02923,
      1.09627
    ],
    "tcp_roll_pitch_yaw": [
      -1.4158,
      -1.48102,
      1.51422
    ],
    "tcp_rotation_matrix": [
      [
        0.01282,
        0.06284,
        0.99794
      ],
      [
        0.07389,
        -0.99535,
        0.06173
      ],
      [
        0.99718,
        0.07295,
        -0.0174
      ]
    ],
    "simulated_seconds_remaining": 6.996,
    "calls_remaining_including_this": 35
  },
  "api_seconds": 14.413383781909943,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.605,
                    "y": -0.045,
                    "z": 1.16,
                    "roll": 0,
                    "pitch": -1.57,
                    "yaw": 0,
                    "gripper": 1
                  },
                  "note": "The pull slipped free again. I am moving higher on the straight section of the bar and centering the open jaws for a final grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 24,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.70898,
      -0.32596,
      0.4484,
      -2.485,
      -0.39432,
      3.82615,
      0.46873
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.60421,
      -0.04425,
      1.15935
    ],
    "tcp_roll_pitch_yaw": [
      -0.84519,
      -1.56956,
      0.84616
    ],
    "tcp_rotation_matrix": [
      [
        0.007,
        -0.03469,
        0.99937
      ],
      [
        -0.01542,
        -0.99928,
        -0.03458
      ],
      [
        0.99986,
        -0.01517,
        -0.00753
      ]
    ],
    "simulated_seconds_remaining": 5.874,
    "calls_remaining_including_this": 34
  },
  "api_seconds": 11.810082058422267,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.625,
                    "y": -0.02,
                    "z": 1.1,
                    "roll": 0.6,
                    "pitch": -1.57,
                    "yaw": 0
                  },
                  "note": "The two closely spaced pulls interfere with a level grasp. I am angling the jaws and lowering onto the right bar to clear the neighboring pull."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 25,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.74247,
      0.16543,
      0.23038,
      -2.06804,
      -1.18536,
      4.42911,
      0.8402
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.5927,
      -0.0511,
      1.14046
    ],
    "tcp_roll_pitch_yaw": [
      3.10575,
      -1.41525,
      -2.47705
    ],
    "tcp_rotation_matrix": [
      [
        -0.10738,
        0.56145,
        0.82052
      ],
      [
        -0.10517,
        -0.82707,
        0.55217
      ],
      [
        0.98864,
        -0.027,
        0.14786
      ]
    ],
    "simulated_seconds_remaining": 4.752,
    "calls_remaining_including_this": 33
  },
  "api_seconds": 5.004336115904152,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The angled approach has placed a pull between the fingertips. I am closing to hold it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 26,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.75746,
      0.17,
      0.21214,
      -2.07034,
      -1.17164,
      4.42533,
      0.8403
    ],
    "gripper_open": 0.4734,
    "tcp_xyz": [
      0.59354,
      -0.07354,
      1.13833
    ],
    "tcp_roll_pitch_yaw": [
      3.03454,
      -1.41222,
      -2.45065
    ],
    "tcp_rotation_matrix": [
      [
        -0.10756,
        0.52444,
        0.84463
      ],
      [
        -0.11089,
        -0.85058,
        0.51402
      ],
      [
        0.98799,
        -0.03838,
        0.14964
      ]
    ],
    "simulated_seconds_remaining": 3.828,
    "calls_remaining_including_this": 32
  },
  "api_seconds": 5.004676710814238,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.36,
                    "y": -0.14,
                    "gripper": 0
                  },
                  "note": "The jaws remain partly open against the pull. I am drawing the handle outward and toward the door's swing direction to open the cabinet."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 27,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.75746,
      0.17,
      0.21214,
      -2.07034,
      -1.17164,
      4.42533,
      0.8403
    ],
    "gripper_open": 0.4734,
    "tcp_xyz": [
      0.59354,
      -0.07354,
      1.13833
    ],
    "tcp_roll_pitch_yaw": [
      3.03454,
      -1.41222,
      -2.45065
    ],
    "tcp_rotation_matrix": [
      [
        -0.10756,
        0.52444,
        0.84463
      ],
      [
        -0.11089,
        -0.85058,
        0.51402
      ],
      [
        0.98799,
        -0.03838,
        0.14964
      ]
    ],
    "simulated_seconds_remaining": 3.828,
    "calls_remaining_including_this": 31
  },
  "api_seconds": 4.804435643367469,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48,
                    "y": -0.1,
                    "gripper": 0
                  },
                  "note": "The larger pull was outside the arm's reachable configuration. I am using a shorter outward motion while retaining the grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 28,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.75746,
      0.17,
      0.21214,
      -2.07034,
      -1.17164,
      4.42533,
      0.8403
    ],
    "gripper_open": 0.4734,
    "tcp_xyz": [
      0.59354,
      -0.07354,
      1.13833
    ],
    "tcp_roll_pitch_yaw": [
      3.03454,
      -1.41222,
      -2.45065
    ],
    "tcp_rotation_matrix": [
      [
        -0.10756,
        0.52444,
        0.84463
      ],
      [
        -0.11089,
        -0.85058,
        0.51402
      ],
      [
        0.98799,
        -0.03838,
        0.14964
      ]
    ],
    "simulated_seconds_remaining": 3.828,
    "calls_remaining_including_this": 30
  },
  "api_seconds": 5.606465134769678,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.46,
                    "roll": 0,
                    "pitch": -1.57,
                    "yaw": 0,
                    "gripper": 0
                  },
                  "note": "The angled wrist configuration blocks retraction. I am straightening the wrist while pulling the handle outward."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 29,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.82033,
      -0.69592,
      0.1904,
      -2.79883,
      -0.9032,
      4.00162,
      0.85423
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.46086,
      -0.07338,
      1.13848
    ],
    "tcp_roll_pitch_yaw": [
      2.59955,
      -1.57056,
      -2.5954
    ],
    "tcp_rotation_matrix": [
      [
        0.00603,
        -0.03151,
        0.99949
      ],
      [
        -0.01645,
        -0.99937,
        -0.0314
      ],
      [
        0.99985,
        -0.01625,
        -0.00655
      ]
    ],
    "simulated_seconds_remaining": 2.64,
    "calls_remaining_including_this": 29
  },
  "api_seconds": 7.806367506273091,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "give_up",
                "args": {
                  "note": "I could not establish a secure handle grasp. The cabinet remains closed, and the remaining motion time is insufficient for another approach and opening pull."
                }
              }
            }
          ]
        }
      }
    ]
  }
}

========================================================================
GPT-Astra / Open / Episode 004

Completed scored attempt. Images are available in the paired videos.

Opaque provider signatures, image payloads, and local paths are omitted.


RESULT
{
  "benchmark_index": 4,
  "source_episode_index": 117,
  "house_index": 17,
  "status": "completed",
  "success": true,
  "oracle_success": true,
  "action_decisions": 21,
  "wall_seconds": 225.91,
  "usage": {
    "input_tokens": 382678,
    "cached_input_tokens": 356480,
    "cache_write_input_tokens": 0,
    "output_tokens": 3531,
    "reasoning_output_tokens": 1206
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task.
You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose.
Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion.
move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up.
roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial.
Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5).
The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y.
The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics.
Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration.
Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target.
You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time.
Each move must include a short note describing what you observe and why you chose that motion.
Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done.
Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available.



AGENT TRANSCRIPT (visible messages and completed tool calls)

I’ll inspect the scene, then grasp the handle and open the object.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"open the drawer.\", \"joint_positions\": [-0.01595, -0.80441, 0.02568, -2.29148, 0.03674, 1.60203, -0.16756], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.32278, 0.01276, 1.05566], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.97868, 0.17054, 0.11445], [0.16954, -0.98535, 0.01856], [0.11594, 0.00124, -0.99326]], \"simulated_seconds_remaining\": 30.03, \"calls_remaining_including_this\": 57}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.46,
      "y": 0,
      "z": 0.91,
      "roll": 1.57,
      "yaw": -1.57,
      "gripper": 1
    },
    "note": "The drawer is beneath the counter with a horizontal handle. I am turning the gripper forward with vertical finger separation and approaching the drawer front."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"open the drawer.\", \"joint_positions\": [-0.01595, -0.80441, 0.02568, -2.29148, 0.03674, 1.60203, -0.16756], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.32278, 0.01276, 1.05566], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.97868, 0.17054, 0.11445], [0.16954, -0.98535, 0.01856], [0.11594, 0.00124, -0.99326]], \"simulated_seconds_remaining\": 30.03, \"calls_remaining_including_this\": 56}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.4,
      "z": 1,
      "roll": 0.7,
      "yaw": -0.7
    },
    "note": "The full turn was unreachable. I am using a smaller intermediate rotation above the drawer to establish a feasible approach."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"open the drawer.\", \"joint_positions\": [-0.08709, -0.88765, -0.1186, -2.67752, 0.56657, 2.20864, 0.13541], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.39963, 0.01282, 1.00017], \"tcp_roll_pitch_yaw\": [0.69685, -0.001, -0.69673], \"tcp_rotation_matrix\": [[0.78612, -0.35413, 0.50656], [-0.58526, -0.68998, 0.4259], [0.19869, -0.63128, -0.74967]], \"simulated_seconds_remaining\": 28.446, \"calls_remaining_including_this\": 55}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 24, \"motion_seconds\": 1.584, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.44,
      "z": 0.91,
      "roll": 1.4,
      "yaw": -1.4
    },
    "note": "The intermediate pose succeeded. I am bringing the fingers toward the handle height while completing the forward-facing rotation."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"open the drawer.\", \"joint_positions\": [-0.08709, -0.88765, -0.1186, -2.67752, 0.56657, 2.20864, 0.13541], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.39963, 0.01282, 1.00017], \"tcp_roll_pitch_yaw\": [0.69685, -0.001, -0.69673], \"tcp_rotation_matrix\": [[0.78612, -0.35413, 0.50656], [-0.58526, -0.68998, 0.4259], [0.19869, -0.63128, -0.74967]], \"simulated_seconds_remaining\": 28.446, \"calls_remaining_including_this\": 54}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK requires a large joint jump; split the motion or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.43,
      "z": 0.95,
      "roll": 1.05,
      "yaw": -1.05
    },
    "note": "The controller requested a smaller rotation. I am splitting the approach again while keeping clear of the cabinet."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"open the drawer.\", \"joint_positions\": [0.26056, -0.93119, -0.18915, -2.97071, 1.17086, 2.98968, -0.08636], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.42991, 0.01319, 0.9506], \"tcp_roll_pitch_yaw\": [1.04801, -0.00144, -1.04572], \"tcp_rotation_matrix\": [[0.47677, -0.34053, 0.81039], [-0.85451, -0.39579, 0.33641], [0.20619, -0.85287, -0.47968]], \"simulated_seconds_remaining\": 27.456, \"calls_remaining_including_this\": 53}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 15, \"motion_seconds\": 0.99, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.55,
      "z": 0.92,
      "roll": 1.3,
      "yaw": -1.3
    },
    "note": "The handle is visible ahead of the fingers. I am extending the arm toward the cabinet and refining the gripper angle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"open the drawer.\", \"joint_positions\": [0.26056, -0.93119, -0.18915, -2.97071, 1.17086, 2.98968, -0.08636], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.42991, 0.01319, 0.9506], \"tcp_roll_pitch_yaw\": [1.04801, -0.00144, -1.04572], \"tcp_rotation_matrix\": [[0.47677, -0.34053, 0.81039], [-0.85451, -0.39579, 0.33641], [0.20619, -0.85287, -0.47968]], \"simulated_seconds_remaining\": 27.456, \"calls_remaining_including_this\": 52}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK requires a large joint jump; split the motion or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.53,
      "z": 0.95,
      "roll": 0.5,
      "pitch": -0.6,
      "yaw": -0.65
    },
    "note": "The current wrist turn is nearing a joint limit. I am changing the approach rotation while moving closer to the handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"open the drawer.\", \"joint_positions\": [-0.10781, -0.49249, 0.23432, -2.70693, 0.64867, 3.07992, -0.13548], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.52947, 0.01318, 0.95002], \"tcp_roll_pitch_yaw\": [0.50409, -0.59754, -0.65354], \"tcp_rotation_matrix\": [[0.61665, -0.2009, 0.76117], [-0.3558, -0.93363, 0.04183], [0.70224, -0.29661, -0.6472]], \"simulated_seconds_remaining\": 26.07, \"calls_remaining_including_this\": 51}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 21, \"motion_seconds\": 1.3860000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.61,
      "z": 0.98,
      "roll": 0,
      "pitch": -1.15,
      "yaw": -0.15
    },
    "note": "The drawer pull is above the current grasp point. I am raising the grasp point and aiming the fingers more directly into the drawer front."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"open the drawer.\", \"joint_positions\": [-0.23407, -0.112, 0.4362, -2.59769, 0.5076, 3.79049, -0.42764], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.6095, 0.01318, 0.97962], \"tcp_roll_pitch_yaw\": [0.00775, -1.14645, -0.15762], \"tcp_rotation_matrix\": [[0.3189, -0.07956, 0.94444], [0.12006, -0.98505, -0.12352], [0.94015, 0.15278, -0.30458]], \"simulated_seconds_remaining\": 24.948, \"calls_remaining_including_this\": 50}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 17, \"motion_seconds\": 1.122, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.64,
      "z": 1.1,
      "pitch": -1.45
    },
    "note": "The wrist view shows the cabinet doors below the drawer, so I am lifting toward the drawer pull and leveling the approach."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"open the drawer.\", \"joint_positions\": [-0.24902, -0.07205, 0.42332, -2.43483, 0.4199, 3.96717, -0.42959], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.63978, 0.01317, 1.09905], \"tcp_roll_pitch_yaw\": [0.00791, -1.44757, -0.15779], \"tcp_rotation_matrix\": [[0.03036, -0.1277, 0.99135], [0.1659, -0.9774, -0.13099], [0.98567, 0.16844, -0.00848]], \"simulated_seconds_remaining\": 23.826, \"calls_remaining_including_this\": 49}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 17, \"motion_seconds\": 1.122, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

I’ve reached the drawer front. I’m aligning the fingers around the pull before closing the gripper.


{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.62,
      "z": 1.02,
      "roll": -0.85,
      "pitch": -0.85,
      "yaw": 0.7
    },
    "note": "The drawer pull is just below the current level. I am lowering to it and rotating the finger opening toward vertical for a secure pinch."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"open the drawer.\", \"joint_positions\": [-0.24902, -0.07205, 0.42332, -2.43483, 0.4199, 3.96717, -0.42959], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.63978, 0.01317, 1.09905], \"tcp_roll_pitch_yaw\": [0.00791, -1.44757, -0.15779], \"tcp_rotation_matrix\": [[0.03036, -0.1277, 0.99135], [0.1659, -0.9774, -0.13099], [0.98567, 0.16844, -0.00848]], \"simulated_seconds_remaining\": 23.826, \"calls_remaining_including_this\": 48}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK requires a large joint jump; split the motion or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.62,
      "z": 1.04,
      "roll": -0.4,
      "pitch": -1.2,
      "yaw": 0.25
    },
    "note": "The wrist rotation needs smaller steps. I am making the first partial turn and lowering slightly toward the pull."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 11, \"instruction\": \"open the drawer.\", \"joint_positions\": [-0.26002, -0.16416, 0.46265, -2.52188, 0.55539, 3.75711, -0.62569], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.62027, 0.01319, 1.0408], \"tcp_roll_pitch_yaw\": [-0.39834, -1.20342, 0.24826], \"tcp_rotation_matrix\": [[0.25411, -0.06439, 0.96503], [0.27201, -0.95275, -0.13519], [0.92814, 0.29685, -0.22459]], \"simulated_seconds_remaining\": 23.1, \"calls_remaining_including_this\": 47}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 11, \"motion_seconds\": 0.726, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "z": 1.02,
      "roll": -0.85,
      "pitch": -0.85,
      "yaw": 0.7
    },
    "note": "The pull is now clearly visible in the wrist camera. I am continuing the gradual wrist turn at the drawer height."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 12, \"instruction\": \"open the drawer.\", \"joint_positions\": [-0.47504, -0.17669, 0.75812, -2.40837, 1.02359, 3.60784, -1.38672], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.62034, 0.01322, 1.02036], \"tcp_roll_pitch_yaw\": [-0.84757, -0.85458, 0.69731], \"tcp_rotation_matrix\": [[0.39381, 0.07639, 0.91601], [0.58964, -0.78548, -0.18799], [0.70515, 0.61415, -0.35437]], \"simulated_seconds_remaining\": 22.242, \"calls_remaining_including_this\": 46}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 13, \"motion_seconds\": 0.8580000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "roll": -1.3,
      "pitch": -0.4,
      "yaw": 1.15
    },
    "note": "The pull remains ahead. I am completing another small rotation so the fingers can straddle the horizontal bar vertically."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 13, \"instruction\": \"open the drawer.\", \"joint_positions\": [-0.51636, -0.10578, 0.76979, -2.506, 0.67886, 3.84559, -1.66675], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.62034, 0.01316, 1.02031], \"tcp_roll_pitch_yaw\": [-1.29787, -0.40365, 1.14786], \"tcp_rotation_matrix\": [[0.24721, 0.15246, 0.95689], [0.93258, -0.30549, -0.19226], [0.26301, 0.93991, -0.2177]], \"simulated_seconds_remaining\": 21.12, \"calls_remaining_including_this\": 45}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 17, \"motion_seconds\": 1.122, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "roll": -1.57,
      "pitch": -0.17,
      "yaw": 1.45
    },
    "note": "The bar is nearly aligned with the finger gap. I am leveling the forward direction and finishing the vertical pinch orientation."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 14, \"instruction\": \"open the drawer.\", \"joint_positions\": [-0.59423, 0.05565, 0.65605, -2.57688, 0.07872, 4.1935, -1.64225], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.62042, 0.01291, 1.0202], \"tcp_roll_pitch_yaw\": [-1.56735, -0.17272, 1.44671], \"tcp_rotation_matrix\": [[0.0073, 0.00197, 0.99997], [0.99997, -0.00159, -0.0073], [0.00158, 1.0, -0.00198]], \"simulated_seconds_remaining\": 20.262, \"calls_remaining_including_this\": 44}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 13, \"motion_seconds\": 0.8580000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "y": -0.09,
      "z": 0.985,
      "x": 0.65
    },
    "note": "The wrist view places the pull to the lower side of the grasp point and along the drawer to the right. I am shifting toward its middle before advancing."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 15, \"instruction\": \"open the drawer.\", \"joint_positions\": [-0.73819, 0.2551, 0.53045, -2.45195, -0.24061, 4.2263, -1.58641], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.64966, -0.08898, 0.98536], \"tcp_roll_pitch_yaw\": [-1.56725, -0.1728, 1.44634], \"tcp_rotation_matrix\": [[0.00765, 0.00206, 0.99997], [0.99997, -0.00169, -0.00765], [0.00167, 1.0, -0.00207]], \"simulated_seconds_remaining\": 19.206, \"calls_remaining_including_this\": 43}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 16, \"motion_seconds\": 1.056, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.685,
      "z": 0.995
    },
    "note": "The pull now runs through the finger gap in the wrist view. I am advancing a few centimeters and correcting height to seat the bar between the fingertips."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 16, \"instruction\": \"open the drawer.\", \"joint_positions\": [-0.71734, 0.3103, 0.52814, -2.40504, -0.21882, 4.26118, -1.61087], \"gripper_open\": 1.0, \"tcp_xyz\": [0.66052, -0.09115, 0.98701], \"tcp_roll_pitch_yaw\": [-1.60379, -0.18904, 1.44404], \"tcp_rotation_matrix\": [[0.01624, -0.03569, 0.99923], [0.99977, -0.01314, -0.01671], [0.01373, 0.99928, 0.03547]], \"simulated_seconds_remaining\": 18.678, \"calls_remaining_including_this\": 42}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 8, \"motion_seconds\": 0.528, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The approach stopped at contact with the pull, which is centered between the fingers. I am closing the gripper to secure it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 17, \"instruction\": \"open the drawer.\", \"joint_positions\": [-0.71809, 0.30764, 0.52789, -2.41438, -0.22021, 4.27182, -1.61059], \"gripper_open\": 0.9915, \"tcp_xyz\": [0.65742, -0.09029, 0.98661], \"tcp_roll_pitch_yaw\": [-1.6075, -0.18912, 1.44585], \"tcp_rotation_matrix\": [[0.01508, -0.0393, 0.99911], [0.9998, -0.0128, -0.01559], [0.0134, 0.99915, 0.0391]], \"simulated_seconds_remaining\": 17.754, \"calls_remaining_including_this\": 41}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.59
    },
    "note": "The gripper stayed wide at contact. I am making a short outward pull to test engagement and clear any pressure against the drawer face."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 18, \"instruction\": \"open the drawer.\", \"joint_positions\": [-0.77537, 0.15974, 0.51629, -2.62286, -0.26747, 4.36489, -1.53553], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.59134, -0.09031, 0.98661], \"tcp_roll_pitch_yaw\": [-1.6075, -0.18906, 1.44582], \"tcp_rotation_matrix\": [[0.0151, -0.03929, 0.99911], [0.9998, -0.01275, -0.01561], [0.01335, 0.99915, 0.03909]], \"simulated_seconds_remaining\": 17.028, \"calls_remaining_including_this\": 40}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 11, \"motion_seconds\": 0.726, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The fingers are clear of the drawer face and the pull is still inside the gap. I am closing at this shallower position."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 19, \"instruction\": \"open the drawer.\", \"joint_positions\": [-0.77537, 0.15974, 0.51629, -2.62286, -0.26747, 4.36489, -1.53553], \"gripper_open\": 0.0, \"tcp_xyz\": [0.59132, -0.09031, 0.98661], \"tcp_roll_pitch_yaw\": [-1.6075, -0.18906, 1.44582], \"tcp_rotation_matrix\": [[0.0151, -0.03929, 0.99911], [0.9998, -0.01275, -0.01561], [0.01335, 0.99915, 0.03909]], \"simulated_seconds_remaining\": 16.104, \"calls_remaining_including_this\": 39}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 1,
      "x": 0.635,
      "z": 1.002,
      "roll": -1.57,
      "pitch": -0.17,
      "yaw": 1.45
    },
    "note": "The gripper closed completely, indicating it was short of the pull. I am reopening and moving halfway back toward contact, slightly higher to center the bar."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 20, \"instruction\": \"open the drawer.\", \"joint_positions\": [-0.76231, 0.17504, 0.5246, -2.49741, -0.27242, 4.21592, -1.52923], \"gripper_open\": 0.9965, \"tcp_xyz\": [0.63406, -0.09031, 1.00171], \"tcp_roll_pitch_yaw\": [-1.5709, -0.1704, 1.44992], \"tcp_rotation_matrix\": [[0.00469, -0.00121, 0.99999], [0.99999, 0.00113, -0.00469], [-0.00113, 1.0, 0.00122]], \"simulated_seconds_remaining\": 15.18, \"calls_remaining_including_this\": 38}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The bar is centered in the open finger gap at the revised depth. I am closing to grasp it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 21, \"instruction\": \"open the drawer.\", \"joint_positions\": [-0.76227, 0.1762, 0.52448, -2.49887, -0.27247, 4.21467, -1.52913], \"gripper_open\": 0.1003, \"tcp_xyz\": [0.63395, -0.09029, 1.00003], \"tcp_roll_pitch_yaw\": [-1.5672, -0.1712, 1.44932], \"tcp_rotation_matrix\": [[0.00466, 0.00231, 0.99999], [0.99999, -0.0001, -0.00466], [9e-05, 1.0, -0.00231]], \"simulated_seconds_remaining\": 14.256, \"calls_remaining_including_this\": 37}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.52,
      "gripper": 0
    },
    "note": "The fingers stopped partially closed around the bar. I am pulling straight outward while maintaining the grip to open the drawer."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "Episode ended. Do not call more tools. Return a brief final response."
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

Grasped the handle and pulled outward to open the drawer.

TURN USAGE
{
  "input_tokens": 382678,
  "cached_input_tokens": 356480,
  "cache_write_input_tokens": 0,
  "output_tokens": 3531,
  "reasoning_output_tokens": 1206
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.01595,
      -0.80441,
      0.02568,
      -2.29148,
      0.03674,
      1.60203,
      -0.16756
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.32278,
      0.01276,
      1.05566
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.97868,
        0.17054,
        0.11445
      ],
      [
        0.16954,
        -0.98535,
        0.01856
      ],
      [
        0.11594,
        0.00124,
        -0.99326
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 25.017709189094603,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.46,
                    "y": 0,
                    "z": 0.91,
                    "roll": 1.57,
                    "yaw": -1.57,
                    "gripper": 1
                  },
                  "note": "The drawer is beneath the counter with a horizontal handle. I am turning the gripper forward with vertical finger separation and approaching the drawer front."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 2,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.01595,
      -0.80441,
      0.02568,
      -2.29148,
      0.03674,
      1.60203,
      -0.16756
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.32278,
      0.01276,
      1.05566
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.97868,
        0.17054,
        0.11445
      ],
      [
        0.16954,
        -0.98535,
        0.01856
      ],
      [
        0.11594,
        0.00124,
        -0.99326
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 7.205763827078044,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "z": 1,
                    "roll": 0.7,
                    "yaw": -0.7
                  },
                  "note": "The full turn was unreachable. I am using a smaller intermediate rotation above the drawer to establish a feasible approach."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 24,
    "motion_seconds": 1.584,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.08709,
      -0.88765,
      -0.1186,
      -2.67752,
      0.56657,
      2.20864,
      0.13541
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.39963,
      0.01282,
      1.00017
    ],
    "tcp_roll_pitch_yaw": [
      0.69685,
      -0.001,
      -0.69673
    ],
    "tcp_rotation_matrix": [
      [
        0.78612,
        -0.35413,
        0.50656
      ],
      [
        -0.58526,
        -0.68998,
        0.4259
      ],
      [
        0.19869,
        -0.63128,
        -0.74967
      ]
    ],
    "simulated_seconds_remaining": 28.446,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 6.00525161344558,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.44,
                    "z": 0.91,
                    "roll": 1.4,
                    "yaw": -1.4
                  },
                  "note": "The intermediate pose succeeded. I am bringing the fingers toward the handle height while completing the forward-facing rotation."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 4,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.08709,
      -0.88765,
      -0.1186,
      -2.67752,
      0.56657,
      2.20864,
      0.13541
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.39963,
      0.01282,
      1.00017
    ],
    "tcp_roll_pitch_yaw": [
      0.69685,
      -0.001,
      -0.69673
    ],
    "tcp_rotation_matrix": [
      [
        0.78612,
        -0.35413,
        0.50656
      ],
      [
        -0.58526,
        -0.68998,
        0.4259
      ],
      [
        0.19869,
        -0.63128,
        -0.74967
      ]
    ],
    "simulated_seconds_remaining": 28.446,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 4.80370479542762,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.43,
                    "z": 0.95,
                    "roll": 1.05,
                    "yaw": -1.05
                  },
                  "note": "The controller requested a smaller rotation. I am splitting the approach again while keeping clear of the cabinet."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.26056,
      -0.93119,
      -0.18915,
      -2.97071,
      1.17086,
      2.98968,
      -0.08636
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.42991,
      0.01319,
      0.9506
    ],
    "tcp_roll_pitch_yaw": [
      1.04801,
      -0.00144,
      -1.04572
    ],
    "tcp_rotation_matrix": [
      [
        0.47677,
        -0.34053,
        0.81039
      ],
      [
        -0.85451,
        -0.39579,
        0.33641
      ],
      [
        0.20619,
        -0.85287,
        -0.47968
      ]
    ],
    "simulated_seconds_remaining": 27.456,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 5.4044473404064775,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.55,
                    "z": 0.92,
                    "roll": 1.3,
                    "yaw": -1.3
                  },
                  "note": "The handle is visible ahead of the fingers. I am extending the arm toward the cabinet and refining the gripper angle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 6,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.26056,
      -0.93119,
      -0.18915,
      -2.97071,
      1.17086,
      2.98968,
      -0.08636
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.42991,
      0.01319,
      0.9506
    ],
    "tcp_roll_pitch_yaw": [
      1.04801,
      -0.00144,
      -1.04572
    ],
    "tcp_rotation_matrix": [
      [
        0.47677,
        -0.34053,
        0.81039
      ],
      [
        -0.85451,
        -0.39579,
        0.33641
      ],
      [
        0.20619,
        -0.85287,
        -0.47968
      ]
    ],
    "simulated_seconds_remaining": 27.456,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 6.8054028414189816,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.53,
                    "z": 0.95,
                    "roll": 0.5,
                    "pitch": -0.6,
                    "yaw": -0.65
                  },
                  "note": "The current wrist turn is nearing a joint limit. I am changing the approach rotation while moving closer to the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.10781,
      -0.49249,
      0.23432,
      -2.70693,
      0.64867,
      3.07992,
      -0.13548
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.52947,
      0.01318,
      0.95002
    ],
    "tcp_roll_pitch_yaw": [
      0.50409,
      -0.59754,
      -0.65354
    ],
    "tcp_rotation_matrix": [
      [
        0.61665,
        -0.2009,
        0.76117
      ],
      [
        -0.3558,
        -0.93363,
        0.04183
      ],
      [
        0.70224,
        -0.29661,
        -0.6472
      ]
    ],
    "simulated_seconds_remaining": 26.07,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 9.00716078095138,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.61,
                    "z": 0.98,
                    "roll": 0,
                    "pitch": -1.15,
                    "yaw": -0.15
                  },
                  "note": "The drawer pull is above the current grasp point. I am raising the grasp point and aiming the fingers more directly into the drawer front."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.23407,
      -0.112,
      0.4362,
      -2.59769,
      0.5076,
      3.79049,
      -0.42764
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.6095,
      0.01318,
      0.97962
    ],
    "tcp_roll_pitch_yaw": [
      0.00775,
      -1.14645,
      -0.15762
    ],
    "tcp_rotation_matrix": [
      [
        0.3189,
        -0.07956,
        0.94444
      ],
      [
        0.12006,
        -0.98505,
        -0.12352
      ],
      [
        0.94015,
        0.15278,
        -0.30458
      ]
    ],
    "simulated_seconds_remaining": 24.948,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 9.207403565756977,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.64,
                    "z": 1.1,
                    "pitch": -1.45
                  },
                  "note": "The wrist view shows the cabinet doors below the drawer, so I am lifting toward the drawer pull and leveling the approach."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.24902,
      -0.07205,
      0.42332,
      -2.43483,
      0.4199,
      3.96717,
      -0.42959
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.63978,
      0.01317,
      1.09905
    ],
    "tcp_roll_pitch_yaw": [
      0.00791,
      -1.44757,
      -0.15779
    ],
    "tcp_rotation_matrix": [
      [
        0.03036,
        -0.1277,
        0.99135
      ],
      [
        0.1659,
        -0.9774,
        -0.13099
      ],
      [
        0.98567,
        0.16844,
        -0.00848
      ]
    ],
    "simulated_seconds_remaining": 23.826,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 14.01089726947248,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.62,
                    "z": 1.02,
                    "roll": -0.85,
                    "pitch": -0.85,
                    "yaw": 0.7
                  },
                  "note": "The drawer pull is just below the current level. I am lowering to it and rotating the finger opening toward vertical for a secure pinch."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 10,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.24902,
      -0.07205,
      0.42332,
      -2.43483,
      0.4199,
      3.96717,
      -0.42959
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.63978,
      0.01317,
      1.09905
    ],
    "tcp_roll_pitch_yaw": [
      0.00791,
      -1.44757,
      -0.15779
    ],
    "tcp_rotation_matrix": [
      [
        0.03036,
        -0.1277,
        0.99135
      ],
      [
        0.1659,
        -0.9774,
        -0.13099
      ],
      [
        0.98567,
        0.16844,
        -0.00848
      ]
    ],
    "simulated_seconds_remaining": 23.826,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 6.405254678800702,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.62,
                    "z": 1.04,
                    "roll": -0.4,
                    "pitch": -1.2,
                    "yaw": 0.25
                  },
                  "note": "The wrist rotation needs smaller steps. I am making the first partial turn and lowering slightly toward the pull."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.26002,
      -0.16416,
      0.46265,
      -2.52188,
      0.55539,
      3.75711,
      -0.62569
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.62027,
      0.01319,
      1.0408
    ],
    "tcp_roll_pitch_yaw": [
      -0.39834,
      -1.20342,
      0.24826
    ],
    "tcp_rotation_matrix": [
      [
        0.25411,
        -0.06439,
        0.96503
      ],
      [
        0.27201,
        -0.95275,
        -0.13519
      ],
      [
        0.92814,
        0.29685,
        -0.22459
      ]
    ],
    "simulated_seconds_remaining": 23.1,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 11.407783704809844,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.02,
                    "roll": -0.85,
                    "pitch": -0.85,
                    "yaw": 0.7
                  },
                  "note": "The pull is now clearly visible in the wrist camera. I am continuing the gradual wrist turn at the drawer height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.47504,
      -0.17669,
      0.75812,
      -2.40837,
      1.02359,
      3.60784,
      -1.38672
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.62034,
      0.01322,
      1.02036
    ],
    "tcp_roll_pitch_yaw": [
      -0.84757,
      -0.85458,
      0.69731
    ],
    "tcp_rotation_matrix": [
      [
        0.39381,
        0.07639,
        0.91601
      ],
      [
        0.58964,
        -0.78548,
        -0.18799
      ],
      [
        0.70515,
        0.61415,
        -0.35437
      ]
    ],
    "simulated_seconds_remaining": 22.242,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 4.604056277312338,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "roll": -1.3,
                    "pitch": -0.4,
                    "yaw": 1.15
                  },
                  "note": "The pull remains ahead. I am completing another small rotation so the fingers can straddle the horizontal bar vertically."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.51636,
      -0.10578,
      0.76979,
      -2.506,
      0.67886,
      3.84559,
      -1.66675
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.62034,
      0.01316,
      1.02031
    ],
    "tcp_roll_pitch_yaw": [
      -1.29787,
      -0.40365,
      1.14786
    ],
    "tcp_rotation_matrix": [
      [
        0.24721,
        0.15246,
        0.95689
      ],
      [
        0.93258,
        -0.30549,
        -0.19226
      ],
      [
        0.26301,
        0.93991,
        -0.2177
      ]
    ],
    "simulated_seconds_remaining": 21.12,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 5.804832350462675,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "roll": -1.57,
                    "pitch": -0.17,
                    "yaw": 1.45
                  },
                  "note": "The bar is nearly aligned with the finger gap. I am leveling the forward direction and finishing the vertical pinch orientation."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.59423,
      0.05565,
      0.65605,
      -2.57688,
      0.07872,
      4.1935,
      -1.64225
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.62042,
      0.01291,
      1.0202
    ],
    "tcp_roll_pitch_yaw": [
      -1.56735,
      -0.17272,
      1.44671
    ],
    "tcp_rotation_matrix": [
      [
        0.0073,
        0.00197,
        0.99997
      ],
      [
        0.99997,
        -0.00159,
        -0.0073
      ],
      [
        0.00158,
        1.0,
        -0.00198
      ]
    ],
    "simulated_seconds_remaining": 20.262,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 15.211574054323137,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": -0.09,
                    "z": 0.985,
                    "x": 0.65
                  },
                  "note": "The wrist view places the pull to the lower side of the grasp point and along the drawer to the right. I am shifting toward its middle before advancing."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.73819,
      0.2551,
      0.53045,
      -2.45195,
      -0.24061,
      4.2263,
      -1.58641
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.64966,
      -0.08898,
      0.98536
    ],
    "tcp_roll_pitch_yaw": [
      -1.56725,
      -0.1728,
      1.44634
    ],
    "tcp_rotation_matrix": [
      [
        0.00765,
        0.00206,
        0.99997
      ],
      [
        0.99997,
        -0.00169,
        -0.00765
      ],
      [
        0.00167,
        1.0,
        -0.00207
      ]
    ],
    "simulated_seconds_remaining": 19.206,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 10.207223367877305,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.685,
                    "z": 0.995
                  },
                  "note": "The pull now runs through the finger gap in the wrist view. I am advancing a few centimeters and correcting height to seat the bar between the fingertips."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 8,
    "motion_seconds": 0.528,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.71734,
      0.3103,
      0.52814,
      -2.40504,
      -0.21882,
      4.26118,
      -1.61087
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.66052,
      -0.09115,
      0.98701
    ],
    "tcp_roll_pitch_yaw": [
      -1.60379,
      -0.18904,
      1.44404
    ],
    "tcp_rotation_matrix": [
      [
        0.01624,
        -0.03569,
        0.99923
      ],
      [
        0.99977,
        -0.01314,
        -0.01671
      ],
      [
        0.01373,
        0.99928,
        0.03547
      ]
    ],
    "simulated_seconds_remaining": 18.678,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 5.004390691407025,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The approach stopped at contact with the pull, which is centered between the fingers. I am closing the gripper to secure it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.71809,
      0.30764,
      0.52789,
      -2.41438,
      -0.22021,
      4.27182,
      -1.61059
    ],
    "gripper_open": 0.9915,
    "tcp_xyz": [
      0.65742,
      -0.09029,
      0.98661
    ],
    "tcp_roll_pitch_yaw": [
      -1.6075,
      -0.18912,
      1.44585
    ],
    "tcp_rotation_matrix": [
      [
        0.01508,
        -0.0393,
        0.99911
      ],
      [
        0.9998,
        -0.0128,
        -0.01559
      ],
      [
        0.0134,
        0.99915,
        0.0391
      ]
    ],
    "simulated_seconds_remaining": 17.754,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 6.605263412930071,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.59
                  },
                  "note": "The gripper stayed wide at contact. I am making a short outward pull to test engagement and clear any pressure against the drawer face."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.77537,
      0.15974,
      0.51629,
      -2.62286,
      -0.26747,
      4.36489,
      -1.53553
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.59134,
      -0.09031,
      0.98661
    ],
    "tcp_roll_pitch_yaw": [
      -1.6075,
      -0.18906,
      1.44582
    ],
    "tcp_rotation_matrix": [
      [
        0.0151,
        -0.03929,
        0.99911
      ],
      [
        0.9998,
        -0.01275,
        -0.01561
      ],
      [
        0.01335,
        0.99915,
        0.03909
      ]
    ],
    "simulated_seconds_remaining": 17.028,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 13.41108325868845,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The fingers are clear of the drawer face and the pull is still inside the gap. I am closing at this shallower position."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 19,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.77537,
      0.15974,
      0.51629,
      -2.62286,
      -0.26747,
      4.36489,
      -1.53553
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.59132,
      -0.09031,
      0.98661
    ],
    "tcp_roll_pitch_yaw": [
      -1.6075,
      -0.18906,
      1.44582
    ],
    "tcp_rotation_matrix": [
      [
        0.0151,
        -0.03929,
        0.99911
      ],
      [
        0.9998,
        -0.01275,
        -0.01561
      ],
      [
        0.01335,
        0.99915,
        0.03909
      ]
    ],
    "simulated_seconds_remaining": 16.104,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 6.608238512650132,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 1,
                    "x": 0.635,
                    "z": 1.002,
                    "roll": -1.57,
                    "pitch": -0.17,
                    "yaw": 1.45
                  },
                  "note": "The gripper closed completely, indicating it was short of the pull. I am reopening and moving halfway back toward contact, slightly higher to center the bar."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 20,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.76231,
      0.17504,
      0.5246,
      -2.49741,
      -0.27242,
      4.21592,
      -1.52923
    ],
    "gripper_open": 0.9965,
    "tcp_xyz": [
      0.63406,
      -0.09031,
      1.00171
    ],
    "tcp_roll_pitch_yaw": [
      -1.5709,
      -0.1704,
      1.44992
    ],
    "tcp_rotation_matrix": [
      [
        0.00469,
        -0.00121,
        0.99999
      ],
      [
        0.99999,
        0.00113,
        -0.00469
      ],
      [
        -0.00113,
        1.0,
        0.00122
      ]
    ],
    "simulated_seconds_remaining": 15.18,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 5.004415491595864,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The bar is centered in the open finger gap at the revised depth. I am closing to grasp it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 21,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.76227,
      0.1762,
      0.52448,
      -2.49887,
      -0.27247,
      4.21467,
      -1.52913
    ],
    "gripper_open": 0.1003,
    "tcp_xyz": [
      0.63395,
      -0.09029,
      1.00003
    ],
    "tcp_roll_pitch_yaw": [
      -1.5672,
      -0.1712,
      1.44932
    ],
    "tcp_rotation_matrix": [
      [
        0.00466,
        0.00231,
        0.99999
      ],
      [
        0.99999,
        -0.0001,
        -0.00466
      ],
      [
        9e-05,
        1.0,
        -0.00231
      ]
    ],
    "simulated_seconds_remaining": 14.256,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 4.004371921531856,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.52,
                    "gripper": 0
                  },
                  "note": "The fingers stopped partially closed around the bar. I am pulling straight outward while maintaining the grip to open the drawer."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

========================================================================
GPT-Astra / Open / Episode 005

Completed scored attempt. Images are available in the paired videos.

Opaque provider signatures, image payloads, and local paths are omitted.


RESULT
{
  "benchmark_index": 5,
  "source_episode_index": 144,
  "house_index": 18,
  "status": "completed",
  "success": true,
  "oracle_success": true,
  "action_decisions": 13,
  "wall_seconds": 154.89,
  "usage": {
    "input_tokens": 232483,
    "cached_input_tokens": 208512,
    "cache_write_input_tokens": 0,
    "output_tokens": 2633,
    "reasoning_output_tokens": 1058
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task.
You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose.
Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion.
move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up.
roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial.
Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5).
The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y.
The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics.
Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration.
Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target.
You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time.
Each move must include a short note describing what you observe and why you chose that motion.
Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done.
Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available.



AGENT TRANSCRIPT (visible messages and completed tool calls)

{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"open the cabinet.\", \"joint_positions\": [0.02278, -0.77548, 0.00697, -2.42477, -0.09889, 1.48622, -0.07291], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.272, -0.01865, 0.97716], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.98144, 0.10713, -0.15907], [0.09062, -0.99005, -0.10762], [-0.16901, 0.0912, -0.98139]], \"simulated_seconds_remaining\": 30.03, \"calls_remaining_including_this\": 57}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "x": 0.43,
    "y": 0.05,
    "z": 1.15,
    "pitch": -1.2,
    "gripper": 1,
    "note": "The cabinet is ahead with a vertical metal handle. I raise and advance the open gripper, turning it toward the cabinet to obtain a clearer handle view."
  },
  "result": null,
  "error": {
    "message": "tool call error: tool call failed for `robot/move_to`\n\nCaused by:\n    Mcp error: -32602: Unexpected argument"
  },
  "status": "failed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.43,
      "y": 0.05,
      "z": 1.15,
      "pitch": -1.2,
      "gripper": 1
    },
    "note": "The cabinet is ahead with a vertical metal handle. I raise and advance the open gripper, turning it toward the cabinet for a clearer handle view."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.04134, -1.02134, 0.17567, -2.63174, -0.15153, 2.62904, 0.19602], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.42948, 0.04969, 1.14922], \"tcp_roll_pitch_yaw\": [-0.00036, -1.1952, 6e-05], \"tcp_rotation_matrix\": [[0.51728, -0.04582, 0.85459], [0.09059, -0.99002, -0.10792], [0.85101, 0.13324, -0.50796]], \"simulated_seconds_remaining\": 28.116, \"calls_remaining_including_this\": 56}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 29, \"motion_seconds\": 1.9140000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.53,
      "y": 0.05,
      "z": 1.15,
      "pitch": -1.73
    },
    "note": "Both views show two adjacent vertical cabinet handles. I level the approach direction and move closer to align the jaws around one handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.67799, -0.73679, 0.67583, -2.73138, -0.06324, 3.69512, 0.39543], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.52936, 0.05, 1.14977], \"tcp_roll_pitch_yaw\": [-3.14035, -1.41698, 3.13957], \"tcp_rotation_matrix\": [[0.01672, -0.10733, 0.99408], [0.0908, -0.98995, -0.10841], [0.99573, 0.09208, -0.00681]], \"simulated_seconds_remaining\": 27.126, \"calls_remaining_including_this\": 55}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 15, \"motion_seconds\": 0.99, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.63,
      "y": 0.065,
      "z": 1.22
    },
    "note": "The handles remain above the fingertips in the wrist view. I raise the grasp point and approach the nearer handle with the jaws open."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.67799, -0.73679, 0.67583, -2.73138, -0.06324, 3.69512, 0.39543], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.52936, 0.05, 1.14977], \"tcp_roll_pitch_yaw\": [-3.14035, -1.41698, 3.13957], \"tcp_rotation_matrix\": [[0.01672, -0.10733, 0.99408], [0.0908, -0.98995, -0.10841], [0.99573, 0.09208, -0.00681]], \"simulated_seconds_remaining\": 27.126, \"calls_remaining_including_this\": 54}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"Target outside robot workspace bounds (+/-1.2 m)\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.63,
      "y": 0.065,
      "z": 1.195
    },
    "note": "The requested height exceeded the workspace limit. I approach at a reachable height near the handle's lower section."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.99529, -0.53645, 0.96457, -2.37124, 0.00455, 3.60694, 0.33719], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.62883, 0.06482, 1.19448], \"tcp_roll_pitch_yaw\": [-3.14016, -1.41698, 3.13935], \"tcp_rotation_matrix\": [[0.01672, -0.10736, 0.99408], [0.09083, -0.98995, -0.10844], [0.99573, 0.0921, -0.0068]], \"simulated_seconds_remaining\": 26.07, \"calls_remaining_including_this\": 53}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 16, \"motion_seconds\": 1.056, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "z": 1.05
    },
    "note": "The exterior view shows the gripper above the handle, and raising moved it farther from the wrist grasp region. I lower to the middle of the vertical handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-1.40352, -0.56511, 1.46939, -2.53278, 0.17633, 3.95775, 0.35436], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.62884, 0.06484, 1.05129], \"tcp_roll_pitch_yaw\": [-3.13966, -1.41714, 3.13886], \"tcp_rotation_matrix\": [[0.01688, -0.10734, 0.99408], [0.0909, -0.98994, -0.10844], [0.99572, 0.0922, -0.00696]], \"simulated_seconds_remaining\": 24.816, \"calls_remaining_including_this\": 52}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 19, \"motion_seconds\": 1.254, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.71,
      "y": 0.05
    },
    "note": "The right-hand bar in the wrist view lies between the open fingers at the correct height. I advance to place the fingers around that handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-1.80581, -0.60689, 1.75812, -2.39092, 0.10228, 4.18619, 0.43314], \"gripper_open\": 1.0, \"tcp_xyz\": [0.66486, 0.05606, 1.05329], \"tcp_roll_pitch_yaw\": [-3.04664, -1.28413, 3.1264], \"tcp_rotation_matrix\": [[-0.12274, -0.04244, 0.99153], [0.10812, -0.99371, -0.02915], [0.98653, 0.10362, 0.12655]], \"simulated_seconds_remaining\": 23.958, \"calls_remaining_including_this\": 51}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 13, \"motion_seconds\": 0.8580000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.64,
      "y": 0.015,
      "pitch": -1.73,
      "roll": 0,
      "yaw": 0
    },
    "note": "Forward travel stopped early and the selected handle is near the right finger. I back off slightly and shift sideways to center it between the jaws."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-1.55755, -0.48072, 1.5156, -2.4971, -0.00996, 4.04667, 0.36044], \"gripper_open\": 1.0, \"tcp_xyz\": [0.64159, 0.04455, 1.05323], \"tcp_roll_pitch_yaw\": [-2.92818, -1.40711, 3.00015], \"tcp_rotation_matrix\": [[0.00179, -0.03865, 0.99925], [0.12536, -0.99136, -0.03857], [0.99211, 0.12534, 0.00307]], \"simulated_seconds_remaining\": 23.364, \"calls_remaining_including_this\": 50}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 9, \"motion_seconds\": 0.5940000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.58,
      "y": 0.1,
      "pitch": -1.73,
      "roll": 0,
      "yaw": 0
    },
    "note": "The handle shifted farther right, showing the required lateral correction is leftward in the robot frame. I retreat and move left to clear the neighboring handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-1.1355, -0.68696, 1.32005, -2.66117, 0.25158, 3.9083, 0.39852], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.58098, 0.09935, 1.05316], \"tcp_roll_pitch_yaw\": [-3.13621, -1.41167, 3.1377], \"tcp_rotation_matrix\": [[0.01124, -0.10563, 0.99434], [0.09149, -0.99013, -0.10621], [0.99574, 0.09216, -0.00147]], \"simulated_seconds_remaining\": 22.506, \"calls_remaining_including_this\": 49}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 13, \"motion_seconds\": 0.8580000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.65,
      "y": 0.085
    },
    "note": "The selected bar is now just left of the jaw center. I make a small rightward correction while advancing around its sides."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-1.47124, -0.63578, 1.54152, -2.45787, 0.19381, 3.91457, 0.41039], \"gripper_open\": 0.9983, \"tcp_xyz\": [0.64879, 0.08566, 1.05319], \"tcp_roll_pitch_yaw\": [-3.13496, -1.41156, 3.13715], \"tcp_rotation_matrix\": [[0.01106, -0.10495, 0.99442], [0.0917, -0.99018, -0.10552], [0.99573, 0.09235, -0.00133]], \"simulated_seconds_remaining\": 21.714, \"calls_remaining_including_this\": 48}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 12, \"motion_seconds\": 0.792, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The vertical handle is centered between the fingertips in the wrist image. I close the jaws to grasp it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 11, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-1.47495, -0.6347, 1.53623, -2.46196, 0.1981, 3.91438, 0.4109], \"gripper_open\": 0.1402, \"tcp_xyz\": [0.64829, 0.07792, 1.05382], \"tcp_roll_pitch_yaw\": [3.11939, -1.41014, -3.13067], \"tcp_rotation_matrix\": [[0.01084, -0.11805, 0.99295], [0.08697, -0.98913, -0.11855], [0.99615, 0.08764, -0.00045]], \"simulated_seconds_remaining\": 20.79, \"calls_remaining_including_this\": 47}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.55
    },
    "note": "The jaws remain slightly separated around the bar, indicating a grasp. I pull the handle outward to start opening the cabinet."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 12, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-1.01091, -0.69779, 1.19793, -2.7531, 0.16302, 3.94534, 0.40601], \"gripper_open\": 0.1504, \"tcp_xyz\": [0.55226, 0.10331, 1.05362], \"tcp_roll_pitch_yaw\": [-2.91724, -1.41063, 2.96899], \"tcp_rotation_matrix\": [[0.00808, -0.05836, 0.99826], [0.12645, -0.99022, -0.05891], [0.99194, 0.1267, -0.00062]], \"simulated_seconds_remaining\": 19.866, \"calls_remaining_including_this\": 46}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.42,
      "y": 0.15
    },
    "note": "The handle remains secured and has moved outward with the gripper. I continue pulling while allowing a small sideways arc as the door swings."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 13, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-1.01091, -0.69779, 1.19793, -2.7531, 0.16302, 3.94534, 0.40601], \"gripper_open\": 0.1504, \"tcp_xyz\": [0.55226, 0.10331, 1.05362], \"tcp_roll_pitch_yaw\": [-2.91724, -1.41063, 2.96899], \"tcp_rotation_matrix\": [[0.00808, -0.05836, 0.99826], [0.12645, -0.99022, -0.05891], [0.99194, 0.1267, -0.00062]], \"simulated_seconds_remaining\": 19.866, \"calls_remaining_including_this\": 45}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.48,
      "y": 0.13,
      "pitch": -1.5,
      "roll": 0,
      "yaw": 0.15
    },
    "note": "The longer pull was outside the current arm reach. I use a shorter pull and tilt the wrist slightly to maintain a reachable grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "Episode ended. Do not call more tools. Return a brief final response."
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

I grasped the handle and pulled it outward, but the episode ended before I could confirm the cabinet was fully open.

TURN USAGE
{
  "input_tokens": 232483,
  "cached_input_tokens": 208512,
  "cache_write_input_tokens": 0,
  "output_tokens": 2633,
  "reasoning_output_tokens": 1058
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.02278,
      -0.77548,
      0.00697,
      -2.42477,
      -0.09889,
      1.48622,
      -0.07291
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.272,
      -0.01865,
      0.97716
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.98144,
        0.10713,
        -0.15907
      ],
      [
        0.09062,
        -0.99005,
        -0.10762
      ],
      [
        -0.16901,
        0.0912,
        -0.98139
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 25.62204077746719,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.43,
                    "y": 0.05,
                    "z": 1.15,
                    "pitch": -1.2,
                    "gripper": 1
                  },
                  "note": "The cabinet is ahead with a vertical metal handle. I raise and advance the open gripper, turning it toward the cabinet for a clearer handle view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 29,
    "motion_seconds": 1.9140000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.04134,
      -1.02134,
      0.17567,
      -2.63174,
      -0.15153,
      2.62904,
      0.19602
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.42948,
      0.04969,
      1.14922
    ],
    "tcp_roll_pitch_yaw": [
      -0.00036,
      -1.1952,
      6e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.51728,
        -0.04582,
        0.85459
      ],
      [
        0.09059,
        -0.99002,
        -0.10792
      ],
      [
        0.85101,
        0.13324,
        -0.50796
      ]
    ],
    "simulated_seconds_remaining": 28.116,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 8.007313732989132,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.53,
                    "y": 0.05,
                    "z": 1.15,
                    "pitch": -1.73
                  },
                  "note": "Both views show two adjacent vertical cabinet handles. I level the approach direction and move closer to align the jaws around one handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.67799,
      -0.73679,
      0.67583,
      -2.73138,
      -0.06324,
      3.69512,
      0.39543
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.52936,
      0.05,
      1.14977
    ],
    "tcp_roll_pitch_yaw": [
      -3.14035,
      -1.41698,
      3.13957
    ],
    "tcp_rotation_matrix": [
      [
        0.01672,
        -0.10733,
        0.99408
      ],
      [
        0.0908,
        -0.98995,
        -0.10841
      ],
      [
        0.99573,
        0.09208,
        -0.00681
      ]
    ],
    "simulated_seconds_remaining": 27.126,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 9.207752004265785,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.63,
                    "y": 0.065,
                    "z": 1.22
                  },
                  "note": "The handles remain above the fingertips in the wrist view. I raise the grasp point and approach the nearer handle with the jaws open."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "Target outside robot workspace bounds (+/-1.2 m)",
    "movement_executed": false
  }
}

{
  "call": 4,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.67799,
      -0.73679,
      0.67583,
      -2.73138,
      -0.06324,
      3.69512,
      0.39543
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.52936,
      0.05,
      1.14977
    ],
    "tcp_roll_pitch_yaw": [
      -3.14035,
      -1.41698,
      3.13957
    ],
    "tcp_rotation_matrix": [
      [
        0.01672,
        -0.10733,
        0.99408
      ],
      [
        0.0908,
        -0.98995,
        -0.10841
      ],
      [
        0.99573,
        0.09208,
        -0.00681
      ]
    ],
    "simulated_seconds_remaining": 27.126,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 4.606707409024239,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.63,
                    "y": 0.065,
                    "z": 1.195
                  },
                  "note": "The requested height exceeded the workspace limit. I approach at a reachable height near the handle's lower section."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.99529,
      -0.53645,
      0.96457,
      -2.37124,
      0.00455,
      3.60694,
      0.33719
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.62883,
      0.06482,
      1.19448
    ],
    "tcp_roll_pitch_yaw": [
      -3.14016,
      -1.41698,
      3.13935
    ],
    "tcp_rotation_matrix": [
      [
        0.01672,
        -0.10736,
        0.99408
      ],
      [
        0.09083,
        -0.98995,
        -0.10844
      ],
      [
        0.99573,
        0.0921,
        -0.0068
      ]
    ],
    "simulated_seconds_remaining": 26.07,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 13.210763403214514,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.05
                  },
                  "note": "The exterior view shows the gripper above the handle, and raising moved it farther from the wrist grasp region. I lower to the middle of the vertical handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -1.40352,
      -0.56511,
      1.46939,
      -2.53278,
      0.17633,
      3.95775,
      0.35436
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.62884,
      0.06484,
      1.05129
    ],
    "tcp_roll_pitch_yaw": [
      -3.13966,
      -1.41714,
      3.13886
    ],
    "tcp_rotation_matrix": [
      [
        0.01688,
        -0.10734,
        0.99408
      ],
      [
        0.0909,
        -0.98994,
        -0.10844
      ],
      [
        0.99572,
        0.0922,
        -0.00696
      ]
    ],
    "simulated_seconds_remaining": 24.816,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 6.805891363881528,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.71,
                    "y": 0.05
                  },
                  "note": "The right-hand bar in the wrist view lies between the open fingers at the correct height. I advance to place the fingers around that handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -1.80581,
      -0.60689,
      1.75812,
      -2.39092,
      0.10228,
      4.18619,
      0.43314
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.66486,
      0.05606,
      1.05329
    ],
    "tcp_roll_pitch_yaw": [
      -3.04664,
      -1.28413,
      3.1264
    ],
    "tcp_rotation_matrix": [
      [
        -0.12274,
        -0.04244,
        0.99153
      ],
      [
        0.10812,
        -0.99371,
        -0.02915
      ],
      [
        0.98653,
        0.10362,
        0.12655
      ]
    ],
    "simulated_seconds_remaining": 23.958,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 12.610091897659004,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.64,
                    "y": 0.015,
                    "pitch": -1.73,
                    "roll": 0,
                    "yaw": 0
                  },
                  "note": "Forward travel stopped early and the selected handle is near the right finger. I back off slightly and shift sideways to center it between the jaws."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -1.55755,
      -0.48072,
      1.5156,
      -2.4971,
      -0.00996,
      4.04667,
      0.36044
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.64159,
      0.04455,
      1.05323
    ],
    "tcp_roll_pitch_yaw": [
      -2.92818,
      -1.40711,
      3.00015
    ],
    "tcp_rotation_matrix": [
      [
        0.00179,
        -0.03865,
        0.99925
      ],
      [
        0.12536,
        -0.99136,
        -0.03857
      ],
      [
        0.99211,
        0.12534,
        0.00307
      ]
    ],
    "simulated_seconds_remaining": 23.364,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 6.207920489832759,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.58,
                    "y": 0.1,
                    "pitch": -1.73,
                    "roll": 0,
                    "yaw": 0
                  },
                  "note": "The handle shifted farther right, showing the required lateral correction is leftward in the robot frame. I retreat and move left to clear the neighboring handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -1.1355,
      -0.68696,
      1.32005,
      -2.66117,
      0.25158,
      3.9083,
      0.39852
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.58098,
      0.09935,
      1.05316
    ],
    "tcp_roll_pitch_yaw": [
      -3.13621,
      -1.41167,
      3.1377
    ],
    "tcp_rotation_matrix": [
      [
        0.01124,
        -0.10563,
        0.99434
      ],
      [
        0.09149,
        -0.99013,
        -0.10621
      ],
      [
        0.99574,
        0.09216,
        -0.00147
      ]
    ],
    "simulated_seconds_remaining": 22.506,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 5.404474480077624,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.65,
                    "y": 0.085
                  },
                  "note": "The selected bar is now just left of the jaw center. I make a small rightward correction while advancing around its sides."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -1.47124,
      -0.63578,
      1.54152,
      -2.45787,
      0.19381,
      3.91457,
      0.41039
    ],
    "gripper_open": 0.9983,
    "tcp_xyz": [
      0.64879,
      0.08566,
      1.05319
    ],
    "tcp_roll_pitch_yaw": [
      -3.13496,
      -1.41156,
      3.13715
    ],
    "tcp_rotation_matrix": [
      [
        0.01106,
        -0.10495,
        0.99442
      ],
      [
        0.0917,
        -0.99018,
        -0.10552
      ],
      [
        0.99573,
        0.09235,
        -0.00133
      ]
    ],
    "simulated_seconds_remaining": 21.714,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 5.405472255311906,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The vertical handle is centered between the fingertips in the wrist image. I close the jaws to grasp it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -1.47495,
      -0.6347,
      1.53623,
      -2.46196,
      0.1981,
      3.91438,
      0.4109
    ],
    "gripper_open": 0.1402,
    "tcp_xyz": [
      0.64829,
      0.07792,
      1.05382
    ],
    "tcp_roll_pitch_yaw": [
      3.11939,
      -1.41014,
      -3.13067
    ],
    "tcp_rotation_matrix": [
      [
        0.01084,
        -0.11805,
        0.99295
      ],
      [
        0.08697,
        -0.98913,
        -0.11855
      ],
      [
        0.99615,
        0.08764,
        -0.00045
      ]
    ],
    "simulated_seconds_remaining": 20.79,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 4.403719404712319,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.55
                  },
                  "note": "The jaws remain slightly separated around the bar, indicating a grasp. I pull the handle outward to start opening the cabinet."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -1.01091,
      -0.69779,
      1.19793,
      -2.7531,
      0.16302,
      3.94534,
      0.40601
    ],
    "gripper_open": 0.1504,
    "tcp_xyz": [
      0.55226,
      0.10331,
      1.05362
    ],
    "tcp_roll_pitch_yaw": [
      -2.91724,
      -1.41063,
      2.96899
    ],
    "tcp_rotation_matrix": [
      [
        0.00808,
        -0.05836,
        0.99826
      ],
      [
        0.12645,
        -0.99022,
        -0.05891
      ],
      [
        0.99194,
        0.1267,
        -0.00062
      ]
    ],
    "simulated_seconds_remaining": 19.866,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 13.011716182343662,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.42,
                    "y": 0.15
                  },
                  "note": "The handle remains secured and has moved outward with the gripper. I continue pulling while allowing a small sideways arc as the door swings."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 13,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -1.01091,
      -0.69779,
      1.19793,
      -2.7531,
      0.16302,
      3.94534,
      0.40601
    ],
    "gripper_open": 0.1504,
    "tcp_xyz": [
      0.55226,
      0.10331,
      1.05362
    ],
    "tcp_roll_pitch_yaw": [
      -2.91724,
      -1.41063,
      2.96899
    ],
    "tcp_rotation_matrix": [
      [
        0.00808,
        -0.05836,
        0.99826
      ],
      [
        0.12645,
        -0.99022,
        -0.05891
      ],
      [
        0.99194,
        0.1267,
        -0.00062
      ]
    ],
    "simulated_seconds_remaining": 19.866,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 4.803992765024304,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48,
                    "y": 0.13,
                    "pitch": -1.5,
                    "roll": 0,
                    "yaw": 0.15
                  },
                  "note": "The longer pull was outside the current arm reach. I use a shorter pull and tilt the wrist slightly to maintain a reachable grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

========================================================================
GPT-Astra / Open / Episode 006

Completed scored attempt. Images are available in the paired videos.

Opaque provider signatures, image payloads, and local paths are omitted.


RESULT
{
  "benchmark_index": 6,
  "source_episode_index": 204,
  "house_index": 19,
  "status": "completed",
  "success": false,
  "oracle_success": false,
  "action_decisions": 31,
  "wall_seconds": 500.43,
  "usage": {
    "input_tokens": 741017,
    "cached_input_tokens": 695808,
    "cache_write_input_tokens": 0,
    "output_tokens": 9435,
    "reasoning_output_tokens": 5776
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task.
You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose.
Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion.
move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up.
roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial.
Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5).
The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y.
The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics.
Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration.
Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target.
You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time.
Each move must include a short note describing what you observe and why you chose that motion.
Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done.
Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available.



AGENT TRANSCRIPT (visible messages and completed tool calls)

I’ll check the cameras, locate the handle, and open the object with measured motions.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"open the drawer.\", \"joint_positions\": [-0.024, -0.76611, -0.01881, -2.42021, -0.04642, 1.71076, 0.08099], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.33191, -0.02498, 0.99166], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.9919, -0.11429, 0.05536], [-0.11246, -0.99304, -0.03504], [0.05898, 0.02853, -0.99785]], \"simulated_seconds_remaining\": 30.03, \"calls_remaining_including_this\": 57}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "x": 0.48,
    "y": 0.05,
    "z": 1.02,
    "pitch": -1.57,
    "gripper": 1,
    "note": "The cabinet is ahead with a yellow handle near its upper front. I approach at upper-front height and turn the fingers toward the cabinet for a clearer alignment."
  },
  "result": null,
  "error": {
    "message": "tool call error: tool call failed for `robot/move_to`\n\nCaused by:\n    Mcp error: -32602: Unexpected argument"
  },
  "status": "failed"
}

{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"open the drawer.\", \"joint_positions\": [-0.024, -0.76611, -0.01881, -2.42021, -0.04642, 1.71076, 0.08099], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.33191, -0.02498, 0.99166], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.9919, -0.11429, 0.05536], [-0.11246, -0.99304, -0.03504], [0.05898, 0.02853, -0.99785]], \"simulated_seconds_remaining\": 30.03, \"calls_remaining_including_this\": 57}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.48,
      "y": 0.05,
      "z": 1.02,
      "pitch": -1.57,
      "gripper": 1
    },
    "note": "The cabinet is ahead with yellow handles near its upper front. I approach at upper-front height and turn the gripper toward the cabinet to inspect alignment."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"open the drawer.\", \"joint_positions\": [-0.024, -0.76611, -0.01881, -2.42021, -0.04642, 1.71076, 0.08099], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.33191, -0.02498, 0.99166], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.9919, -0.11429, 0.05536], [-0.11246, -0.99304, -0.03504], [0.05898, 0.02853, -0.99785]], \"simulated_seconds_remaining\": 30.03, \"calls_remaining_including_this\": 56}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.42,
      "y": 0.08,
      "z": 0.87,
      "pitch": -0.8
    },
    "note": "The first horizontal approach was unreachable. I lower the grasp point and use a gentler forward tilt to bring the cabinet front into view."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"open the drawer.\", \"joint_positions\": [-0.024, -0.76611, -0.01881, -2.42021, -0.04642, 1.71076, 0.08099], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.33191, -0.02498, 0.99166], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.9919, -0.11429, 0.05536], [-0.11246, -0.99304, -0.03504], [0.05898, 0.02853, -0.99785]], \"simulated_seconds_remaining\": 30.03, \"calls_remaining_including_this\": 55}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.43,
      "y": 0.08,
      "z": 0.99
    },
    "note": "Both tilted poses were rejected without movement. I retain the initial orientation and move a short distance toward the visible cabinet."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"open the drawer.\", \"joint_positions\": [0.03216, -0.43476, 0.14339, -2.1798, 0.01701, 1.79783, 0.27404], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.42908, 0.07905, 0.98998], \"tcp_roll_pitch_yaw\": [-6e-05, 0.0001, 0.00013], \"tcp_rotation_matrix\": [[0.99192, -0.11416, 0.05526], [-0.11233, -0.99305, -0.0351], [0.05888, 0.02861, -0.99785]], \"simulated_seconds_remaining\": 28.776, \"calls_remaining_including_this\": 54}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 19, \"motion_seconds\": 1.254, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.48,
      "y": 0.22,
      "z": 1.08
    },
    "note": "The gripper is beside the cabinet’s upper edge. I shift left and slightly upward to view the small yellow drawer handle without touching the front."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"open the drawer.\", \"joint_positions\": [0.1038, -0.105, 0.32627, -1.61867, -0.02134, 1.55492, 0.5417], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.4796, 0.21898, 1.0793], \"tcp_roll_pitch_yaw\": [-6e-05, 7e-05, 0.00032], \"tcp_rotation_matrix\": [[0.99194, -0.11397, 0.0553], [-0.11214, -0.99307, -0.03509], [0.05892, 0.0286, -0.99785]], \"simulated_seconds_remaining\": 27.324, \"calls_remaining_including_this\": 53}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 22, \"motion_seconds\": 1.452, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.6,
      "y": 0.26,
      "z": 1.03
    },
    "note": "The wrist view shows the yellow handle to the left of the fingers. I move forward and slightly left while lowering toward its height to center it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"open the drawer.\", \"joint_positions\": [0.16774, 0.30863, 0.35048, -1.19829, -0.16378, 1.46396, 0.59957], \"gripper_open\": 1.0, \"tcp_xyz\": [0.57687, 0.25166, 1.03972], \"tcp_roll_pitch_yaw\": [-0.02885, 0.05046, 0.0006], \"tcp_rotation_matrix\": [[0.99384, -0.11067, 0.00507], [-0.11012, -0.99187, -0.06381], [0.01209, 0.06286, -0.99795]], \"simulated_seconds_remaining\": 26.136, \"calls_remaining_including_this\": 52}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 18, \"motion_seconds\": 1.1880000000000002, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

I can see the drawer handle in the wrist camera. I’m aligning the open fingers above it before gripping.


{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.46,
      "y": 0.29,
      "z": 0.98,
      "roll": 0,
      "pitch": 0
    },
    "note": "The yellow handle is above and right of the finger gap in the wrist image. I shift back and left, then lower the open jaws around the handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"open the drawer.\", \"joint_positions\": [0.17644, -0.08751, 0.39328, -1.84989, -0.02653, 1.79621, 0.68725], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.46109, 0.28974, 0.98064], \"tcp_roll_pitch_yaw\": [-0.00033, 0.00051, 0.00088], \"tcp_rotation_matrix\": [[0.99203, -0.1134, 0.05488], [-0.11157, -0.99313, -0.03533], [0.05851, 0.02892, -0.99787]], \"simulated_seconds_remaining\": 24.948, \"calls_remaining_including_this\": 51}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 18, \"motion_seconds\": 1.1880000000000002, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.51,
      "y": 0.34,
      "z": 1
    },
    "note": "The handle has moved just below the finger gap in the wrist view. I make a small forward-left correction and lift slightly to center the jaws above it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"open the drawer.\", \"joint_positions\": [0.22359, 0.15727, 0.4301, -1.52213, -0.12749, 1.68682, 0.77445], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.50915, 0.33915, 0.99961], \"tcp_roll_pitch_yaw\": [-0.00034, 0.00061, 0.00096], \"tcp_rotation_matrix\": [[0.99205, -0.11332, 0.05479], [-0.11149, -0.99314, -0.03533], [0.05842, 0.02894, -0.99787]], \"simulated_seconds_remaining\": 24.156, \"calls_remaining_including_this\": 50}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 12, \"motion_seconds\": 0.792, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The exterior view places the open jaws at the yellow drawer handle, and the wrist view shows it within the finger area. I close the gripper to secure it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"open the drawer.\", \"joint_positions\": [0.22359, 0.15727, 0.4301, -1.52213, -0.12749, 1.68682, 0.77445], \"gripper_open\": 0.0, \"tcp_xyz\": [0.50916, 0.33915, 0.99962], \"tcp_roll_pitch_yaw\": [-0.00034, 0.0006, 0.00095], \"tcp_rotation_matrix\": [[0.99205, -0.11332, 0.05479], [-0.1115, -0.99314, -0.03533], [0.05842, 0.02894, -0.99787]], \"simulated_seconds_remaining\": 23.232, \"calls_remaining_including_this\": 49}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "z": 1.06,
      "gripper": 1
    },
    "note": "The gripper closed fully, suggesting the handle was not caught. I reopen and lift a little to expose the handle and correct the grasp height."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"open the drawer.\", \"joint_positions\": [0.2446, 0.20461, 0.43611, -1.30864, -0.14797, 1.51643, 0.77488], \"gripper_open\": 0.9965, \"tcp_xyz\": [0.50917, 0.33917, 1.05877], \"tcp_roll_pitch_yaw\": [-0.00024, 0.00044, 0.00096], \"tcp_rotation_matrix\": [[0.99204, -0.11332, 0.05496], [-0.1115, -0.99314, -0.03523], [0.05857, 0.02882, -0.99787]], \"simulated_seconds_remaining\": 22.308, \"calls_remaining_including_this\": 48}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.6,
      "y": 0.35,
      "z": 1.055
    },
    "note": "The yellow bar is centered laterally but behind the fingertips in the wrist view. I advance the open jaws to place the bar between their tips."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 11, \"instruction\": \"open the drawer.\", \"joint_positions\": [0.2446, 0.20461, 0.43611, -1.30864, -0.14797, 1.51643, 0.77488], \"gripper_open\": 0.9965, \"tcp_xyz\": [0.50917, 0.33917, 1.05877], \"tcp_roll_pitch_yaw\": [-0.00024, 0.00044, 0.00096], \"tcp_rotation_matrix\": [[0.99204, -0.11332, 0.05496], [-0.1115, -0.99314, -0.03523], [0.05857, 0.02882, -0.99787]], \"simulated_seconds_remaining\": 22.308, \"calls_remaining_including_this\": 47}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.575,
      "y": 0.35,
      "z": 1.025
    },
    "note": "The longer advance was outside the reachable pose range. I shorten it and lower slightly to bring the fingertip gap onto the handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 12, \"instruction\": \"open the drawer.\", \"joint_positions\": [0.2936, 0.41093, 0.4239, -1.06458, -0.22482, 1.4262, 0.75835], \"gripper_open\": 1.0, \"tcp_xyz\": [0.55244, 0.34564, 1.03868], \"tcp_roll_pitch_yaw\": [-0.02206, 0.03488, 0.01057], \"tcp_rotation_matrix\": [[0.99456, -0.10197, 0.02117], [-0.10063, -0.9933, -0.05682], [0.02682, 0.05438, -0.99816]], \"simulated_seconds_remaining\": 21.516, \"calls_remaining_including_this\": 46}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 12, \"motion_seconds\": 0.792, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.53,
      "y": 0.28,
      "z": 1.01,
      "roll": 0,
      "pitch": 0
    },
    "note": "The advance met the cabinet edge, and a yellow part of the handle is beside the left fingertip. I move right and slightly back to clear the edge and center the handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 13, \"instruction\": \"open the drawer.\", \"joint_positions\": [0.14214, 0.11114, 0.39678, -1.54992, -0.10172, 1.68159, 0.64911], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.53043, 0.28109, 1.01057], \"tcp_roll_pitch_yaw\": [-0.00047, 0.0006, 0.01048], \"tcp_rotation_matrix\": [[0.99306, -0.10386, 0.05513], [-0.10204, -0.99417, -0.03493], [0.05843, 0.02906, -0.99787]], \"simulated_seconds_remaining\": 20.724, \"calls_remaining_including_this\": 45}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 12, \"motion_seconds\": 0.792, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "z": 0.955
    },
    "note": "The yellow handle is now centered between the jaws in the wrist view. I lower vertically to seat the fingers around its bar."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 14, \"instruction\": \"open the drawer.\", \"joint_positions\": [0.13658, 0.10005, 0.39359, -1.70199, -0.09941, 1.82306, 0.65451], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.53041, 0.28106, 0.95616], \"tcp_roll_pitch_yaw\": [-0.0006, 0.0009, 0.01047], \"tcp_rotation_matrix\": [[0.99308, -0.10386, 0.05483], [-0.10203, -0.99416, -0.03506], [0.05815, 0.02923, -0.99788]], \"simulated_seconds_remaining\": 20.064, \"calls_remaining_including_this\": 44}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 10, \"motion_seconds\": 0.66, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

The drawer’s long handle is the one farther left in the wrist view. I’m repositioning over that bar for a better grasp.


{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.56,
      "y": 0,
      "z": 1.08
    },
    "note": "The long drawer handle with yellow ends is left of the jaws; the short yellow piece belongs to the adjacent panel. I lift clear and shift right to align with the long drawer bar."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 15, \"instruction\": \"open the drawer.\", \"joint_positions\": [-0.1208, -0.00903, 0.1387, -1.51696, -0.03483, 1.56234, 0.12022], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.55989, 0.00109, 1.07949], \"tcp_roll_pitch_yaw\": [-0.00061, 0.00082, 0.01018], \"tcp_rotation_matrix\": [[0.99304, -0.10415, 0.0549], [-0.10232, -0.99413, -0.03509], [0.05824, 0.02923, -0.99787]], \"simulated_seconds_remaining\": 17.688, \"calls_remaining_including_this\": 43}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 36, \"motion_seconds\": 2.3760000000000003, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.68,
      "y": 0.13,
      "z": 1
    },
    "note": "The exterior view still places the drawer handle forward and left of the gripper. I approach that upper drawer face with the jaws open."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 16, \"instruction\": \"open the drawer.\", \"joint_positions\": [0.04787, 0.37198, 0.21261, -1.08133, -0.25731, 1.3376, 0.35161], \"gripper_open\": 0.9866, \"tcp_xyz\": [0.61936, 0.07307, 1.0419], \"tcp_roll_pitch_yaw\": [-0.16462, 0.11425, -0.04935], \"tcp_rotation_matrix\": [[0.98796, -0.13977, -0.06627], [-0.1502, -0.96922, -0.19507], [-0.03697, 0.20267, -0.97855]], \"simulated_seconds_remaining\": 16.104, \"calls_remaining_including_this\": 42}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 24, \"motion_seconds\": 1.584, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.45,
      "y": 0.22,
      "z": 0.95,
      "roll": 1.57,
      "pitch": -1.57,
      "yaw": 0
    },
    "note": "The downward approach is contacting the countertop. I withdraw and turn the jaws for a horizontal approach below the counter, with the fingers closing vertically around the drawer bar."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 17, \"instruction\": \"open the drawer.\", \"joint_positions\": [0.26044, -0.05487, -0.36818, -2.46268, 1.54121, 1.50076, -2.29171], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.45034, 0.21978, 0.94996], \"tcp_roll_pitch_yaw\": [0.87484, -1.56588, 0.69278], \"tcp_rotation_matrix\": [[0.11603, 0.9925, 0.03842], [-0.05622, -0.03205, 0.9979], [0.99165, -0.11795, 0.05208]], \"simulated_seconds_remaining\": 12.738, \"calls_remaining_including_this\": 41}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 51, \"motion_seconds\": 3.366, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.6,
      "y": 0.22,
      "z": 0.95
    },
    "note": "The wrist camera now faces the cabinet front, and the yellow handle is left of the jaws. I slide forward along the face to align with its center."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 18, \"instruction\": \"open the drawer.\", \"joint_positions\": [0.21577, 0.3443, -0.37349, -1.97402, 1.54663, 1.27346, -2.20994], \"gripper_open\": 0.9923, \"tcp_xyz\": [0.55532, 0.20858, 0.94913], \"tcp_roll_pitch_yaw\": [-1.69485, -1.55387, -2.88389], \"tcp_rotation_matrix\": [[0.10307, 0.98972, -0.09916], [-0.04775, 0.1045, 0.99338], [0.99353, -0.09765, 0.05803]], \"simulated_seconds_remaining\": 11.418, \"calls_remaining_including_this\": 40}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 20, \"motion_seconds\": 1.32, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.61,
      "y": 0.12,
      "z": 0.95
    },
    "note": "The bar has moved toward the finger gap, but contact limited the sideways slide. I back away from the face while finishing the alignment."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 19, \"instruction\": \"open the drawer.\", \"joint_positions\": [0.12575, 0.48257, -0.39386, -1.78572, 1.38879, 1.10658, -2.13752], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.55304, 0.15528, 0.92529], \"tcp_roll_pitch_yaw\": [0.87353, -1.47334, 0.9762], \"tcp_rotation_matrix\": [[0.17829, 0.95431, -0.23981], [0.05402, 0.23386, 0.97077], [0.98249, -0.18603, -0.00986]], \"simulated_seconds_remaining\": 10.428, \"calls_remaining_including_this\": 39}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 15, \"motion_seconds\": 0.99, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.46,
      "y": 0.3,
      "z": 1,
      "roll": 1.57,
      "pitch": 0,
      "yaw": -1.57
    },
    "note": "Contact shows the cabinet face blocks further forward travel. I withdraw and rotate to point directly forward, with vertical finger closure for the horizontal drawer handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 20, \"instruction\": \"open the drawer.\", \"joint_positions\": [0.12575, 0.48257, -0.39386, -1.78572, 1.38879, 1.10658, -2.13752], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.55304, 0.15528, 0.92529], \"tcp_roll_pitch_yaw\": [0.87353, -1.47334, 0.9762], \"tcp_rotation_matrix\": [[0.17829, 0.95431, -0.23981], [0.05402, 0.23386, 0.97077], [0.98249, -0.18603, -0.00986]], \"simulated_seconds_remaining\": 10.428, \"calls_remaining_including_this\": 38}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.46,
      "y": 0.3,
      "z": 0.95,
      "roll": 0,
      "pitch": -1.57,
      "yaw": 0
    },
    "note": "The vertical-jaw pose was unreachable. I try a simpler forward-facing orientation from a withdrawn position to approach the drawer handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 21, \"instruction\": \"open the drawer.\", \"joint_positions\": [0.12575, 0.48257, -0.39386, -1.78572, 1.38879, 1.10658, -2.13752], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.55304, 0.15528, 0.92529], \"tcp_roll_pitch_yaw\": [0.87353, -1.47334, 0.9762], \"tcp_rotation_matrix\": [[0.17829, 0.95431, -0.23981], [0.05402, 0.23386, 0.97077], [0.98249, -0.18603, -0.00986]], \"simulated_seconds_remaining\": 10.428, \"calls_remaining_including_this\": 37}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.51,
      "y": 0.1,
      "z": 1,
      "roll": 1.57,
      "pitch": 0,
      "yaw": 0
    },
    "note": "I use the reachable side approach and rotate the jaws vertically, withdrawing slightly so the fingers can straddle the drawer handle without hitting the edge."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 22, \"instruction\": \"open the drawer.\", \"joint_positions\": [0.16247, 0.05761, -0.49399, -2.16955, 1.37726, 1.14566, -0.55942], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.46693, 0.12829, 1.02522], \"tcp_roll_pitch_yaw\": [1.69156, -0.00099, 0.17586], \"tcp_rotation_matrix\": [[0.98459, -0.12754, -0.11963], [0.12925, 0.07007, 0.98913], [-0.11777, -0.98936, 0.08547]], \"simulated_seconds_remaining\": 8.118, \"calls_remaining_including_this\": 36}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 35, \"motion_seconds\": 2.31, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.49,
      "y": 0.23,
      "z": 1.025
    },
    "note": "The wrist view now looks along the drawer face with the jaws vertical. I advance a short distance toward the visible handle while keeping its height."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 23, \"instruction\": \"open the drawer.\", \"joint_positions\": [0.28024, 0.058, -0.38297, -2.17115, 1.51982, 1.3289, -0.53471], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.48964, 0.22884, 1.02499], \"tcp_roll_pitch_yaw\": [1.69156, -0.00098, 0.17621], \"tcp_rotation_matrix\": [[0.98455, -0.12757, -0.11997], [0.1296, 0.07003, 0.98909], [-0.11778, -0.98935, 0.08548]], \"simulated_seconds_remaining\": 7.128, \"calls_remaining_including_this\": 35}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 15, \"motion_seconds\": 0.99, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.48,
      "y": 0.29,
      "z": 1,
      "roll": -1.57,
      "pitch": 0,
      "yaw": 1.57
    },
    "note": "The handle remains farther forward along the cabinet. I try the opposite wrist roll to obtain a reachable forward-facing grasp with vertical jaws."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 24, \"instruction\": \"open the drawer.\", \"joint_positions\": [0.28024, 0.058, -0.38297, -2.17115, 1.51982, 1.3289, -0.53471], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.48964, 0.22884, 1.02499], \"tcp_roll_pitch_yaw\": [1.69156, -0.00098, 0.17621], \"tcp_rotation_matrix\": [[0.98455, -0.12757, -0.11997], [0.1296, 0.07003, 0.98909], [-0.11778, -0.98935, 0.08548]], \"simulated_seconds_remaining\": 7.128, \"calls_remaining_including_this\": 34}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.49,
      "y": 0.3,
      "z": 1,
      "roll": 1.57,
      "pitch": 0,
      "yaw": -0.8
    },
    "note": "A fully forward wrist pose is unreachable. I use a diagonal approach toward the handle, retaining vertical finger closure."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 25, \"instruction\": \"open the drawer.\", \"joint_positions\": [0.40069, -0.41522, 0.09689, -2.57236, 2.72406, 2.53892, -1.07624], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.49005, 0.29981, 1.00027], \"tcp_roll_pitch_yaw\": [1.57097, -0.0005, -0.79503], \"tcp_rotation_matrix\": [[0.65254, -0.09993, 0.75113], [-0.74943, 0.06137, 0.65923], [-0.11197, -0.9931, -0.03484]], \"simulated_seconds_remaining\": 5.544, \"calls_remaining_including_this\": 33}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 24, \"motion_seconds\": 1.584, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.56,
      "y": 0.34,
      "z": 1.01
    },
    "note": "The diagonal view shows the yellow handle close to the finger gap. I advance toward it with a small upward correction."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 26, \"instruction\": \"open the drawer.\", \"joint_positions\": [0.38872, -0.1777, 0.11334, -2.31637, 2.72892, 2.56451, -1.09417], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.55892, 0.33939, 1.00984], \"tcp_roll_pitch_yaw\": [1.57095, -0.0005, -0.795], \"tcp_rotation_matrix\": [[0.65256, -0.09995, 0.75112], [-0.74942, 0.06136, 0.65925], [-0.11198, -0.9931, -0.03486]], \"simulated_seconds_remaining\": 4.686, \"calls_remaining_including_this\": 32}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 13, \"motion_seconds\": 0.8580000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The exterior camera shows the jaws around the drawer handle. I close them to grasp the bar before pulling."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 27, \"instruction\": \"open the drawer.\", \"joint_positions\": [0.38872, -0.1777, 0.11334, -2.31637, 2.72892, 2.56451, -1.09417], \"gripper_open\": 0.0, \"tcp_xyz\": [0.55893, 0.3394, 1.00984], \"tcp_roll_pitch_yaw\": [1.57095, -0.0005, -0.795], \"tcp_rotation_matrix\": [[0.65256, -0.09995, 0.75112], [-0.74942, 0.06136, 0.65925], [-0.11198, -0.9931, -0.03486]], \"simulated_seconds_remaining\": 3.762, \"calls_remaining_including_this\": 31}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.575,
      "z": 1.045,
      "gripper": 1
    },
    "note": "The jaws closed fully just below the handle. I reopen, lift to the bar, and move slightly closer for a final grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 28, \"instruction\": \"open the drawer.\", \"joint_positions\": [0.39247, -0.17153, 0.10516, -2.22482, 2.65931, 2.64043, -1.01768], \"gripper_open\": 0.9965, \"tcp_xyz\": [0.57466, 0.3394, 1.04429], \"tcp_roll_pitch_yaw\": [1.57105, -0.00053, -0.795], \"tcp_rotation_matrix\": [[0.65257, -0.09985, 0.75112], [-0.74941, 0.0614, 0.65925], [-0.11195, -0.99311, -0.03476]], \"simulated_seconds_remaining\": 2.838, \"calls_remaining_including_this\": 30}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The raised jaws now straddle the handle’s height in the exterior view. I close on the bar."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 29, \"instruction\": \"open the drawer.\", \"joint_positions\": [0.39293, -0.1721, 0.10573, -2.23233, 2.65895, 2.646, -1.0172], \"gripper_open\": 0.5372, \"tcp_xyz\": [0.57297, 0.33837, 1.03856], \"tcp_roll_pitch_yaw\": [1.55921, 0.00159, -0.79634], \"tcp_rotation_matrix\": [[0.65045, -0.10964, 0.75159], [-0.75104, 0.05482, 0.65797], [-0.11335, -0.99246, -0.04669]], \"simulated_seconds_remaining\": 1.914, \"calls_remaining_including_this\": 29}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.36,
      "y": 0.338,
      "z": 1.038,
      "gripper": 0
    },
    "note": "The fingers stopped partly open, indicating contact with the handle. I pull straight back from the cabinet to slide the drawer open."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 30, \"instruction\": \"open the drawer.\", \"joint_positions\": [0.39293, -0.1721, 0.10573, -2.23233, 2.65895, 2.646, -1.0172], \"gripper_open\": 0.5372, \"tcp_xyz\": [0.57297, 0.33837, 1.03856], \"tcp_roll_pitch_yaw\": [1.55921, 0.00159, -0.79634], \"tcp_rotation_matrix\": [[0.65045, -0.10964, 0.75159], [-0.75104, 0.05482, 0.65797], [-0.11335, -0.99246, -0.04669]], \"simulated_seconds_remaining\": 1.914, \"calls_remaining_including_this\": 28}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.46,
      "y": 0.26,
      "gripper": 0
    },
    "note": "The straight-back target was unreachable. I make a shorter retreat along the grasp approach direction while keeping the handle clamped."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 31, \"instruction\": \"open the drawer.\", \"joint_positions\": [0.43091, -0.61182, 0.04193, -2.63241, 2.56136, 2.66427, -0.9171], \"gripper_open\": 0.0, \"tcp_xyz\": [0.46113, 0.26076, 1.03862], \"tcp_roll_pitch_yaw\": [1.55927, 0.00155, -0.79639], \"tcp_rotation_matrix\": [[0.65042, -0.10958, 0.75163], [-0.75107, 0.05484, 0.65794], [-0.11332, -0.99246, -0.04663]], \"simulated_seconds_remaining\": 0.726, \"calls_remaining_including_this\": 27}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 18, \"motion_seconds\": 1.1880000000000002, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "give_up",
  "arguments": {
    "note": "I could not secure the drawer handle; the grasp slipped during the pull, and insufficient motion time remains to regrasp and open it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "Episode ended. Do not call more tools. Return a brief final response."
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

I couldn’t open the drawer. The grasp slipped during the pull, and the remaining motion time was insufficient to retry.

TURN USAGE
{
  "input_tokens": 741017,
  "cached_input_tokens": 695808,
  "cache_write_input_tokens": 0,
  "output_tokens": 9435,
  "reasoning_output_tokens": 5776
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.024,
      -0.76611,
      -0.01881,
      -2.42021,
      -0.04642,
      1.71076,
      0.08099
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.33191,
      -0.02498,
      0.99166
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.9919,
        -0.11429,
        0.05536
      ],
      [
        -0.11246,
        -0.99304,
        -0.03504
      ],
      [
        0.05898,
        0.02853,
        -0.99785
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 48.63674058113247,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48,
                    "y": 0.05,
                    "z": 1.02,
                    "pitch": -1.57,
                    "gripper": 1
                  },
                  "note": "The cabinet is ahead with yellow handles near its upper front. I approach at upper-front height and turn the gripper toward the cabinet to inspect alignment."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 2,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.024,
      -0.76611,
      -0.01881,
      -2.42021,
      -0.04642,
      1.71076,
      0.08099
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.33191,
      -0.02498,
      0.99166
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.9919,
        -0.11429,
        0.05536
      ],
      [
        -0.11246,
        -0.99304,
        -0.03504
      ],
      [
        0.05898,
        0.02853,
        -0.99785
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 6.404929262585938,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.42,
                    "y": 0.08,
                    "z": 0.87,
                    "pitch": -0.8
                  },
                  "note": "The first horizontal approach was unreachable. I lower the grasp point and use a gentler forward tilt to bring the cabinet front into view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 3,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.024,
      -0.76611,
      -0.01881,
      -2.42021,
      -0.04642,
      1.71076,
      0.08099
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.33191,
      -0.02498,
      0.99166
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.9919,
        -0.11429,
        0.05536
      ],
      [
        -0.11246,
        -0.99304,
        -0.03504
      ],
      [
        0.05898,
        0.02853,
        -0.99785
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 9.006993420422077,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.43,
                    "y": 0.08,
                    "z": 0.99
                  },
                  "note": "Both tilted poses were rejected without movement. I retain the initial orientation and move a short distance toward the visible cabinet."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.03216,
      -0.43476,
      0.14339,
      -2.1798,
      0.01701,
      1.79783,
      0.27404
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.42908,
      0.07905,
      0.98998
    ],
    "tcp_roll_pitch_yaw": [
      -6e-05,
      0.0001,
      0.00013
    ],
    "tcp_rotation_matrix": [
      [
        0.99192,
        -0.11416,
        0.05526
      ],
      [
        -0.11233,
        -0.99305,
        -0.0351
      ],
      [
        0.05888,
        0.02861,
        -0.99785
      ]
    ],
    "simulated_seconds_remaining": 28.776,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 18.413605962879956,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48,
                    "y": 0.22,
                    "z": 1.08
                  },
                  "note": "The gripper is beside the cabinet’s upper edge. I shift left and slightly upward to view the small yellow drawer handle without touching the front."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 22,
    "motion_seconds": 1.452,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.1038,
      -0.105,
      0.32627,
      -1.61867,
      -0.02134,
      1.55492,
      0.5417
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.4796,
      0.21898,
      1.0793
    ],
    "tcp_roll_pitch_yaw": [
      -6e-05,
      7e-05,
      0.00032
    ],
    "tcp_rotation_matrix": [
      [
        0.99194,
        -0.11397,
        0.0553
      ],
      [
        -0.11214,
        -0.99307,
        -0.03509
      ],
      [
        0.05892,
        0.0286,
        -0.99785
      ]
    ],
    "simulated_seconds_remaining": 27.324,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 21.817751341499388,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.6,
                    "y": 0.26,
                    "z": 1.03
                  },
                  "note": "The wrist view shows the yellow handle to the left of the fingers. I move forward and slightly left while lowering toward its height to center it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.16774,
      0.30863,
      0.35048,
      -1.19829,
      -0.16378,
      1.46396,
      0.59957
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.57687,
      0.25166,
      1.03972
    ],
    "tcp_roll_pitch_yaw": [
      -0.02885,
      0.05046,
      0.0006
    ],
    "tcp_rotation_matrix": [
      [
        0.99384,
        -0.11067,
        0.00507
      ],
      [
        -0.11012,
        -0.99187,
        -0.06381
      ],
      [
        0.01209,
        0.06286,
        -0.99795
      ]
    ],
    "simulated_seconds_remaining": 26.136,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 23.82137279957533,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.46,
                    "y": 0.29,
                    "z": 0.98,
                    "roll": 0,
                    "pitch": 0
                  },
                  "note": "The yellow handle is above and right of the finger gap in the wrist image. I shift back and left, then lower the open jaws around the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.17644,
      -0.08751,
      0.39328,
      -1.84989,
      -0.02653,
      1.79621,
      0.68725
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.46109,
      0.28974,
      0.98064
    ],
    "tcp_roll_pitch_yaw": [
      -0.00033,
      0.00051,
      0.00088
    ],
    "tcp_rotation_matrix": [
      [
        0.99203,
        -0.1134,
        0.05488
      ],
      [
        -0.11157,
        -0.99313,
        -0.03533
      ],
      [
        0.05851,
        0.02892,
        -0.99787
      ]
    ],
    "simulated_seconds_remaining": 24.948,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 12.80991347040981,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.51,
                    "y": 0.34,
                    "z": 1
                  },
                  "note": "The handle has moved just below the finger gap in the wrist view. I make a small forward-left correction and lift slightly to center the jaws above it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.22359,
      0.15727,
      0.4301,
      -1.52213,
      -0.12749,
      1.68682,
      0.77445
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.50915,
      0.33915,
      0.99961
    ],
    "tcp_roll_pitch_yaw": [
      -0.00034,
      0.00061,
      0.00096
    ],
    "tcp_rotation_matrix": [
      [
        0.99205,
        -0.11332,
        0.05479
      ],
      [
        -0.11149,
        -0.99314,
        -0.03533
      ],
      [
        0.05842,
        0.02894,
        -0.99787
      ]
    ],
    "simulated_seconds_remaining": 24.156,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 14.811355540528893,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The exterior view places the open jaws at the yellow drawer handle, and the wrist view shows it within the finger area. I close the gripper to secure it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.22359,
      0.15727,
      0.4301,
      -1.52213,
      -0.12749,
      1.68682,
      0.77445
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.50916,
      0.33915,
      0.99962
    ],
    "tcp_roll_pitch_yaw": [
      -0.00034,
      0.0006,
      0.00095
    ],
    "tcp_rotation_matrix": [
      [
        0.99205,
        -0.11332,
        0.05479
      ],
      [
        -0.1115,
        -0.99314,
        -0.03533
      ],
      [
        0.05842,
        0.02894,
        -0.99787
      ]
    ],
    "simulated_seconds_remaining": 23.232,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 15.611953624524176,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.06,
                    "gripper": 1
                  },
                  "note": "The gripper closed fully, suggesting the handle was not caught. I reopen and lift a little to expose the handle and correct the grasp height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.2446,
      0.20461,
      0.43611,
      -1.30864,
      -0.14797,
      1.51643,
      0.77488
    ],
    "gripper_open": 0.9965,
    "tcp_xyz": [
      0.50917,
      0.33917,
      1.05877
    ],
    "tcp_roll_pitch_yaw": [
      -0.00024,
      0.00044,
      0.00096
    ],
    "tcp_rotation_matrix": [
      [
        0.99204,
        -0.11332,
        0.05496
      ],
      [
        -0.1115,
        -0.99314,
        -0.03523
      ],
      [
        0.05857,
        0.02882,
        -0.99787
      ]
    ],
    "simulated_seconds_remaining": 22.308,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 15.813540549017489,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.6,
                    "y": 0.35,
                    "z": 1.055
                  },
                  "note": "The yellow bar is centered laterally but behind the fingertips in the wrist view. I advance the open jaws to place the bar between their tips."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 11,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.2446,
      0.20461,
      0.43611,
      -1.30864,
      -0.14797,
      1.51643,
      0.77488
    ],
    "gripper_open": 0.9965,
    "tcp_xyz": [
      0.50917,
      0.33917,
      1.05877
    ],
    "tcp_roll_pitch_yaw": [
      -0.00024,
      0.00044,
      0.00096
    ],
    "tcp_rotation_matrix": [
      [
        0.99204,
        -0.11332,
        0.05496
      ],
      [
        -0.1115,
        -0.99314,
        -0.03523
      ],
      [
        0.05857,
        0.02882,
        -0.99787
      ]
    ],
    "simulated_seconds_remaining": 22.308,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 6.805793315172195,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.575,
                    "y": 0.35,
                    "z": 1.025
                  },
                  "note": "The longer advance was outside the reachable pose range. I shorten it and lower slightly to bring the fingertip gap onto the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.2936,
      0.41093,
      0.4239,
      -1.06458,
      -0.22482,
      1.4262,
      0.75835
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.55244,
      0.34564,
      1.03868
    ],
    "tcp_roll_pitch_yaw": [
      -0.02206,
      0.03488,
      0.01057
    ],
    "tcp_rotation_matrix": [
      [
        0.99456,
        -0.10197,
        0.02117
      ],
      [
        -0.10063,
        -0.9933,
        -0.05682
      ],
      [
        0.02682,
        0.05438,
        -0.99816
      ]
    ],
    "simulated_seconds_remaining": 21.516,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 17.614963584579527,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.53,
                    "y": 0.28,
                    "z": 1.01,
                    "roll": 0,
                    "pitch": 0
                  },
                  "note": "The advance met the cabinet edge, and a yellow part of the handle is beside the left fingertip. I move right and slightly back to clear the edge and center the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.14214,
      0.11114,
      0.39678,
      -1.54992,
      -0.10172,
      1.68159,
      0.64911
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.53043,
      0.28109,
      1.01057
    ],
    "tcp_roll_pitch_yaw": [
      -0.00047,
      0.0006,
      0.01048
    ],
    "tcp_rotation_matrix": [
      [
        0.99306,
        -0.10386,
        0.05513
      ],
      [
        -0.10204,
        -0.99417,
        -0.03493
      ],
      [
        0.05843,
        0.02906,
        -0.99787
      ]
    ],
    "simulated_seconds_remaining": 20.724,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 14.011464607901871,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.955
                  },
                  "note": "The yellow handle is now centered between the jaws in the wrist view. I lower vertically to seat the fingers around its bar."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.13658,
      0.10005,
      0.39359,
      -1.70199,
      -0.09941,
      1.82306,
      0.65451
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.53041,
      0.28106,
      0.95616
    ],
    "tcp_roll_pitch_yaw": [
      -0.0006,
      0.0009,
      0.01047
    ],
    "tcp_rotation_matrix": [
      [
        0.99308,
        -0.10386,
        0.05483
      ],
      [
        -0.10203,
        -0.99416,
        -0.03506
      ],
      [
        0.05815,
        0.02923,
        -0.99788
      ]
    ],
    "simulated_seconds_remaining": 20.064,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 38.03129134699702,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.56,
                    "y": 0,
                    "z": 1.08
                  },
                  "note": "The long drawer handle with yellow ends is left of the jaws; the short yellow piece belongs to the adjacent panel. I lift clear and shift right to align with the long drawer bar."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 36,
    "motion_seconds": 2.3760000000000003,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.1208,
      -0.00903,
      0.1387,
      -1.51696,
      -0.03483,
      1.56234,
      0.12022
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.55989,
      0.00109,
      1.07949
    ],
    "tcp_roll_pitch_yaw": [
      -0.00061,
      0.00082,
      0.01018
    ],
    "tcp_rotation_matrix": [
      [
        0.99304,
        -0.10415,
        0.0549
      ],
      [
        -0.10232,
        -0.99413,
        -0.03509
      ],
      [
        0.05824,
        0.02923,
        -0.99787
      ]
    ],
    "simulated_seconds_remaining": 17.688,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 18.216511890292168,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.68,
                    "y": 0.13,
                    "z": 1
                  },
                  "note": "The exterior view still places the drawer handle forward and left of the gripper. I approach that upper drawer face with the jaws open."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 24,
    "motion_seconds": 1.584,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.04787,
      0.37198,
      0.21261,
      -1.08133,
      -0.25731,
      1.3376,
      0.35161
    ],
    "gripper_open": 0.9866,
    "tcp_xyz": [
      0.61936,
      0.07307,
      1.0419
    ],
    "tcp_roll_pitch_yaw": [
      -0.16462,
      0.11425,
      -0.04935
    ],
    "tcp_rotation_matrix": [
      [
        0.98796,
        -0.13977,
        -0.06627
      ],
      [
        -0.1502,
        -0.96922,
        -0.19507
      ],
      [
        -0.03697,
        0.20267,
        -0.97855
      ]
    ],
    "simulated_seconds_remaining": 16.104,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 16.613289321772754,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.45,
                    "y": 0.22,
                    "z": 0.95,
                    "roll": 1.57,
                    "pitch": -1.57,
                    "yaw": 0
                  },
                  "note": "The downward approach is contacting the countertop. I withdraw and turn the jaws for a horizontal approach below the counter, with the fingers closing vertically around the drawer bar."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 51,
    "motion_seconds": 3.366,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.26044,
      -0.05487,
      -0.36818,
      -2.46268,
      1.54121,
      1.50076,
      -2.29171
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.45034,
      0.21978,
      0.94996
    ],
    "tcp_roll_pitch_yaw": [
      0.87484,
      -1.56588,
      0.69278
    ],
    "tcp_rotation_matrix": [
      [
        0.11603,
        0.9925,
        0.03842
      ],
      [
        -0.05622,
        -0.03205,
        0.9979
      ],
      [
        0.99165,
        -0.11795,
        0.05208
      ]
    ],
    "simulated_seconds_remaining": 12.738,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 17.615969022735953,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.6,
                    "y": 0.22,
                    "z": 0.95
                  },
                  "note": "The wrist camera now faces the cabinet front, and the yellow handle is left of the jaws. I slide forward along the face to align with its center."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.21577,
      0.3443,
      -0.37349,
      -1.97402,
      1.54663,
      1.27346,
      -2.20994
    ],
    "gripper_open": 0.9923,
    "tcp_xyz": [
      0.55532,
      0.20858,
      0.94913
    ],
    "tcp_roll_pitch_yaw": [
      -1.69485,
      -1.55387,
      -2.88389
    ],
    "tcp_rotation_matrix": [
      [
        0.10307,
        0.98972,
        -0.09916
      ],
      [
        -0.04775,
        0.1045,
        0.99338
      ],
      [
        0.99353,
        -0.09765,
        0.05803
      ]
    ],
    "simulated_seconds_remaining": 11.418,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 10.008120528422296,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.61,
                    "y": 0.12,
                    "z": 0.95
                  },
                  "note": "The bar has moved toward the finger gap, but contact limited the sideways slide. I back away from the face while finishing the alignment."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 19,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.12575,
      0.48257,
      -0.39386,
      -1.78572,
      1.38879,
      1.10658,
      -2.13752
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.55304,
      0.15528,
      0.92529
    ],
    "tcp_roll_pitch_yaw": [
      0.87353,
      -1.47334,
      0.9762
    ],
    "tcp_rotation_matrix": [
      [
        0.17829,
        0.95431,
        -0.23981
      ],
      [
        0.05402,
        0.23386,
        0.97077
      ],
      [
        0.98249,
        -0.18603,
        -0.00986
      ]
    ],
    "simulated_seconds_remaining": 10.428,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 15.611218807287514,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.46,
                    "y": 0.3,
                    "z": 1,
                    "roll": 1.57,
                    "pitch": 0,
                    "yaw": -1.57
                  },
                  "note": "Contact shows the cabinet face blocks further forward travel. I withdraw and rotate to point directly forward, with vertical finger closure for the horizontal drawer handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 20,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.12575,
      0.48257,
      -0.39386,
      -1.78572,
      1.38879,
      1.10658,
      -2.13752
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.55304,
      0.15528,
      0.92529
    ],
    "tcp_roll_pitch_yaw": [
      0.87353,
      -1.47334,
      0.9762
    ],
    "tcp_rotation_matrix": [
      [
        0.17829,
        0.95431,
        -0.23981
      ],
      [
        0.05402,
        0.23386,
        0.97077
      ],
      [
        0.98249,
        -0.18603,
        -0.00986
      ]
    ],
    "simulated_seconds_remaining": 10.428,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 6.404641472734511,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.46,
                    "y": 0.3,
                    "z": 0.95,
                    "roll": 0,
                    "pitch": -1.57,
                    "yaw": 0
                  },
                  "note": "The vertical-jaw pose was unreachable. I try a simpler forward-facing orientation from a withdrawn position to approach the drawer handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 21,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.12575,
      0.48257,
      -0.39386,
      -1.78572,
      1.38879,
      1.10658,
      -2.13752
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.55304,
      0.15528,
      0.92529
    ],
    "tcp_roll_pitch_yaw": [
      0.87353,
      -1.47334,
      0.9762
    ],
    "tcp_rotation_matrix": [
      [
        0.17829,
        0.95431,
        -0.23981
      ],
      [
        0.05402,
        0.23386,
        0.97077
      ],
      [
        0.98249,
        -0.18603,
        -0.00986
      ]
    ],
    "simulated_seconds_remaining": 10.428,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 11.61008750833571,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.51,
                    "y": 0.1,
                    "z": 1,
                    "roll": 1.57,
                    "pitch": 0,
                    "yaw": 0
                  },
                  "note": "I use the reachable side approach and rotate the jaws vertically, withdrawing slightly so the fingers can straddle the drawer handle without hitting the edge."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 35,
    "motion_seconds": 2.31,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 22,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.16247,
      0.05761,
      -0.49399,
      -2.16955,
      1.37726,
      1.14566,
      -0.55942
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.46693,
      0.12829,
      1.02522
    ],
    "tcp_roll_pitch_yaw": [
      1.69156,
      -0.00099,
      0.17586
    ],
    "tcp_rotation_matrix": [
      [
        0.98459,
        -0.12754,
        -0.11963
      ],
      [
        0.12925,
        0.07007,
        0.98913
      ],
      [
        -0.11777,
        -0.98936,
        0.08547
      ]
    ],
    "simulated_seconds_remaining": 8.118,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 9.006744568236172,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.49,
                    "y": 0.23,
                    "z": 1.025
                  },
                  "note": "The wrist view now looks along the drawer face with the jaws vertical. I advance a short distance toward the visible handle while keeping its height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 23,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.28024,
      0.058,
      -0.38297,
      -2.17115,
      1.51982,
      1.3289,
      -0.53471
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.48964,
      0.22884,
      1.02499
    ],
    "tcp_roll_pitch_yaw": [
      1.69156,
      -0.00098,
      0.17621
    ],
    "tcp_rotation_matrix": [
      [
        0.98455,
        -0.12757,
        -0.11997
      ],
      [
        0.1296,
        0.07003,
        0.98909
      ],
      [
        -0.11778,
        -0.98935,
        0.08548
      ]
    ],
    "simulated_seconds_remaining": 7.128,
    "calls_remaining_including_this": 35
  },
  "api_seconds": 13.610557913780212,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48,
                    "y": 0.29,
                    "z": 1,
                    "roll": -1.57,
                    "pitch": 0,
                    "yaw": 1.57
                  },
                  "note": "The handle remains farther forward along the cabinet. I try the opposite wrist roll to obtain a reachable forward-facing grasp with vertical jaws."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 24,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.28024,
      0.058,
      -0.38297,
      -2.17115,
      1.51982,
      1.3289,
      -0.53471
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.48964,
      0.22884,
      1.02499
    ],
    "tcp_roll_pitch_yaw": [
      1.69156,
      -0.00098,
      0.17621
    ],
    "tcp_rotation_matrix": [
      [
        0.98455,
        -0.12757,
        -0.11997
      ],
      [
        0.1296,
        0.07003,
        0.98909
      ],
      [
        -0.11778,
        -0.98935,
        0.08548
      ]
    ],
    "simulated_seconds_remaining": 7.128,
    "calls_remaining_including_this": 34
  },
  "api_seconds": 8.808743457309902,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.49,
                    "y": 0.3,
                    "z": 1,
                    "roll": 1.57,
                    "pitch": 0,
                    "yaw": -0.8
                  },
                  "note": "A fully forward wrist pose is unreachable. I use a diagonal approach toward the handle, retaining vertical finger closure."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 24,
    "motion_seconds": 1.584,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 25,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.40069,
      -0.41522,
      0.09689,
      -2.57236,
      2.72406,
      2.53892,
      -1.07624
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.49005,
      0.29981,
      1.00027
    ],
    "tcp_roll_pitch_yaw": [
      1.57097,
      -0.0005,
      -0.79503
    ],
    "tcp_rotation_matrix": [
      [
        0.65254,
        -0.09993,
        0.75113
      ],
      [
        -0.74943,
        0.06137,
        0.65923
      ],
      [
        -0.11197,
        -0.9931,
        -0.03484
      ]
    ],
    "simulated_seconds_remaining": 5.544,
    "calls_remaining_including_this": 33
  },
  "api_seconds": 7.20632629096508,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.56,
                    "y": 0.34,
                    "z": 1.01
                  },
                  "note": "The diagonal view shows the yellow handle close to the finger gap. I advance toward it with a small upward correction."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 26,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.38872,
      -0.1777,
      0.11334,
      -2.31637,
      2.72892,
      2.56451,
      -1.09417
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.55892,
      0.33939,
      1.00984
    ],
    "tcp_roll_pitch_yaw": [
      1.57095,
      -0.0005,
      -0.795
    ],
    "tcp_rotation_matrix": [
      [
        0.65256,
        -0.09995,
        0.75112
      ],
      [
        -0.74942,
        0.06136,
        0.65925
      ],
      [
        -0.11198,
        -0.9931,
        -0.03486
      ]
    ],
    "simulated_seconds_remaining": 4.686,
    "calls_remaining_including_this": 32
  },
  "api_seconds": 5.404238088987768,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The exterior camera shows the jaws around the drawer handle. I close them to grasp the bar before pulling."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 27,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.38872,
      -0.1777,
      0.11334,
      -2.31637,
      2.72892,
      2.56451,
      -1.09417
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.55893,
      0.3394,
      1.00984
    ],
    "tcp_roll_pitch_yaw": [
      1.57095,
      -0.0005,
      -0.795
    ],
    "tcp_rotation_matrix": [
      [
        0.65256,
        -0.09995,
        0.75112
      ],
      [
        -0.74942,
        0.06136,
        0.65925
      ],
      [
        -0.11198,
        -0.9931,
        -0.03486
      ]
    ],
    "simulated_seconds_remaining": 3.762,
    "calls_remaining_including_this": 31
  },
  "api_seconds": 8.406359720043838,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.575,
                    "z": 1.045,
                    "gripper": 1
                  },
                  "note": "The jaws closed fully just below the handle. I reopen, lift to the bar, and move slightly closer for a final grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 28,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.39247,
      -0.17153,
      0.10516,
      -2.22482,
      2.65931,
      2.64043,
      -1.01768
    ],
    "gripper_open": 0.9965,
    "tcp_xyz": [
      0.57466,
      0.3394,
      1.04429
    ],
    "tcp_roll_pitch_yaw": [
      1.57105,
      -0.00053,
      -0.795
    ],
    "tcp_rotation_matrix": [
      [
        0.65257,
        -0.09985,
        0.75112
      ],
      [
        -0.74941,
        0.0614,
        0.65925
      ],
      [
        -0.11195,
        -0.99311,
        -0.03476
      ]
    ],
    "simulated_seconds_remaining": 2.838,
    "calls_remaining_including_this": 30
  },
  "api_seconds": 6.609974260441959,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The raised jaws now straddle the handle’s height in the exterior view. I close on the bar."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 29,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.39293,
      -0.1721,
      0.10573,
      -2.23233,
      2.65895,
      2.646,
      -1.0172
    ],
    "gripper_open": 0.5372,
    "tcp_xyz": [
      0.57297,
      0.33837,
      1.03856
    ],
    "tcp_roll_pitch_yaw": [
      1.55921,
      0.00159,
      -0.79634
    ],
    "tcp_rotation_matrix": [
      [
        0.65045,
        -0.10964,
        0.75159
      ],
      [
        -0.75104,
        0.05482,
        0.65797
      ],
      [
        -0.11335,
        -0.99246,
        -0.04669
      ]
    ],
    "simulated_seconds_remaining": 1.914,
    "calls_remaining_including_this": 29
  },
  "api_seconds": 7.606540408916771,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.36,
                    "y": 0.338,
                    "z": 1.038,
                    "gripper": 0
                  },
                  "note": "The fingers stopped partly open, indicating contact with the handle. I pull straight back from the cabinet to slide the drawer open."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 30,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.39293,
      -0.1721,
      0.10573,
      -2.23233,
      2.65895,
      2.646,
      -1.0172
    ],
    "gripper_open": 0.5372,
    "tcp_xyz": [
      0.57297,
      0.33837,
      1.03856
    ],
    "tcp_roll_pitch_yaw": [
      1.55921,
      0.00159,
      -0.79634
    ],
    "tcp_rotation_matrix": [
      [
        0.65045,
        -0.10964,
        0.75159
      ],
      [
        -0.75104,
        0.05482,
        0.65797
      ],
      [
        -0.11335,
        -0.99246,
        -0.04669
      ]
    ],
    "simulated_seconds_remaining": 1.914,
    "calls_remaining_including_this": 28
  },
  "api_seconds": 5.604639496654272,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.46,
                    "y": 0.26,
                    "gripper": 0
                  },
                  "note": "The straight-back target was unreachable. I make a shorter retreat along the grasp approach direction while keeping the handle clamped."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 31,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.43091,
      -0.61182,
      0.04193,
      -2.63241,
      2.56136,
      2.66427,
      -0.9171
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.46113,
      0.26076,
      1.03862
    ],
    "tcp_roll_pitch_yaw": [
      1.55927,
      0.00155,
      -0.79639
    ],
    "tcp_rotation_matrix": [
      [
        0.65042,
        -0.10958,
        0.75163
      ],
      [
        -0.75107,
        0.05484,
        0.65794
      ],
      [
        -0.11332,
        -0.99246,
        -0.04663
      ]
    ],
    "simulated_seconds_remaining": 0.726,
    "calls_remaining_including_this": 27
  },
  "api_seconds": 11.609163478948176,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "give_up",
                "args": {
                  "note": "I could not secure the drawer handle; the grasp slipped during the pull, and insufficient motion time remains to regrasp and open it."
                }
              }
            }
          ]
        }
      }
    ]
  }
}

========================================================================
GPT-Astra / Open / Episode 007

Completed scored attempt. Images are available in the paired videos.

Opaque provider signatures, image payloads, and local paths are omitted.


RESULT
{
  "benchmark_index": 7,
  "source_episode_index": 209,
  "house_index": 20,
  "status": "completed",
  "success": true,
  "oracle_success": true,
  "action_decisions": 16,
  "wall_seconds": 180.38,
  "usage": {
    "input_tokens": 298541,
    "cached_input_tokens": 273664,
    "cache_write_input_tokens": 0,
    "output_tokens": 3487,
    "reasoning_output_tokens": 1567
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task.
You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose.
Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion.
move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up.
roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial.
Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5).
The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y.
The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics.
Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration.
Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target.
You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time.
Each move must include a short note describing what you observe and why you chose that motion.
Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done.
Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available.



AGENT TRANSCRIPT (visible messages and completed tool calls)

{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"open the cabinet.\", \"joint_positions\": [0.01119, -0.74394, 0.01696, -2.28661, 0.07639, 1.70244, -0.00681], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.3562, 0.02896, 1.05046], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.987, 0.03248, 0.15738], [0.02197, -0.99744, 0.06809], [0.15919, -0.06375, -0.98519]], \"simulated_seconds_remaining\": 30.03, \"calls_remaining_including_this\": 57}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "x": 0.48,
    "y": 0.03,
    "z": 1.18,
    "pitch": -1.2,
    "gripper": 1,
    "note": "The dark cabinet is beyond the counter on the right of the exterior view. I raise and turn the wrist toward its front to locate the handle."
  },
  "result": null,
  "error": {
    "message": "tool call error: tool call failed for `robot/move_to`\n\nCaused by:\n    Mcp error: -32602: Unexpected argument"
  },
  "status": "failed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.48,
      "y": 0.03,
      "z": 1.18,
      "pitch": -1.2,
      "gripper": 1
    },
    "note": "The cabinet is beyond the counter at the right of the exterior view. I raise and turn the wrist toward its front to locate the handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"open the cabinet.\", \"joint_positions\": [0.07133, -0.85963, 0.01402, -2.72264, 0.10686, 3.21721, -0.1009], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.4797, 0.03002, 1.17926], \"tcp_roll_pitch_yaw\": [-7e-05, -1.19481, 0.00018], \"tcp_rotation_matrix\": [[0.21435, 0.07133, 0.97415], [0.02202, -0.99743, 0.0682], [0.97651, 0.00683, -0.21537]], \"simulated_seconds_remaining\": 28.116, \"calls_remaining_including_this\": 56}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 29, \"motion_seconds\": 1.9140000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.62,
      "y": -0.055,
      "z": 1.27,
      "pitch": -1.4
    },
    "note": "The wrist view shows the brown cabinet face and a silver vertical handle above and right of center. I approach that handle with the fingers open."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"open the cabinet.\", \"joint_positions\": [0.07133, -0.85963, 0.01402, -2.72264, 0.10686, 3.21721, -0.1009], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.4797, 0.03002, 1.17926], \"tcp_roll_pitch_yaw\": [-7e-05, -1.19481, 0.00018], \"tcp_rotation_matrix\": [[0.21435, 0.07133, 0.97415], [0.02202, -0.99743, 0.0682], [0.97651, 0.00683, -0.21537]], \"simulated_seconds_remaining\": 28.116, \"calls_remaining_including_this\": 55}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"Target outside robot workspace bounds (+/-1.2 m)\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.6,
      "y": -0.045,
      "z": 1.2,
      "pitch": -1.5
    },
    "note": "The requested height exceeds the workspace. I stay at the upper reachable height and aim more level while approaching the lower part of the silver handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"open the cabinet.\", \"joint_positions\": [0.55741, -0.37619, -0.64608, -2.46552, -0.22662, 3.79975, -0.06103], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.59923, -0.0446, 1.19976], \"tcp_roll_pitch_yaw\": [0.00398, -1.49754, -0.00412], \"tcp_rotation_matrix\": [[-0.08652, 0.0658, 0.99407], [0.02169, -0.99746, 0.06791], [0.99601, 0.02744, 0.08488]], \"simulated_seconds_remaining\": 26.862, \"calls_remaining_including_this\": 54}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 19, \"motion_seconds\": 1.254, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "y": 0.16
    },
    "note": "The silver door edge shifted farther right, showing that the handle lies in positive y. I slide left in the robot frame to bring it into the wrist view."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"open the cabinet.\", \"joint_positions\": [0.47881, -0.19053, 0.01604, -2.33021, 0.63485, 3.90956, -0.55011], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.59922, 0.15883, 1.19979], \"tcp_roll_pitch_yaw\": [0.00232, -1.49764, -0.0021], \"tcp_rotation_matrix\": [[-0.08663, 0.06616, 0.99404], [0.02178, -0.99743, 0.06828], [0.996, 0.02757, 0.08496]], \"simulated_seconds_remaining\": 25.212, \"calls_remaining_including_this\": 53}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 25, \"motion_seconds\": 1.6500000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "z": 1.06,
      "y": 0.18
    },
    "note": "The vertical silver feature is centered horizontally, but the exterior view places the fingers above the handle. I lower the gripper to the handle's middle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"open the cabinet.\", \"joint_positions\": [0.4931, 0.06939, 0.00121, -2.46449, 0.47846, 4.24715, -0.29488], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.59924, 0.17982, 1.06114], \"tcp_roll_pitch_yaw\": [0.0001, -1.49732, 0.00011], \"tcp_rotation_matrix\": [[-0.08631, 0.06617, 0.99407], [0.02194, -0.99742, 0.0683], [0.99603, 0.02771, 0.08464]], \"simulated_seconds_remaining\": 23.958, \"calls_remaining_including_this\": 52}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 19, \"motion_seconds\": 1.254, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.67,
      "y": 0.205,
      "z": 1.1
    },
    "note": "The wrist view separates the door trim on the left from the short silver handle on the right. I align the open fingers around the handle and advance toward it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"open the cabinet.\", \"joint_positions\": [0.49684, 0.18133, -0.00512, -2.19823, 0.53152, 4.12199, -0.38627], \"gripper_open\": 1.0, \"tcp_xyz\": [0.66265, 0.20186, 1.09428], \"tcp_roll_pitch_yaw\": [0.00519, -1.50471, -0.01827], \"tcp_rotation_matrix\": [[-0.09337, 0.05269, 0.99424], [0.02285, -0.99822, 0.05505], [0.99537, 0.02786, 0.092]], \"simulated_seconds_remaining\": 23.1, \"calls_remaining_including_this\": 51}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 13, \"motion_seconds\": 0.8580000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The silver handle lies between the fingers in the wrist view, and the exterior view shows the gripper at the cabinet face. I close the jaws to grasp it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"open the cabinet.\", \"joint_positions\": [0.49881, 0.17797, -0.00285, -2.20532, 0.53334, 4.12912, -0.38631], \"gripper_open\": 0.9627, \"tcp_xyz\": [0.65987, 0.20275, 1.09418], \"tcp_roll_pitch_yaw\": [0.00912, -1.50734, -0.0218], \"tcp_rotation_matrix\": [[-0.096, 0.05301, 0.99397], [0.02261, -0.99821, 0.05542], [0.99512, 0.0278, 0.09463]], \"simulated_seconds_remaining\": 22.176, \"calls_remaining_including_this\": 50}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.56
    },
    "note": "The jaws are obstructed at the cabinet handle. I make a short outward pull to check whether the handle is securely engaged and the door follows."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"open the cabinet.\", \"joint_positions\": [0.56728, -0.03768, 0.06063, -2.48785, 0.65324, 4.2325, -0.42573], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.56124, 0.20283, 1.09423], \"tcp_roll_pitch_yaw\": [0.00973, -1.5074, -0.02225], \"tcp_rotation_matrix\": [[-0.09607, 0.05316, 0.99395], [0.02256, -0.9982, 0.05557], [0.99512, 0.02776, 0.0947]], \"simulated_seconds_remaining\": 21.186, \"calls_remaining_including_this\": 49}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 15, \"motion_seconds\": 0.99, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.63,
      "y": 0.18,
      "z": 1.17,
      "gripper": 1
    },
    "note": "The door did not follow the pull; the grasp was below the handle. I raise the fingers and shift slightly toward the handle center for another approach."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"open the cabinet.\", \"joint_positions\": [0.50635, -0.03664, -0.00147, -2.25339, 0.61223, 3.99297, -0.50695], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.62914, 0.18021, 1.16912], \"tcp_roll_pitch_yaw\": [0.0116, -1.50756, -0.02428], \"tcp_rotation_matrix\": [[-0.09623, 0.05299, 0.99395], [0.02246, -0.99821, 0.05539], [0.99511, 0.02766, 0.09487]], \"simulated_seconds_remaining\": 20.196, \"calls_remaining_including_this\": 48}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 15, \"motion_seconds\": 0.99, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "z": 0.99
    },
    "note": "The new wrist image shows the handle moving upward as the gripper rises, so it is below the current grasp point. I lower to align the fingers with the handle shaft."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 11, \"instruction\": \"open the cabinet.\", \"joint_positions\": [0.47044, 0.30944, -0.0218, -2.37776, 0.41607, 4.38577, -0.20089], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.62916, 0.1802, 0.99116], \"tcp_roll_pitch_yaw\": [0.0091, -1.50726, -0.02182], \"tcp_rotation_matrix\": [[-0.09592, 0.05297, 0.99398], [0.02262, -0.99821, 0.05538], [0.99513, 0.02779, 0.09455]], \"simulated_seconds_remaining\": 18.678, \"calls_remaining_including_this\": 47}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 23, \"motion_seconds\": 1.518, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.68,
      "gripper": 1
    },
    "note": "The handle shaft now runs through the gap between the fingers. I advance a short distance so the jaws can close around the shaft."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 12, \"instruction\": \"open the cabinet.\", \"joint_positions\": [0.44869, 0.40902, -0.03723, -2.24703, 0.3795, 4.39169, -0.19932], \"gripper_open\": 1.0, \"tcp_xyz\": [0.66331, 0.18127, 0.99131], \"tcp_roll_pitch_yaw\": [-0.31514, -1.55055, 0.29922], \"tcp_rotation_matrix\": [[-0.1397, 0.04854, 0.989], [0.0304, -0.99812, 0.05328], [0.98973, 0.0375, 0.13797]], \"simulated_seconds_remaining\": 18.018, \"calls_remaining_including_this\": 46}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 10, \"motion_seconds\": 0.66, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The gripper has reached the handle surface with the shaft inside the finger gap. I close the jaws at this height."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 13, \"instruction\": \"open the cabinet.\", \"joint_positions\": [0.4525, 0.40941, -0.03288, -2.25663, 0.37904, 4.40994, -0.19925], \"gripper_open\": 0.8852, \"tcp_xyz\": [0.65819, 0.18479, 0.99072], \"tcp_roll_pitch_yaw\": [-0.58962, -1.55754, 0.57887], \"tcp_rotation_matrix\": [[-0.14799, 0.05341, 0.98755], [0.03084, -0.99781, 0.05859], [0.98851, 0.03913, 0.14601]], \"simulated_seconds_remaining\": 17.094, \"calls_remaining_including_this\": 45}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.53,
      "gripper": 0
    },
    "note": "The jaws are partially closed around the silver feature. I keep closing pressure while pulling outward to start opening the cabinet door."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 14, \"instruction\": \"open the cabinet.\", \"joint_positions\": [0.4525, 0.40941, -0.03288, -2.25663, 0.37904, 4.40994, -0.19925], \"gripper_open\": 0.8852, \"tcp_xyz\": [0.65819, 0.18479, 0.99072], \"tcp_roll_pitch_yaw\": [-0.58962, -1.55754, 0.57887], \"tcp_rotation_matrix\": [[-0.14799, 0.05341, 0.98755], [0.03084, -0.99781, 0.05859], [0.98851, 0.03913, 0.14601]], \"simulated_seconds_remaining\": 17.094, \"calls_remaining_including_this\": 44}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.58,
      "roll": 0,
      "pitch": -1.45,
      "yaw": 0,
      "gripper": 0
    },
    "note": "The pull at the contact-deflected orientation was unreachable. I restore the nearly horizontal approach orientation and make a shorter pull while keeping the jaws closed."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 15, \"instruction\": \"open the cabinet.\", \"joint_positions\": [0.49519, 0.17702, 0.0134, -2.53845, 0.49188, 4.37099, -0.22063], \"gripper_open\": 0.264, \"tcp_xyz\": [0.58293, 0.1752, 0.98999], \"tcp_roll_pitch_yaw\": [0.0222, -1.44969, -0.04342], \"tcp_rotation_matrix\": [[-0.03839, 0.04587, 0.99821], [0.02011, -0.99871, 0.04666], [0.99906, 0.02187, 0.03742]], \"simulated_seconds_remaining\": 16.17, \"calls_remaining_including_this\": 43}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.42,
      "y": 0.23,
      "gripper": 0,
      "roll": 0,
      "pitch": -1.45,
      "yaw": -0.3
    },
    "note": "The handle remains held and the door edge has moved outward. I continue pulling and follow the door's swing toward positive y."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 16, \"instruction\": \"open the cabinet.\", \"joint_positions\": [0.49519, 0.17702, 0.0134, -2.53845, 0.49188, 4.37099, -0.22063], \"gripper_open\": 0.264, \"tcp_xyz\": [0.58293, 0.1752, 0.98999], \"tcp_roll_pitch_yaw\": [0.0222, -1.44969, -0.04342], \"tcp_rotation_matrix\": [[-0.03839, 0.04587, 0.99821], [0.02011, -0.99871, 0.04666], [0.99906, 0.02187, 0.03742]], \"simulated_seconds_remaining\": 16.17, \"calls_remaining_including_this\": 42}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.49,
      "y": 0.2,
      "gripper": 0,
      "roll": 0,
      "pitch": -1.3,
      "yaw": -0.12
    },
    "note": "The larger swing target was unreachable. I use a smaller outward step and tilt the wrist slightly to preserve a reachable grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "Episode ended. Do not call more tools. Return a brief final response."
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

The episode ended during the opening pull; I couldn’t verify that the cabinet fully opened.

TURN USAGE
{
  "input_tokens": 298541,
  "cached_input_tokens": 273664,
  "cache_write_input_tokens": 0,
  "output_tokens": 3487,
  "reasoning_output_tokens": 1567
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.01119,
      -0.74394,
      0.01696,
      -2.28661,
      0.07639,
      1.70244,
      -0.00681
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.3562,
      0.02896,
      1.05046
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.987,
        0.03248,
        0.15738
      ],
      [
        0.02197,
        -0.99744,
        0.06809
      ],
      [
        0.15919,
        -0.06375,
        -0.98519
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 26.024071748368442,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48,
                    "y": 0.03,
                    "z": 1.18,
                    "pitch": -1.2,
                    "gripper": 1
                  },
                  "note": "The cabinet is beyond the counter at the right of the exterior view. I raise and turn the wrist toward its front to locate the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 29,
    "motion_seconds": 1.9140000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.07133,
      -0.85963,
      0.01402,
      -2.72264,
      0.10686,
      3.21721,
      -0.1009
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.4797,
      0.03002,
      1.17926
    ],
    "tcp_roll_pitch_yaw": [
      -7e-05,
      -1.19481,
      0.00018
    ],
    "tcp_rotation_matrix": [
      [
        0.21435,
        0.07133,
        0.97415
      ],
      [
        0.02202,
        -0.99743,
        0.0682
      ],
      [
        0.97651,
        0.00683,
        -0.21537
      ]
    ],
    "simulated_seconds_remaining": 28.116,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 10.608779491856694,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.62,
                    "y": -0.055,
                    "z": 1.27,
                    "pitch": -1.4
                  },
                  "note": "The wrist view shows the brown cabinet face and a silver vertical handle above and right of center. I approach that handle with the fingers open."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "Target outside robot workspace bounds (+/-1.2 m)",
    "movement_executed": false
  }
}

{
  "call": 3,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.07133,
      -0.85963,
      0.01402,
      -2.72264,
      0.10686,
      3.21721,
      -0.1009
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.4797,
      0.03002,
      1.17926
    ],
    "tcp_roll_pitch_yaw": [
      -7e-05,
      -1.19481,
      0.00018
    ],
    "tcp_rotation_matrix": [
      [
        0.21435,
        0.07133,
        0.97415
      ],
      [
        0.02202,
        -0.99743,
        0.0682
      ],
      [
        0.97651,
        0.00683,
        -0.21537
      ]
    ],
    "simulated_seconds_remaining": 28.116,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 6.407000386156142,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.6,
                    "y": -0.045,
                    "z": 1.2,
                    "pitch": -1.5
                  },
                  "note": "The requested height exceeds the workspace. I stay at the upper reachable height and aim more level while approaching the lower part of the silver handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.55741,
      -0.37619,
      -0.64608,
      -2.46552,
      -0.22662,
      3.79975,
      -0.06103
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.59923,
      -0.0446,
      1.19976
    ],
    "tcp_roll_pitch_yaw": [
      0.00398,
      -1.49754,
      -0.00412
    ],
    "tcp_rotation_matrix": [
      [
        -0.08652,
        0.0658,
        0.99407
      ],
      [
        0.02169,
        -0.99746,
        0.06791
      ],
      [
        0.99601,
        0.02744,
        0.08488
      ]
    ],
    "simulated_seconds_remaining": 26.862,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 10.809248083271086,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.16
                  },
                  "note": "The silver door edge shifted farther right, showing that the handle lies in positive y. I slide left in the robot frame to bring it into the wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 25,
    "motion_seconds": 1.6500000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.47881,
      -0.19053,
      0.01604,
      -2.33021,
      0.63485,
      3.90956,
      -0.55011
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.59922,
      0.15883,
      1.19979
    ],
    "tcp_roll_pitch_yaw": [
      0.00232,
      -1.49764,
      -0.0021
    ],
    "tcp_rotation_matrix": [
      [
        -0.08663,
        0.06616,
        0.99404
      ],
      [
        0.02178,
        -0.99743,
        0.06828
      ],
      [
        0.996,
        0.02757,
        0.08496
      ]
    ],
    "simulated_seconds_remaining": 25.212,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 10.008072592318058,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.06,
                    "y": 0.18
                  },
                  "note": "The vertical silver feature is centered horizontally, but the exterior view places the fingers above the handle. I lower the gripper to the handle's middle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.4931,
      0.06939,
      0.00121,
      -2.46449,
      0.47846,
      4.24715,
      -0.29488
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.59924,
      0.17982,
      1.06114
    ],
    "tcp_roll_pitch_yaw": [
      0.0001,
      -1.49732,
      0.00011
    ],
    "tcp_rotation_matrix": [
      [
        -0.08631,
        0.06617,
        0.99407
      ],
      [
        0.02194,
        -0.99742,
        0.0683
      ],
      [
        0.99603,
        0.02771,
        0.08464
      ]
    ],
    "simulated_seconds_remaining": 23.958,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 11.409313351847231,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.67,
                    "y": 0.205,
                    "z": 1.1
                  },
                  "note": "The wrist view separates the door trim on the left from the short silver handle on the right. I align the open fingers around the handle and advance toward it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.49684,
      0.18133,
      -0.00512,
      -2.19823,
      0.53152,
      4.12199,
      -0.38627
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.66265,
      0.20186,
      1.09428
    ],
    "tcp_roll_pitch_yaw": [
      0.00519,
      -1.50471,
      -0.01827
    ],
    "tcp_rotation_matrix": [
      [
        -0.09337,
        0.05269,
        0.99424
      ],
      [
        0.02285,
        -0.99822,
        0.05505
      ],
      [
        0.99537,
        0.02786,
        0.092
      ]
    ],
    "simulated_seconds_remaining": 23.1,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 5.8052629949525,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The silver handle lies between the fingers in the wrist view, and the exterior view shows the gripper at the cabinet face. I close the jaws to grasp it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.49881,
      0.17797,
      -0.00285,
      -2.20532,
      0.53334,
      4.12912,
      -0.38631
    ],
    "gripper_open": 0.9627,
    "tcp_xyz": [
      0.65987,
      0.20275,
      1.09418
    ],
    "tcp_roll_pitch_yaw": [
      0.00912,
      -1.50734,
      -0.0218
    ],
    "tcp_rotation_matrix": [
      [
        -0.096,
        0.05301,
        0.99397
      ],
      [
        0.02261,
        -0.99821,
        0.05542
      ],
      [
        0.99512,
        0.0278,
        0.09463
      ]
    ],
    "simulated_seconds_remaining": 22.176,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 5.004819022491574,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.56
                  },
                  "note": "The jaws are obstructed at the cabinet handle. I make a short outward pull to check whether the handle is securely engaged and the door follows."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.56728,
      -0.03768,
      0.06063,
      -2.48785,
      0.65324,
      4.2325,
      -0.42573
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.56124,
      0.20283,
      1.09423
    ],
    "tcp_roll_pitch_yaw": [
      0.00973,
      -1.5074,
      -0.02225
    ],
    "tcp_rotation_matrix": [
      [
        -0.09607,
        0.05316,
        0.99395
      ],
      [
        0.02256,
        -0.9982,
        0.05557
      ],
      [
        0.99512,
        0.02776,
        0.0947
      ]
    ],
    "simulated_seconds_remaining": 21.186,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 11.60958114080131,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.63,
                    "y": 0.18,
                    "z": 1.17,
                    "gripper": 1
                  },
                  "note": "The door did not follow the pull; the grasp was below the handle. I raise the fingers and shift slightly toward the handle center for another approach."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.50635,
      -0.03664,
      -0.00147,
      -2.25339,
      0.61223,
      3.99297,
      -0.50695
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.62914,
      0.18021,
      1.16912
    ],
    "tcp_roll_pitch_yaw": [
      0.0116,
      -1.50756,
      -0.02428
    ],
    "tcp_rotation_matrix": [
      [
        -0.09623,
        0.05299,
        0.99395
      ],
      [
        0.02246,
        -0.99821,
        0.05539
      ],
      [
        0.99511,
        0.02766,
        0.09487
      ]
    ],
    "simulated_seconds_remaining": 20.196,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 8.806850505061448,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.99
                  },
                  "note": "The new wrist image shows the handle moving upward as the gripper rises, so it is below the current grasp point. I lower to align the fingers with the handle shaft."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.47044,
      0.30944,
      -0.0218,
      -2.37776,
      0.41607,
      4.38577,
      -0.20089
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.62916,
      0.1802,
      0.99116
    ],
    "tcp_roll_pitch_yaw": [
      0.0091,
      -1.50726,
      -0.02182
    ],
    "tcp_rotation_matrix": [
      [
        -0.09592,
        0.05297,
        0.99398
      ],
      [
        0.02262,
        -0.99821,
        0.05538
      ],
      [
        0.99513,
        0.02779,
        0.09455
      ]
    ],
    "simulated_seconds_remaining": 18.678,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 8.806889437139034,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.68,
                    "gripper": 1
                  },
                  "note": "The handle shaft now runs through the gap between the fingers. I advance a short distance so the jaws can close around the shaft."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.44869,
      0.40902,
      -0.03723,
      -2.24703,
      0.3795,
      4.39169,
      -0.19932
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.66331,
      0.18127,
      0.99131
    ],
    "tcp_roll_pitch_yaw": [
      -0.31514,
      -1.55055,
      0.29922
    ],
    "tcp_rotation_matrix": [
      [
        -0.1397,
        0.04854,
        0.989
      ],
      [
        0.0304,
        -0.99812,
        0.05328
      ],
      [
        0.98973,
        0.0375,
        0.13797
      ]
    ],
    "simulated_seconds_remaining": 18.018,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 6.4051469173282385,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The gripper has reached the handle surface with the shaft inside the finger gap. I close the jaws at this height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.4525,
      0.40941,
      -0.03288,
      -2.25663,
      0.37904,
      4.40994,
      -0.19925
    ],
    "gripper_open": 0.8852,
    "tcp_xyz": [
      0.65819,
      0.18479,
      0.99072
    ],
    "tcp_roll_pitch_yaw": [
      -0.58962,
      -1.55754,
      0.57887
    ],
    "tcp_rotation_matrix": [
      [
        -0.14799,
        0.05341,
        0.98755
      ],
      [
        0.03084,
        -0.99781,
        0.05859
      ],
      [
        0.98851,
        0.03913,
        0.14601
      ]
    ],
    "simulated_seconds_remaining": 17.094,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 6.405135796405375,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.53,
                    "gripper": 0
                  },
                  "note": "The jaws are partially closed around the silver feature. I keep closing pressure while pulling outward to start opening the cabinet door."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 14,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.4525,
      0.40941,
      -0.03288,
      -2.25663,
      0.37904,
      4.40994,
      -0.19925
    ],
    "gripper_open": 0.8852,
    "tcp_xyz": [
      0.65819,
      0.18479,
      0.99072
    ],
    "tcp_roll_pitch_yaw": [
      -0.58962,
      -1.55754,
      0.57887
    ],
    "tcp_rotation_matrix": [
      [
        -0.14799,
        0.05341,
        0.98755
      ],
      [
        0.03084,
        -0.99781,
        0.05859
      ],
      [
        0.98851,
        0.03913,
        0.14601
      ]
    ],
    "simulated_seconds_remaining": 17.094,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 6.004784629680216,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.58,
                    "roll": 0,
                    "pitch": -1.45,
                    "yaw": 0,
                    "gripper": 0
                  },
                  "note": "The pull at the contact-deflected orientation was unreachable. I restore the nearly horizontal approach orientation and make a shorter pull while keeping the jaws closed."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.49519,
      0.17702,
      0.0134,
      -2.53845,
      0.49188,
      4.37099,
      -0.22063
    ],
    "gripper_open": 0.264,
    "tcp_xyz": [
      0.58293,
      0.1752,
      0.98999
    ],
    "tcp_roll_pitch_yaw": [
      0.0222,
      -1.44969,
      -0.04342
    ],
    "tcp_rotation_matrix": [
      [
        -0.03839,
        0.04587,
        0.99821
      ],
      [
        0.02011,
        -0.99871,
        0.04666
      ],
      [
        0.99906,
        0.02187,
        0.03742
      ]
    ],
    "simulated_seconds_remaining": 16.17,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 10.008232104592025,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.42,
                    "y": 0.23,
                    "gripper": 0,
                    "roll": 0,
                    "pitch": -1.45,
                    "yaw": -0.3
                  },
                  "note": "The handle remains held and the door edge has moved outward. I continue pulling and follow the door's swing toward positive y."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 16,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.49519,
      0.17702,
      0.0134,
      -2.53845,
      0.49188,
      4.37099,
      -0.22063
    ],
    "gripper_open": 0.264,
    "tcp_xyz": [
      0.58293,
      0.1752,
      0.98999
    ],
    "tcp_roll_pitch_yaw": [
      0.0222,
      -1.44969,
      -0.04342
    ],
    "tcp_rotation_matrix": [
      [
        -0.03839,
        0.04587,
        0.99821
      ],
      [
        0.02011,
        -0.99871,
        0.04666
      ],
      [
        0.99906,
        0.02187,
        0.03742
      ]
    ],
    "simulated_seconds_remaining": 16.17,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 5.0051080491393805,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.49,
                    "y": 0.2,
                    "gripper": 0,
                    "roll": 0,
                    "pitch": -1.3,
                    "yaw": -0.12
                  },
                  "note": "The larger swing target was unreachable. I use a smaller outward step and tilt the wrist slightly to preserve a reachable grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

========================================================================
GPT-Astra / Open / Episode 008

Completed scored attempt. Images are available in the paired videos.

Opaque provider signatures, image payloads, and local paths are omitted.


RESULT
{
  "benchmark_index": 8,
  "source_episode_index": 235,
  "house_index": 21,
  "status": "completed",
  "success": false,
  "oracle_success": false,
  "action_decisions": 19,
  "wall_seconds": 217.55,
  "usage": {
    "input_tokens": 374442,
    "cached_input_tokens": 357888,
    "cache_write_input_tokens": 0,
    "output_tokens": 3642,
    "reasoning_output_tokens": 1372
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task.
You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose.
Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion.
move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up.
roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial.
Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5).
The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y.
The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics.
Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration.
Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target.
You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time.
Each move must include a short note describing what you observe and why you chose that motion.
Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done.
Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available.



AGENT TRANSCRIPT (visible messages and completed tool calls)

I’ll inspect the robot’s view and use fresh feedback to guide each motion.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"open the oven.\", \"joint_positions\": [-0.0187, -0.82719, -0.04145, -2.44011, -0.08877, 1.48316, 0.11412], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.26233, -0.03827, 0.98289], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.97896, -0.1554, -0.13223], [-0.16341, -0.98519, -0.05203], [-0.12219, 0.07254, -0.98985]], \"simulated_seconds_remaining\": 30.03, \"calls_remaining_including_this\": 57}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "x": 0.46,
    "y": 0,
    "z": 0.84,
    "gripper": 1,
    "note": "The oven is ahead, with its handle above the dark window. I move closer and lower with the fingers open to align over the handle."
  },
  "result": null,
  "error": {
    "message": "tool call error: tool call failed for `robot/move_to`\n\nCaused by:\n    Mcp error: -32602: Unexpected argument"
  },
  "status": "failed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.46,
      "y": 0,
      "z": 0.84,
      "gripper": 1
    },
    "note": "The oven handle is above the dark door window. I approach it with open fingers from above."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"open the oven.\", \"joint_positions\": [0.01446, -0.37644, -0.00039, -2.23615, -0.12345, 1.1812, 0.20844], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.25727, -0.03034, 0.94968], \"tcp_roll_pitch_yaw\": [-0.12234, 0.53579, -0.08061], \"tcp_rotation_matrix\": [[0.77322, -0.11339, -0.62392], [-0.24014, -0.96296, -0.1226], [-0.58691, 0.24463, -0.77181]], \"simulated_seconds_remaining\": 28.116, \"calls_remaining_including_this\": 56}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 29, \"motion_seconds\": 1.9140000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"open the oven.\", \"joint_positions\": [0.01446, -0.37644, -0.00039, -2.23615, -0.12345, 1.1812, 0.20844], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.25727, -0.03034, 0.94968], \"tcp_roll_pitch_yaw\": [-0.12234, 0.53579, -0.08061], \"tcp_rotation_matrix\": [[0.77322, -0.11339, -0.62392], [-0.24014, -0.96296, -0.1226], [-0.58691, 0.24463, -0.77181]], \"simulated_seconds_remaining\": 28.116, \"calls_remaining_including_this\": 56}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.46,
      "y": 0,
      "z": 0.84,
      "roll": 0,
      "pitch": 0,
      "yaw": 0
    },
    "note": "The gripper remains above and to the right of the oven handle. I continue the approach to the same target while restoring the downward grasp orientation."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"open the oven.\", \"joint_positions\": [0.02941, -0.37338, -0.01451, -2.23395, -0.12352, 1.17645, 0.21081], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.25684, -0.03008, 0.94982], \"tcp_roll_pitch_yaw\": [-0.11898, 0.54148, -0.07944], \"tcp_rotation_matrix\": [[0.76987, -0.1126, -0.62818], [-0.23861, -0.96371, -0.11968], [-0.59191, 0.24203, -0.76881]], \"simulated_seconds_remaining\": 26.268, \"calls_remaining_including_this\": 55}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 28, \"motion_seconds\": 1.848, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.18,
      "y": 0.18,
      "z": 0.9,
      "roll": 0,
      "pitch": 0,
      "yaw": 1.57
    },
    "note": "The approach is blocked near the oven's upper right edge. I back away and shift left toward the middle of the handle, turning the finger opening across the bar."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"open the oven.\", \"joint_positions\": [0.69447, -0.96306, 0.16248, -2.72818, 0.00244, 1.71213, -0.62176], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.18019, 0.17947, 0.90012], \"tcp_roll_pitch_yaw\": [0.0009, 0.00133, 1.56595], \"tcp_rotation_matrix\": [[0.16804, 0.98449, 0.05049], [0.978, -0.16007, -0.1338], [-0.12364, 0.07186, -0.98972]], \"simulated_seconds_remaining\": 23.694, \"calls_remaining_including_this\": 54}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 39, \"motion_seconds\": 2.5740000000000003, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.2,
      "y": -0.22,
      "z": 0.96
    },
    "note": "The wrist view shows the oven door beside the gripper. I move along the front of the oven to center the grasp over its long horizontal handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"open the oven.\", \"joint_positions\": [0.40471, -1.36738, -0.61206, -2.54793, -0.76763, 1.33076, -1.3785], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.19995, -0.21864, 0.95982], \"tcp_roll_pitch_yaw\": [0.00081, 0.00121, 1.56586], \"tcp_rotation_matrix\": [[0.16814, 0.98447, 0.05057], [0.978, -0.16017, -0.13368], [-0.12351, 0.07194, -0.98973]], \"simulated_seconds_remaining\": 20.724, \"calls_remaining_including_this\": 53}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 45, \"motion_seconds\": 2.97, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.27,
      "y": 0.42,
      "z": 0.96
    },
    "note": "The gripper is beyond the right end of the handle. I shift left across the oven front, keeping the grasp above the handle height."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"open the oven.\", \"joint_positions\": [0.77496, -0.13743, 0.26228, -1.93826, -0.07709, 1.40677, -0.35643], \"gripper_open\": 0.9791, \"tcp_xyz\": [0.22729, 0.34438, 0.95398], \"tcp_roll_pitch_yaw\": [0.15043, 0.27004, 1.55121], \"tcp_rotation_matrix\": [[0.16095, 0.98141, -0.10453], [0.90174, -0.18928, -0.38863], [-0.40119, -0.03171, -0.91545]], \"simulated_seconds_remaining\": 16.17, \"calls_remaining_including_this\": 52}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 69, \"motion_seconds\": 4.554, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.2,
      "y": 0.47,
      "z": 1.12,
      "roll": 0,
      "pitch": 0,
      "yaw": 1.57
    },
    "note": "The fingers are below the handle and touching the front. I lift clear of the door and align above the bar before descending onto it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"open the oven.\", \"joint_positions\": [0.86386, 0.03365, 0.36889, -1.32673, -0.11049, 1.25028, -0.20506], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.20009, 0.46944, 1.11925], \"tcp_roll_pitch_yaw\": [0.00065, 0.00118, 1.56995], \"tcp_rotation_matrix\": [[0.16416, 0.9851, 0.05127], [0.97868, -0.15615, -0.13345], [-0.12345, 0.07209, -0.98973]], \"simulated_seconds_remaining\": 14.454, \"calls_remaining_including_this\": 51}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 26, \"motion_seconds\": 1.7160000000000002, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.31,
      "y": 0.47,
      "z": 1.12
    },
    "note": "The gripper is clear of the oven front. I advance the open fingers toward the handle at this elevated position."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"open the oven.\", \"joint_positions\": [0.80594, 0.23224, 0.30962, -1.06982, -0.18852, 1.19914, -0.35822], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.30884, 0.46996, 1.11991], \"tcp_roll_pitch_yaw\": [0.00072, 0.00132, 1.5697], \"tcp_rotation_matrix\": [[0.1644, 0.98507, 0.05117], [0.97862, -0.15638, -0.1336], [-0.1236, 0.07204, -0.98971]], \"simulated_seconds_remaining\": 13.398, \"calls_remaining_including_this\": 50}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 16, \"motion_seconds\": 1.056, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "z": 1.035
    },
    "note": "The open fingers are directly above the central handle in the exterior view. I lower them to straddle the bar."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"open the oven.\", \"joint_positions\": [0.76661, 0.0642, 0.29842, -1.44542, -0.14635, 1.48225, -0.35056], \"gripper_open\": 1.0, \"tcp_xyz\": [0.30892, 0.4702, 1.06826], \"tcp_roll_pitch_yaw\": [-0.04698, -0.04932, 1.57056], \"tcp_rotation_matrix\": [[0.1692, 0.98065, 0.09844], [0.98337, -0.1613, -0.08347], [-0.06597, 0.11092, -0.99164]], \"simulated_seconds_remaining\": 12.54, \"calls_remaining_including_this\": 49}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 13, \"motion_seconds\": 0.8580000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.265,
      "z": 1.035
    },
    "note": "The descent stopped against the upper door surface. I ease outward so the open fingers can surround the projecting handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"open the oven.\", \"joint_positions\": [0.78827, -0.04718, 0.32046, -1.62669, -0.24829, 1.62729, -0.29186], \"gripper_open\": 1.0, \"tcp_xyz\": [0.30118, 0.46782, 1.06166], \"tcp_roll_pitch_yaw\": [-0.20376, -0.05438, 1.59053], \"tcp_rotation_matrix\": [[0.16534, 0.95329, 0.25278], [0.98568, -0.15109, -0.07495], [-0.03325, 0.26155, -0.96462]], \"simulated_seconds_remaining\": 11.88, \"calls_remaining_including_this\": 48}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 10, \"motion_seconds\": 0.66, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The fingers are positioned at the handle's center. I close the jaws to secure the bar before pulling."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 11, \"instruction\": \"open the oven.\", \"joint_positions\": [0.78661, -0.05721, 0.31818, -1.61424, -0.33267, 1.65074, -0.29165], \"gripper_open\": 0.2396, \"tcp_xyz\": [0.32309, 0.46379, 1.08215], \"tcp_roll_pitch_yaw\": [-0.30198, -0.05259, 1.59896], \"tcp_rotation_matrix\": [[0.16465, 0.92357, 0.34627], [0.98621, -0.14827, -0.07346], [-0.01651, 0.35359, -0.93525]], \"simulated_seconds_remaining\": 10.956, \"calls_remaining_including_this\": 47}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.16,
      "z": 1.03
    },
    "note": "The jaws remain partly open around the handle, indicating contact. I pull outward and slightly down to start rotating the bottom-hinged oven door."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 12, \"instruction\": \"open the oven.\", \"joint_positions\": [0.89886, -0.26322, 0.44579, -1.91144, -0.58189, 1.68817, -0.04044], \"gripper_open\": 0.0279, \"tcp_xyz\": [0.23306, 0.44963, 1.07721], \"tcp_roll_pitch_yaw\": [-0.6197, 0.03302, 1.63149], \"tcp_rotation_matrix\": [[0.14428, 0.76662, 0.62568], [0.98885, -0.08813, -0.12004], [-0.03688, 0.63603, -0.77079]], \"simulated_seconds_remaining\": 9.504, \"calls_remaining_including_this\": 46}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 22, \"motion_seconds\": 1.452, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.06,
      "z": 0.88,
      "roll": -0.95,
      "pitch": 0,
      "yaw": 1.57
    },
    "note": "A dark gap is visible above the door as it starts to open. I continue pulling outward and downward, rotating the wrist with the falling handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 13, \"instruction\": \"open the oven.\", \"joint_positions\": [1.01283, -0.26233, 0.55694, -2.20029, -0.2304, 1.97401, 0.82888], \"gripper_open\": 0.0, \"tcp_xyz\": [0.05559, 0.48436, 0.91315], \"tcp_roll_pitch_yaw\": [-0.24941, -0.32173, 1.04317], \"tcp_rotation_matrix\": [[0.64291, 0.68527, 0.34217], [0.72885, -0.68467, 0.00177], [0.23549, 0.24825, -0.93964]], \"simulated_seconds_remaining\": 7.458, \"calls_remaining_including_this\": 45}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 31, \"motion_seconds\": 2.0460000000000003, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.16,
      "y": 0.47,
      "z": 1.06,
      "roll": 0,
      "pitch": 0,
      "yaw": 1.57,
      "gripper": 1
    },
    "note": "The door is partly open, but the gripper slipped free. I reopen the fingers and return above the displaced handle to grasp it again."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 14, \"instruction\": \"open the oven.\", \"joint_positions\": [0.97819, -0.08639, 0.2946, -1.62419, -0.06528, 1.4317, -0.14099], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.15963, 0.47011, 1.05934], \"tcp_roll_pitch_yaw\": [-0.00168, -0.00134, 1.56687], \"tcp_rotation_matrix\": [[0.16746, 0.98444, 0.05318], [0.97847, -0.15936, -0.13112], [-0.1206, 0.07399, -0.98994]], \"simulated_seconds_remaining\": 5.94, \"calls_remaining_including_this\": 44}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 23, \"motion_seconds\": 1.518, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.245,
      "z": 1.025
    },
    "note": "The wrist view places the displaced handle just ahead of the fingers. I advance and lower the open grasp onto it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 15, \"instruction\": \"open the oven.\", \"joint_positions\": [0.91966, -0.01812, 0.23196, -1.62145, -0.09972, 1.52636, -0.26388], \"gripper_open\": 1.0, \"tcp_xyz\": [0.2398, 0.4744, 1.03359], \"tcp_roll_pitch_yaw\": [-0.01057, -0.01933, 1.57696], \"tcp_rotation_matrix\": [[0.15865, 0.98531, 0.06319], [0.9821, -0.1509, -0.1127], [-0.10151, 0.07994, -0.99162]], \"simulated_seconds_remaining\": 5.016, \"calls_remaining_including_this\": 43}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The open jaws now bracket the partly opened door's handle. I close them for another pull."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 16, \"instruction\": \"open the oven.\", \"joint_positions\": [0.91966, -0.01812, 0.23196, -1.62145, -0.09972, 1.52636, -0.26388], \"gripper_open\": 0.0, \"tcp_xyz\": [0.23981, 0.4744, 1.03359], \"tcp_roll_pitch_yaw\": [-0.01058, -0.01934, 1.57696], \"tcp_rotation_matrix\": [[0.15864, 0.98531, 0.06319], [0.9821, -0.1509, -0.11269], [-0.1015, 0.07994, -0.99162]], \"simulated_seconds_remaining\": 4.092, \"calls_remaining_including_this\": 42}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.285,
      "z": 1.085,
      "gripper": 1
    },
    "note": "The jaws closed fully, so the handle was missed. I lift and move slightly inward to place the bar between the fingers."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 17, \"instruction\": \"open the oven.\", \"joint_positions\": [0.89552, 0.09701, 0.20718, -1.34968, -0.12987, 1.37365, -0.33317], \"gripper_open\": 0.9962, \"tcp_xyz\": [0.28403, 0.4744, 1.08388], \"tcp_roll_pitch_yaw\": [-0.01054, -0.01936, 1.57692], \"tcp_rotation_matrix\": [[0.15868, 0.98531, 0.06315], [0.9821, -0.15094, -0.11267], [-0.10148, 0.0799, -0.99162]], \"simulated_seconds_remaining\": 3.168, \"calls_remaining_including_this\": 41}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.315,
      "z": 1.06,
      "gripper": 0
    },
    "note": "The fingers are level with the handle. I close while moving slightly inward to capture it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 18, \"instruction\": \"open the oven.\", \"joint_positions\": [0.87277, 0.11786, 0.18985, -1.37435, -0.13285, 1.43122, -0.37211], \"gripper_open\": 0.0, \"tcp_xyz\": [0.3108, 0.4756, 1.06537], \"tcp_roll_pitch_yaw\": [-0.01319, -0.02649, 1.58212], \"tcp_rotation_matrix\": [[0.15388, 0.98586, 0.06627], [0.9836, -0.14645, -0.10524], [-0.09405, 0.08138, -0.99224]], \"simulated_seconds_remaining\": 2.244, \"calls_remaining_including_this\": 40}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.075,
      "z": 0.92,
      "roll": -0.45
    },
    "note": "The closed fingers are against the handle. I pull outward and down to swing the oven door open."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 19, \"instruction\": \"open the oven.\", \"joint_positions\": [1.07637, -0.19747, 0.37916, -2.11144, -0.21242, 1.93979, 0.35143], \"gripper_open\": 0.0, \"tcp_xyz\": [0.10488, 0.49578, 0.92869], \"tcp_roll_pitch_yaw\": [-0.21814, -0.17867, 1.37348], \"tcp_rotation_matrix\": [[0.37416, 0.8879, 0.26764], [0.92285, -0.38493, -0.01311], [0.09139, 0.2519, -0.96343]], \"simulated_seconds_remaining\": 0.132, \"calls_remaining_including_this\": 39}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 32, \"motion_seconds\": 2.112, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "give_up",
  "arguments": {
    "note": "I could not maintain a secure grasp on the oven handle, and the motion budget is exhausted before the door could be opened."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "Episode ended. Do not call more tools. Return a brief final response."
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

I couldn’t secure the handle and open the oven before the motion budget ran out.

TURN USAGE
{
  "input_tokens": 374442,
  "cached_input_tokens": 357888,
  "cache_write_input_tokens": 0,
  "output_tokens": 3642,
  "reasoning_output_tokens": 1372
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "open the oven.",
    "joint_positions": [
      -0.0187,
      -0.82719,
      -0.04145,
      -2.44011,
      -0.08877,
      1.48316,
      0.11412
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.26233,
      -0.03827,
      0.98289
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.97896,
        -0.1554,
        -0.13223
      ],
      [
        -0.16341,
        -0.98519,
        -0.05203
      ],
      [
        -0.12219,
        0.07254,
        -0.98985
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 32.62577738985419,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.46,
                    "y": 0,
                    "z": 0.84,
                    "gripper": 1
                  },
                  "note": "The oven handle is above the dark door window. I approach it with open fingers from above."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 29,
    "motion_seconds": 1.9140000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "open the oven.",
    "joint_positions": [
      0.01446,
      -0.37644,
      -0.00039,
      -2.23615,
      -0.12345,
      1.1812,
      0.20844
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.25727,
      -0.03034,
      0.94968
    ],
    "tcp_roll_pitch_yaw": [
      -0.12234,
      0.53579,
      -0.08061
    ],
    "tcp_rotation_matrix": [
      [
        0.77322,
        -0.11339,
        -0.62392
      ],
      [
        -0.24014,
        -0.96296,
        -0.1226
      ],
      [
        -0.58691,
        0.24463,
        -0.77181
      ]
    ],
    "simulated_seconds_remaining": 28.116,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 10.608836670406163,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.46,
                    "y": 0,
                    "z": 0.84,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 0
                  },
                  "note": "The gripper remains above and to the right of the oven handle. I continue the approach to the same target while restoring the downward grasp orientation."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 28,
    "motion_seconds": 1.848,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "open the oven.",
    "joint_positions": [
      0.02941,
      -0.37338,
      -0.01451,
      -2.23395,
      -0.12352,
      1.17645,
      0.21081
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.25684,
      -0.03008,
      0.94982
    ],
    "tcp_roll_pitch_yaw": [
      -0.11898,
      0.54148,
      -0.07944
    ],
    "tcp_rotation_matrix": [
      [
        0.76987,
        -0.1126,
        -0.62818
      ],
      [
        -0.23861,
        -0.96371,
        -0.11968
      ],
      [
        -0.59191,
        0.24203,
        -0.76881
      ]
    ],
    "simulated_seconds_remaining": 26.268,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 7.6066322000697255,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.18,
                    "y": 0.18,
                    "z": 0.9,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 1.57
                  },
                  "note": "The approach is blocked near the oven's upper right edge. I back away and shift left toward the middle of the handle, turning the finger opening across the bar."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 39,
    "motion_seconds": 2.5740000000000003,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "open the oven.",
    "joint_positions": [
      0.69447,
      -0.96306,
      0.16248,
      -2.72818,
      0.00244,
      1.71213,
      -0.62176
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.18019,
      0.17947,
      0.90012
    ],
    "tcp_roll_pitch_yaw": [
      0.0009,
      0.00133,
      1.56595
    ],
    "tcp_rotation_matrix": [
      [
        0.16804,
        0.98449,
        0.05049
      ],
      [
        0.978,
        -0.16007,
        -0.1338
      ],
      [
        -0.12364,
        0.07186,
        -0.98972
      ]
    ],
    "simulated_seconds_remaining": 23.694,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 13.61075711902231,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.2,
                    "y": -0.22,
                    "z": 0.96
                  },
                  "note": "The wrist view shows the oven door beside the gripper. I move along the front of the oven to center the grasp over its long horizontal handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 45,
    "motion_seconds": 2.97,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "open the oven.",
    "joint_positions": [
      0.40471,
      -1.36738,
      -0.61206,
      -2.54793,
      -0.76763,
      1.33076,
      -1.3785
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.19995,
      -0.21864,
      0.95982
    ],
    "tcp_roll_pitch_yaw": [
      0.00081,
      0.00121,
      1.56586
    ],
    "tcp_rotation_matrix": [
      [
        0.16814,
        0.98447,
        0.05057
      ],
      [
        0.978,
        -0.16017,
        -0.13368
      ],
      [
        -0.12351,
        0.07194,
        -0.98973
      ]
    ],
    "simulated_seconds_remaining": 20.724,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 10.008035676553845,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.27,
                    "y": 0.42,
                    "z": 0.96
                  },
                  "note": "The gripper is beyond the right end of the handle. I shift left across the oven front, keeping the grasp above the handle height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 69,
    "motion_seconds": 4.554,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "open the oven.",
    "joint_positions": [
      0.77496,
      -0.13743,
      0.26228,
      -1.93826,
      -0.07709,
      1.40677,
      -0.35643
    ],
    "gripper_open": 0.9791,
    "tcp_xyz": [
      0.22729,
      0.34438,
      0.95398
    ],
    "tcp_roll_pitch_yaw": [
      0.15043,
      0.27004,
      1.55121
    ],
    "tcp_rotation_matrix": [
      [
        0.16095,
        0.98141,
        -0.10453
      ],
      [
        0.90174,
        -0.18928,
        -0.38863
      ],
      [
        -0.40119,
        -0.03171,
        -0.91545
      ]
    ],
    "simulated_seconds_remaining": 16.17,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 8.006975904107094,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.2,
                    "y": 0.47,
                    "z": 1.12,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 1.57
                  },
                  "note": "The fingers are below the handle and touching the front. I lift clear of the door and align above the bar before descending onto it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 26,
    "motion_seconds": 1.7160000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "open the oven.",
    "joint_positions": [
      0.86386,
      0.03365,
      0.36889,
      -1.32673,
      -0.11049,
      1.25028,
      -0.20506
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.20009,
      0.46944,
      1.11925
    ],
    "tcp_roll_pitch_yaw": [
      0.00065,
      0.00118,
      1.56995
    ],
    "tcp_rotation_matrix": [
      [
        0.16416,
        0.9851,
        0.05127
      ],
      [
        0.97868,
        -0.15615,
        -0.13345
      ],
      [
        -0.12345,
        0.07209,
        -0.98973
      ]
    ],
    "simulated_seconds_remaining": 14.454,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 7.205751956440508,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.31,
                    "y": 0.47,
                    "z": 1.12
                  },
                  "note": "The gripper is clear of the oven front. I advance the open fingers toward the handle at this elevated position."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "open the oven.",
    "joint_positions": [
      0.80594,
      0.23224,
      0.30962,
      -1.06982,
      -0.18852,
      1.19914,
      -0.35822
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.30884,
      0.46996,
      1.11991
    ],
    "tcp_roll_pitch_yaw": [
      0.00072,
      0.00132,
      1.5697
    ],
    "tcp_rotation_matrix": [
      [
        0.1644,
        0.98507,
        0.05117
      ],
      [
        0.97862,
        -0.15638,
        -0.1336
      ],
      [
        -0.1236,
        0.07204,
        -0.98971
      ]
    ],
    "simulated_seconds_remaining": 13.398,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 5.804444171488285,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.035
                  },
                  "note": "The open fingers are directly above the central handle in the exterior view. I lower them to straddle the bar."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "open the oven.",
    "joint_positions": [
      0.76661,
      0.0642,
      0.29842,
      -1.44542,
      -0.14635,
      1.48225,
      -0.35056
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.30892,
      0.4702,
      1.06826
    ],
    "tcp_roll_pitch_yaw": [
      -0.04698,
      -0.04932,
      1.57056
    ],
    "tcp_rotation_matrix": [
      [
        0.1692,
        0.98065,
        0.09844
      ],
      [
        0.98337,
        -0.1613,
        -0.08347
      ],
      [
        -0.06597,
        0.11092,
        -0.99164
      ]
    ],
    "simulated_seconds_remaining": 12.54,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 7.205520869232714,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.265,
                    "z": 1.035
                  },
                  "note": "The descent stopped against the upper door surface. I ease outward so the open fingers can surround the projecting handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "open the oven.",
    "joint_positions": [
      0.78827,
      -0.04718,
      0.32046,
      -1.62669,
      -0.24829,
      1.62729,
      -0.29186
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.30118,
      0.46782,
      1.06166
    ],
    "tcp_roll_pitch_yaw": [
      -0.20376,
      -0.05438,
      1.59053
    ],
    "tcp_rotation_matrix": [
      [
        0.16534,
        0.95329,
        0.25278
      ],
      [
        0.98568,
        -0.15109,
        -0.07495
      ],
      [
        -0.03325,
        0.26155,
        -0.96462
      ]
    ],
    "simulated_seconds_remaining": 11.88,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 5.4041975904256105,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The fingers are positioned at the handle's center. I close the jaws to secure the bar before pulling."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "open the oven.",
    "joint_positions": [
      0.78661,
      -0.05721,
      0.31818,
      -1.61424,
      -0.33267,
      1.65074,
      -0.29165
    ],
    "gripper_open": 0.2396,
    "tcp_xyz": [
      0.32309,
      0.46379,
      1.08215
    ],
    "tcp_roll_pitch_yaw": [
      -0.30198,
      -0.05259,
      1.59896
    ],
    "tcp_rotation_matrix": [
      [
        0.16465,
        0.92357,
        0.34627
      ],
      [
        0.98621,
        -0.14827,
        -0.07346
      ],
      [
        -0.01651,
        0.35359,
        -0.93525
      ]
    ],
    "simulated_seconds_remaining": 10.956,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 6.404884023591876,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.16,
                    "z": 1.03
                  },
                  "note": "The jaws remain partly open around the handle, indicating contact. I pull outward and slightly down to start rotating the bottom-hinged oven door."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 22,
    "motion_seconds": 1.452,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "open the oven.",
    "joint_positions": [
      0.89886,
      -0.26322,
      0.44579,
      -1.91144,
      -0.58189,
      1.68817,
      -0.04044
    ],
    "gripper_open": 0.0279,
    "tcp_xyz": [
      0.23306,
      0.44963,
      1.07721
    ],
    "tcp_roll_pitch_yaw": [
      -0.6197,
      0.03302,
      1.63149
    ],
    "tcp_rotation_matrix": [
      [
        0.14428,
        0.76662,
        0.62568
      ],
      [
        0.98885,
        -0.08813,
        -0.12004
      ],
      [
        -0.03688,
        0.63603,
        -0.77079
      ]
    ],
    "simulated_seconds_remaining": 9.504,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 6.205021697096527,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.06,
                    "z": 0.88,
                    "roll": -0.95,
                    "pitch": 0,
                    "yaw": 1.57
                  },
                  "note": "A dark gap is visible above the door as it starts to open. I continue pulling outward and downward, rotating the wrist with the falling handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 31,
    "motion_seconds": 2.0460000000000003,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "open the oven.",
    "joint_positions": [
      1.01283,
      -0.26233,
      0.55694,
      -2.20029,
      -0.2304,
      1.97401,
      0.82888
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.05559,
      0.48436,
      0.91315
    ],
    "tcp_roll_pitch_yaw": [
      -0.24941,
      -0.32173,
      1.04317
    ],
    "tcp_rotation_matrix": [
      [
        0.64291,
        0.68527,
        0.34217
      ],
      [
        0.72885,
        -0.68467,
        0.00177
      ],
      [
        0.23549,
        0.24825,
        -0.93964
      ]
    ],
    "simulated_seconds_remaining": 7.458,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 8.40696772467345,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.16,
                    "y": 0.47,
                    "z": 1.06,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 1.57,
                    "gripper": 1
                  },
                  "note": "The door is partly open, but the gripper slipped free. I reopen the fingers and return above the displaced handle to grasp it again."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "open the oven.",
    "joint_positions": [
      0.97819,
      -0.08639,
      0.2946,
      -1.62419,
      -0.06528,
      1.4317,
      -0.14099
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.15963,
      0.47011,
      1.05934
    ],
    "tcp_roll_pitch_yaw": [
      -0.00168,
      -0.00134,
      1.56687
    ],
    "tcp_rotation_matrix": [
      [
        0.16746,
        0.98444,
        0.05318
      ],
      [
        0.97847,
        -0.15936,
        -0.13112
      ],
      [
        -0.1206,
        0.07399,
        -0.98994
      ]
    ],
    "simulated_seconds_remaining": 5.94,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 9.407027758657932,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.245,
                    "z": 1.025
                  },
                  "note": "The wrist view places the displaced handle just ahead of the fingers. I advance and lower the open grasp onto it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "open the oven.",
    "joint_positions": [
      0.91966,
      -0.01812,
      0.23196,
      -1.62145,
      -0.09972,
      1.52636,
      -0.26388
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.2398,
      0.4744,
      1.03359
    ],
    "tcp_roll_pitch_yaw": [
      -0.01057,
      -0.01933,
      1.57696
    ],
    "tcp_rotation_matrix": [
      [
        0.15865,
        0.98531,
        0.06319
      ],
      [
        0.9821,
        -0.1509,
        -0.1127
      ],
      [
        -0.10151,
        0.07994,
        -0.99162
      ]
    ],
    "simulated_seconds_remaining": 5.016,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 6.605684467591345,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The open jaws now bracket the partly opened door's handle. I close them for another pull."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "open the oven.",
    "joint_positions": [
      0.91966,
      -0.01812,
      0.23196,
      -1.62145,
      -0.09972,
      1.52636,
      -0.26388
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.23981,
      0.4744,
      1.03359
    ],
    "tcp_roll_pitch_yaw": [
      -0.01058,
      -0.01934,
      1.57696
    ],
    "tcp_rotation_matrix": [
      [
        0.15864,
        0.98531,
        0.06319
      ],
      [
        0.9821,
        -0.1509,
        -0.11269
      ],
      [
        -0.1015,
        0.07994,
        -0.99162
      ]
    ],
    "simulated_seconds_remaining": 4.092,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 7.406473866663873,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.285,
                    "z": 1.085,
                    "gripper": 1
                  },
                  "note": "The jaws closed fully, so the handle was missed. I lift and move slightly inward to place the bar between the fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "open the oven.",
    "joint_positions": [
      0.89552,
      0.09701,
      0.20718,
      -1.34968,
      -0.12987,
      1.37365,
      -0.33317
    ],
    "gripper_open": 0.9962,
    "tcp_xyz": [
      0.28403,
      0.4744,
      1.08388
    ],
    "tcp_roll_pitch_yaw": [
      -0.01054,
      -0.01936,
      1.57692
    ],
    "tcp_rotation_matrix": [
      [
        0.15868,
        0.98531,
        0.06315
      ],
      [
        0.9821,
        -0.15094,
        -0.11267
      ],
      [
        -0.10148,
        0.0799,
        -0.99162
      ]
    ],
    "simulated_seconds_remaining": 3.168,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 5.805014380253851,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.315,
                    "z": 1.06,
                    "gripper": 0
                  },
                  "note": "The fingers are level with the handle. I close while moving slightly inward to capture it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "open the oven.",
    "joint_positions": [
      0.87277,
      0.11786,
      0.18985,
      -1.37435,
      -0.13285,
      1.43122,
      -0.37211
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.3108,
      0.4756,
      1.06537
    ],
    "tcp_roll_pitch_yaw": [
      -0.01319,
      -0.02649,
      1.58212
    ],
    "tcp_rotation_matrix": [
      [
        0.15388,
        0.98586,
        0.06627
      ],
      [
        0.9836,
        -0.14645,
        -0.10524
      ],
      [
        -0.09405,
        0.08138,
        -0.99224
      ]
    ],
    "simulated_seconds_remaining": 2.244,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 5.804883020929992,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.075,
                    "z": 0.92,
                    "roll": -0.45
                  },
                  "note": "The closed fingers are against the handle. I pull outward and down to swing the oven door open."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 32,
    "motion_seconds": 2.112,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 19,
  "state": {
    "instruction": "open the oven.",
    "joint_positions": [
      1.07637,
      -0.19747,
      0.37916,
      -2.11144,
      -0.21242,
      1.93979,
      0.35143
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.10488,
      0.49578,
      0.92869
    ],
    "tcp_roll_pitch_yaw": [
      -0.21814,
      -0.17867,
      1.37348
    ],
    "tcp_rotation_matrix": [
      [
        0.37416,
        0.8879,
        0.26764
      ],
      [
        0.92285,
        -0.38493,
        -0.01311
      ],
      [
        0.09139,
        0.2519,
        -0.96343
      ]
    ],
    "simulated_seconds_remaining": 0.132,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 5.603715097531676,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "give_up",
                "args": {
                  "note": "I could not maintain a secure grasp on the oven handle, and the motion budget is exhausted before the door could be opened."
                }
              }
            }
          ]
        }
      }
    ]
  }
}

========================================================================
GPT-Astra / Open / Episode 009

Completed scored attempt. Images are available in the paired videos.

Opaque provider signatures, image payloads, and local paths are omitted.


RESULT
{
  "benchmark_index": 9,
  "source_episode_index": 401,
  "house_index": 22,
  "status": "completed",
  "success": false,
  "oracle_success": false,
  "action_decisions": 25,
  "wall_seconds": 313.85,
  "usage": {
    "input_tokens": 507037,
    "cached_input_tokens": 486016,
    "cache_write_input_tokens": 0,
    "output_tokens": 5502,
    "reasoning_output_tokens": 2642
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task.
You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose.
Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion.
move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up.
roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial.
Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5).
The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y.
The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics.
Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration.
Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target.
You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time.
Each move must include a short note describing what you observe and why you chose that motion.
Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done.
Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available.



AGENT TRANSCRIPT (visible messages and completed tool calls)

I’ll observe the robot and handle, then make deliberate moves to open the object.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.01408, -0.82754, 0.00609, -2.34796, -0.0148, 1.46922, -0.03071], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.27695, -0.00626, 1.02319], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.99848, 0.01996, -0.05138], [0.01902, -0.99964, -0.01869], [-0.05173, 0.01768, -0.9985]], \"simulated_seconds_remaining\": 30.03, \"calls_remaining_including_this\": 57}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "x": 0.43,
    "y": 0.32,
    "z": 0.82,
    "gripper": 1,
    "note": "The cabinet is to the left of the arm, with a small handle below its countertop. I approach that area with the gripper open for a clearer view."
  },
  "result": null,
  "error": {
    "message": "tool call error: tool call failed for `robot/move_to`\n\nCaused by:\n    Mcp error: -32602: Unexpected argument"
  },
  "status": "failed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.43,
      "y": 0.32,
      "z": 0.82,
      "gripper": 1
    },
    "note": "The cabinet is left of the arm, with a small handle below its countertop. I approach that area with the gripper open for a clearer view."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"open the cabinet.\", \"joint_positions\": [0.11981, 0.04025, 0.51756, -2.10932, -0.00495, 2.09167, 0.62051], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.42945, 0.31891, 0.82061], \"tcp_roll_pitch_yaw\": [-6e-05, 0.00019, 0.00011], \"tcp_rotation_matrix\": [[0.99847, 0.02008, -0.05156], [0.01913, -0.99964, -0.01876], [-0.05192, 0.01774, -0.99849]], \"simulated_seconds_remaining\": 26.994, \"calls_remaining_including_this\": 56}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 46, \"motion_seconds\": 3.036, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.46,
      "y": 0.65,
      "z": 0.76,
      "pitch": -1.57
    },
    "note": "The handle remains left of the fingertips in the exterior view. I shift left and turn the fingers toward the cabinet front to align for a handle grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"open the cabinet.\", \"joint_positions\": [1.01405, 0.90551, 0.3145, -1.48772, -1.94123, 1.67891, 2.31647], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.45985, 0.6492, 0.7598], \"tcp_roll_pitch_yaw\": [-0.07554, -1.56535, 0.07574], \"tcp_rotation_matrix\": [[0.05715, -0.01737, 0.99821], [0.01945, -0.99964, -0.01851], [0.99818, 0.02047, -0.05679]], \"simulated_seconds_remaining\": 24.42, \"calls_remaining_including_this\": 55}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 39, \"motion_seconds\": 2.5740000000000003, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.56,
      "y": 0.82,
      "z": 0.91
    },
    "note": "The fingertips are below and right of the small brass handle. I raise the grasp point and move farther left and toward the cabinet."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"open the cabinet.\", \"joint_positions\": [1.01405, 0.90551, 0.3145, -1.48772, -1.94123, 1.67891, 2.31647], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.45985, 0.6492, 0.7598], \"tcp_roll_pitch_yaw\": [-0.07554, -1.56535, 0.07574], \"tcp_rotation_matrix\": [[0.05715, -0.01737, 0.99821], [0.01945, -0.99964, -0.01851], [0.99818, 0.02047, -0.05679]], \"simulated_seconds_remaining\": 24.42, \"calls_remaining_including_this\": 54}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK requires a large joint jump; split the motion or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.51,
      "y": 0.73,
      "z": 0.84
    },
    "note": "The larger approach was rejected without movement. I split it into a smaller upward and leftward step toward the visible handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"open the cabinet.\", \"joint_positions\": [1.04814, 1.11605, 0.33111, -0.93297, -1.93647, 1.78695, 1.98309], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.50947, 0.72916, 0.83917], \"tcp_roll_pitch_yaw\": [-0.04155, -1.56539, 0.04173], \"tcp_rotation_matrix\": [[0.05712, -0.01739, 0.99822], [0.01926, -0.99964, -0.01852], [0.99818, 0.02028, -0.05677]], \"simulated_seconds_remaining\": 23.298, \"calls_remaining_including_this\": 53}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 17, \"motion_seconds\": 1.122, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "z": 0.94
    },
    "note": "The exterior view now places the fingers directly below the brass handle. I raise the gripper to its height while retaining the front-facing approach."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"open the cabinet.\", \"joint_positions\": [1.0331, 0.99729, 0.36348, -0.95577, -1.81251, 1.80896, 1.85679], \"gripper_open\": 1.0, \"tcp_xyz\": [0.50127, 0.72934, 0.90159], \"tcp_roll_pitch_yaw\": [-0.01622, -1.4708, 0.01108], \"tcp_rotation_matrix\": [[0.15124, -0.02066, 0.98828], [0.01986, -0.99952, -0.02394], [0.9883, 0.02325, -0.15075]], \"simulated_seconds_remaining\": 22.308, \"calls_remaining_including_this\": 52}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 15, \"motion_seconds\": 0.99, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.44,
      "z": 0.95
    },
    "note": "The upward motion stopped short, suggesting contact with the cabinet or handle. I ease back and raise slightly to see the handle clearly before closing."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"open the cabinet.\", \"joint_positions\": [1.07353, 0.85714, 0.39761, -1.09211, -1.7717, 1.71522, 1.85416], \"gripper_open\": 0.9967, \"tcp_xyz\": [0.44085, 0.72948, 0.94905], \"tcp_roll_pitch_yaw\": [-0.01452, -1.47018, 0.00966], \"tcp_rotation_matrix\": [[0.15185, -0.02037, 0.98819], [0.01974, -0.99953, -0.02364], [0.98821, 0.02309, -0.15138]], \"simulated_seconds_remaining\": 21.516, \"calls_remaining_including_this\": 51}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 12, \"motion_seconds\": 0.792, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.44,
      "y": 0.63,
      "z": 0.95,
      "roll": 1.57,
      "pitch": 0,
      "yaw": 0
    },
    "note": "The wrist view shows the cabinet edge at an oblique angle. I back away and turn toward the cabinet along the leftward direction to approach its handle squarely."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.10164, 1.2263, 1.41125, -1.4261, -2.69429, 3.08059, 2.88037], \"gripper_open\": 0.9986, \"tcp_xyz\": [0.50156, 0.67234, 0.97795], \"tcp_roll_pitch_yaw\": [1.49249, -0.17005, -0.38814], \"tcp_rotation_matrix\": [[0.92862, 0.13783, 0.34448], [-0.32237, -0.15989, 0.93301], [0.18368, -0.97747, -0.10404]], \"simulated_seconds_remaining\": 18.48, \"calls_remaining_including_this\": 50}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 46, \"motion_seconds\": 3.036, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.44,
      "y": 0.6,
      "z": 0.95,
      "roll": 1.57,
      "pitch": 0,
      "yaw": 0
    },
    "note": "The wrist camera now clearly shows the metal pull above the fingers. I complete the reorientation from a slightly more withdrawn position to align the grasp reliably."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.19063, 1.32299, 1.5305, -1.5101, -2.79138, 3.57356, 2.87711], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.36243, 0.61691, 1.01259], \"tcp_roll_pitch_yaw\": [1.61708, -0.14175, 0.11545], \"tcp_rotation_matrix\": [[0.97303, 0.15658, -0.16938], [0.16398, 0.04693, 0.98535], [0.16224, -0.98655, 0.01999]], \"simulated_seconds_remaining\": 17.49, \"calls_remaining_including_this\": 49}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 15, \"motion_seconds\": 0.99, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.38,
      "y": 0.53,
      "z": 0.94,
      "roll": 0,
      "pitch": -1.57,
      "yaw": 1.57
    },
    "note": "The arm has not reached the requested orientation cleanly. I withdraw and use a different wrist rotation that still points toward the cabinet, with the jaws across the pull."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.55744, 1.418, 1.53585, -1.949, -2.80651, 3.31359, 1.33833], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.38003, 0.53019, 0.94024], \"tcp_roll_pitch_yaw\": [1.42604, -1.56573, 0.14414], \"tcp_rotation_matrix\": [[-0.01399, 0.99972, 0.01904], [0.05247, -0.01828, 0.99846], [0.99852, 0.01496, -0.0522]], \"simulated_seconds_remaining\": 15.246, \"calls_remaining_including_this\": 48}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 34, \"motion_seconds\": 2.244, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.49,
      "y": 0.64,
      "z": 0.94
    },
    "note": "The pull is visible to the left of the wrist image and left of the fingertips in the exterior view. I advance diagonally toward it while keeping the jaws open."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 11, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.0247, 1.35018, 1.33071, -1.38286, -2.74009, 3.11892, 1.41224], \"gripper_open\": 1.0, \"tcp_xyz\": [0.48119, 0.69289, 0.87402], \"tcp_roll_pitch_yaw\": [-0.03564, -1.4307, 1.33776], \"tcp_rotation_matrix\": [[0.02747, 0.95985, 0.27916], [0.19009, -0.27919, 0.94123], [0.98138, 0.02721, -0.19013]], \"simulated_seconds_remaining\": 13.926, \"calls_remaining_including_this\": 47}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 20, \"motion_seconds\": 1.32, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.46,
      "y": 0.72,
      "z": 0.88
    },
    "note": "The pull is now close to the gap between the fingers in the wrist view. I make a small adjustment along the cabinet to place the bar between the jaws."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 12, \"instruction\": \"open the cabinet.\", \"joint_positions\": [0.03446, 1.33992, 1.32977, -1.36822, -2.72397, 3.07608, 1.41686], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.46052, 0.71919, 0.87984], \"tcp_roll_pitch_yaw\": [-0.03547, -1.43075, 1.33792], \"tcp_rotation_matrix\": [[0.02742, 0.95994, 0.27885], [0.19004, -0.27887, 0.94134], [0.98139, 0.02718, -0.19008]], \"simulated_seconds_remaining\": 13.398, \"calls_remaining_including_this\": 46}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 8, \"motion_seconds\": 0.528, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The handle bar lies in the finger gap in the wrist image. I close the jaws to secure it before pulling."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 13, \"instruction\": \"open the cabinet.\", \"joint_positions\": [0.03446, 1.33992, 1.32977, -1.36822, -2.72397, 3.07608, 1.41686], \"gripper_open\": 0.0, \"tcp_xyz\": [0.46051, 0.71919, 0.87984], \"tcp_roll_pitch_yaw\": [-0.03547, -1.43075, 1.33792], \"tcp_rotation_matrix\": [[0.02742, 0.95994, 0.27886], [0.19004, -0.27888, 0.94133], [0.98139, 0.02718, -0.19008]], \"simulated_seconds_remaining\": 12.474, \"calls_remaining_including_this\": 45}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "y": 0.61
    },
    "note": "The jaws have closed at the pull. I make a short outward pull and check whether the cabinet door follows."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 14, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.32488, 1.34579, 1.42488, -1.74297, -2.80642, 3.04153, 1.42746], \"gripper_open\": 0.0, \"tcp_xyz\": [0.46069, 0.6106, 0.87985], \"tcp_roll_pitch_yaw\": [-0.02916, -1.43065, 1.33129], \"tcp_rotation_matrix\": [[0.02836, 0.95986, 0.27905], [0.18992, -0.27925, 0.94125], [0.98139, 0.02631, -0.19021]], \"simulated_seconds_remaining\": 11.418, \"calls_remaining_including_this\": 44}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 16, \"motion_seconds\": 1.056, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "z": 0.98,
      "gripper": 1
    },
    "note": "The door did not follow, and the exterior view shows the fingers below the handle. I reopen and raise the grasp point to the pull's height."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 15, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.31697, 1.05891, 1.41779, -1.68961, -2.57213, 3.14061, 1.47443], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.46067, 0.61062, 0.97886], \"tcp_roll_pitch_yaw\": [-0.03068, -1.43079, 1.33284], \"tcp_rotation_matrix\": [[0.02811, 0.95987, 0.27905], [0.18984, -0.2792, 0.94128], [0.98141, 0.02651, -0.19007]], \"simulated_seconds_remaining\": 10.428, \"calls_remaining_including_this\": 43}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 15, \"motion_seconds\": 0.99, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "y": 0.72
    },
    "note": "The fingers are now at the correct height for a forward approach, and the full U-shaped pull is visible in the wrist camera. I advance to surround it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 16, \"instruction\": \"open the cabinet.\", \"joint_positions\": [0.08118, 1.03837, 1.16873, -1.31762, -2.39542, 3.21418, 1.4151], \"gripper_open\": 1.0, \"tcp_xyz\": [0.46253, 0.71242, 0.97811], \"tcp_roll_pitch_yaw\": [-0.00542, -1.43061, 1.32029], \"tcp_rotation_matrix\": [[0.02915, 0.96335, 0.26664], [0.18953, -0.26724, 0.94481], [0.98144, 0.02299, -0.19038]], \"simulated_seconds_remaining\": 9.372, \"calls_remaining_including_this\": 42}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 16, \"motion_seconds\": 1.056, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The exterior view shows the fingers overlapping the brass pull. I close the gripper at this corrected height."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 17, \"instruction\": \"open the cabinet.\", \"joint_positions\": [0.07653, 1.03632, 1.16928, -1.32109, -2.39577, 3.21989, 1.41624], \"gripper_open\": 0.965, \"tcp_xyz\": [0.46217, 0.7107, 0.97847], \"tcp_roll_pitch_yaw\": [0.00055, -1.43053, 1.31826], \"tcp_rotation_matrix\": [[0.02923, 0.96441, 0.2628], [0.18952, -0.26349, 0.94586], [0.98144, 0.02216, -0.19047]], \"simulated_seconds_remaining\": 8.448, \"calls_remaining_including_this\": 41}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "y": 0.59
    },
    "note": "The jaws remain spread under contact at the handle. I pull outward a short distance to test engagement and start opening the door."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 18, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.37049, 1.06165, 1.43021, -1.71981, -2.57032, 3.17697, 1.46255], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.46234, 0.59122, 0.97844], \"tcp_roll_pitch_yaw\": [0.00087, -1.4305, 1.31772], \"tcp_rotation_matrix\": [[0.02932, 0.96435, 0.26301], [0.18953, -0.26372, 0.9458], [0.98144, 0.02212, -0.19051]], \"simulated_seconds_remaining\": 7.326, \"calls_remaining_including_this\": 40}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 17, \"motion_seconds\": 1.122, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.5,
      "y": 0.7,
      "z": 0.94,
      "gripper": 1
    },
    "note": "The pull remained stationary, so contact was not secure. I center the visible bar more closely between the fingers with a small forward and downward correction."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 19, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.12031, 0.93971, 1.1505, -1.52713, -2.45163, 3.26064, 1.39866], \"gripper_open\": 1.0, \"tcp_xyz\": [0.48128, 0.63124, 0.93026], \"tcp_roll_pitch_yaw\": [-0.3778, -1.29443, 1.69811], \"tcp_rotation_matrix\": [[-0.03993, 0.96152, 0.27183], [0.323, -0.24502, 0.91413], [0.94556, 0.1243, -0.30078]], \"simulated_seconds_remaining\": 6.204, \"calls_remaining_including_this\": 39}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 17, \"motion_seconds\": 1.122, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.48,
      "y": 0.69,
      "z": 0.95,
      "gripper": 0
    },
    "note": "The handle sits between the inner finger edges. I advance slightly while closing to catch the bar rather than the cabinet face."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 20, \"instruction\": \"open the cabinet.\", \"joint_positions\": [0.07051, 0.77691, 0.85469, -1.48114, -2.14647, 3.27788, 1.44022], \"gripper_open\": 0.236, \"tcp_xyz\": [0.50528, 0.64054, 0.91741], \"tcp_roll_pitch_yaw\": [-0.02297, -1.22541, 1.22073], \"tcp_rotation_matrix\": [[0.11602, 0.92759, 0.35513], [0.36976, -0.37218, 0.85133], [0.92186, 0.03254, -0.38616]], \"simulated_seconds_remaining\": 5.28, \"calls_remaining_including_this\": 38}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.47,
      "y": 0.52,
      "gripper": 0
    },
    "note": "The fingers now stop partially closed around the handle. I keep them closed and pull outward to swing the cabinet door open."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 21, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.52811, 0.80561, 1.34611, -1.91633, -2.46192, 3.16481, 1.55043], \"gripper_open\": 0.0001, \"tcp_xyz\": [0.4705, 0.52122, 0.91736], \"tcp_roll_pitch_yaw\": [-0.02265, -1.22534, 1.22025], \"tcp_rotation_matrix\": [[0.1162, 0.92753, 0.35524], [0.36976, -0.37235, 0.85125], [0.92183, 0.03244, -0.38623]], \"simulated_seconds_remaining\": 4.158, \"calls_remaining_including_this\": 37}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 17, \"motion_seconds\": 1.122, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.44,
      "y": 0.73,
      "z": 0.98,
      "roll": 0,
      "pitch": -1.57,
      "yaw": 0,
      "gripper": 1
    },
    "note": "The last pull slipped free. I return beside the visible handle and turn the gripper toward the broad cabinet face for a final direct grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 22, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.52811, 0.80561, 1.34611, -1.91633, -2.46192, 3.16481, 1.55043], \"gripper_open\": 0.0001, \"tcp_xyz\": [0.4705, 0.52122, 0.91736], \"tcp_roll_pitch_yaw\": [-0.02265, -1.22534, 1.22025], \"tcp_rotation_matrix\": [[0.1162, 0.92753, 0.35524], [0.36976, -0.37235, 0.85125], [0.92183, 0.03244, -0.38623]], \"simulated_seconds_remaining\": 4.158, \"calls_remaining_including_this\": 36}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK requires a large joint jump; split the motion or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.48,
      "y": 0.65,
      "z": 0.95,
      "pitch": -1.45,
      "yaw": 0.65,
      "gripper": 1
    },
    "note": "The final approach requires a smaller wrist rotation. I split the turn and move toward the pull with open fingers."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 23, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.10118, 0.88577, 1.37708, -1.87269, -2.52964, 2.185, 1.83629], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.47964, 0.64947, 0.94979], \"tcp_roll_pitch_yaw\": [-0.02522, -1.44841, 0.65708], \"tcp_rotation_matrix\": [[0.12671, 0.57836, 0.80588], [0.12012, -0.8154, 0.5663], [0.98464, 0.02505, -0.17279]], \"simulated_seconds_remaining\": 2.97, \"calls_remaining_including_this\": 35}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 18, \"motion_seconds\": 1.1880000000000002, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.52,
      "y": 0.65,
      "z": 1,
      "gripper": 0
    },
    "note": "The fingertips sit just below the handle in the exterior view. I lift and advance slightly while closing around the pull."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 24, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.10114, 0.8853, 1.40372, -1.75494, -2.28551, 2.29101, 1.71409], \"gripper_open\": 0.0409, \"tcp_xyz\": [0.49876, 0.6521, 0.97521], \"tcp_roll_pitch_yaw\": [0.38231, -1.30106, 0.24393], \"tcp_rotation_matrix\": [[0.28753, 0.56422, 0.77394], [0.10964, -0.82214, 0.55863], [0.95148, -0.07577, -0.29825]], \"simulated_seconds_remaining\": 2.046, \"calls_remaining_including_this\": 34}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.33,
      "y": 0.61,
      "gripper": 0
    },
    "note": "The jaws have closed against the handle area. I maintain closure and pull away from the cabinet face to open it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 25, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.31881, 0.6839, 1.71936, -2.19578, -2.16475, 2.06446, 1.9353], \"gripper_open\": 0.0, \"tcp_xyz\": [0.33115, 0.61041, 0.97525], \"tcp_roll_pitch_yaw\": [0.38236, -1.30109, 0.2442], \"tcp_rotation_matrix\": [[0.28747, 0.56448, 0.77377], [0.10971, -0.82196, 0.55887], [0.95149, -0.07577, -0.29822]], \"simulated_seconds_remaining\": 0.594, \"calls_remaining_including_this\": 33}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 22, \"motion_seconds\": 1.452, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "give_up",
  "arguments": {
    "note": "The handle slipped from the gripper and the cabinet remains closed. The remaining motion time is insufficient for another grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "Episode ended. Do not call more tools. Return a brief final response."
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

I couldn’t secure the handle before motion time ran out. The cabinet remains closed.

TURN USAGE
{
  "input_tokens": 507037,
  "cached_input_tokens": 486016,
  "cache_write_input_tokens": 0,
  "output_tokens": 5502,
  "reasoning_output_tokens": 2642
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.01408,
      -0.82754,
      0.00609,
      -2.34796,
      -0.0148,
      1.46922,
      -0.03071
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.27695,
      -0.00626,
      1.02319
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99848,
        0.01996,
        -0.05138
      ],
      [
        0.01902,
        -0.99964,
        -0.01869
      ],
      [
        -0.05173,
        0.01768,
        -0.9985
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 27.222810805775225,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.43,
                    "y": 0.32,
                    "z": 0.82,
                    "gripper": 1
                  },
                  "note": "The cabinet is left of the arm, with a small handle below its countertop. I approach that area with the gripper open for a clearer view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 46,
    "motion_seconds": 3.036,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.11981,
      0.04025,
      0.51756,
      -2.10932,
      -0.00495,
      2.09167,
      0.62051
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.42945,
      0.31891,
      0.82061
    ],
    "tcp_roll_pitch_yaw": [
      -6e-05,
      0.00019,
      0.00011
    ],
    "tcp_rotation_matrix": [
      [
        0.99847,
        0.02008,
        -0.05156
      ],
      [
        0.01913,
        -0.99964,
        -0.01876
      ],
      [
        -0.05192,
        0.01774,
        -0.99849
      ]
    ],
    "simulated_seconds_remaining": 26.994,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 9.808087245561182,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.46,
                    "y": 0.65,
                    "z": 0.76,
                    "pitch": -1.57
                  },
                  "note": "The handle remains left of the fingertips in the exterior view. I shift left and turn the fingers toward the cabinet front to align for a handle grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 39,
    "motion_seconds": 2.5740000000000003,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      1.01405,
      0.90551,
      0.3145,
      -1.48772,
      -1.94123,
      1.67891,
      2.31647
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.45985,
      0.6492,
      0.7598
    ],
    "tcp_roll_pitch_yaw": [
      -0.07554,
      -1.56535,
      0.07574
    ],
    "tcp_rotation_matrix": [
      [
        0.05715,
        -0.01737,
        0.99821
      ],
      [
        0.01945,
        -0.99964,
        -0.01851
      ],
      [
        0.99818,
        0.02047,
        -0.05679
      ]
    ],
    "simulated_seconds_remaining": 24.42,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 8.206775777041912,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.56,
                    "y": 0.82,
                    "z": 0.91
                  },
                  "note": "The fingertips are below and right of the small brass handle. I raise the grasp point and move farther left and toward the cabinet."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 4,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      1.01405,
      0.90551,
      0.3145,
      -1.48772,
      -1.94123,
      1.67891,
      2.31647
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.45985,
      0.6492,
      0.7598
    ],
    "tcp_roll_pitch_yaw": [
      -0.07554,
      -1.56535,
      0.07574
    ],
    "tcp_rotation_matrix": [
      [
        0.05715,
        -0.01737,
        0.99821
      ],
      [
        0.01945,
        -0.99964,
        -0.01851
      ],
      [
        0.99818,
        0.02047,
        -0.05679
      ]
    ],
    "simulated_seconds_remaining": 24.42,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 4.409431332722306,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.51,
                    "y": 0.73,
                    "z": 0.84
                  },
                  "note": "The larger approach was rejected without movement. I split it into a smaller upward and leftward step toward the visible handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      1.04814,
      1.11605,
      0.33111,
      -0.93297,
      -1.93647,
      1.78695,
      1.98309
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.50947,
      0.72916,
      0.83917
    ],
    "tcp_roll_pitch_yaw": [
      -0.04155,
      -1.56539,
      0.04173
    ],
    "tcp_rotation_matrix": [
      [
        0.05712,
        -0.01739,
        0.99822
      ],
      [
        0.01926,
        -0.99964,
        -0.01852
      ],
      [
        0.99818,
        0.02028,
        -0.05677
      ]
    ],
    "simulated_seconds_remaining": 23.298,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 9.20765782892704,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.94
                  },
                  "note": "The exterior view now places the fingers directly below the brass handle. I raise the gripper to its height while retaining the front-facing approach."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      1.0331,
      0.99729,
      0.36348,
      -0.95577,
      -1.81251,
      1.80896,
      1.85679
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.50127,
      0.72934,
      0.90159
    ],
    "tcp_roll_pitch_yaw": [
      -0.01622,
      -1.4708,
      0.01108
    ],
    "tcp_rotation_matrix": [
      [
        0.15124,
        -0.02066,
        0.98828
      ],
      [
        0.01986,
        -0.99952,
        -0.02394
      ],
      [
        0.9883,
        0.02325,
        -0.15075
      ]
    ],
    "simulated_seconds_remaining": 22.308,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 10.409141818061471,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.44,
                    "z": 0.95
                  },
                  "note": "The upward motion stopped short, suggesting contact with the cabinet or handle. I ease back and raise slightly to see the handle clearly before closing."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      1.07353,
      0.85714,
      0.39761,
      -1.09211,
      -1.7717,
      1.71522,
      1.85416
    ],
    "gripper_open": 0.9967,
    "tcp_xyz": [
      0.44085,
      0.72948,
      0.94905
    ],
    "tcp_roll_pitch_yaw": [
      -0.01452,
      -1.47018,
      0.00966
    ],
    "tcp_rotation_matrix": [
      [
        0.15185,
        -0.02037,
        0.98819
      ],
      [
        0.01974,
        -0.99953,
        -0.02364
      ],
      [
        0.98821,
        0.02309,
        -0.15138
      ]
    ],
    "simulated_seconds_remaining": 21.516,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 25.219130093231797,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.44,
                    "y": 0.63,
                    "z": 0.95,
                    "roll": 1.57,
                    "pitch": 0,
                    "yaw": 0
                  },
                  "note": "The wrist view shows the cabinet edge at an oblique angle. I back away and turn toward the cabinet along the leftward direction to approach its handle squarely."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 46,
    "motion_seconds": 3.036,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.10164,
      1.2263,
      1.41125,
      -1.4261,
      -2.69429,
      3.08059,
      2.88037
    ],
    "gripper_open": 0.9986,
    "tcp_xyz": [
      0.50156,
      0.67234,
      0.97795
    ],
    "tcp_roll_pitch_yaw": [
      1.49249,
      -0.17005,
      -0.38814
    ],
    "tcp_rotation_matrix": [
      [
        0.92862,
        0.13783,
        0.34448
      ],
      [
        -0.32237,
        -0.15989,
        0.93301
      ],
      [
        0.18368,
        -0.97747,
        -0.10404
      ]
    ],
    "simulated_seconds_remaining": 18.48,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 16.21241246163845,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.44,
                    "y": 0.6,
                    "z": 0.95,
                    "roll": 1.57,
                    "pitch": 0,
                    "yaw": 0
                  },
                  "note": "The wrist camera now clearly shows the metal pull above the fingers. I complete the reorientation from a slightly more withdrawn position to align the grasp reliably."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.19063,
      1.32299,
      1.5305,
      -1.5101,
      -2.79138,
      3.57356,
      2.87711
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.36243,
      0.61691,
      1.01259
    ],
    "tcp_roll_pitch_yaw": [
      1.61708,
      -0.14175,
      0.11545
    ],
    "tcp_rotation_matrix": [
      [
        0.97303,
        0.15658,
        -0.16938
      ],
      [
        0.16398,
        0.04693,
        0.98535
      ],
      [
        0.16224,
        -0.98655,
        0.01999
      ]
    ],
    "simulated_seconds_remaining": 17.49,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 7.606091598048806,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.38,
                    "y": 0.53,
                    "z": 0.94,
                    "roll": 0,
                    "pitch": -1.57,
                    "yaw": 1.57
                  },
                  "note": "The arm has not reached the requested orientation cleanly. I withdraw and use a different wrist rotation that still points toward the cabinet, with the jaws across the pull."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 34,
    "motion_seconds": 2.244,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.55744,
      1.418,
      1.53585,
      -1.949,
      -2.80651,
      3.31359,
      1.33833
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.38003,
      0.53019,
      0.94024
    ],
    "tcp_roll_pitch_yaw": [
      1.42604,
      -1.56573,
      0.14414
    ],
    "tcp_rotation_matrix": [
      [
        -0.01399,
        0.99972,
        0.01904
      ],
      [
        0.05247,
        -0.01828,
        0.99846
      ],
      [
        0.99852,
        0.01496,
        -0.0522
      ]
    ],
    "simulated_seconds_remaining": 15.246,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 23.817761465907097,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.49,
                    "y": 0.64,
                    "z": 0.94
                  },
                  "note": "The pull is visible to the left of the wrist image and left of the fingertips in the exterior view. I advance diagonally toward it while keeping the jaws open."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.0247,
      1.35018,
      1.33071,
      -1.38286,
      -2.74009,
      3.11892,
      1.41224
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.48119,
      0.69289,
      0.87402
    ],
    "tcp_roll_pitch_yaw": [
      -0.03564,
      -1.4307,
      1.33776
    ],
    "tcp_rotation_matrix": [
      [
        0.02747,
        0.95985,
        0.27916
      ],
      [
        0.19009,
        -0.27919,
        0.94123
      ],
      [
        0.98138,
        0.02721,
        -0.19013
      ]
    ],
    "simulated_seconds_remaining": 13.926,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 8.809297515079379,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.46,
                    "y": 0.72,
                    "z": 0.88
                  },
                  "note": "The pull is now close to the gap between the fingers in the wrist view. I make a small adjustment along the cabinet to place the bar between the jaws."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 8,
    "motion_seconds": 0.528,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.03446,
      1.33992,
      1.32977,
      -1.36822,
      -2.72397,
      3.07608,
      1.41686
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.46052,
      0.71919,
      0.87984
    ],
    "tcp_roll_pitch_yaw": [
      -0.03547,
      -1.43075,
      1.33792
    ],
    "tcp_rotation_matrix": [
      [
        0.02742,
        0.95994,
        0.27885
      ],
      [
        0.19004,
        -0.27887,
        0.94134
      ],
      [
        0.98139,
        0.02718,
        -0.19008
      ]
    ],
    "simulated_seconds_remaining": 13.398,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 6.2046416299417615,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The handle bar lies in the finger gap in the wrist image. I close the jaws to secure it before pulling."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.03446,
      1.33992,
      1.32977,
      -1.36822,
      -2.72397,
      3.07608,
      1.41686
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.46051,
      0.71919,
      0.87984
    ],
    "tcp_roll_pitch_yaw": [
      -0.03547,
      -1.43075,
      1.33792
    ],
    "tcp_rotation_matrix": [
      [
        0.02742,
        0.95994,
        0.27886
      ],
      [
        0.19004,
        -0.27888,
        0.94133
      ],
      [
        0.98139,
        0.02718,
        -0.19008
      ]
    ],
    "simulated_seconds_remaining": 12.474,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 6.205174131318927,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.61
                  },
                  "note": "The jaws have closed at the pull. I make a short outward pull and check whether the cabinet door follows."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.32488,
      1.34579,
      1.42488,
      -1.74297,
      -2.80642,
      3.04153,
      1.42746
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.46069,
      0.6106,
      0.87985
    ],
    "tcp_roll_pitch_yaw": [
      -0.02916,
      -1.43065,
      1.33129
    ],
    "tcp_rotation_matrix": [
      [
        0.02836,
        0.95986,
        0.27905
      ],
      [
        0.18992,
        -0.27925,
        0.94125
      ],
      [
        0.98139,
        0.02631,
        -0.19021
      ]
    ],
    "simulated_seconds_remaining": 11.418,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 8.406647595576942,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.98,
                    "gripper": 1
                  },
                  "note": "The door did not follow, and the exterior view shows the fingers below the handle. I reopen and raise the grasp point to the pull's height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.31697,
      1.05891,
      1.41779,
      -1.68961,
      -2.57213,
      3.14061,
      1.47443
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.46067,
      0.61062,
      0.97886
    ],
    "tcp_roll_pitch_yaw": [
      -0.03068,
      -1.43079,
      1.33284
    ],
    "tcp_rotation_matrix": [
      [
        0.02811,
        0.95987,
        0.27905
      ],
      [
        0.18984,
        -0.2792,
        0.94128
      ],
      [
        0.98141,
        0.02651,
        -0.19007
      ]
    ],
    "simulated_seconds_remaining": 10.428,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 12.211064524017274,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.72
                  },
                  "note": "The fingers are now at the correct height for a forward approach, and the full U-shaped pull is visible in the wrist camera. I advance to surround it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.08118,
      1.03837,
      1.16873,
      -1.31762,
      -2.39542,
      3.21418,
      1.4151
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.46253,
      0.71242,
      0.97811
    ],
    "tcp_roll_pitch_yaw": [
      -0.00542,
      -1.43061,
      1.32029
    ],
    "tcp_rotation_matrix": [
      [
        0.02915,
        0.96335,
        0.26664
      ],
      [
        0.18953,
        -0.26724,
        0.94481
      ],
      [
        0.98144,
        0.02299,
        -0.19038
      ]
    ],
    "simulated_seconds_remaining": 9.372,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 7.005744495429099,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The exterior view shows the fingers overlapping the brass pull. I close the gripper at this corrected height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.07653,
      1.03632,
      1.16928,
      -1.32109,
      -2.39577,
      3.21989,
      1.41624
    ],
    "gripper_open": 0.965,
    "tcp_xyz": [
      0.46217,
      0.7107,
      0.97847
    ],
    "tcp_roll_pitch_yaw": [
      0.00055,
      -1.43053,
      1.31826
    ],
    "tcp_rotation_matrix": [
      [
        0.02923,
        0.96441,
        0.2628
      ],
      [
        0.18952,
        -0.26349,
        0.94586
      ],
      [
        0.98144,
        0.02216,
        -0.19047
      ]
    ],
    "simulated_seconds_remaining": 8.448,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 5.604919538833201,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.59
                  },
                  "note": "The jaws remain spread under contact at the handle. I pull outward a short distance to test engagement and start opening the door."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.37049,
      1.06165,
      1.43021,
      -1.71981,
      -2.57032,
      3.17697,
      1.46255
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.46234,
      0.59122,
      0.97844
    ],
    "tcp_roll_pitch_yaw": [
      0.00087,
      -1.4305,
      1.31772
    ],
    "tcp_rotation_matrix": [
      [
        0.02932,
        0.96435,
        0.26301
      ],
      [
        0.18953,
        -0.26372,
        0.9458
      ],
      [
        0.98144,
        0.02212,
        -0.19051
      ]
    ],
    "simulated_seconds_remaining": 7.326,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 14.21130299847573,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.5,
                    "y": 0.7,
                    "z": 0.94,
                    "gripper": 1
                  },
                  "note": "The pull remained stationary, so contact was not secure. I center the visible bar more closely between the fingers with a small forward and downward correction."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 19,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.12031,
      0.93971,
      1.1505,
      -1.52713,
      -2.45163,
      3.26064,
      1.39866
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.48128,
      0.63124,
      0.93026
    ],
    "tcp_roll_pitch_yaw": [
      -0.3778,
      -1.29443,
      1.69811
    ],
    "tcp_rotation_matrix": [
      [
        -0.03993,
        0.96152,
        0.27183
      ],
      [
        0.323,
        -0.24502,
        0.91413
      ],
      [
        0.94556,
        0.1243,
        -0.30078
      ]
    ],
    "simulated_seconds_remaining": 6.204,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 10.211484557017684,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48,
                    "y": 0.69,
                    "z": 0.95,
                    "gripper": 0
                  },
                  "note": "The handle sits between the inner finger edges. I advance slightly while closing to catch the bar rather than the cabinet face."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 20,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.07051,
      0.77691,
      0.85469,
      -1.48114,
      -2.14647,
      3.27788,
      1.44022
    ],
    "gripper_open": 0.236,
    "tcp_xyz": [
      0.50528,
      0.64054,
      0.91741
    ],
    "tcp_roll_pitch_yaw": [
      -0.02297,
      -1.22541,
      1.22073
    ],
    "tcp_rotation_matrix": [
      [
        0.11602,
        0.92759,
        0.35513
      ],
      [
        0.36976,
        -0.37218,
        0.85133
      ],
      [
        0.92186,
        0.03254,
        -0.38616
      ]
    ],
    "simulated_seconds_remaining": 5.28,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 6.004749266430736,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.47,
                    "y": 0.52,
                    "gripper": 0
                  },
                  "note": "The fingers now stop partially closed around the handle. I keep them closed and pull outward to swing the cabinet door open."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 21,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.52811,
      0.80561,
      1.34611,
      -1.91633,
      -2.46192,
      3.16481,
      1.55043
    ],
    "gripper_open": 0.0001,
    "tcp_xyz": [
      0.4705,
      0.52122,
      0.91736
    ],
    "tcp_roll_pitch_yaw": [
      -0.02265,
      -1.22534,
      1.22025
    ],
    "tcp_rotation_matrix": [
      [
        0.1162,
        0.92753,
        0.35524
      ],
      [
        0.36976,
        -0.37235,
        0.85125
      ],
      [
        0.92183,
        0.03244,
        -0.38623
      ]
    ],
    "simulated_seconds_remaining": 4.158,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 12.40813679434359,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.44,
                    "y": 0.73,
                    "z": 0.98,
                    "roll": 0,
                    "pitch": -1.57,
                    "yaw": 0,
                    "gripper": 1
                  },
                  "note": "The last pull slipped free. I return beside the visible handle and turn the gripper toward the broad cabinet face for a final direct grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 22,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.52811,
      0.80561,
      1.34611,
      -1.91633,
      -2.46192,
      3.16481,
      1.55043
    ],
    "gripper_open": 0.0001,
    "tcp_xyz": [
      0.4705,
      0.52122,
      0.91736
    ],
    "tcp_roll_pitch_yaw": [
      -0.02265,
      -1.22534,
      1.22025
    ],
    "tcp_rotation_matrix": [
      [
        0.1162,
        0.92753,
        0.35524
      ],
      [
        0.36976,
        -0.37235,
        0.85125
      ],
      [
        0.92183,
        0.03244,
        -0.38623
      ]
    ],
    "simulated_seconds_remaining": 4.158,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 8.40848880726844,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48,
                    "y": 0.65,
                    "z": 0.95,
                    "pitch": -1.45,
                    "yaw": 0.65,
                    "gripper": 1
                  },
                  "note": "The final approach requires a smaller wrist rotation. I split the turn and move toward the pull with open fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 23,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.10118,
      0.88577,
      1.37708,
      -1.87269,
      -2.52964,
      2.185,
      1.83629
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.47964,
      0.64947,
      0.94979
    ],
    "tcp_roll_pitch_yaw": [
      -0.02522,
      -1.44841,
      0.65708
    ],
    "tcp_rotation_matrix": [
      [
        0.12671,
        0.57836,
        0.80588
      ],
      [
        0.12012,
        -0.8154,
        0.5663
      ],
      [
        0.98464,
        0.02505,
        -0.17279
      ]
    ],
    "simulated_seconds_remaining": 2.97,
    "calls_remaining_including_this": 35
  },
  "api_seconds": 6.004472323693335,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.52,
                    "y": 0.65,
                    "z": 1,
                    "gripper": 0
                  },
                  "note": "The fingertips sit just below the handle in the exterior view. I lift and advance slightly while closing around the pull."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 24,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.10114,
      0.8853,
      1.40372,
      -1.75494,
      -2.28551,
      2.29101,
      1.71409
    ],
    "gripper_open": 0.0409,
    "tcp_xyz": [
      0.49876,
      0.6521,
      0.97521
    ],
    "tcp_roll_pitch_yaw": [
      0.38231,
      -1.30106,
      0.24393
    ],
    "tcp_rotation_matrix": [
      [
        0.28753,
        0.56422,
        0.77394
      ],
      [
        0.10964,
        -0.82214,
        0.55863
      ],
      [
        0.95148,
        -0.07577,
        -0.29825
      ]
    ],
    "simulated_seconds_remaining": 2.046,
    "calls_remaining_including_this": 34
  },
  "api_seconds": 5.004262998700142,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.33,
                    "y": 0.61,
                    "gripper": 0
                  },
                  "note": "The jaws have closed against the handle area. I maintain closure and pull away from the cabinet face to open it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 22,
    "motion_seconds": 1.452,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 25,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.31881,
      0.6839,
      1.71936,
      -2.19578,
      -2.16475,
      2.06446,
      1.9353
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.33115,
      0.61041,
      0.97525
    ],
    "tcp_roll_pitch_yaw": [
      0.38236,
      -1.30109,
      0.2442
    ],
    "tcp_rotation_matrix": [
      [
        0.28747,
        0.56448,
        0.77377
      ],
      [
        0.10971,
        -0.82196,
        0.55887
      ],
      [
        0.95149,
        -0.07577,
        -0.29822
      ]
    ],
    "simulated_seconds_remaining": 0.594,
    "calls_remaining_including_this": 33
  },
  "api_seconds": 6.004905975423753,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "give_up",
                "args": {
                  "note": "The handle slipped from the gripper and the cabinet remains closed. The remaining motion time is insufficient for another grasp."
                }
              }
            }
          ]
        }
      }
    ]
  }
}

========================================================================
GPT-Astra / Open / Episode 010

Completed scored attempt. Images are available in the paired videos.

Opaque provider signatures, image payloads, and local paths are omitted.


RESULT
{
  "benchmark_index": 10,
  "source_episode_index": 493,
  "house_index": 24,
  "status": "completed",
  "success": false,
  "oracle_success": false,
  "action_decisions": 30,
  "wall_seconds": 303.94,
  "usage": {
    "input_tokens": 619829,
    "cached_input_tokens": 580096,
    "cache_write_input_tokens": 0,
    "output_tokens": 5484,
    "reasoning_output_tokens": 2201
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task.
You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose.
Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion.
move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up.
roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial.
Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5).
The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y.
The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics.
Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration.
Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target.
You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time.
Each move must include a short note describing what you observe and why you chose that motion.
Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done.
Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available.



AGENT TRANSCRIPT (visible messages and completed tool calls)

I’ll observe the robot and locate the handle before moving.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.00027, -0.78092, -0.02173, -2.29137, 0.04319, 1.50049, 0.11647], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.29998, 0.00492, 1.03854], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.99158, -0.12918, -0.00922], [-0.12843, -0.98999, 0.05849], [-0.01668, -0.05682, -0.99825]], \"simulated_seconds_remaining\": 30.03, \"calls_remaining_including_this\": 57}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "x": 0.43,
    "y": 0,
    "z": 0.78,
    "pitch": -1.57,
    "gripper": 1,
    "note": "The cabinet has a vertical handle on its front. I am lowering toward it and turning the fingers to approach the door horizontally."
  },
  "result": null,
  "error": {
    "message": "tool call error: tool call failed for `robot/move_to`\n\nCaused by:\n    Mcp error: -32602: Unexpected argument"
  },
  "status": "failed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.43,
      "y": 0,
      "z": 0.78,
      "pitch": -1.57,
      "gripper": 1
    },
    "note": "The cabinet has a vertical handle on its front. I am lowering toward it and turning the fingers to approach the door horizontally."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.00027, -0.78092, -0.02173, -2.29137, 0.04319, 1.50049, 0.11647], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.29998, 0.00492, 1.03854], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.99158, -0.12918, -0.00922], [-0.12843, -0.98999, 0.05849], [-0.01668, -0.05682, -0.99825]], \"simulated_seconds_remaining\": 30.03, \"calls_remaining_including_this\": 56}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.35,
      "z": 0.9,
      "pitch": -0.7
    },
    "note": "The full approach orientation was unreachable. I am taking a smaller lowering and wrist rotation step to obtain a clearer handle view."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.00027, -0.78092, -0.02173, -2.29137, 0.04319, 1.50049, 0.11647], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.29998, 0.00492, 1.03854], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.99158, -0.12918, -0.00922], [-0.12843, -0.98999, 0.05849], [-0.01668, -0.05682, -0.99825]], \"simulated_seconds_remaining\": 30.03, \"calls_remaining_including_this\": 55}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "z": 0.9
    },
    "note": "The angled poses were rejected. I will first lower with the current wrist orientation to isolate a reachable approach."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.00331, -0.83007, -0.02164, -2.67173, 0.04385, 1.83096, 0.09993], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.29993, 0.00492, 0.9013], \"tcp_roll_pitch_yaw\": [-0.0, 0.0003, 1e-05], \"tcp_rotation_matrix\": [[0.99158, -0.12918, -0.00952], [-0.12841, -0.98999, 0.05849], [-0.01698, -0.05678, -0.99824]], \"simulated_seconds_remaining\": 28.842, \"calls_remaining_including_this\": 54}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 18, \"motion_seconds\": 1.1880000000000002, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.48,
      "z": 0.86,
      "pitch": -0.3
    },
    "note": "The lowering succeeded. I am moving forward toward the cabinet handle while making a small wrist tilt."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"open the cabinet.\", \"joint_positions\": [0.02766, -0.59327, -0.02048, -2.56205, 0.08072, 2.02065, 0.27416], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.37921, 0.02023, 0.89201], \"tcp_roll_pitch_yaw\": [0.03375, -0.04637, -0.17001], \"tcp_rotation_matrix\": [[0.95557, -0.29014, 0.052], [-0.2937, -0.95215, 0.08456], [0.02498, -0.09608, -0.99506]], \"simulated_seconds_remaining\": 27.324, \"calls_remaining_including_this\": 53}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 23, \"motion_seconds\": 1.518, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.27,
      "z": 0.73,
      "pitch": 0
    },
    "note": "The wrist stopped near the cabinet's upper edge. I am backing away and lowering below that edge to approach the handle from the front."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"open the cabinet.\", \"joint_positions\": [0.02766, -0.59327, -0.02048, -2.56205, 0.08072, 2.02065, 0.27416], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.37921, 0.02023, 0.89201], \"tcp_roll_pitch_yaw\": [0.03375, -0.04637, -0.17001], \"tcp_rotation_matrix\": [[0.95557, -0.29014, 0.052], [-0.2937, -0.95215, 0.08456], [0.02498, -0.09608, -0.99506]], \"simulated_seconds_remaining\": 27.324, \"calls_remaining_including_this\": 52}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.3,
      "z": 1.08,
      "pitch": -0.8,
      "yaw": 0
    },
    "note": "The low pose is outside the current arm configuration. I am raising clear of the cabinet to turn the wrist before approaching lower."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"open the cabinet.\", \"joint_positions\": [0.06729, -1.44342, -0.0278, -2.78932, 0.03238, 2.13597, 0.13742], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.30035, 0.02023, 1.07931], \"tcp_roll_pitch_yaw\": [0.03419, -0.79702, -0.001], \"tcp_rotation_matrix\": [[0.7079, -0.02644, 0.70582], [-0.12848, -0.98745, 0.09188], [0.69453, -0.15573, -0.70241]], \"simulated_seconds_remaining\": 25.674, \"calls_remaining_including_this\": 51}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 25, \"motion_seconds\": 1.6500000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.4,
      "z": 0.84,
      "pitch": -1.25
    },
    "note": "The wrist is now angled toward the cabinet. I am lowering toward the upper part of the vertical handle with a more horizontal approach."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"open the cabinet.\", \"joint_positions\": [0.06729, -1.44342, -0.0278, -2.78932, 0.03238, 2.13597, 0.13742], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.30035, 0.02023, 1.07931], \"tcp_roll_pitch_yaw\": [0.03419, -0.79702, -0.001], \"tcp_rotation_matrix\": [[0.7079, -0.02644, 0.70582], [-0.12848, -0.98745, 0.09188], [0.69453, -0.15573, -0.70241]], \"simulated_seconds_remaining\": 25.674, \"calls_remaining_including_this\": 50}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.6,
      "z": 0.82,
      "pitch": -1.3
    },
    "note": "The nearer low target was unreachable. Extending the arm farther forward should allow a horizontal approach to the cabinet face."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"open the cabinet.\", \"joint_positions\": [0.06729, -1.44342, -0.0278, -2.78932, 0.03238, 2.13597, 0.13742], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.30035, 0.02023, 1.07931], \"tcp_roll_pitch_yaw\": [0.03419, -0.79702, -0.001], \"tcp_rotation_matrix\": [[0.7079, -0.02644, 0.70582], [-0.12848, -0.98745, 0.09188], [0.69453, -0.15573, -0.70241]], \"simulated_seconds_remaining\": 25.674, \"calls_remaining_including_this\": 49}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

The arm has rejected several low approach poses. I’m adjusting the wrist configuration to reach the handle.


{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.4,
      "z": 1,
      "pitch": 0.8,
      "yaw": 3,
      "roll": 0
    },
    "note": "The current wrist bend cannot reach the handle height. I am trying the alternate wrist orientation above the cabinet."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"open the cabinet.\", \"joint_positions\": [0.64366, -1.13135, -0.36886, -2.80483, -1.00629, 2.23022, -2.04391], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.39985, 0.02023, 1.00009], \"tcp_roll_pitch_yaw\": [-0.00476, 0.79963, 2.99337], \"tcp_rotation_matrix\": [[-0.65315, 0.27223, 0.7066], [0.22745, 0.96058, -0.15984], [-0.72226, 0.05632, -0.68932]], \"simulated_seconds_remaining\": 21.318, \"calls_remaining_including_this\": 48}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 66, \"motion_seconds\": 4.356, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.42,
      "z": 0.76,
      "pitch": 1.5,
      "yaw": 3.14
    },
    "note": "The alternate wrist orientation succeeded. I am lowering toward the handle with the fingers pointing into the cabinet front."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 11, \"instruction\": \"open the cabinet.\", \"joint_positions\": [0.64366, -1.13135, -0.36886, -2.80483, -1.00629, 2.23022, -2.04391], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.39985, 0.02023, 1.00009], \"tcp_roll_pitch_yaw\": [-0.00476, 0.79963, 2.99337], \"tcp_rotation_matrix\": [[-0.65315, 0.27223, 0.7066], [0.22745, 0.96058, -0.15984], [-0.72226, 0.05632, -0.68932]], \"simulated_seconds_remaining\": 21.318, \"calls_remaining_including_this\": 47}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK requires a large joint jump; split the motion or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "z": 0.89,
      "pitch": 1.1
    },
    "note": "The controller requested a smaller joint change. I am splitting the lowering and wrist turn into an intermediate pose."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 12, \"instruction\": \"open the cabinet.\", \"joint_positions\": [0.64366, -1.13135, -0.36886, -2.80483, -1.00629, 2.23022, -2.04391], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.39985, 0.02023, 1.00009], \"tcp_roll_pitch_yaw\": [-0.00476, 0.79963, 2.99337], \"tcp_rotation_matrix\": [[-0.65315, 0.27223, 0.7066], [0.22745, 0.96058, -0.15984], [-0.72226, 0.05632, -0.68932]], \"simulated_seconds_remaining\": 21.318, \"calls_remaining_including_this\": 46}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "pitch": 1.35
    },
    "note": "Lowering while turning remains unreachable. I am completing more of the wrist turn at the current clear height."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 13, \"instruction\": \"open the cabinet.\", \"joint_positions\": [0.64366, -1.13135, -0.36886, -2.80483, -1.00629, 2.23022, -2.04391], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.39985, 0.02023, 1.00009], \"tcp_roll_pitch_yaw\": [-0.00476, 0.79963, 2.99337], \"tcp_rotation_matrix\": [[-0.65315, 0.27223, 0.7066], [0.22745, 0.96058, -0.15984], [-0.72226, 0.05632, -0.68932]], \"simulated_seconds_remaining\": 21.318, \"calls_remaining_including_this\": 45}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.6,
      "z": 0.95,
      "pitch": 1.1
    },
    "note": "The arm is tightly folded at the nearer poses. I am extending forward while turning to obtain more reach toward the handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 14, \"instruction\": \"open the cabinet.\", \"joint_positions\": [0.66276, -0.91376, -0.64341, -2.79474, -1.77638, 2.72421, -1.08357], \"gripper_open\": 1.0, \"tcp_xyz\": [0.46973, 0.04491, 0.98011], \"tcp_roll_pitch_yaw\": [-0.81379, 0.89138, 2.26463], \"tcp_rotation_matrix\": [[-0.36204, 0.26776, 0.89288], [0.59213, 0.80584, -0.00156], [-0.71993, 0.52814, -0.45029]], \"simulated_seconds_remaining\": 19.668, \"calls_remaining_including_this\": 44}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 25, \"motion_seconds\": 1.6500000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.35,
      "z": 0.8,
      "pitch": 0.2,
      "yaw": 2.3,
      "roll": 0
    },
    "note": "The gripper is contacting the upper cabinet area. I am withdrawing and lowering with a gentler tilt to get below the trim."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 15, \"instruction\": \"open the cabinet.\", \"joint_positions\": [0.86414, -1.01404, -0.6148, -2.68721, -0.72831, 2.22764, -1.42251], \"gripper_open\": 1.0, \"tcp_xyz\": [0.41305, 0.06817, 0.95495], \"tcp_roll_pitch_yaw\": [-0.54304, 0.18878, 2.19866], \"tcp_rotation_matrix\": [[-0.48191, 0.73319, 0.47979], [0.86577, 0.48275, 0.13188], [-0.13492, 0.47894, -0.86742]], \"simulated_seconds_remaining\": 17.952, \"calls_remaining_including_this\": 43}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 26, \"motion_seconds\": 1.7160000000000002, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.25,
      "y": 0.25,
      "z": 0.87,
      "roll": 0,
      "pitch": 0,
      "yaw": 0
    },
    "note": "The handle is left of the gripper in the exterior view. I am moving left and outward from the cabinet edge to align with it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 16, \"instruction\": \"open the cabinet.\", \"joint_positions\": [0.65826, -0.656, 0.08742, -2.65357, 0.11358, 2.02891, 0.80453], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.2503, 0.24965, 0.87014], \"tcp_roll_pitch_yaw\": [-0.00101, -0.00101, 0.00448], \"tcp_rotation_matrix\": [[0.99216, -0.12468, -0.00847], [-0.124, -0.99062, 0.05745], [-0.01555, -0.05595, -0.99831]], \"simulated_seconds_remaining\": 14.586, \"calls_remaining_including_this\": 42}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 51, \"motion_seconds\": 3.366, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.25,
      "y": 0.4,
      "z": 0.76
    },
    "note": "The handle is now close to the fingers and visible in the wrist view. I am shifting farther left and down to center on its vertical bar."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 17, \"instruction\": \"open the cabinet.\", \"joint_positions\": [0.71764, -0.12274, 0.28121, -2.48786, 0.10833, 2.41054, 1.04303], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.24996, 0.39886, 0.76075], \"tcp_roll_pitch_yaw\": [-0.0012, -0.00091, 0.00459], \"tcp_rotation_matrix\": [[0.99217, -0.12458, -0.00857], [-0.12389, -0.99064, 0.05726], [-0.01563, -0.05575, -0.99832]], \"simulated_seconds_remaining\": 13.068, \"calls_remaining_including_this\": 41}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 23, \"motion_seconds\": 1.518, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.29,
      "y": 0.35,
      "z": 0.75
    },
    "note": "The vertical handle sits slightly left of the finger gap in the wrist image. I am making a small centering adjustment before grasping."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 18, \"instruction\": \"open the cabinet.\", \"joint_positions\": [0.66304, -0.14248, 0.2055, -2.54324, 0.11245, 2.43874, 0.90743], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.28927, 0.35091, 0.7502], \"tcp_roll_pitch_yaw\": [-0.00122, -0.00086, 0.00433], \"tcp_rotation_matrix\": [[0.99214, -0.12484, -0.00861], [-0.12415, -0.99061, 0.05724], [-0.01568, -0.05572, -0.99832]], \"simulated_seconds_remaining\": 12.342, \"calls_remaining_including_this\": 40}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 11, \"motion_seconds\": 0.726, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "y": 0.29,
      "z": 0.72
    },
    "note": "The handle is still just outside the left finger. I am moving the gap over the bar and lowering slightly for contact."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 19, \"instruction\": \"open the cabinet.\", \"joint_positions\": [0.63216, -0.19879, 0.1479, -2.70055, 0.13326, 2.53365, 0.79446], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.28927, 0.29114, 0.72055], \"tcp_roll_pitch_yaw\": [-0.00132, -0.00073, 0.00417], \"tcp_rotation_matrix\": [[0.99212, -0.12501, -0.00873], [-0.12431, -0.9906, 0.05714], [-0.01579, -0.0556, -0.99833]], \"simulated_seconds_remaining\": 11.616, \"calls_remaining_including_this\": 39}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 11, \"motion_seconds\": 0.726, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The handle now runs through the finger gap in the wrist view. I am closing the gripper to secure it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 20, \"instruction\": \"open the cabinet.\", \"joint_positions\": [0.63216, -0.19879, 0.1479, -2.70055, 0.13326, 2.53365, 0.79446], \"gripper_open\": 0.0, \"tcp_xyz\": [0.28927, 0.29113, 0.72055], \"tcp_roll_pitch_yaw\": [-0.00132, -0.00073, 0.00417], \"tcp_rotation_matrix\": [[0.99212, -0.125, -0.00873], [-0.12431, -0.9906, 0.05714], [-0.01579, -0.0556, -0.99833]], \"simulated_seconds_remaining\": 10.692, \"calls_remaining_including_this\": 38}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 1,
      "x": 0.35,
      "y": 0.27
    },
    "note": "The fingers closed fully, indicating the handle was missed. I am reopening and advancing the gap toward the visible bar."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 21, \"instruction\": \"open the cabinet.\", \"joint_positions\": [0.5875, -0.12296, 0.09849, -2.59381, 0.1048, 2.42516, 0.69023], \"gripper_open\": 0.9965, \"tcp_xyz\": [0.32176, 0.2743, 0.72145], \"tcp_roll_pitch_yaw\": [-0.03907, 0.05952, 0.04412], \"tcp_rotation_matrix\": [[0.99386, -0.08617, -0.06946], [-0.08523, -0.99623, 0.01641], [-0.07061, -0.01039, -0.99745]], \"simulated_seconds_remaining\": 9.768, \"calls_remaining_including_this\": 37}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The forward motion stopped at the handle area, and the bar is centered between the fingers. I am closing at this contact position."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 22, \"instruction\": \"open the cabinet.\", \"joint_positions\": [0.58889, -0.12674, 0.10018, -2.59642, 0.10542, 2.42114, 0.69123], \"gripper_open\": 0.0, \"tcp_xyz\": [0.31958, 0.27424, 0.72173], \"tcp_roll_pitch_yaw\": [-0.04077, 0.06195, 0.04579], \"tcp_rotation_matrix\": [[0.99384, -0.08442, -0.07184], [-0.08359, -0.99639, 0.01449], [-0.0728, -0.00839, -0.99731]], \"simulated_seconds_remaining\": 8.844, \"calls_remaining_including_this\": 36}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 1,
      "z": 0.62,
      "x": 0.29,
      "y": 0.32
    },
    "note": "The grasp still closed empty. The exterior view places the fingers above the usable handle segment, so I am lowering onto the middle of the bar."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 23, \"instruction\": \"open the cabinet.\", \"joint_positions\": [0.65932, -0.05164, 0.16018, -2.5948, 0.08822, 2.4947, 0.81607], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.28645, 0.31524, 0.69594], \"tcp_roll_pitch_yaw\": [-0.05838, 0.05594, 0.06085], \"tcp_rotation_matrix\": [[0.99554, -0.06838, -0.065], [-0.06877, -0.99763, -0.00381], [-0.06458, 0.00826, -0.99788]], \"simulated_seconds_remaining\": 7.788, \"calls_remaining_including_this\": 35}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 16, \"motion_seconds\": 1.056, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The lowering stopped against the handle area. I am closing the fingers at this lower contact to test whether the bar is captured."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 24, \"instruction\": \"open the cabinet.\", \"joint_positions\": [0.65996, -0.05415, 0.16098, -2.59629, 0.08836, 2.49327, 0.8164], \"gripper_open\": 0.0, \"tcp_xyz\": [0.28559, 0.31516, 0.69635], \"tcp_roll_pitch_yaw\": [-0.0589, 0.05608, 0.06188], \"tcp_rotation_matrix\": [[0.9956, -0.06732, -0.06511], [-0.06775, -0.99769, -0.00441], [-0.06466, 0.0088, -0.99787]], \"simulated_seconds_remaining\": 6.864, \"calls_remaining_including_this\": 34}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.23,
      "y": 0.18
    },
    "note": "The fingers are at the handle. I am making a short outward pull and checking whether the cabinet door follows."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 25, \"instruction\": \"open the cabinet.\", \"joint_positions\": [0.60156, -0.45704, 0.05846, -2.99734, 0.1013, 2.48397, 0.63911], \"gripper_open\": 0.0, \"tcp_xyz\": [0.23052, 0.18122, 0.69636], \"tcp_roll_pitch_yaw\": [-0.05894, 0.0561, 0.06179], \"tcp_rotation_matrix\": [[0.9956, -0.06741, -0.06513], [-0.06784, -0.99769, -0.00444], [-0.06468, 0.00884, -0.99787]], \"simulated_seconds_remaining\": 5.61, \"calls_remaining_including_this\": 33}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 19, \"motion_seconds\": 1.254, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.3,
      "y": 0.32,
      "z": 0.7,
      "roll": 1.4,
      "pitch": 0,
      "yaw": 0,
      "gripper": 1
    },
    "note": "The door did not follow the pull. I am turning to approach the vertical handle sideways, which should place the jaws across the bar."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 26, \"instruction\": \"open the cabinet.\", \"joint_positions\": [0.60156, -0.45704, 0.05846, -2.99734, 0.1013, 2.48397, 0.63911], \"gripper_open\": 0.0, \"tcp_xyz\": [0.23052, 0.18122, 0.69636], \"tcp_roll_pitch_yaw\": [-0.05894, 0.0561, 0.06179], \"tcp_rotation_matrix\": [[0.9956, -0.06741, -0.06513], [-0.06784, -0.99769, -0.00444], [-0.06468, 0.00884, -0.99787]], \"simulated_seconds_remaining\": 5.61, \"calls_remaining_including_this\": 32}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK requires a large joint jump; split the motion or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.3,
      "y": 0.32,
      "z": 0.72,
      "roll": 0.65,
      "pitch": 0,
      "yaw": 0,
      "gripper": 1
    },
    "note": "The sideways turn needs an intermediate pose. I am rotating partway while returning toward the handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 27, \"instruction\": \"open the cabinet.\", \"joint_positions\": [1.24766, -0.20226, -0.55897, -2.76863, 1.40085, 2.70293, -0.48026], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.29953, 0.31913, 0.71978], \"tcp_roll_pitch_yaw\": [0.6455, 0.00091, 0.00084], \"tcp_rotation_matrix\": [[0.99157, -0.12912, -0.01046], [-0.09172, -0.75674, 0.64725], [-0.09149, -0.64084, -0.7622]], \"simulated_seconds_remaining\": 4.29, \"calls_remaining_including_this\": 31}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 20, \"motion_seconds\": 1.32, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.36,
      "y": 0.34,
      "z": 0.67,
      "roll": 1.2
    },
    "note": "The fingers are beside the handle. I am finishing the sideways approach and moving the gap onto the bar."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 28, \"instruction\": \"open the cabinet.\", \"joint_positions\": [1.1067, 0.03453, -0.61795, -2.72002, 1.80923, 2.09142, -1.12064], \"gripper_open\": 0.9991, \"tcp_xyz\": [0.30113, 0.35804, 0.72573], \"tcp_roll_pitch_yaw\": [1.10217, -0.09813, 0.09467], \"tcp_rotation_matrix\": [[0.99838, -0.00185, -0.05694], [0.05149, -0.39841, 0.91576], [-0.02438, -0.91721, -0.39766]], \"simulated_seconds_remaining\": 3.234, \"calls_remaining_including_this\": 30}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 16, \"motion_seconds\": 1.056, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The fingers are contacting the handle from the side. I am closing to capture it before pulling outward."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 29, \"instruction\": \"open the cabinet.\", \"joint_positions\": [1.10795, 0.02886, -0.61649, -2.72702, 1.80804, 2.09139, -1.12166], \"gripper_open\": 0.0, \"tcp_xyz\": [0.29737, 0.35808, 0.72583], \"tcp_roll_pitch_yaw\": [1.1039, -0.09576, 0.09863], \"tcp_rotation_matrix\": [[0.99809, -0.00253, -0.06172], [0.05564, -0.39705, 0.91611], [-0.02682, -0.91779, -0.39616]], \"simulated_seconds_remaining\": 2.31, \"calls_remaining_including_this\": 29}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "y": 0.16,
      "x": 0.25
    },
    "note": "I am checking this final contact with an outward pull; the door must visibly follow to confirm opening."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 30, \"instruction\": \"open the cabinet.\", \"joint_positions\": [0.87273, -0.2776, -0.8186, -2.99556, 1.05267, 1.98125, -1.10981], \"gripper_open\": 0.0, \"tcp_xyz\": [0.17498, 0.23159, 0.73567], \"tcp_roll_pitch_yaw\": [1.14647, -0.08681, 0.41929], \"tcp_rotation_matrix\": [[0.92742, 0.10061, -0.36023], [0.37213, -0.34471, 0.8618], [-0.03747, -0.9333, -0.35713]], \"simulated_seconds_remaining\": 0.66, \"calls_remaining_including_this\": 28}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 25, \"motion_seconds\": 1.6500000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "give_up",
  "arguments": {
    "note": "I could not secure the cabinet handle, and the door remained closed after the pull attempts. There is insufficient simulated motion time for another grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "Episode ended. Do not call more tools. Return a brief final response."
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

I couldn’t secure the handle. The cabinet remains closed, and the episode has ended.

TURN USAGE
{
  "input_tokens": 619829,
  "cached_input_tokens": 580096,
  "cache_write_input_tokens": 0,
  "output_tokens": 5484,
  "reasoning_output_tokens": 2201
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.00027,
      -0.78092,
      -0.02173,
      -2.29137,
      0.04319,
      1.50049,
      0.11647
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.29998,
      0.00492,
      1.03854
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99158,
        -0.12918,
        -0.00922
      ],
      [
        -0.12843,
        -0.98999,
        0.05849
      ],
      [
        -0.01668,
        -0.05682,
        -0.99825
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 28.425679405219853,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.43,
                    "y": 0,
                    "z": 0.78,
                    "pitch": -1.57,
                    "gripper": 1
                  },
                  "note": "The cabinet has a vertical handle on its front. I am lowering toward it and turning the fingers to approach the door horizontally."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 2,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.00027,
      -0.78092,
      -0.02173,
      -2.29137,
      0.04319,
      1.50049,
      0.11647
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.29998,
      0.00492,
      1.03854
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99158,
        -0.12918,
        -0.00922
      ],
      [
        -0.12843,
        -0.98999,
        0.05849
      ],
      [
        -0.01668,
        -0.05682,
        -0.99825
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 5.20619981829077,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.35,
                    "z": 0.9,
                    "pitch": -0.7
                  },
                  "note": "The full approach orientation was unreachable. I am taking a smaller lowering and wrist rotation step to obtain a clearer handle view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 3,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.00027,
      -0.78092,
      -0.02173,
      -2.29137,
      0.04319,
      1.50049,
      0.11647
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.29998,
      0.00492,
      1.03854
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99158,
        -0.12918,
        -0.00922
      ],
      [
        -0.12843,
        -0.98999,
        0.05849
      ],
      [
        -0.01668,
        -0.05682,
        -0.99825
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 4.203932715579867,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.9
                  },
                  "note": "The angled poses were rejected. I will first lower with the current wrist orientation to isolate a reachable approach."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.00331,
      -0.83007,
      -0.02164,
      -2.67173,
      0.04385,
      1.83096,
      0.09993
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.29993,
      0.00492,
      0.9013
    ],
    "tcp_roll_pitch_yaw": [
      -0.0,
      0.0003,
      1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99158,
        -0.12918,
        -0.00952
      ],
      [
        -0.12841,
        -0.98999,
        0.05849
      ],
      [
        -0.01698,
        -0.05678,
        -0.99824
      ]
    ],
    "simulated_seconds_remaining": 28.842,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 8.807873763144016,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48,
                    "z": 0.86,
                    "pitch": -0.3
                  },
                  "note": "The lowering succeeded. I am moving forward toward the cabinet handle while making a small wrist tilt."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.02766,
      -0.59327,
      -0.02048,
      -2.56205,
      0.08072,
      2.02065,
      0.27416
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.37921,
      0.02023,
      0.89201
    ],
    "tcp_roll_pitch_yaw": [
      0.03375,
      -0.04637,
      -0.17001
    ],
    "tcp_rotation_matrix": [
      [
        0.95557,
        -0.29014,
        0.052
      ],
      [
        -0.2937,
        -0.95215,
        0.08456
      ],
      [
        0.02498,
        -0.09608,
        -0.99506
      ]
    ],
    "simulated_seconds_remaining": 27.324,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 6.405867397785187,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.27,
                    "z": 0.73,
                    "pitch": 0
                  },
                  "note": "The wrist stopped near the cabinet's upper edge. I am backing away and lowering below that edge to approach the handle from the front."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 6,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.02766,
      -0.59327,
      -0.02048,
      -2.56205,
      0.08072,
      2.02065,
      0.27416
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.37921,
      0.02023,
      0.89201
    ],
    "tcp_roll_pitch_yaw": [
      0.03375,
      -0.04637,
      -0.17001
    ],
    "tcp_rotation_matrix": [
      [
        0.95557,
        -0.29014,
        0.052
      ],
      [
        -0.2937,
        -0.95215,
        0.08456
      ],
      [
        0.02498,
        -0.09608,
        -0.99506
      ]
    ],
    "simulated_seconds_remaining": 27.324,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 14.21194813400507,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.3,
                    "z": 1.08,
                    "pitch": -0.8,
                    "yaw": 0
                  },
                  "note": "The low pose is outside the current arm configuration. I am raising clear of the cabinet to turn the wrist before approaching lower."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 25,
    "motion_seconds": 1.6500000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.06729,
      -1.44342,
      -0.0278,
      -2.78932,
      0.03238,
      2.13597,
      0.13742
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.30035,
      0.02023,
      1.07931
    ],
    "tcp_roll_pitch_yaw": [
      0.03419,
      -0.79702,
      -0.001
    ],
    "tcp_rotation_matrix": [
      [
        0.7079,
        -0.02644,
        0.70582
      ],
      [
        -0.12848,
        -0.98745,
        0.09188
      ],
      [
        0.69453,
        -0.15573,
        -0.70241
      ]
    ],
    "simulated_seconds_remaining": 25.674,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 5.805665081366897,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "z": 0.84,
                    "pitch": -1.25
                  },
                  "note": "The wrist is now angled toward the cabinet. I am lowering toward the upper part of the vertical handle with a more horizontal approach."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 8,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.06729,
      -1.44342,
      -0.0278,
      -2.78932,
      0.03238,
      2.13597,
      0.13742
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.30035,
      0.02023,
      1.07931
    ],
    "tcp_roll_pitch_yaw": [
      0.03419,
      -0.79702,
      -0.001
    ],
    "tcp_rotation_matrix": [
      [
        0.7079,
        -0.02644,
        0.70582
      ],
      [
        -0.12848,
        -0.98745,
        0.09188
      ],
      [
        0.69453,
        -0.15573,
        -0.70241
      ]
    ],
    "simulated_seconds_remaining": 25.674,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 7.206296884454787,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.6,
                    "z": 0.82,
                    "pitch": -1.3
                  },
                  "note": "The nearer low target was unreachable. Extending the arm farther forward should allow a horizontal approach to the cabinet face."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 9,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.06729,
      -1.44342,
      -0.0278,
      -2.78932,
      0.03238,
      2.13597,
      0.13742
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.30035,
      0.02023,
      1.07931
    ],
    "tcp_roll_pitch_yaw": [
      0.03419,
      -0.79702,
      -0.001
    ],
    "tcp_rotation_matrix": [
      [
        0.7079,
        -0.02644,
        0.70582
      ],
      [
        -0.12848,
        -0.98745,
        0.09188
      ],
      [
        0.69453,
        -0.15573,
        -0.70241
      ]
    ],
    "simulated_seconds_remaining": 25.674,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 14.412030403502285,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "z": 1,
                    "pitch": 0.8,
                    "yaw": 3,
                    "roll": 0
                  },
                  "note": "The current wrist bend cannot reach the handle height. I am trying the alternate wrist orientation above the cabinet."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 66,
    "motion_seconds": 4.356,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.64366,
      -1.13135,
      -0.36886,
      -2.80483,
      -1.00629,
      2.23022,
      -2.04391
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.39985,
      0.02023,
      1.00009
    ],
    "tcp_roll_pitch_yaw": [
      -0.00476,
      0.79963,
      2.99337
    ],
    "tcp_rotation_matrix": [
      [
        -0.65315,
        0.27223,
        0.7066
      ],
      [
        0.22745,
        0.96058,
        -0.15984
      ],
      [
        -0.72226,
        0.05632,
        -0.68932
      ]
    ],
    "simulated_seconds_remaining": 21.318,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 6.205830537714064,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.42,
                    "z": 0.76,
                    "pitch": 1.5,
                    "yaw": 3.14
                  },
                  "note": "The alternate wrist orientation succeeded. I am lowering toward the handle with the fingers pointing into the cabinet front."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 11,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.64366,
      -1.13135,
      -0.36886,
      -2.80483,
      -1.00629,
      2.23022,
      -2.04391
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.39985,
      0.02023,
      1.00009
    ],
    "tcp_roll_pitch_yaw": [
      -0.00476,
      0.79963,
      2.99337
    ],
    "tcp_rotation_matrix": [
      [
        -0.65315,
        0.27223,
        0.7066
      ],
      [
        0.22745,
        0.96058,
        -0.15984
      ],
      [
        -0.72226,
        0.05632,
        -0.68932
      ]
    ],
    "simulated_seconds_remaining": 21.318,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 5.805360452271998,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.89,
                    "pitch": 1.1
                  },
                  "note": "The controller requested a smaller joint change. I am splitting the lowering and wrist turn into an intermediate pose."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 12,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.64366,
      -1.13135,
      -0.36886,
      -2.80483,
      -1.00629,
      2.23022,
      -2.04391
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.39985,
      0.02023,
      1.00009
    ],
    "tcp_roll_pitch_yaw": [
      -0.00476,
      0.79963,
      2.99337
    ],
    "tcp_rotation_matrix": [
      [
        -0.65315,
        0.27223,
        0.7066
      ],
      [
        0.22745,
        0.96058,
        -0.15984
      ],
      [
        -0.72226,
        0.05632,
        -0.68932
      ]
    ],
    "simulated_seconds_remaining": 21.318,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 4.4065602868795395,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": 1.35
                  },
                  "note": "Lowering while turning remains unreachable. I am completing more of the wrist turn at the current clear height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 13,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.64366,
      -1.13135,
      -0.36886,
      -2.80483,
      -1.00629,
      2.23022,
      -2.04391
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.39985,
      0.02023,
      1.00009
    ],
    "tcp_roll_pitch_yaw": [
      -0.00476,
      0.79963,
      2.99337
    ],
    "tcp_rotation_matrix": [
      [
        -0.65315,
        0.27223,
        0.7066
      ],
      [
        0.22745,
        0.96058,
        -0.15984
      ],
      [
        -0.72226,
        0.05632,
        -0.68932
      ]
    ],
    "simulated_seconds_remaining": 21.318,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 6.605734846554697,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.6,
                    "z": 0.95,
                    "pitch": 1.1
                  },
                  "note": "The arm is tightly folded at the nearer poses. I am extending forward while turning to obtain more reach toward the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 25,
    "motion_seconds": 1.6500000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.66276,
      -0.91376,
      -0.64341,
      -2.79474,
      -1.77638,
      2.72421,
      -1.08357
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.46973,
      0.04491,
      0.98011
    ],
    "tcp_roll_pitch_yaw": [
      -0.81379,
      0.89138,
      2.26463
    ],
    "tcp_rotation_matrix": [
      [
        -0.36204,
        0.26776,
        0.89288
      ],
      [
        0.59213,
        0.80584,
        -0.00156
      ],
      [
        -0.71993,
        0.52814,
        -0.45029
      ]
    ],
    "simulated_seconds_remaining": 19.668,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 7.807344992645085,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.35,
                    "z": 0.8,
                    "pitch": 0.2,
                    "yaw": 2.3,
                    "roll": 0
                  },
                  "note": "The gripper is contacting the upper cabinet area. I am withdrawing and lowering with a gentler tilt to get below the trim."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 26,
    "motion_seconds": 1.7160000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.86414,
      -1.01404,
      -0.6148,
      -2.68721,
      -0.72831,
      2.22764,
      -1.42251
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.41305,
      0.06817,
      0.95495
    ],
    "tcp_roll_pitch_yaw": [
      -0.54304,
      0.18878,
      2.19866
    ],
    "tcp_rotation_matrix": [
      [
        -0.48191,
        0.73319,
        0.47979
      ],
      [
        0.86577,
        0.48275,
        0.13188
      ],
      [
        -0.13492,
        0.47894,
        -0.86742
      ]
    ],
    "simulated_seconds_remaining": 17.952,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 11.410140862688422,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.25,
                    "y": 0.25,
                    "z": 0.87,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 0
                  },
                  "note": "The handle is left of the gripper in the exterior view. I am moving left and outward from the cabinet edge to align with it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 51,
    "motion_seconds": 3.366,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.65826,
      -0.656,
      0.08742,
      -2.65357,
      0.11358,
      2.02891,
      0.80453
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.2503,
      0.24965,
      0.87014
    ],
    "tcp_roll_pitch_yaw": [
      -0.00101,
      -0.00101,
      0.00448
    ],
    "tcp_rotation_matrix": [
      [
        0.99216,
        -0.12468,
        -0.00847
      ],
      [
        -0.124,
        -0.99062,
        0.05745
      ],
      [
        -0.01555,
        -0.05595,
        -0.99831
      ]
    ],
    "simulated_seconds_remaining": 14.586,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 8.006943231448531,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.25,
                    "y": 0.4,
                    "z": 0.76
                  },
                  "note": "The handle is now close to the fingers and visible in the wrist view. I am shifting farther left and down to center on its vertical bar."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.71764,
      -0.12274,
      0.28121,
      -2.48786,
      0.10833,
      2.41054,
      1.04303
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.24996,
      0.39886,
      0.76075
    ],
    "tcp_roll_pitch_yaw": [
      -0.0012,
      -0.00091,
      0.00459
    ],
    "tcp_rotation_matrix": [
      [
        0.99217,
        -0.12458,
        -0.00857
      ],
      [
        -0.12389,
        -0.99064,
        0.05726
      ],
      [
        -0.01563,
        -0.05575,
        -0.99832
      ]
    ],
    "simulated_seconds_remaining": 13.068,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 14.613951908424497,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.29,
                    "y": 0.35,
                    "z": 0.75
                  },
                  "note": "The vertical handle sits slightly left of the finger gap in the wrist image. I am making a small centering adjustment before grasping."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.66304,
      -0.14248,
      0.2055,
      -2.54324,
      0.11245,
      2.43874,
      0.90743
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.28927,
      0.35091,
      0.7502
    ],
    "tcp_roll_pitch_yaw": [
      -0.00122,
      -0.00086,
      0.00433
    ],
    "tcp_rotation_matrix": [
      [
        0.99214,
        -0.12484,
        -0.00861
      ],
      [
        -0.12415,
        -0.99061,
        0.05724
      ],
      [
        -0.01568,
        -0.05572,
        -0.99832
      ]
    ],
    "simulated_seconds_remaining": 12.342,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 8.808563283644617,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.29,
                    "z": 0.72
                  },
                  "note": "The handle is still just outside the left finger. I am moving the gap over the bar and lowering slightly for contact."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 19,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.63216,
      -0.19879,
      0.1479,
      -2.70055,
      0.13326,
      2.53365,
      0.79446
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.28927,
      0.29114,
      0.72055
    ],
    "tcp_roll_pitch_yaw": [
      -0.00132,
      -0.00073,
      0.00417
    ],
    "tcp_rotation_matrix": [
      [
        0.99212,
        -0.12501,
        -0.00873
      ],
      [
        -0.12431,
        -0.9906,
        0.05714
      ],
      [
        -0.01579,
        -0.0556,
        -0.99833
      ]
    ],
    "simulated_seconds_remaining": 11.616,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 6.606153979897499,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The handle now runs through the finger gap in the wrist view. I am closing the gripper to secure it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 20,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.63216,
      -0.19879,
      0.1479,
      -2.70055,
      0.13326,
      2.53365,
      0.79446
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.28927,
      0.29113,
      0.72055
    ],
    "tcp_roll_pitch_yaw": [
      -0.00132,
      -0.00073,
      0.00417
    ],
    "tcp_rotation_matrix": [
      [
        0.99212,
        -0.125,
        -0.00873
      ],
      [
        -0.12431,
        -0.9906,
        0.05714
      ],
      [
        -0.01579,
        -0.0556,
        -0.99833
      ]
    ],
    "simulated_seconds_remaining": 10.692,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 8.207480003125966,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 1,
                    "x": 0.35,
                    "y": 0.27
                  },
                  "note": "The fingers closed fully, indicating the handle was missed. I am reopening and advancing the gap toward the visible bar."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 21,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.5875,
      -0.12296,
      0.09849,
      -2.59381,
      0.1048,
      2.42516,
      0.69023
    ],
    "gripper_open": 0.9965,
    "tcp_xyz": [
      0.32176,
      0.2743,
      0.72145
    ],
    "tcp_roll_pitch_yaw": [
      -0.03907,
      0.05952,
      0.04412
    ],
    "tcp_rotation_matrix": [
      [
        0.99386,
        -0.08617,
        -0.06946
      ],
      [
        -0.08523,
        -0.99623,
        0.01641
      ],
      [
        -0.07061,
        -0.01039,
        -0.99745
      ]
    ],
    "simulated_seconds_remaining": 9.768,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 5.805341369472444,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The forward motion stopped at the handle area, and the bar is centered between the fingers. I am closing at this contact position."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 22,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.58889,
      -0.12674,
      0.10018,
      -2.59642,
      0.10542,
      2.42114,
      0.69123
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.31958,
      0.27424,
      0.72173
    ],
    "tcp_roll_pitch_yaw": [
      -0.04077,
      0.06195,
      0.04579
    ],
    "tcp_rotation_matrix": [
      [
        0.99384,
        -0.08442,
        -0.07184
      ],
      [
        -0.08359,
        -0.99639,
        0.01449
      ],
      [
        -0.0728,
        -0.00839,
        -0.99731
      ]
    ],
    "simulated_seconds_remaining": 8.844,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 19.019444256089628,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 1,
                    "z": 0.62,
                    "x": 0.29,
                    "y": 0.32
                  },
                  "note": "The grasp still closed empty. The exterior view places the fingers above the usable handle segment, so I am lowering onto the middle of the bar."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 23,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.65932,
      -0.05164,
      0.16018,
      -2.5948,
      0.08822,
      2.4947,
      0.81607
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.28645,
      0.31524,
      0.69594
    ],
    "tcp_roll_pitch_yaw": [
      -0.05838,
      0.05594,
      0.06085
    ],
    "tcp_rotation_matrix": [
      [
        0.99554,
        -0.06838,
        -0.065
      ],
      [
        -0.06877,
        -0.99763,
        -0.00381
      ],
      [
        -0.06458,
        0.00826,
        -0.99788
      ]
    ],
    "simulated_seconds_remaining": 7.788,
    "calls_remaining_including_this": 35
  },
  "api_seconds": 8.207436840049922,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The lowering stopped against the handle area. I am closing the fingers at this lower contact to test whether the bar is captured."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 24,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.65996,
      -0.05415,
      0.16098,
      -2.59629,
      0.08836,
      2.49327,
      0.8164
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.28559,
      0.31516,
      0.69635
    ],
    "tcp_roll_pitch_yaw": [
      -0.0589,
      0.05608,
      0.06188
    ],
    "tcp_rotation_matrix": [
      [
        0.9956,
        -0.06732,
        -0.06511
      ],
      [
        -0.06775,
        -0.99769,
        -0.00441
      ],
      [
        -0.06466,
        0.0088,
        -0.99787
      ]
    ],
    "simulated_seconds_remaining": 6.864,
    "calls_remaining_including_this": 34
  },
  "api_seconds": 5.205022691749036,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.23,
                    "y": 0.18
                  },
                  "note": "The fingers are at the handle. I am making a short outward pull and checking whether the cabinet door follows."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 25,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.60156,
      -0.45704,
      0.05846,
      -2.99734,
      0.1013,
      2.48397,
      0.63911
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.23052,
      0.18122,
      0.69636
    ],
    "tcp_roll_pitch_yaw": [
      -0.05894,
      0.0561,
      0.06179
    ],
    "tcp_rotation_matrix": [
      [
        0.9956,
        -0.06741,
        -0.06513
      ],
      [
        -0.06784,
        -0.99769,
        -0.00444
      ],
      [
        -0.06468,
        0.00884,
        -0.99787
      ]
    ],
    "simulated_seconds_remaining": 5.61,
    "calls_remaining_including_this": 33
  },
  "api_seconds": 8.609852182678878,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.3,
                    "y": 0.32,
                    "z": 0.7,
                    "roll": 1.4,
                    "pitch": 0,
                    "yaw": 0,
                    "gripper": 1
                  },
                  "note": "The door did not follow the pull. I am turning to approach the vertical handle sideways, which should place the jaws across the bar."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 26,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.60156,
      -0.45704,
      0.05846,
      -2.99734,
      0.1013,
      2.48397,
      0.63911
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.23052,
      0.18122,
      0.69636
    ],
    "tcp_roll_pitch_yaw": [
      -0.05894,
      0.0561,
      0.06179
    ],
    "tcp_rotation_matrix": [
      [
        0.9956,
        -0.06741,
        -0.06513
      ],
      [
        -0.06784,
        -0.99769,
        -0.00444
      ],
      [
        -0.06468,
        0.00884,
        -0.99787
      ]
    ],
    "simulated_seconds_remaining": 5.61,
    "calls_remaining_including_this": 32
  },
  "api_seconds": 5.407126233913004,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.3,
                    "y": 0.32,
                    "z": 0.72,
                    "roll": 0.65,
                    "pitch": 0,
                    "yaw": 0,
                    "gripper": 1
                  },
                  "note": "The sideways turn needs an intermediate pose. I am rotating partway while returning toward the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 27,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      1.24766,
      -0.20226,
      -0.55897,
      -2.76863,
      1.40085,
      2.70293,
      -0.48026
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.29953,
      0.31913,
      0.71978
    ],
    "tcp_roll_pitch_yaw": [
      0.6455,
      0.00091,
      0.00084
    ],
    "tcp_rotation_matrix": [
      [
        0.99157,
        -0.12912,
        -0.01046
      ],
      [
        -0.09172,
        -0.75674,
        0.64725
      ],
      [
        -0.09149,
        -0.64084,
        -0.7622
      ]
    ],
    "simulated_seconds_remaining": 4.29,
    "calls_remaining_including_this": 31
  },
  "api_seconds": 8.006747290492058,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.36,
                    "y": 0.34,
                    "z": 0.67,
                    "roll": 1.2
                  },
                  "note": "The fingers are beside the handle. I am finishing the sideways approach and moving the gap onto the bar."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 28,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      1.1067,
      0.03453,
      -0.61795,
      -2.72002,
      1.80923,
      2.09142,
      -1.12064
    ],
    "gripper_open": 0.9991,
    "tcp_xyz": [
      0.30113,
      0.35804,
      0.72573
    ],
    "tcp_roll_pitch_yaw": [
      1.10217,
      -0.09813,
      0.09467
    ],
    "tcp_rotation_matrix": [
      [
        0.99838,
        -0.00185,
        -0.05694
      ],
      [
        0.05149,
        -0.39841,
        0.91576
      ],
      [
        -0.02438,
        -0.91721,
        -0.39766
      ]
    ],
    "simulated_seconds_remaining": 3.234,
    "calls_remaining_including_this": 30
  },
  "api_seconds": 6.004856369458139,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The fingers are contacting the handle from the side. I am closing to capture it before pulling outward."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 29,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      1.10795,
      0.02886,
      -0.61649,
      -2.72702,
      1.80804,
      2.09139,
      -1.12166
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.29737,
      0.35808,
      0.72583
    ],
    "tcp_roll_pitch_yaw": [
      1.1039,
      -0.09576,
      0.09863
    ],
    "tcp_rotation_matrix": [
      [
        0.99809,
        -0.00253,
        -0.06172
      ],
      [
        0.05564,
        -0.39705,
        0.91611
      ],
      [
        -0.02682,
        -0.91779,
        -0.39616
      ]
    ],
    "simulated_seconds_remaining": 2.31,
    "calls_remaining_including_this": 29
  },
  "api_seconds": 7.206492030993104,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.16,
                    "x": 0.25
                  },
                  "note": "I am checking this final contact with an outward pull; the door must visibly follow to confirm opening."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 25,
    "motion_seconds": 1.6500000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 30,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.87273,
      -0.2776,
      -0.8186,
      -2.99556,
      1.05267,
      1.98125,
      -1.10981
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.17498,
      0.23159,
      0.73567
    ],
    "tcp_roll_pitch_yaw": [
      1.14647,
      -0.08681,
      0.41929
    ],
    "tcp_rotation_matrix": [
      [
        0.92742,
        0.10061,
        -0.36023
      ],
      [
        0.37213,
        -0.34471,
        0.8618
      ],
      [
        -0.03747,
        -0.9333,
        -0.35713
      ]
    ],
    "simulated_seconds_remaining": 0.66,
    "calls_remaining_including_this": 28
  },
  "api_seconds": 6.406020344235003,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "give_up",
                "args": {
                  "note": "I could not secure the cabinet handle, and the door remained closed after the pull attempts. There is insufficient simulated motion time for another grasp."
                }
              }
            }
          ]
        }
      }
    ]
  }
}

========================================================================
GPT-Astra / Open / Episode 011

Completed scored attempt. Images are available in the paired videos.

Opaque provider signatures, image payloads, and local paths are omitted.


RESULT
{
  "benchmark_index": 11,
  "source_episode_index": 273,
  "house_index": 213,
  "status": "completed",
  "success": false,
  "oracle_success": false,
  "action_decisions": 38,
  "wall_seconds": 376.74,
  "usage": {
    "input_tokens": 886314,
    "cached_input_tokens": 833152,
    "cache_write_input_tokens": 0,
    "output_tokens": 7628,
    "reasoning_output_tokens": 3355
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task.
You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose.
Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion.
move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up.
roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial.
Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5).
The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y.
The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics.
Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration.
Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target.
You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time.
Each move must include a short note describing what you observe and why you chose that motion.
Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done.
Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available.



AGENT TRANSCRIPT (visible messages and completed tool calls)

I’ll inspect the scene, locate the handle, and use the camera feedback to guide the opening motion.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.01369, -0.77598, 0.06034, -2.26539, 0.06963, 1.52503, 0.0338], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.31007, 0.03345, 1.05052], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.99943, 0.00121, 0.03368], [0.00026, -0.9996, 0.02833], [0.0337, -0.0283, -0.99903]], \"simulated_seconds_remaining\": 30.03, \"calls_remaining_including_this\": 57}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "x": 0.48,
    "y": 0.03,
    "z": 0.85,
    "pitch": -1.5708,
    "gripper": 1,
    "note": "The dresser is ahead of the robot with horizontal drawer pulls. I am moving toward its front and pointing the fingers forward to approach a pull."
  },
  "result": null,
  "error": {
    "message": "tool call error: tool call failed for `robot/move_to`\n\nCaused by:\n    Mcp error: -32602: Unexpected argument"
  },
  "status": "failed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.48,
      "y": 0.03,
      "z": 0.85,
      "pitch": -1.5708,
      "gripper": 1
    },
    "note": "The dresser is ahead with horizontal pulls. I am approaching the front with the fingers pointing forward to engage a pull."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.01369, -0.77598, 0.06034, -2.26539, 0.06963, 1.52503, 0.0338], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.31007, 0.03345, 1.05052], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.99943, 0.00121, 0.03368], [0.00026, -0.9996, 0.02833], [0.0337, -0.0283, -0.99903]], \"simulated_seconds_remaining\": 30.03, \"calls_remaining_including_this\": 56}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.4,
      "y": 0.03,
      "z": 0.9,
      "pitch": -0.8
    },
    "note": "The full forward-facing approach was unreachable. I will lower the grasp point and rotate partway toward the drawer for a reachable approach."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.01369, -0.77598, 0.06034, -2.26539, 0.06963, 1.52503, 0.0338], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.31007, 0.03345, 1.05052], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.99943, 0.00121, 0.03368], [0.00026, -0.9996, 0.02833], [0.0337, -0.0283, -0.99903]], \"simulated_seconds_remaining\": 30.03, \"calls_remaining_including_this\": 55}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.4,
      "z": 0.9
    },
    "note": "The wrist rotation is limiting reach. I will first lower and advance with the current orientation to get closer to the visible pulls."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.02147, -0.69949, 0.08147, -2.46085, 0.07176, 1.99248, 0.02326], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.39716, 0.03438, 0.98031], \"tcp_roll_pitch_yaw\": [-0.0043, -0.19545, -0.00128], \"tcp_rotation_matrix\": [[0.97386, 0.00456, 0.22711], [-0.00085, -0.99972, 0.02374], [0.22716, -0.02331, -0.97358]], \"simulated_seconds_remaining\": 28.578, \"calls_remaining_including_this\": 54}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 22, \"motion_seconds\": 1.452, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.39,
      "z": 0.83,
      "pitch": -0.45
    },
    "note": "The wrist view shows the middle drawer pull directly ahead. I am lowering toward its height while tilting the fingers toward the drawer front."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.01372, -0.83591, 0.11111, -2.99717, 0.1173, 2.89449, 0.01634], \"gripper_open\": 1.0, \"tcp_xyz\": [0.42504, 0.0344, 0.90385], \"tcp_roll_pitch_yaw\": [0.00653, -0.69802, -0.0126], \"tcp_rotation_matrix\": [[0.74396, 0.01072, 0.66814], [-0.00934, -0.99961, 0.02643], [0.66816, -0.02591, -0.74357]], \"simulated_seconds_remaining\": 27.258, \"calls_remaining_including_this\": 53}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 20, \"motion_seconds\": 1.32, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.34,
      "z": 0.86,
      "roll": 1.2,
      "pitch": 0,
      "yaw": -1.57
    },
    "note": "The pull is horizontal, so the jaws need to close vertically around it. I am backing away slightly and rotating the gripper for that grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.01372, -0.83591, 0.11111, -2.99717, 0.1173, 2.89449, 0.01634], \"gripper_open\": 1.0, \"tcp_xyz\": [0.42504, 0.0344, 0.90385], \"tcp_roll_pitch_yaw\": [0.00653, -0.69802, -0.0126], \"tcp_rotation_matrix\": [[0.74396, 0.01072, 0.66814], [-0.00934, -0.99961, 0.02643], [0.66816, -0.02591, -0.74357]], \"simulated_seconds_remaining\": 27.258, \"calls_remaining_including_this\": 52}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.5,
      "z": 0.85,
      "roll": 0,
      "pitch": -1.2,
      "yaw": 0
    },
    "note": "The rotated grasp was unreachable from the retracted position. I will extend toward the pull and make the forward tilt more gradual."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.01372, -0.83591, 0.11111, -2.99717, 0.1173, 2.89449, 0.01634], \"gripper_open\": 1.0, \"tcp_xyz\": [0.42504, 0.0344, 0.90385], \"tcp_roll_pitch_yaw\": [0.00653, -0.69802, -0.0126], \"tcp_rotation_matrix\": [[0.74396, 0.01072, 0.66814], [-0.00934, -0.99961, 0.02643], [0.66816, -0.02591, -0.74357]], \"simulated_seconds_remaining\": 27.258, \"calls_remaining_including_this\": 51}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.56,
      "z": 0.9,
      "pitch": -0.7
    },
    "note": "The pull remains just above the fingertips in the wrist image. I will advance at the current reachable tilt to bring it between the fingers."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.03734, -0.71876, 0.14167, -2.63688, 0.08397, 2.10447, 0.2538], \"gripper_open\": 0.9967, \"tcp_xyz\": [0.37657, 0.0411, 0.90818], \"tcp_roll_pitch_yaw\": [0.00428, -0.14729, -0.21551], \"tcp_rotation_matrix\": [[0.96093, -0.20789, 0.18273], [-0.21024, -0.97763, -0.00662], [0.18002, -0.03205, -0.98314]], \"simulated_seconds_remaining\": 26.07, \"calls_remaining_including_this\": 50}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 18, \"motion_seconds\": 1.1880000000000002, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

The drawer pull is visible, but the arm has not reached the commanded poses. I’m adjusting the approach position before trying to grasp it.


{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.25,
      "z": 0.85,
      "pitch": 0,
      "yaw": 0
    },
    "note": "The arm is being deflected during the forward approach. I will retract and lower with a downward-facing wrist to clear the dresser before realigning."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.06435, -1.06283, 0.06688, -2.9203, 0.0921, 1.89504, 0.07111], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.25088, 0.0411, 0.85041], \"tcp_roll_pitch_yaw\": [0.00414, -0.00106, -0.00155], \"tcp_rotation_matrix\": [[0.99939, -0.0003, 0.03479], [-0.00143, -0.99947, 0.03241], [0.03477, -0.03244, -0.99887]], \"simulated_seconds_remaining\": 24.816, \"calls_remaining_including_this\": 49}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 19, \"motion_seconds\": 1.254, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.33,
      "z": 0.75,
      "roll": 1.57,
      "pitch": 0,
      "yaw": -1.57
    },
    "note": "The arm has reached a clear position below the previous approach. I will orient the fingers forward with vertical jaw closure at the lower drawer height."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.06435, -1.06283, 0.06688, -2.9203, 0.0921, 1.89504, 0.07111], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.25088, 0.0411, 0.85041], \"tcp_roll_pitch_yaw\": [0.00414, -0.00106, -0.00155], \"tcp_rotation_matrix\": [[0.99939, -0.0003, 0.03479], [-0.00143, -0.99947, 0.03241], [0.03477, -0.03244, -0.99887]], \"simulated_seconds_remaining\": 24.816, \"calls_remaining_including_this\": 48}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.36,
      "z": 0.85,
      "roll": -1.57,
      "pitch": 0,
      "yaw": 1.57
    },
    "note": "The first vertical-jaw orientation was outside the arm's reach. I will try the equivalent opposite wrist rotation while keeping the fingers aimed at the dresser."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 11, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.06435, -1.06283, 0.06688, -2.9203, 0.0921, 1.89504, 0.07111], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.25088, 0.0411, 0.85041], \"tcp_roll_pitch_yaw\": [0.00414, -0.00106, -0.00155], \"tcp_rotation_matrix\": [[0.99939, -0.0003, 0.03479], [-0.00143, -0.99947, 0.03241], [0.03477, -0.03244, -0.99887]], \"simulated_seconds_remaining\": 24.816, \"calls_remaining_including_this\": 47}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.28,
      "z": 0.9,
      "roll": 0,
      "pitch": 0,
      "yaw": 1.57
    },
    "note": "A top-down grasp can also clamp across the horizontal pull. I will turn the open jaws across its depth and approach from above."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 12, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.48426, -0.92356, -0.29289, -2.6944, -0.1956, 1.7711, -1.2188], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.27992, 0.04111, 0.89987], \"tcp_roll_pitch_yaw\": [-2e-05, -3e-05, 1.56536], \"tcp_rotation_matrix\": [[0.00517, 0.99959, -0.02813], [0.99942, -0.00422, 0.03386], [0.03373, -0.02829, -0.99903]], \"simulated_seconds_remaining\": 22.44, \"calls_remaining_including_this\": 46}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 36, \"motion_seconds\": 2.3760000000000003, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.4,
      "z": 0.9
    },
    "note": "The wrist is now oriented for a top-down grasp. I will advance over the visible pull while keeping the fingers open."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 13, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.5664, -0.59674, -0.39607, -2.41429, -0.16572, 1.63946, -1.3198], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.32621, 0.03262, 0.91551], \"tcp_roll_pitch_yaw\": [0.18826, 0.02712, 1.61103], \"tcp_rotation_matrix\": [[-0.03417, 0.97603, -0.21492], [0.9994, 0.03467, -0.00144], [0.00604, -0.21484, -0.97663]], \"simulated_seconds_remaining\": 21.318, \"calls_remaining_including_this\": 45}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 17, \"motion_seconds\": 1.122, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.3,
      "y": 0.15,
      "z": 0.9,
      "roll": 0,
      "pitch": 0,
      "yaw": 1.57
    },
    "note": "The pull is offset toward the upper left of the wrist image, and the forward motion met the drawer. I will shift along the drawer and re-center above the handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 14, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.64351, -0.70946, -0.1787, -2.59444, -0.07608, 1.88211, -1.03965], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.30019, 0.14908, 0.90011], \"tcp_roll_pitch_yaw\": [0.00156, 0.00039, 1.57055], \"tcp_rotation_matrix\": [[4e-05, 0.99955, -0.02988], [0.99945, 0.00095, 0.0333], [0.03331, -0.02986, -0.999]], \"simulated_seconds_remaining\": 20.196, \"calls_remaining_including_this\": 44}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 17, \"motion_seconds\": 1.122, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.3,
      "y": -0.08,
      "z": 0.94
    },
    "note": "The sideways shift moved the pull away from the grasp center. I will correct in the opposite direction and raise slightly to clear the drawer front."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 15, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.4171, -0.90293, -0.5004, -2.51568, -0.35111, 1.64405, -1.4435], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.30003, -0.0787, 0.9398], \"tcp_roll_pitch_yaw\": [0.00147, 0.0003, 1.57038], \"tcp_rotation_matrix\": [[0.00021, 0.99956, -0.02978], [0.99944, 0.00078, 0.03339], [0.0334, -0.02977, -0.999]], \"simulated_seconds_remaining\": 18.348, \"calls_remaining_including_this\": 43}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 28, \"motion_seconds\": 1.848, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.34,
      "y": -0.08,
      "z": 0.87
    },
    "note": "The pull is now beside the forward fingertip. I will lower and advance a few centimeters to place the open jaws across it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 16, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.45834, -0.87809, -0.59458, -2.5802, -0.38819, 1.86669, -1.46264], \"gripper_open\": 0.9904, \"tcp_xyz\": [0.34226, -0.07594, 0.91053], \"tcp_roll_pitch_yaw\": [-0.11325, -0.04222, 1.59422], \"tcp_rotation_matrix\": [[-0.02741, 0.99618, 0.08296], [0.99676, 0.02096, 0.07764], [0.07561, 0.08482, -0.99352]], \"simulated_seconds_remaining\": 17.49, \"calls_remaining_including_this\": 42}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 13, \"motion_seconds\": 0.8580000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The handle is adjacent to the inner finger surfaces and the descent has stopped at contact. I will close the jaws to test whether the pull is captured."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 17, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.45629, -0.88748, -0.59122, -2.58328, -0.38785, 1.85438, -1.46715], \"gripper_open\": 0.0, \"tcp_xyz\": [0.33839, -0.07554, 0.91088], \"tcp_roll_pitch_yaw\": [-0.10818, -0.04235, 1.60055], \"tcp_rotation_matrix\": [[-0.03355, 0.99643, 0.07741], [0.99656, 0.02748, 0.07817], [0.07576, 0.07976, -0.99393]], \"simulated_seconds_remaining\": 16.566, \"calls_remaining_including_this\": 41}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.38,
      "z": 0.96,
      "gripper": 1,
      "roll": 0,
      "pitch": 0,
      "yaw": 1.57
    },
    "note": "The jaws closed fully, so the pull was not captured. I will reopen, lift clear, and move farther over the handle for a centered descent."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 18, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.54695, -0.71002, -0.58432, -2.28784, -0.2948, 1.25314, -1.48603], \"gripper_open\": 0.9965, \"tcp_xyz\": [0.25757, -0.08544, 0.96543], \"tcp_roll_pitch_yaw\": [0.38232, -0.00919, 1.61495], \"tcp_rotation_matrix\": [[-0.03178, 0.91576, -0.40046], [0.99867, 0.04535, 0.02444], [0.04054, -0.39915, -0.91599]], \"simulated_seconds_remaining\": 15.642, \"calls_remaining_including_this\": 40}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

The jaws closed without capturing the pull. I’m switching to a front approach so the fingers can surround the handle without pressing against the drawer face.


{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.23,
      "z": 1.02,
      "roll": -0.7,
      "pitch": 0,
      "yaw": 1.57
    },
    "note": "The top-down approach is contacting the drawer face. I will retract and tilt toward a front grasp with the jaws closing across the handle's thickness."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 19, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.28089, -1.78008, -0.37417, -2.83291, -0.4816, 1.74142, -1.43947], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.23015, -0.08545, 1.01963], \"tcp_roll_pitch_yaw\": [-0.69547, 0.00016, 1.57012], \"tcp_rotation_matrix\": [[-0.02112, 0.78558, 0.6184], [0.99945, 0.00078, 0.03314], [0.02555, 0.61876, -0.78517]], \"simulated_seconds_remaining\": 13.926, \"calls_remaining_including_this\": 39}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 26, \"motion_seconds\": 1.7160000000000002, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.27,
      "z": 0.96,
      "roll": -1.45,
      "pitch": 0,
      "yaw": 1.57
    },
    "note": "The wrist has reached the tilted approach cleanly. I will turn the fingers nearly horizontal and move down toward the visible drawer pull."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 20, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.28089, -1.78008, -0.37417, -2.83291, -0.4816, 1.74142, -1.43947], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.23015, -0.08545, 1.01963], \"tcp_roll_pitch_yaw\": [-0.69547, 0.00016, 1.57012], \"tcp_rotation_matrix\": [[-0.02112, 0.78558, 0.6184], [0.99945, 0.00078, 0.03314], [0.02555, 0.61876, -0.78517]], \"simulated_seconds_remaining\": 13.926, \"calls_remaining_including_this\": 38}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.31,
      "z": 0.98,
      "roll": -0.7
    },
    "note": "The fully horizontal pose is unreachable, but the diagonal approach is available. I will bring the open fingers toward the pull at that angle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 21, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.31917, -1.5574, -0.53718, -2.89914, -0.64647, 2.04157, -1.3753], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.30888, -0.08543, 0.98048], \"tcp_roll_pitch_yaw\": [-0.69964, 0.00017, 1.57018], \"tcp_rotation_matrix\": [[-0.02128, 0.783, 0.62166], [0.99945, 0.00083, 0.03316], [0.02545, 0.62203, -0.78258]], \"simulated_seconds_remaining\": 13.002, \"calls_remaining_including_this\": 37}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.355,
      "z": 0.945
    },
    "note": "The pull has moved into the gap near the forward finger. I will advance and lower slightly to center the bar between the jaws."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 22, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.34675, -1.3738, -0.65692, -2.91994, -0.76925, 2.25256, -1.32495], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.35392, -0.0854, 0.94574], \"tcp_roll_pitch_yaw\": [-0.69931, 0.00019, 1.57022], \"tcp_rotation_matrix\": [[-0.02131, 0.7832, 0.62141], [0.99945, 0.00087, 0.03317], [0.02544, 0.62177, -0.78279]], \"simulated_seconds_remaining\": 12.342, \"calls_remaining_including_this\": 36}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 10, \"motion_seconds\": 0.66, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.385,
      "z": 0.915
    },
    "note": "The handle is now inside the open-jaw area. I will make a small diagonal advance so the pads surround the bar before closing."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 23, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.36524, -1.27587, -0.73933, -2.91845, -0.86339, 2.40368, -1.2766], \"gripper_open\": 1.0, \"tcp_xyz\": [0.38065, -0.0897, 0.93555], \"tcp_roll_pitch_yaw\": [-0.7448, -0.01349, 1.55901], \"tcp_rotation_matrix\": [[-0.01126, 0.75397, 0.65681], [0.99921, -0.01654, 0.0361], [0.03808, 0.6567, -0.75319]], \"simulated_seconds_remaining\": 11.748, \"calls_remaining_including_this\": 35}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 9, \"motion_seconds\": 0.5940000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The bar is centered between the fingers in the wrist view. I will close the jaws around it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 24, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.3611, -1.28962, -0.73001, -2.90636, -0.86208, 2.49743, -1.27635], \"gripper_open\": 0.0005, \"tcp_xyz\": [0.39227, -0.0886, 0.97058], \"tcp_roll_pitch_yaw\": [-0.85983, -0.03434, 1.56693], \"tcp_rotation_matrix\": [[-0.02184, 0.67365, 0.73872], [0.99819, -0.02677, 0.05393], [0.0561, 0.73856, -0.67185]], \"simulated_seconds_remaining\": 10.824, \"calls_remaining_including_this\": 34}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.27,
      "z": 0.97
    },
    "note": "The jaws are closed at the handle location. I will pull outward a short distance and inspect whether the drawer follows."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 25, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.3611, -1.28962, -0.73001, -2.90636, -0.86208, 2.49743, -1.27635], \"gripper_open\": 0.0005, \"tcp_xyz\": [0.39227, -0.0886, 0.97058], \"tcp_roll_pitch_yaw\": [-0.85983, -0.03434, 1.56693], \"tcp_rotation_matrix\": [[-0.02184, 0.67365, 0.73872], [0.99819, -0.02677, 0.05393], [0.0561, 0.73856, -0.67185]], \"simulated_seconds_remaining\": 10.824, \"calls_remaining_including_this\": 33}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.35,
      "y": -0.025,
      "z": 0.97,
      "roll": -0.7,
      "pitch": 0,
      "yaw": 1.57,
      "gripper": 1
    },
    "note": "The pull was near the end of the fingers rather than their center. I will reopen and shift along the bar to improve contact."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 26, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.43058, -1.36178, -0.47015, -2.91216, -0.67248, 2.21904, -1.18325], \"gripper_open\": 0.9961, \"tcp_xyz\": [0.35047, -0.02567, 0.97001], \"tcp_roll_pitch_yaw\": [-0.70168, -0.00028, 1.56999], \"tcp_rotation_matrix\": [[-0.02114, 0.78172, 0.62327], [0.99944, 0.00041, 0.03339], [0.02585, 0.62362, -0.7813]], \"simulated_seconds_remaining\": 9.9, \"calls_remaining_including_this\": 32}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.38,
      "z": 0.96
    },
    "note": "The bar now spans the center of the finger gap. I will advance slightly at nearly the same height to place the pads on either side."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 27, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.4493, -1.22919, -0.52121, -2.88442, -0.72188, 2.33029, -1.15826], \"gripper_open\": 0.997, \"tcp_xyz\": [0.37899, -0.02569, 0.96038], \"tcp_roll_pitch_yaw\": [-0.70166, -0.00027, 1.56993], \"tcp_rotation_matrix\": [[-0.02108, 0.78174, 0.62325], [0.99944, 0.00037, 0.03335], [0.02584, 0.62361, -0.78131]], \"simulated_seconds_remaining\": 9.372, \"calls_remaining_including_this\": 31}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 8, \"motion_seconds\": 0.528, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The handle crosses the center of the open jaws. I will close at this corrected position."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 28, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.4493, -1.22919, -0.52121, -2.88442, -0.72188, 2.33029, -1.15826], \"gripper_open\": 0.0, \"tcp_xyz\": [0.379, -0.02569, 0.96038], \"tcp_roll_pitch_yaw\": [-0.70167, -0.00027, 1.56993], \"tcp_rotation_matrix\": [[-0.02108, 0.78173, 0.62326], [0.99944, 0.00036, 0.03335], [0.02584, 0.62362, -0.7813]], \"simulated_seconds_remaining\": 8.448, \"calls_remaining_including_this\": 30}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.395,
      "z": 0.935,
      "gripper": 1
    },
    "note": "The jaws again closed fully, with the bar just beyond the tips. I will reopen and move slightly deeper and lower around the pull."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 29, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.43454, -1.16039, -0.56601, -2.89944, -0.77811, 2.43631, -1.13356], \"gripper_open\": 1.0, \"tcp_xyz\": [0.39438, -0.02902, 0.94605], \"tcp_roll_pitch_yaw\": [-0.72181, -0.00395, 1.56076], \"tcp_rotation_matrix\": [[-0.01243, 0.76896, 0.63917], [0.9995, -0.00903, 0.0303], [0.02908, 0.63923, -0.76847]], \"simulated_seconds_remaining\": 7.524, \"calls_remaining_including_this\": 29}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.42,
      "z": 0.945
    },
    "note": "The handle is aligned in the image but has not been enclosed in depth. I will advance another small step toward the drawer while keeping the jaws open."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 30, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.46585, -1.14042, -0.58274, -2.84592, -0.6252, 2.38575, -1.11248], \"gripper_open\": 1.0, \"tcp_xyz\": [0.39419, -0.02322, 0.95098], \"tcp_roll_pitch_yaw\": [-0.64301, -0.15443, 1.49822], \"tcp_rotation_matrix\": [[0.05096, 0.80845, 0.58636], [0.9823, -0.14653, 0.11666], [0.18023, 0.57004, -0.80161]], \"simulated_seconds_remaining\": 7.062, \"calls_remaining_including_this\": 28}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 7, \"motion_seconds\": 0.462, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.395,
      "z": 0.95,
      "roll": -1.05,
      "pitch": 0,
      "yaw": 1.57
    },
    "note": "The forward finger is contacting the drawer face. I will increase the approach angle to surround the projecting handle more directly."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 31, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.46585, -1.14042, -0.58274, -2.84592, -0.6252, 2.38575, -1.11248], \"gripper_open\": 1.0, \"tcp_xyz\": [0.39419, -0.02322, 0.95098], \"tcp_roll_pitch_yaw\": [-0.64301, -0.15443, 1.49822], \"tcp_rotation_matrix\": [[0.05096, 0.80845, 0.58636], [0.9823, -0.14653, 0.11666], [0.18023, 0.57004, -0.80161]], \"simulated_seconds_remaining\": 7.062, \"calls_remaining_including_this\": 27}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.4,
      "z": 0.99,
      "roll": -0.85,
      "pitch": 0,
      "yaw": 1.57
    },
    "note": "The larger rotation was unreachable. I will raise slightly and use a smaller tilt to clear the finger from the drawer face."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 32, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.41153, -1.19349, -0.50511, -2.91104, -0.7635, 2.38353, -1.13564], \"gripper_open\": 0.9477, \"tcp_xyz\": [0.38316, -0.02889, 0.94945], \"tcp_roll_pitch_yaw\": [-0.71364, 0.04104, 1.55173], \"tcp_rotation_matrix\": [[-0.0032, 0.77458, 0.63246], [0.99987, 0.01241, -0.01015], [-0.01571, 0.63235, -0.77452]], \"simulated_seconds_remaining\": 6.402, \"calls_remaining_including_this\": 26}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 10, \"motion_seconds\": 0.66, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The open jaws show contact at the handle after the angle adjustment. I will close and then test an outward pull."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 33, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.41153, -1.19349, -0.50511, -2.91104, -0.7635, 2.38354, -1.13564], \"gripper_open\": 0.0, \"tcp_xyz\": [0.38316, -0.0289, 0.94945], \"tcp_roll_pitch_yaw\": [-0.71367, 0.04109, 1.55175], \"tcp_rotation_matrix\": [[-0.00321, 0.77457, 0.63249], [0.99987, 0.01246, -0.01018], [-0.01577, 0.63237, -0.77451]], \"simulated_seconds_remaining\": 5.478, \"calls_remaining_including_this\": 25}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.28,
      "z": 0.99,
      "roll": -0.7,
      "pitch": 0,
      "yaw": 1.57
    },
    "note": "I will pull outward from the drawer with the jaws closed to check whether the handle is engaged."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 34, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.39318, -1.65649, -0.34329, -2.94078, -0.53604, 1.94557, -1.24991], \"gripper_open\": 0.0, \"tcp_xyz\": [0.28125, -0.02892, 0.98966], \"tcp_roll_pitch_yaw\": [-0.7005, 0.00043, 1.56971], \"tcp_rotation_matrix\": [[-0.02083, 0.78246, 0.62235], [0.99947, 0.00063, 0.03267], [0.02517, 0.6227, -0.78206]], \"simulated_seconds_remaining\": 4.422, \"calls_remaining_including_this\": 24}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 16, \"motion_seconds\": 1.056, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.38,
      "y": 0.04,
      "z": 0.92,
      "gripper": 1
    },
    "note": "The drawer did not follow the pull. I will make one final grasp attempt farther along the handle and slightly lower."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 35, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.44411, -1.11654, -0.38309, -2.98238, -0.70097, 2.49411, -0.99328], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.37905, 0.03933, 0.92058], \"tcp_roll_pitch_yaw\": [-0.70022, 0.00065, 1.56968], \"tcp_rotation_matrix\": [[-0.02079, 0.78263, 0.62214], [0.99947, 0.00074, 0.03248], [0.02496, 0.62248, -0.78223]], \"simulated_seconds_remaining\": 3.168, \"calls_remaining_including_this\": 23}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 19, \"motion_seconds\": 1.254, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.42,
      "y": -0.03,
      "z": 0.93
    },
    "note": "The pull remains visible along the inside of the forward jaw. I will center along its length and move into the handle's projection."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 36, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.46586, -1.01583, -0.54652, -2.89242, -0.64893, 2.55406, -1.16501], \"gripper_open\": 1.0, \"tcp_xyz\": [0.41031, 0.00911, 0.92532], \"tcp_roll_pitch_yaw\": [-0.67763, -0.06691, 1.6101], \"tcp_rotation_matrix\": [[-0.06042, 0.79742, 0.60039], [0.99384, -0.0079, 0.1105], [0.09286, 0.60337, -0.79203]], \"simulated_seconds_remaining\": 2.31, \"calls_remaining_including_this\": 22}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 13, \"motion_seconds\": 0.8580000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The bar is between the jaws at the closest reachable position. I will close for the final pull attempt."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 37, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.46808, -1.02273, -0.541, -2.88668, -0.6485, 2.6191, -1.16527], \"gripper_open\": 0.0001, \"tcp_xyz\": [0.41953, 0.01575, 0.94697], \"tcp_roll_pitch_yaw\": [-0.75159, -0.08841, 1.62812], \"tcp_rotation_matrix\": [[-0.08007, 0.75169, 0.65464], [0.99041, -0.0142, 0.13744], [0.1126, 0.65937, -0.74334]], \"simulated_seconds_remaining\": 1.386, \"calls_remaining_including_this\": 21}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.28,
      "z": 0.99,
      "roll": -0.7,
      "pitch": 0,
      "yaw": 1.57
    },
    "note": "I will pull the closed gripper outward and check whether this final grasp opens the drawer."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 38, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.4368, -1.60414, -0.21196, -2.9567, -0.44812, 1.99095, -1.16087], \"gripper_open\": 0.0, \"tcp_xyz\": [0.28135, 0.01576, 0.98974], \"tcp_roll_pitch_yaw\": [-0.70084, -0.00092, 1.57057], \"tcp_rotation_matrix\": [[-0.02171, 0.78225, 0.62259], [0.99941, 0.00046, 0.03426], [0.02651, 0.62297, -0.7818]], \"simulated_seconds_remaining\": 0.132, \"calls_remaining_including_this\": 20}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 19, \"motion_seconds\": 1.254, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "give_up",
  "arguments": {
    "note": "The dresser remains closed. I could not secure the handle, and the remaining motion time is insufficient for another attempt."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "Episode ended. Do not call more tools. Return a brief final response."
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

I couldn’t secure the handle before the motion time ran out. The dresser remains closed.

TURN USAGE
{
  "input_tokens": 886314,
  "cached_input_tokens": 833152,
  "cache_write_input_tokens": 0,
  "output_tokens": 7628,
  "reasoning_output_tokens": 3355
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.01369,
      -0.77598,
      0.06034,
      -2.26539,
      0.06963,
      1.52503,
      0.0338
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.31007,
      0.03345,
      1.05052
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99943,
        0.00121,
        0.03368
      ],
      [
        0.00026,
        -0.9996,
        0.02833
      ],
      [
        0.0337,
        -0.0283,
        -0.99903
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 22.41714440099895,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48,
                    "y": 0.03,
                    "z": 0.85,
                    "pitch": -1.5708,
                    "gripper": 1
                  },
                  "note": "The dresser is ahead with horizontal pulls. I am approaching the front with the fingers pointing forward to engage a pull."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 2,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.01369,
      -0.77598,
      0.06034,
      -2.26539,
      0.06963,
      1.52503,
      0.0338
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.31007,
      0.03345,
      1.05052
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99943,
        0.00121,
        0.03368
      ],
      [
        0.00026,
        -0.9996,
        0.02833
      ],
      [
        0.0337,
        -0.0283,
        -0.99903
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 7.206379652954638,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "y": 0.03,
                    "z": 0.9,
                    "pitch": -0.8
                  },
                  "note": "The full forward-facing approach was unreachable. I will lower the grasp point and rotate partway toward the drawer for a reachable approach."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 3,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.01369,
      -0.77598,
      0.06034,
      -2.26539,
      0.06963,
      1.52503,
      0.0338
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.31007,
      0.03345,
      1.05052
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99943,
        0.00121,
        0.03368
      ],
      [
        0.00026,
        -0.9996,
        0.02833
      ],
      [
        0.0337,
        -0.0283,
        -0.99903
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 5.604819572530687,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "z": 0.9
                  },
                  "note": "The wrist rotation is limiting reach. I will first lower and advance with the current orientation to get closer to the visible pulls."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 22,
    "motion_seconds": 1.452,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.02147,
      -0.69949,
      0.08147,
      -2.46085,
      0.07176,
      1.99248,
      0.02326
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.39716,
      0.03438,
      0.98031
    ],
    "tcp_roll_pitch_yaw": [
      -0.0043,
      -0.19545,
      -0.00128
    ],
    "tcp_rotation_matrix": [
      [
        0.97386,
        0.00456,
        0.22711
      ],
      [
        -0.00085,
        -0.99972,
        0.02374
      ],
      [
        0.22716,
        -0.02331,
        -0.97358
      ]
    ],
    "simulated_seconds_remaining": 28.578,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 8.219686768949032,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.39,
                    "z": 0.83,
                    "pitch": -0.45
                  },
                  "note": "The wrist view shows the middle drawer pull directly ahead. I am lowering toward its height while tilting the fingers toward the drawer front."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.01372,
      -0.83591,
      0.11111,
      -2.99717,
      0.1173,
      2.89449,
      0.01634
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.42504,
      0.0344,
      0.90385
    ],
    "tcp_roll_pitch_yaw": [
      0.00653,
      -0.69802,
      -0.0126
    ],
    "tcp_rotation_matrix": [
      [
        0.74396,
        0.01072,
        0.66814
      ],
      [
        -0.00934,
        -0.99961,
        0.02643
      ],
      [
        0.66816,
        -0.02591,
        -0.74357
      ]
    ],
    "simulated_seconds_remaining": 27.258,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 18.01875877007842,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.34,
                    "z": 0.86,
                    "roll": 1.2,
                    "pitch": 0,
                    "yaw": -1.57
                  },
                  "note": "The pull is horizontal, so the jaws need to close vertically around it. I am backing away slightly and rotating the gripper for that grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 6,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.01372,
      -0.83591,
      0.11111,
      -2.99717,
      0.1173,
      2.89449,
      0.01634
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.42504,
      0.0344,
      0.90385
    ],
    "tcp_roll_pitch_yaw": [
      0.00653,
      -0.69802,
      -0.0126
    ],
    "tcp_rotation_matrix": [
      [
        0.74396,
        0.01072,
        0.66814
      ],
      [
        -0.00934,
        -0.99961,
        0.02643
      ],
      [
        0.66816,
        -0.02591,
        -0.74357
      ]
    ],
    "simulated_seconds_remaining": 27.258,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 6.405147708021104,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.5,
                    "z": 0.85,
                    "roll": 0,
                    "pitch": -1.2,
                    "yaw": 0
                  },
                  "note": "The rotated grasp was unreachable from the retracted position. I will extend toward the pull and make the forward tilt more gradual."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 7,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.01372,
      -0.83591,
      0.11111,
      -2.99717,
      0.1173,
      2.89449,
      0.01634
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.42504,
      0.0344,
      0.90385
    ],
    "tcp_roll_pitch_yaw": [
      0.00653,
      -0.69802,
      -0.0126
    ],
    "tcp_rotation_matrix": [
      [
        0.74396,
        0.01072,
        0.66814
      ],
      [
        -0.00934,
        -0.99961,
        0.02643
      ],
      [
        0.66816,
        -0.02591,
        -0.74357
      ]
    ],
    "simulated_seconds_remaining": 27.258,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 6.405740289017558,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.56,
                    "z": 0.9,
                    "pitch": -0.7
                  },
                  "note": "The pull remains just above the fingertips in the wrist image. I will advance at the current reachable tilt to bring it between the fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.03734,
      -0.71876,
      0.14167,
      -2.63688,
      0.08397,
      2.10447,
      0.2538
    ],
    "gripper_open": 0.9967,
    "tcp_xyz": [
      0.37657,
      0.0411,
      0.90818
    ],
    "tcp_roll_pitch_yaw": [
      0.00428,
      -0.14729,
      -0.21551
    ],
    "tcp_rotation_matrix": [
      [
        0.96093,
        -0.20789,
        0.18273
      ],
      [
        -0.21024,
        -0.97763,
        -0.00662
      ],
      [
        0.18002,
        -0.03205,
        -0.98314
      ]
    ],
    "simulated_seconds_remaining": 26.07,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 11.80906002689153,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.25,
                    "z": 0.85,
                    "pitch": 0,
                    "yaw": 0
                  },
                  "note": "The arm is being deflected during the forward approach. I will retract and lower with a downward-facing wrist to clear the dresser before realigning."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.06435,
      -1.06283,
      0.06688,
      -2.9203,
      0.0921,
      1.89504,
      0.07111
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.25088,
      0.0411,
      0.85041
    ],
    "tcp_roll_pitch_yaw": [
      0.00414,
      -0.00106,
      -0.00155
    ],
    "tcp_rotation_matrix": [
      [
        0.99939,
        -0.0003,
        0.03479
      ],
      [
        -0.00143,
        -0.99947,
        0.03241
      ],
      [
        0.03477,
        -0.03244,
        -0.99887
      ]
    ],
    "simulated_seconds_remaining": 24.816,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 6.605634482577443,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.33,
                    "z": 0.75,
                    "roll": 1.57,
                    "pitch": 0,
                    "yaw": -1.57
                  },
                  "note": "The arm has reached a clear position below the previous approach. I will orient the fingers forward with vertical jaw closure at the lower drawer height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 10,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.06435,
      -1.06283,
      0.06688,
      -2.9203,
      0.0921,
      1.89504,
      0.07111
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.25088,
      0.0411,
      0.85041
    ],
    "tcp_roll_pitch_yaw": [
      0.00414,
      -0.00106,
      -0.00155
    ],
    "tcp_rotation_matrix": [
      [
        0.99939,
        -0.0003,
        0.03479
      ],
      [
        -0.00143,
        -0.99947,
        0.03241
      ],
      [
        0.03477,
        -0.03244,
        -0.99887
      ]
    ],
    "simulated_seconds_remaining": 24.816,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 9.006743784993887,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.36,
                    "z": 0.85,
                    "roll": -1.57,
                    "pitch": 0,
                    "yaw": 1.57
                  },
                  "note": "The first vertical-jaw orientation was outside the arm's reach. I will try the equivalent opposite wrist rotation while keeping the fingers aimed at the dresser."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 11,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.06435,
      -1.06283,
      0.06688,
      -2.9203,
      0.0921,
      1.89504,
      0.07111
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.25088,
      0.0411,
      0.85041
    ],
    "tcp_roll_pitch_yaw": [
      0.00414,
      -0.00106,
      -0.00155
    ],
    "tcp_rotation_matrix": [
      [
        0.99939,
        -0.0003,
        0.03479
      ],
      [
        -0.00143,
        -0.99947,
        0.03241
      ],
      [
        0.03477,
        -0.03244,
        -0.99887
      ]
    ],
    "simulated_seconds_remaining": 24.816,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 13.817226477898657,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.28,
                    "z": 0.9,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 1.57
                  },
                  "note": "A top-down grasp can also clamp across the horizontal pull. I will turn the open jaws across its depth and approach from above."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 36,
    "motion_seconds": 2.3760000000000003,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.48426,
      -0.92356,
      -0.29289,
      -2.6944,
      -0.1956,
      1.7711,
      -1.2188
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.27992,
      0.04111,
      0.89987
    ],
    "tcp_roll_pitch_yaw": [
      -2e-05,
      -3e-05,
      1.56536
    ],
    "tcp_rotation_matrix": [
      [
        0.00517,
        0.99959,
        -0.02813
      ],
      [
        0.99942,
        -0.00422,
        0.03386
      ],
      [
        0.03373,
        -0.02829,
        -0.99903
      ]
    ],
    "simulated_seconds_remaining": 22.44,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 8.606210206635296,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "z": 0.9
                  },
                  "note": "The wrist is now oriented for a top-down grasp. I will advance over the visible pull while keeping the fingers open."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.5664,
      -0.59674,
      -0.39607,
      -2.41429,
      -0.16572,
      1.63946,
      -1.3198
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.32621,
      0.03262,
      0.91551
    ],
    "tcp_roll_pitch_yaw": [
      0.18826,
      0.02712,
      1.61103
    ],
    "tcp_rotation_matrix": [
      [
        -0.03417,
        0.97603,
        -0.21492
      ],
      [
        0.9994,
        0.03467,
        -0.00144
      ],
      [
        0.00604,
        -0.21484,
        -0.97663
      ]
    ],
    "simulated_seconds_remaining": 21.318,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 10.208602179773152,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.3,
                    "y": 0.15,
                    "z": 0.9,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 1.57
                  },
                  "note": "The pull is offset toward the upper left of the wrist image, and the forward motion met the drawer. I will shift along the drawer and re-center above the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.64351,
      -0.70946,
      -0.1787,
      -2.59444,
      -0.07608,
      1.88211,
      -1.03965
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.30019,
      0.14908,
      0.90011
    ],
    "tcp_roll_pitch_yaw": [
      0.00156,
      0.00039,
      1.57055
    ],
    "tcp_rotation_matrix": [
      [
        4e-05,
        0.99955,
        -0.02988
      ],
      [
        0.99945,
        0.00095,
        0.0333
      ],
      [
        0.03331,
        -0.02986,
        -0.999
      ]
    ],
    "simulated_seconds_remaining": 20.196,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 10.208017661236227,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.3,
                    "y": -0.08,
                    "z": 0.94
                  },
                  "note": "The sideways shift moved the pull away from the grasp center. I will correct in the opposite direction and raise slightly to clear the drawer front."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 28,
    "motion_seconds": 1.848,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.4171,
      -0.90293,
      -0.5004,
      -2.51568,
      -0.35111,
      1.64405,
      -1.4435
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.30003,
      -0.0787,
      0.9398
    ],
    "tcp_roll_pitch_yaw": [
      0.00147,
      0.0003,
      1.57038
    ],
    "tcp_rotation_matrix": [
      [
        0.00021,
        0.99956,
        -0.02978
      ],
      [
        0.99944,
        0.00078,
        0.03339
      ],
      [
        0.0334,
        -0.02977,
        -0.999
      ]
    ],
    "simulated_seconds_remaining": 18.348,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 12.609754181466997,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.34,
                    "y": -0.08,
                    "z": 0.87
                  },
                  "note": "The pull is now beside the forward fingertip. I will lower and advance a few centimeters to place the open jaws across it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.45834,
      -0.87809,
      -0.59458,
      -2.5802,
      -0.38819,
      1.86669,
      -1.46264
    ],
    "gripper_open": 0.9904,
    "tcp_xyz": [
      0.34226,
      -0.07594,
      0.91053
    ],
    "tcp_roll_pitch_yaw": [
      -0.11325,
      -0.04222,
      1.59422
    ],
    "tcp_rotation_matrix": [
      [
        -0.02741,
        0.99618,
        0.08296
      ],
      [
        0.99676,
        0.02096,
        0.07764
      ],
      [
        0.07561,
        0.08482,
        -0.99352
      ]
    ],
    "simulated_seconds_remaining": 17.49,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 10.810281873680651,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The handle is adjacent to the inner finger surfaces and the descent has stopped at contact. I will close the jaws to test whether the pull is captured."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.45629,
      -0.88748,
      -0.59122,
      -2.58328,
      -0.38785,
      1.85438,
      -1.46715
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.33839,
      -0.07554,
      0.91088
    ],
    "tcp_roll_pitch_yaw": [
      -0.10818,
      -0.04235,
      1.60055
    ],
    "tcp_rotation_matrix": [
      [
        -0.03355,
        0.99643,
        0.07741
      ],
      [
        0.99656,
        0.02748,
        0.07817
      ],
      [
        0.07576,
        0.07976,
        -0.99393
      ]
    ],
    "simulated_seconds_remaining": 16.566,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 6.405463016591966,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.38,
                    "z": 0.96,
                    "gripper": 1,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 1.57
                  },
                  "note": "The jaws closed fully, so the pull was not captured. I will reopen, lift clear, and move farther over the handle for a centered descent."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.54695,
      -0.71002,
      -0.58432,
      -2.28784,
      -0.2948,
      1.25314,
      -1.48603
    ],
    "gripper_open": 0.9965,
    "tcp_xyz": [
      0.25757,
      -0.08544,
      0.96543
    ],
    "tcp_roll_pitch_yaw": [
      0.38232,
      -0.00919,
      1.61495
    ],
    "tcp_rotation_matrix": [
      [
        -0.03178,
        0.91576,
        -0.40046
      ],
      [
        0.99867,
        0.04535,
        0.02444
      ],
      [
        0.04054,
        -0.39915,
        -0.91599
      ]
    ],
    "simulated_seconds_remaining": 15.642,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 10.208294574171305,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.23,
                    "z": 1.02,
                    "roll": -0.7,
                    "pitch": 0,
                    "yaw": 1.57
                  },
                  "note": "The top-down approach is contacting the drawer face. I will retract and tilt toward a front grasp with the jaws closing across the handle's thickness."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 26,
    "motion_seconds": 1.7160000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 19,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.28089,
      -1.78008,
      -0.37417,
      -2.83291,
      -0.4816,
      1.74142,
      -1.43947
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.23015,
      -0.08545,
      1.01963
    ],
    "tcp_roll_pitch_yaw": [
      -0.69547,
      0.00016,
      1.57012
    ],
    "tcp_rotation_matrix": [
      [
        -0.02112,
        0.78558,
        0.6184
      ],
      [
        0.99945,
        0.00078,
        0.03314
      ],
      [
        0.02555,
        0.61876,
        -0.78517
      ]
    ],
    "simulated_seconds_remaining": 13.926,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 5.605030449107289,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.27,
                    "z": 0.96,
                    "roll": -1.45,
                    "pitch": 0,
                    "yaw": 1.57
                  },
                  "note": "The wrist has reached the tilted approach cleanly. I will turn the fingers nearly horizontal and move down toward the visible drawer pull."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 20,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.28089,
      -1.78008,
      -0.37417,
      -2.83291,
      -0.4816,
      1.74142,
      -1.43947
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.23015,
      -0.08545,
      1.01963
    ],
    "tcp_roll_pitch_yaw": [
      -0.69547,
      0.00016,
      1.57012
    ],
    "tcp_rotation_matrix": [
      [
        -0.02112,
        0.78558,
        0.6184
      ],
      [
        0.99945,
        0.00078,
        0.03314
      ],
      [
        0.02555,
        0.61876,
        -0.78517
      ]
    ],
    "simulated_seconds_remaining": 13.926,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 6.809293511323631,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.31,
                    "z": 0.98,
                    "roll": -0.7
                  },
                  "note": "The fully horizontal pose is unreachable, but the diagonal approach is available. I will bring the open fingers toward the pull at that angle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 21,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.31917,
      -1.5574,
      -0.53718,
      -2.89914,
      -0.64647,
      2.04157,
      -1.3753
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.30888,
      -0.08543,
      0.98048
    ],
    "tcp_roll_pitch_yaw": [
      -0.69964,
      0.00017,
      1.57018
    ],
    "tcp_rotation_matrix": [
      [
        -0.02128,
        0.783,
        0.62166
      ],
      [
        0.99945,
        0.00083,
        0.03316
      ],
      [
        0.02545,
        0.62203,
        -0.78258
      ]
    ],
    "simulated_seconds_remaining": 13.002,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 7.005900845862925,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.355,
                    "z": 0.945
                  },
                  "note": "The pull has moved into the gap near the forward finger. I will advance and lower slightly to center the bar between the jaws."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 22,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.34675,
      -1.3738,
      -0.65692,
      -2.91994,
      -0.76925,
      2.25256,
      -1.32495
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.35392,
      -0.0854,
      0.94574
    ],
    "tcp_roll_pitch_yaw": [
      -0.69931,
      0.00019,
      1.57022
    ],
    "tcp_rotation_matrix": [
      [
        -0.02131,
        0.7832,
        0.62141
      ],
      [
        0.99945,
        0.00087,
        0.03317
      ],
      [
        0.02544,
        0.62177,
        -0.78279
      ]
    ],
    "simulated_seconds_remaining": 12.342,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 5.804969637654722,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.385,
                    "z": 0.915
                  },
                  "note": "The handle is now inside the open-jaw area. I will make a small diagonal advance so the pads surround the bar before closing."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 23,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.36524,
      -1.27587,
      -0.73933,
      -2.91845,
      -0.86339,
      2.40368,
      -1.2766
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.38065,
      -0.0897,
      0.93555
    ],
    "tcp_roll_pitch_yaw": [
      -0.7448,
      -0.01349,
      1.55901
    ],
    "tcp_rotation_matrix": [
      [
        -0.01126,
        0.75397,
        0.65681
      ],
      [
        0.99921,
        -0.01654,
        0.0361
      ],
      [
        0.03808,
        0.6567,
        -0.75319
      ]
    ],
    "simulated_seconds_remaining": 11.748,
    "calls_remaining_including_this": 35
  },
  "api_seconds": 8.4063094034791,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The bar is centered between the fingers in the wrist view. I will close the jaws around it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 24,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.3611,
      -1.28962,
      -0.73001,
      -2.90636,
      -0.86208,
      2.49743,
      -1.27635
    ],
    "gripper_open": 0.0005,
    "tcp_xyz": [
      0.39227,
      -0.0886,
      0.97058
    ],
    "tcp_roll_pitch_yaw": [
      -0.85983,
      -0.03434,
      1.56693
    ],
    "tcp_rotation_matrix": [
      [
        -0.02184,
        0.67365,
        0.73872
      ],
      [
        0.99819,
        -0.02677,
        0.05393
      ],
      [
        0.0561,
        0.73856,
        -0.67185
      ]
    ],
    "simulated_seconds_remaining": 10.824,
    "calls_remaining_including_this": 34
  },
  "api_seconds": 7.005682799033821,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.27,
                    "z": 0.97
                  },
                  "note": "The jaws are closed at the handle location. I will pull outward a short distance and inspect whether the drawer follows."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 25,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.3611,
      -1.28962,
      -0.73001,
      -2.90636,
      -0.86208,
      2.49743,
      -1.27635
    ],
    "gripper_open": 0.0005,
    "tcp_xyz": [
      0.39227,
      -0.0886,
      0.97058
    ],
    "tcp_roll_pitch_yaw": [
      -0.85983,
      -0.03434,
      1.56693
    ],
    "tcp_rotation_matrix": [
      [
        -0.02184,
        0.67365,
        0.73872
      ],
      [
        0.99819,
        -0.02677,
        0.05393
      ],
      [
        0.0561,
        0.73856,
        -0.67185
      ]
    ],
    "simulated_seconds_remaining": 10.824,
    "calls_remaining_including_this": 33
  },
  "api_seconds": 10.208699537441134,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.35,
                    "y": -0.025,
                    "z": 0.97,
                    "roll": -0.7,
                    "pitch": 0,
                    "yaw": 1.57,
                    "gripper": 1
                  },
                  "note": "The pull was near the end of the fingers rather than their center. I will reopen and shift along the bar to improve contact."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 26,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.43058,
      -1.36178,
      -0.47015,
      -2.91216,
      -0.67248,
      2.21904,
      -1.18325
    ],
    "gripper_open": 0.9961,
    "tcp_xyz": [
      0.35047,
      -0.02567,
      0.97001
    ],
    "tcp_roll_pitch_yaw": [
      -0.70168,
      -0.00028,
      1.56999
    ],
    "tcp_rotation_matrix": [
      [
        -0.02114,
        0.78172,
        0.62327
      ],
      [
        0.99944,
        0.00041,
        0.03339
      ],
      [
        0.02585,
        0.62362,
        -0.7813
      ]
    ],
    "simulated_seconds_remaining": 9.9,
    "calls_remaining_including_this": 32
  },
  "api_seconds": 8.207272876054049,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.38,
                    "z": 0.96
                  },
                  "note": "The bar now spans the center of the finger gap. I will advance slightly at nearly the same height to place the pads on either side."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 8,
    "motion_seconds": 0.528,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 27,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.4493,
      -1.22919,
      -0.52121,
      -2.88442,
      -0.72188,
      2.33029,
      -1.15826
    ],
    "gripper_open": 0.997,
    "tcp_xyz": [
      0.37899,
      -0.02569,
      0.96038
    ],
    "tcp_roll_pitch_yaw": [
      -0.70166,
      -0.00027,
      1.56993
    ],
    "tcp_rotation_matrix": [
      [
        -0.02108,
        0.78174,
        0.62325
      ],
      [
        0.99944,
        0.00037,
        0.03335
      ],
      [
        0.02584,
        0.62361,
        -0.78131
      ]
    ],
    "simulated_seconds_remaining": 9.372,
    "calls_remaining_including_this": 31
  },
  "api_seconds": 5.204576845280826,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The handle crosses the center of the open jaws. I will close at this corrected position."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 28,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.4493,
      -1.22919,
      -0.52121,
      -2.88442,
      -0.72188,
      2.33029,
      -1.15826
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.379,
      -0.02569,
      0.96038
    ],
    "tcp_roll_pitch_yaw": [
      -0.70167,
      -0.00027,
      1.56993
    ],
    "tcp_rotation_matrix": [
      [
        -0.02108,
        0.78173,
        0.62326
      ],
      [
        0.99944,
        0.00036,
        0.03335
      ],
      [
        0.02584,
        0.62362,
        -0.7813
      ]
    ],
    "simulated_seconds_remaining": 8.448,
    "calls_remaining_including_this": 30
  },
  "api_seconds": 8.40714678261429,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.395,
                    "z": 0.935,
                    "gripper": 1
                  },
                  "note": "The jaws again closed fully, with the bar just beyond the tips. I will reopen and move slightly deeper and lower around the pull."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 29,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.43454,
      -1.16039,
      -0.56601,
      -2.89944,
      -0.77811,
      2.43631,
      -1.13356
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.39438,
      -0.02902,
      0.94605
    ],
    "tcp_roll_pitch_yaw": [
      -0.72181,
      -0.00395,
      1.56076
    ],
    "tcp_rotation_matrix": [
      [
        -0.01243,
        0.76896,
        0.63917
      ],
      [
        0.9995,
        -0.00903,
        0.0303
      ],
      [
        0.02908,
        0.63923,
        -0.76847
      ]
    ],
    "simulated_seconds_remaining": 7.524,
    "calls_remaining_including_this": 29
  },
  "api_seconds": 7.810444516129792,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.42,
                    "z": 0.945
                  },
                  "note": "The handle is aligned in the image but has not been enclosed in depth. I will advance another small step toward the drawer while keeping the jaws open."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 7,
    "motion_seconds": 0.462,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 30,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.46585,
      -1.14042,
      -0.58274,
      -2.84592,
      -0.6252,
      2.38575,
      -1.11248
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.39419,
      -0.02322,
      0.95098
    ],
    "tcp_roll_pitch_yaw": [
      -0.64301,
      -0.15443,
      1.49822
    ],
    "tcp_rotation_matrix": [
      [
        0.05096,
        0.80845,
        0.58636
      ],
      [
        0.9823,
        -0.14653,
        0.11666
      ],
      [
        0.18023,
        0.57004,
        -0.80161
      ]
    ],
    "simulated_seconds_remaining": 7.062,
    "calls_remaining_including_this": 28
  },
  "api_seconds": 10.00812762323767,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.395,
                    "z": 0.95,
                    "roll": -1.05,
                    "pitch": 0,
                    "yaw": 1.57
                  },
                  "note": "The forward finger is contacting the drawer face. I will increase the approach angle to surround the projecting handle more directly."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 31,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.46585,
      -1.14042,
      -0.58274,
      -2.84592,
      -0.6252,
      2.38575,
      -1.11248
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.39419,
      -0.02322,
      0.95098
    ],
    "tcp_roll_pitch_yaw": [
      -0.64301,
      -0.15443,
      1.49822
    ],
    "tcp_rotation_matrix": [
      [
        0.05096,
        0.80845,
        0.58636
      ],
      [
        0.9823,
        -0.14653,
        0.11666
      ],
      [
        0.18023,
        0.57004,
        -0.80161
      ]
    ],
    "simulated_seconds_remaining": 7.062,
    "calls_remaining_including_this": 27
  },
  "api_seconds": 10.407423275522888,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "z": 0.99,
                    "roll": -0.85,
                    "pitch": 0,
                    "yaw": 1.57
                  },
                  "note": "The larger rotation was unreachable. I will raise slightly and use a smaller tilt to clear the finger from the drawer face."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 32,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.41153,
      -1.19349,
      -0.50511,
      -2.91104,
      -0.7635,
      2.38353,
      -1.13564
    ],
    "gripper_open": 0.9477,
    "tcp_xyz": [
      0.38316,
      -0.02889,
      0.94945
    ],
    "tcp_roll_pitch_yaw": [
      -0.71364,
      0.04104,
      1.55173
    ],
    "tcp_rotation_matrix": [
      [
        -0.0032,
        0.77458,
        0.63246
      ],
      [
        0.99987,
        0.01241,
        -0.01015
      ],
      [
        -0.01571,
        0.63235,
        -0.77452
      ]
    ],
    "simulated_seconds_remaining": 6.402,
    "calls_remaining_including_this": 26
  },
  "api_seconds": 7.415426813066006,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The open jaws show contact at the handle after the angle adjustment. I will close and then test an outward pull."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 33,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.41153,
      -1.19349,
      -0.50511,
      -2.91104,
      -0.7635,
      2.38354,
      -1.13564
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.38316,
      -0.0289,
      0.94945
    ],
    "tcp_roll_pitch_yaw": [
      -0.71367,
      0.04109,
      1.55175
    ],
    "tcp_rotation_matrix": [
      [
        -0.00321,
        0.77457,
        0.63249
      ],
      [
        0.99987,
        0.01246,
        -0.01018
      ],
      [
        -0.01577,
        0.63237,
        -0.77451
      ]
    ],
    "simulated_seconds_remaining": 5.478,
    "calls_remaining_including_this": 25
  },
  "api_seconds": 5.00409933552146,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.28,
                    "z": 0.99,
                    "roll": -0.7,
                    "pitch": 0,
                    "yaw": 1.57
                  },
                  "note": "I will pull outward from the drawer with the jaws closed to check whether the handle is engaged."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 34,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.39318,
      -1.65649,
      -0.34329,
      -2.94078,
      -0.53604,
      1.94557,
      -1.24991
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.28125,
      -0.02892,
      0.98966
    ],
    "tcp_roll_pitch_yaw": [
      -0.7005,
      0.00043,
      1.56971
    ],
    "tcp_rotation_matrix": [
      [
        -0.02083,
        0.78246,
        0.62235
      ],
      [
        0.99947,
        0.00063,
        0.03267
      ],
      [
        0.02517,
        0.6227,
        -0.78206
      ]
    ],
    "simulated_seconds_remaining": 4.422,
    "calls_remaining_including_this": 24
  },
  "api_seconds": 10.814513525925577,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.38,
                    "y": 0.04,
                    "z": 0.92,
                    "gripper": 1
                  },
                  "note": "The drawer did not follow the pull. I will make one final grasp attempt farther along the handle and slightly lower."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 35,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.44411,
      -1.11654,
      -0.38309,
      -2.98238,
      -0.70097,
      2.49411,
      -0.99328
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.37905,
      0.03933,
      0.92058
    ],
    "tcp_roll_pitch_yaw": [
      -0.70022,
      0.00065,
      1.56968
    ],
    "tcp_rotation_matrix": [
      [
        -0.02079,
        0.78263,
        0.62214
      ],
      [
        0.99947,
        0.00074,
        0.03248
      ],
      [
        0.02496,
        0.62248,
        -0.78223
      ]
    ],
    "simulated_seconds_remaining": 3.168,
    "calls_remaining_including_this": 23
  },
  "api_seconds": 13.410728886723518,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.42,
                    "y": -0.03,
                    "z": 0.93
                  },
                  "note": "The pull remains visible along the inside of the forward jaw. I will center along its length and move into the handle's projection."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 36,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.46586,
      -1.01583,
      -0.54652,
      -2.89242,
      -0.64893,
      2.55406,
      -1.16501
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.41031,
      0.00911,
      0.92532
    ],
    "tcp_roll_pitch_yaw": [
      -0.67763,
      -0.06691,
      1.6101
    ],
    "tcp_rotation_matrix": [
      [
        -0.06042,
        0.79742,
        0.60039
      ],
      [
        0.99384,
        -0.0079,
        0.1105
      ],
      [
        0.09286,
        0.60337,
        -0.79203
      ]
    ],
    "simulated_seconds_remaining": 2.31,
    "calls_remaining_including_this": 22
  },
  "api_seconds": 4.404153848998249,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The bar is between the jaws at the closest reachable position. I will close for the final pull attempt."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 37,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.46808,
      -1.02273,
      -0.541,
      -2.88668,
      -0.6485,
      2.6191,
      -1.16527
    ],
    "gripper_open": 0.0001,
    "tcp_xyz": [
      0.41953,
      0.01575,
      0.94697
    ],
    "tcp_roll_pitch_yaw": [
      -0.75159,
      -0.08841,
      1.62812
    ],
    "tcp_rotation_matrix": [
      [
        -0.08007,
        0.75169,
        0.65464
      ],
      [
        0.99041,
        -0.0142,
        0.13744
      ],
      [
        0.1126,
        0.65937,
        -0.74334
      ]
    ],
    "simulated_seconds_remaining": 1.386,
    "calls_remaining_including_this": 21
  },
  "api_seconds": 5.404715378768742,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.28,
                    "z": 0.99,
                    "roll": -0.7,
                    "pitch": 0,
                    "yaw": 1.57
                  },
                  "note": "I will pull the closed gripper outward and check whether this final grasp opens the drawer."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 38,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.4368,
      -1.60414,
      -0.21196,
      -2.9567,
      -0.44812,
      1.99095,
      -1.16087
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.28135,
      0.01576,
      0.98974
    ],
    "tcp_roll_pitch_yaw": [
      -0.70084,
      -0.00092,
      1.57057
    ],
    "tcp_rotation_matrix": [
      [
        -0.02171,
        0.78225,
        0.62259
      ],
      [
        0.99941,
        0.00046,
        0.03426
      ],
      [
        0.02651,
        0.62297,
        -0.7818
      ]
    ],
    "simulated_seconds_remaining": 0.132,
    "calls_remaining_including_this": 20
  },
  "api_seconds": 4.203726874664426,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "give_up",
                "args": {
                  "note": "The dresser remains closed. I could not secure the handle, and the remaining motion time is insufficient for another attempt."
                }
              }
            }
          ]
        }
      }
    ]
  }
}

========================================================================
GPT-Astra / Open / Episode 012

Completed scored attempt. Images are available in the paired videos.

Opaque provider signatures, image payloads, and local paths are omitted.


RESULT
{
  "benchmark_index": 12,
  "source_episode_index": 296,
  "house_index": 216,
  "status": "completed",
  "success": false,
  "oracle_success": false,
  "action_decisions": 29,
  "wall_seconds": 273.88,
  "usage": {
    "input_tokens": 582900,
    "cached_input_tokens": 547712,
    "cache_write_input_tokens": 0,
    "output_tokens": 4607,
    "reasoning_output_tokens": 1437
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task.
You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose.
Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion.
move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up.
roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial.
Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5).
The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y.
The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics.
Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration.
Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target.
You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time.
Each move must include a short note describing what you observe and why you chose that motion.
Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done.
Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available.



AGENT TRANSCRIPT (visible messages and completed tool calls)

I’ll inspect the scene and use visual feedback to grasp and open the object.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"open the table.\", \"joint_positions\": [-0.02225, -0.7504, -0.02978, -2.3896, 0.10812, 1.63287, -0.09524], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.32088, 0.01184, 0.99586], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.99902, 0.04415, -0.00052], [0.04386, -0.9908, 0.12801], [0.00513, -0.12791, -0.99177]], \"simulated_seconds_remaining\": 30.03, \"calls_remaining_including_this\": 57}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "z": 1.18,
    "gripper": 1,
    "note": "The wrist view is close to the wooden table edge; lifting gives clearance and a clearer view of the drawer handle."
  },
  "result": null,
  "error": {
    "message": "tool call error: tool call failed for `robot/move_to`\n\nCaused by:\n    Mcp error: -32602: Unexpected argument"
  },
  "status": "failed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "z": 1.18,
      "gripper": 1
    },
    "note": "Lifting away from the table edge to see the drawer and find its handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"open the table.\", \"joint_positions\": [-0.00929, -0.55385, -0.04062, -1.76105, 0.11454, 1.20382, -0.04705], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.32091, 0.01184, 1.1787], \"tcp_roll_pitch_yaw\": [1e-05, -0.0002, -1e-05], \"tcp_rotation_matrix\": [[0.99902, 0.04417, -0.00032], [0.04385, -0.9908, 0.12802], [0.00534, -0.12791, -0.99177]], \"simulated_seconds_remaining\": 28.512, \"calls_remaining_including_this\": 56}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 23, \"motion_seconds\": 1.518, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.22,
      "z": 1.05,
      "pitch": 1.1
    },
    "note": "The yellow handle is on the table’s vertical front panel. Tilting the fingers toward that panel prepares a side grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"open the table.\", \"joint_positions\": [-0.01059, -0.24005, -0.04581, -1.80655, 0.11437, 0.67047, 0.02809], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.24006, 0.01129, 1.09304], \"tcp_roll_pitch_yaw\": [-0.01807, 0.89711, -0.0135], \"tcp_rotation_matrix\": [[0.62719, -0.07181, -0.77555], [0.03548, -0.99207, 0.12055], [-0.77806, -0.10312, -0.61967]], \"simulated_seconds_remaining\": 26.73, \"calls_remaining_including_this\": 55}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 27, \"motion_seconds\": 1.782, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.22,
      "z": 0.94,
      "pitch": -1.45
    },
    "note": "The tilted wrist faces the robot, so I reverse the tilt to point the fingers toward the table front."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"open the table.\", \"joint_positions\": [-0.01059, -0.24005, -0.04581, -1.80655, 0.11437, 0.67047, 0.02809], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.24006, 0.01129, 1.09304], \"tcp_roll_pitch_yaw\": [-0.01807, 0.89711, -0.0135], \"tcp_rotation_matrix\": [[0.62719, -0.07181, -0.77555], [0.03548, -0.99207, 0.12055], [-0.77806, -0.10312, -0.61967]], \"simulated_seconds_remaining\": 26.73, \"calls_remaining_including_this\": 54}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.3,
      "z": 0.95,
      "pitch": 0
    },
    "note": "Returning through the downward orientation avoids the rejected large rotation and brings the wrist closer to handle height."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"open the table.\", \"joint_positions\": [-0.01673, -0.83546, -0.027, -2.55223, 0.09103, 1.70984, -0.07821], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.29982, 0.01129, 0.95074], \"tcp_roll_pitch_yaw\": [-0.01808, 0.00373, -0.01351], \"tcp_rotation_matrix\": [[0.99954, 0.03033, -0.00274], [0.03044, -0.99345, 0.11011], [0.00062, -0.11014, -0.99392]], \"simulated_seconds_remaining\": 25.212, \"calls_remaining_including_this\": 53}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 23, \"motion_seconds\": 1.518, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "pitch": -0.75,
      "z": 0.87
    },
    "note": "I am lowering toward the drawer face while rotating the fingers forward in a reachable increment."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"open the table.\", \"joint_positions\": [-0.01673, -0.83546, -0.027, -2.55223, 0.09103, 1.70984, -0.07821], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.29982, 0.01129, 0.95074], \"tcp_roll_pitch_yaw\": [-0.01808, 0.00373, -0.01351], \"tcp_rotation_matrix\": [[0.99954, 0.03033, -0.00274], [0.03044, -0.99345, 0.11011], [0.00062, -0.11014, -0.99392]], \"simulated_seconds_remaining\": 25.212, \"calls_remaining_including_this\": 52}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.45,
      "z": 0.95
    },
    "note": "The table remains beyond the fingers. Moving forward will locate the handle relative to the grasp point."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"open the table.\", \"joint_positions\": [-0.00816, -0.55565, -0.03513, -2.18563, 0.09939, 1.12311, 0.02683], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.24226, 0.01615, 1.01461], \"tcp_roll_pitch_yaw\": [-0.03315, 0.51127, -0.05954], \"tcp_rotation_matrix\": [[0.87414, -0.06714, -0.48101], [-0.00803, -0.99226, 0.12391], [-0.4856, -0.10445, -0.86792]], \"simulated_seconds_remaining\": 23.892, \"calls_remaining_including_this\": 51}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 20, \"motion_seconds\": 1.32, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.4,
      "y": 0.1,
      "z": 1.15,
      "roll": 0,
      "pitch": 0,
      "yaw": 0
    },
    "note": "The arm did not reach the forward target near the edge. I am raising it above the tabletop for a clear approach."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"open the table.\", \"joint_positions\": [0.04497, -0.36976, 0.07574, -1.70486, 0.14642, 0.9923, 0.11349], \"gripper_open\": 0.9575, \"tcp_xyz\": [0.30392, 0.08063, 1.13234], \"tcp_roll_pitch_yaw\": [-0.06327, 0.35416, 0.02366], \"tcp_rotation_matrix\": [[0.93653, 0.04245, -0.348], [0.06627, -0.99618, 0.05683], [-0.34426, -0.07629, -0.93577]], \"simulated_seconds_remaining\": 22.11, \"calls_remaining_including_this\": 50}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 27, \"motion_seconds\": 1.782, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.4,
      "y": 0.1,
      "z": 1.15,
      "roll": 0,
      "pitch": 0,
      "yaw": 0
    },
    "note": "The previous motion only partly reached its target. Continuing it should center the handle in the wrist view."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"open the table.\", \"joint_positions\": [0.03637, -0.37367, 0.08243, -1.69627, 0.15803, 1.12734, 0.11339], \"gripper_open\": 1.0, \"tcp_xyz\": [0.34047, 0.08901, 1.13903], \"tcp_roll_pitch_yaw\": [-0.03497, 0.20984, 0.01622], \"tcp_rotation_matrix\": [[0.97702, 0.0399, -0.20939], [0.05986, -0.99415, 0.08988], [-0.20458, -0.10035, -0.97369]], \"simulated_seconds_remaining\": 21.12, \"calls_remaining_including_this\": 49}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 15, \"motion_seconds\": 0.99, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.34,
      "y": 0.28,
      "z": 1.12,
      "roll": 0,
      "pitch": 0,
      "yaw": 0
    },
    "note": "The yellow handle is left of the fingers in the wrist image; shifting left along the table will align the grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"open the table.\", \"joint_positions\": [0.12634, -0.45196, 0.36038, -1.77019, -0.27812, 1.28972, 0.45269], \"gripper_open\": 1.0, \"tcp_xyz\": [0.35095, 0.12743, 1.1545], \"tcp_roll_pitch_yaw\": [-0.52139, -0.17025, -0.08492], \"tcp_rotation_matrix\": [[0.98741, -0.0995, 0.12295], [-0.04332, -0.91773, -0.39484], [0.15212, 0.38454, -0.91049]], \"simulated_seconds_remaining\": 19.536, \"calls_remaining_including_this\": 48}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 24, \"motion_seconds\": 1.584, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.25,
      "y": 0.27,
      "z": 1.3,
      "roll": 0,
      "pitch": 0,
      "yaw": 0
    },
    "note": "The fingers are contacting the table edge before reaching alignment. Raising and backing away provides clearance over the yellow handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 11, \"instruction\": \"open the table.\", \"joint_positions\": [0.12634, -0.45196, 0.36038, -1.77019, -0.27812, 1.28972, 0.45269], \"gripper_open\": 1.0, \"tcp_xyz\": [0.35095, 0.12743, 1.1545], \"tcp_roll_pitch_yaw\": [-0.52139, -0.17025, -0.08492], \"tcp_rotation_matrix\": [[0.98741, -0.0995, 0.12295], [-0.04332, -0.91773, -0.39484], [0.15212, 0.38454, -0.91049]], \"simulated_seconds_remaining\": 19.536, \"calls_remaining_including_this\": 47}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"Target outside robot workspace bounds (+/-1.2 m)\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.22,
      "y": 0.27,
      "z": 1.19,
      "roll": 0,
      "pitch": 0,
      "yaw": 0
    },
    "note": "Using the allowed height and backing farther from the edge should free the fingers for alignment."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 12, \"instruction\": \"open the table.\", \"joint_positions\": [0.25385, -0.58806, 0.30458, -1.73299, 0.29196, 1.24387, 0.57634], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.22068, 0.26926, 1.18982], \"tcp_roll_pitch_yaw\": [-0.00285, -0.00099, -0.00062], \"tcp_rotation_matrix\": [[0.99905, 0.04366, 0.00053], [0.04325, -0.99119, 0.12518], [0.00599, -0.12504, -0.99213]], \"simulated_seconds_remaining\": 17.952, \"calls_remaining_including_this\": 46}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 24, \"motion_seconds\": 1.584, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.22,
      "y": 0.1,
      "z": 0.94,
      "roll": 0,
      "pitch": -0.7,
      "yaw": 0
    },
    "note": "With the arm clear of the edge, I am moving down and angling toward the table face to expose the handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 13, \"instruction\": \"open the table.\", \"joint_positions\": [0.25385, -0.58806, 0.30458, -1.73299, 0.29196, 1.24387, 0.57634], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.22068, 0.26926, 1.18982], \"tcp_roll_pitch_yaw\": [-0.00285, -0.00099, -0.00062], \"tcp_rotation_matrix\": [[0.99905, 0.04366, 0.00053], [0.04325, -0.99119, 0.12518], [0.00599, -0.12504, -0.99213]], \"simulated_seconds_remaining\": 17.952, \"calls_remaining_including_this\": 45}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.22,
      "y": -0.1,
      "z": 1.1,
      "roll": 0,
      "pitch": 0,
      "yaw": 0
    },
    "note": "The yellow handle moved farther left during the last lateral motion. Reversing that shift should bring it between the fingers."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 14, \"instruction\": \"open the table.\", \"joint_positions\": [0.21236, -0.9483, -0.34662, -2.14156, -0.16065, 1.22682, -0.09388], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.22001, -0.09871, 1.10032], \"tcp_roll_pitch_yaw\": [0.0001, -1e-05, -0.00016], \"tcp_rotation_matrix\": [[0.99903, 0.044, -0.0005], [0.0437, -0.9908, 0.12812], [0.00514, -0.12801, -0.99176]], \"simulated_seconds_remaining\": 15.114, \"calls_remaining_including_this\": 44}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 43, \"motion_seconds\": 2.838, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.26,
      "y": -0.15,
      "z": 0.88,
      "roll": 1.2,
      "pitch": 0,
      "yaw": 0
    },
    "note": "I am pointing the gripper sideways toward the broad table front and lowering below the tabletop to seek the handle directly."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 15, \"instruction\": \"open the table.\", \"joint_positions\": [0.65807, -0.91736, -1.57545, -2.3037, 0.16585, 1.4132, -0.53066], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.25984, -0.14986, 0.88083], \"tcp_roll_pitch_yaw\": [1.1959, -0.00017, -2e-05], \"tcp_rotation_matrix\": [[0.99902, 0.04431, -0.00047], [0.01127, -0.24378, 0.96976], [0.04286, -0.96882, -0.24404]], \"simulated_seconds_remaining\": 13.2, \"calls_remaining_including_this\": 43}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 29, \"motion_seconds\": 1.9140000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.47,
      "y": -0.12,
      "z": 0.92,
      "roll": 1.57,
      "pitch": 0,
      "yaw": 0
    },
    "note": "The side-facing view reveals the yellow handle ahead and to the right. I am aligning along the table and leveling the fingers for a direct grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 16, \"instruction\": \"open the table.\", \"joint_positions\": [1.3446, -1.17226, -1.81419, -1.89671, 0.4269, 1.50411, -0.37679], \"gripper_open\": 1.0, \"tcp_xyz\": [0.45834, -0.1242, 0.91656], \"tcp_roll_pitch_yaw\": [1.56526, 0.00343, 0.02198], \"tcp_rotation_matrix\": [[0.99904, 0.03805, -0.02192], [0.01707, 0.12329, 0.99222], [0.04046, -0.99164, 0.12252]], \"simulated_seconds_remaining\": 11.484, \"calls_remaining_including_this\": 42}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 26, \"motion_seconds\": 1.7160000000000002, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.57,
      "y": -0.04,
      "z": 0.99,
      "roll": 1.44,
      "pitch": 0,
      "yaw": 0
    },
    "note": "The yellow pull is above and right of the grasp point. I am moving toward it and raising the fingers to its center."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 17, \"instruction\": \"open the table.\", \"joint_positions\": [1.45273, -1.08557, -1.783, -1.74394, 0.11505, 1.33144, 0.04683], \"gripper_open\": 1.0, \"tcp_xyz\": [0.43477, -0.13297, 0.88321], \"tcp_roll_pitch_yaw\": [1.15996, 0.42752, 0.15121], \"tcp_rotation_matrix\": [[0.91413, -0.31159, -0.25939], [0.15225, -0.32913, 0.93193], [-0.37575, -0.89139, -0.25343]], \"simulated_seconds_remaining\": 10.164, \"calls_remaining_including_this\": 41}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 20, \"motion_seconds\": 1.32, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.57,
      "y": -0.28,
      "z": 0.98,
      "roll": 1.44,
      "pitch": 0,
      "yaw": 0
    },
    "note": "The approach contacted the wood before aligning. Backing away from the panel while sliding toward the pull gives the fingers clearance."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 18, \"instruction\": \"open the table.\", \"joint_positions\": [1.45273, -1.08557, -1.783, -1.74394, 0.11505, 1.33144, 0.04683], \"gripper_open\": 1.0, \"tcp_xyz\": [0.43477, -0.13297, 0.88321], \"tcp_roll_pitch_yaw\": [1.15996, 0.42752, 0.15121], \"tcp_rotation_matrix\": [[0.91413, -0.31159, -0.25939], [0.15225, -0.32913, 0.93193], [-0.37575, -0.89139, -0.25343]], \"simulated_seconds_remaining\": 10.164, \"calls_remaining_including_this\": 40}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK requires a large joint jump; split the motion or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "y": -0.25,
      "roll": 1.44,
      "pitch": 0,
      "yaw": 0
    },
    "note": "First withdrawing straight from the wooden panel will clear the obstruction without a large joint change."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 19, \"instruction\": \"open the table.\", \"joint_positions\": [1.351, -1.35047, -1.7919, -1.53925, 0.16322, 1.27644, -0.26044], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.43476, -0.24926, 0.88315], \"tcp_roll_pitch_yaw\": [1.43787, 0.00322, 0.00125], \"tcp_rotation_matrix\": [[0.99916, 0.04094, -0.00179], [0.00198, -0.00449, 0.99999], [0.04093, -0.99915, -0.00457]], \"simulated_seconds_remaining\": 9.108, \"calls_remaining_including_this\": 39}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 16, \"motion_seconds\": 1.056, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.53,
      "z": 0.96
    },
    "note": "With clearance restored, I am aligning the grasp point with the yellow pull’s horizontal and vertical position."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 20, \"instruction\": \"open the table.\", \"joint_positions\": [1.65291, -1.35463, -1.74367, -1.15088, 0.17495, 1.13618, -0.10608], \"gripper_open\": 1.0, \"tcp_xyz\": [0.50509, -0.24883, 0.93991], \"tcp_roll_pitch_yaw\": [1.38593, 0.03723, 0.07232], \"tcp_rotation_matrix\": [[0.99714, 0.01106, -0.07476], [0.07526, -0.05574, 0.9956], [0.00684, -0.99838, -0.05641]], \"simulated_seconds_remaining\": 7.986, \"calls_remaining_including_this\": 38}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 17, \"motion_seconds\": 1.122, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.59,
      "z": 0.86,
      "roll": 1.44,
      "pitch": 0,
      "yaw": 0
    },
    "note": "The pull moved upward in the image as the wrist rose. Lowering while sliding farther along the face should center it at the fingertips."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 21, \"instruction\": \"open the table.\", \"joint_positions\": [1.94048, -1.54371, -1.79214, -0.59904, 0.44713, 0.72206, -0.17766], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.48221, -0.28798, 0.95325], \"tcp_roll_pitch_yaw\": [1.69009, -0.24606, 0.17328], \"tcp_rotation_matrix\": [[0.9459, 0.23234, -0.22647], [0.15509, 0.28931, 0.94459], [0.28499, -0.92861, 0.23762]], \"simulated_seconds_remaining\": 6.93, \"calls_remaining_including_this\": 37}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 16, \"motion_seconds\": 1.056, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.48,
      "y": -0.1,
      "z": 0.82,
      "roll": 1.44,
      "pitch": 0,
      "yaw": 0
    },
    "note": "The yellow pull is now nearly centered horizontally. I am lowering to its height and advancing the open fingers around it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 22, \"instruction\": \"open the table.\", \"joint_positions\": [1.94048, -1.54371, -1.79214, -0.59904, 0.44713, 0.72206, -0.17766], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.48221, -0.28798, 0.95325], \"tcp_roll_pitch_yaw\": [1.69009, -0.24606, 0.17328], \"tcp_rotation_matrix\": [[0.9459, 0.23234, -0.22647], [0.15509, 0.28931, 0.94459], [0.28499, -0.92861, 0.23762]], \"simulated_seconds_remaining\": 6.93, \"calls_remaining_including_this\": 36}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK requires a large joint jump; split the motion or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "z": 0.88
    },
    "note": "Splitting the approach into a small vertical adjustment avoids the rejected joint jump."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 23, \"instruction\": \"open the table.\", \"joint_positions\": [1.94048, -1.54371, -1.79214, -0.59904, 0.44713, 0.72206, -0.17766], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.48221, -0.28798, 0.95325], \"tcp_roll_pitch_yaw\": [1.69009, -0.24606, 0.17328], \"tcp_rotation_matrix\": [[0.9459, 0.23234, -0.22647], [0.15509, 0.28931, 0.94459], [0.28499, -0.92861, 0.23762]], \"simulated_seconds_remaining\": 6.93, \"calls_remaining_including_this\": 35}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK requires a large joint jump; split the motion or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.42,
      "y": -0.23,
      "z": 0.91,
      "roll": 1.44,
      "pitch": 0,
      "yaw": 0
    },
    "note": "The arm is near a joint limit. Moving slightly inward restores a reachable side-grasp posture."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 24, \"instruction\": \"open the table.\", \"joint_positions\": [1.94048, -1.54371, -1.79214, -0.59904, 0.44713, 0.72206, -0.17766], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.48221, -0.28798, 0.95325], \"tcp_roll_pitch_yaw\": [1.69009, -0.24606, 0.17328], \"tcp_rotation_matrix\": [[0.9459, 0.23234, -0.22647], [0.15509, 0.28931, 0.94459], [0.28499, -0.92861, 0.23762]], \"simulated_seconds_remaining\": 6.93, \"calls_remaining_including_this\": 34}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK requires a large joint jump; split the motion or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.46
    },
    "note": "Trying a minimal inward adjustment to escape the near-straight-arm configuration."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 25, \"instruction\": \"open the table.\", \"joint_positions\": [1.7788, -1.48705, -1.81949, -0.86222, 0.43324, 0.80167, -0.24997], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.46098, -0.28816, 0.95331], \"tcp_roll_pitch_yaw\": [1.68995, -0.24611, 0.17303], \"tcp_rotation_matrix\": [[0.94592, 0.23249, -0.22622], [0.15486, 0.28913, 0.94468], [0.28504, -0.92863, 0.23749]], \"simulated_seconds_remaining\": 6.468, \"calls_remaining_including_this\": 33}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 7, \"motion_seconds\": 0.462, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.43,
      "z": 0.87,
      "roll": 1.44,
      "pitch": 0,
      "yaw": 0
    },
    "note": "The small retreat succeeded. I can now lower and square the fingers to the pull."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 26, \"instruction\": \"open the table.\", \"joint_positions\": [1.45449, -1.27801, -1.94542, -1.35022, 0.24865, 1.13964, -0.35804], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.4303, -0.28825, 0.87091], \"tcp_roll_pitch_yaw\": [1.44269, -0.00219, 0.00188], \"tcp_rotation_matrix\": [[0.99892, 0.04635, -0.00241], [0.00239, 0.00037, 1.0], [0.04635, -0.99893, 0.00026]], \"simulated_seconds_remaining\": 5.61, \"calls_remaining_including_this\": 32}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 13, \"motion_seconds\": 0.8580000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.31,
      "z": 1.06
    },
    "note": "The wrist camera is rotated relative to the table. Adjusting back along x and upward should bring the yellow pull into the center of the open jaws."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 27, \"instruction\": \"open the table.\", \"joint_positions\": [1.06933, -1.00984, -1.71229, -1.56281, 0.49012, 0.98905, -0.18464], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.31072, -0.2883, 1.05891], \"tcp_roll_pitch_yaw\": [1.44256, -0.00229, 0.00173], \"tcp_rotation_matrix\": [[0.99892, 0.04644, -0.00226], [0.00225, 0.00023, 1.0], [0.04644, -0.99892, 0.00013]], \"simulated_seconds_remaining\": 3.828, \"calls_remaining_including_this\": 31}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 27, \"motion_seconds\": 1.782, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.28,
      "y": -0.08,
      "z": 1.02
    },
    "note": "The yellow pull is now beside the fingertips. I am advancing the open jaws onto it with a small centering correction."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 28, \"instruction\": \"open the table.\", \"joint_positions\": [0.54503, -0.85241, -1.32636, -2.37259, 0.58651, 1.32704, -0.41125], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.28018, -0.08128, 1.02026], \"tcp_roll_pitch_yaw\": [1.44258, -0.00228, 0.00193], \"tcp_rotation_matrix\": [[0.99892, 0.04643, -0.00246], [0.00245, 0.00026, 1.0], [0.04643, -0.99892, 0.00015]], \"simulated_seconds_remaining\": 2.112, \"calls_remaining_including_this\": 30}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 26, \"motion_seconds\": 1.7160000000000002, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The yellow pull is between the fingertips at the bottom of the wrist view. Closing the jaws to secure it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 29, \"instruction\": \"open the table.\", \"joint_positions\": [0.54503, -0.85241, -1.32636, -2.37259, 0.58651, 1.32704, -0.41125], \"gripper_open\": 0.0, \"tcp_xyz\": [0.28018, -0.08126, 1.02026], \"tcp_roll_pitch_yaw\": [1.44258, -0.00228, 0.00193], \"tcp_rotation_matrix\": [[0.99892, 0.04643, -0.00245], [0.00244, 0.00026, 1.0], [0.04643, -0.99892, 0.00015]], \"simulated_seconds_remaining\": 1.188, \"calls_remaining_including_this\": 29}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "y": -0.21
    },
    "note": "The jaws are closed at the pull. Retracting away from the table should draw its articulated section open."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "Episode ended. Do not call more tools. Return a brief final response."
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

I attempted to grasp and pull the table handle, but the episode ended before I could confirm it opened.

TURN USAGE
{
  "input_tokens": 582900,
  "cached_input_tokens": 547712,
  "cache_write_input_tokens": 0,
  "output_tokens": 4607,
  "reasoning_output_tokens": 1437
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.02225,
      -0.7504,
      -0.02978,
      -2.3896,
      0.10812,
      1.63287,
      -0.09524
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.32088,
      0.01184,
      0.99586
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99902,
        0.04415,
        -0.00052
      ],
      [
        0.04386,
        -0.9908,
        0.12801
      ],
      [
        0.00513,
        -0.12791,
        -0.99177
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 21.817673443816602,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.18,
                    "gripper": 1
                  },
                  "note": "Lifting away from the table edge to see the drawer and find its handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.00929,
      -0.55385,
      -0.04062,
      -1.76105,
      0.11454,
      1.20382,
      -0.04705
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.32091,
      0.01184,
      1.1787
    ],
    "tcp_roll_pitch_yaw": [
      1e-05,
      -0.0002,
      -1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99902,
        0.04417,
        -0.00032
      ],
      [
        0.04385,
        -0.9908,
        0.12802
      ],
      [
        0.00534,
        -0.12791,
        -0.99177
      ]
    ],
    "simulated_seconds_remaining": 28.512,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 14.015802941285074,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.22,
                    "z": 1.05,
                    "pitch": 1.1
                  },
                  "note": "The yellow handle is on the table’s vertical front panel. Tilting the fingers toward that panel prepares a side grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 27,
    "motion_seconds": 1.782,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.01059,
      -0.24005,
      -0.04581,
      -1.80655,
      0.11437,
      0.67047,
      0.02809
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.24006,
      0.01129,
      1.09304
    ],
    "tcp_roll_pitch_yaw": [
      -0.01807,
      0.89711,
      -0.0135
    ],
    "tcp_rotation_matrix": [
      [
        0.62719,
        -0.07181,
        -0.77555
      ],
      [
        0.03548,
        -0.99207,
        0.12055
      ],
      [
        -0.77806,
        -0.10312,
        -0.61967
      ]
    ],
    "simulated_seconds_remaining": 26.73,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 7.206834017299116,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.22,
                    "z": 0.94,
                    "pitch": -1.45
                  },
                  "note": "The tilted wrist faces the robot, so I reverse the tilt to point the fingers toward the table front."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 4,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.01059,
      -0.24005,
      -0.04581,
      -1.80655,
      0.11437,
      0.67047,
      0.02809
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.24006,
      0.01129,
      1.09304
    ],
    "tcp_roll_pitch_yaw": [
      -0.01807,
      0.89711,
      -0.0135
    ],
    "tcp_rotation_matrix": [
      [
        0.62719,
        -0.07181,
        -0.77555
      ],
      [
        0.03548,
        -0.99207,
        0.12055
      ],
      [
        -0.77806,
        -0.10312,
        -0.61967
      ]
    ],
    "simulated_seconds_remaining": 26.73,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 5.012106758542359,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.3,
                    "z": 0.95,
                    "pitch": 0
                  },
                  "note": "Returning through the downward orientation avoids the rejected large rotation and brings the wrist closer to handle height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.01673,
      -0.83546,
      -0.027,
      -2.55223,
      0.09103,
      1.70984,
      -0.07821
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.29982,
      0.01129,
      0.95074
    ],
    "tcp_roll_pitch_yaw": [
      -0.01808,
      0.00373,
      -0.01351
    ],
    "tcp_rotation_matrix": [
      [
        0.99954,
        0.03033,
        -0.00274
      ],
      [
        0.03044,
        -0.99345,
        0.11011
      ],
      [
        0.00062,
        -0.11014,
        -0.99392
      ]
    ],
    "simulated_seconds_remaining": 25.212,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 6.207304743118584,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.75,
                    "z": 0.87
                  },
                  "note": "I am lowering toward the drawer face while rotating the fingers forward in a reachable increment."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 6,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.01673,
      -0.83546,
      -0.027,
      -2.55223,
      0.09103,
      1.70984,
      -0.07821
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.29982,
      0.01129,
      0.95074
    ],
    "tcp_roll_pitch_yaw": [
      -0.01808,
      0.00373,
      -0.01351
    ],
    "tcp_rotation_matrix": [
      [
        0.99954,
        0.03033,
        -0.00274
      ],
      [
        0.03044,
        -0.99345,
        0.11011
      ],
      [
        0.00062,
        -0.11014,
        -0.99392
      ]
    ],
    "simulated_seconds_remaining": 25.212,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 5.404781837947667,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.45,
                    "z": 0.95
                  },
                  "note": "The table remains beyond the fingers. Moving forward will locate the handle relative to the grasp point."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.00816,
      -0.55565,
      -0.03513,
      -2.18563,
      0.09939,
      1.12311,
      0.02683
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.24226,
      0.01615,
      1.01461
    ],
    "tcp_roll_pitch_yaw": [
      -0.03315,
      0.51127,
      -0.05954
    ],
    "tcp_rotation_matrix": [
      [
        0.87414,
        -0.06714,
        -0.48101
      ],
      [
        -0.00803,
        -0.99226,
        0.12391
      ],
      [
        -0.4856,
        -0.10445,
        -0.86792
      ]
    ],
    "simulated_seconds_remaining": 23.892,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 6.019484820775688,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "y": 0.1,
                    "z": 1.15,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 0
                  },
                  "note": "The arm did not reach the forward target near the edge. I am raising it above the tabletop for a clear approach."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 27,
    "motion_seconds": 1.782,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.04497,
      -0.36976,
      0.07574,
      -1.70486,
      0.14642,
      0.9923,
      0.11349
    ],
    "gripper_open": 0.9575,
    "tcp_xyz": [
      0.30392,
      0.08063,
      1.13234
    ],
    "tcp_roll_pitch_yaw": [
      -0.06327,
      0.35416,
      0.02366
    ],
    "tcp_rotation_matrix": [
      [
        0.93653,
        0.04245,
        -0.348
      ],
      [
        0.06627,
        -0.99618,
        0.05683
      ],
      [
        -0.34426,
        -0.07629,
        -0.93577
      ]
    ],
    "simulated_seconds_remaining": 22.11,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 6.405138715170324,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "y": 0.1,
                    "z": 1.15,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 0
                  },
                  "note": "The previous motion only partly reached its target. Continuing it should center the handle in the wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.03637,
      -0.37367,
      0.08243,
      -1.69627,
      0.15803,
      1.12734,
      0.11339
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.34047,
      0.08901,
      1.13903
    ],
    "tcp_roll_pitch_yaw": [
      -0.03497,
      0.20984,
      0.01622
    ],
    "tcp_rotation_matrix": [
      [
        0.97702,
        0.0399,
        -0.20939
      ],
      [
        0.05986,
        -0.99415,
        0.08988
      ],
      [
        -0.20458,
        -0.10035,
        -0.97369
      ]
    ],
    "simulated_seconds_remaining": 21.12,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 8.212684758938849,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.34,
                    "y": 0.28,
                    "z": 1.12,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 0
                  },
                  "note": "The yellow handle is left of the fingers in the wrist image; shifting left along the table will align the grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 24,
    "motion_seconds": 1.584,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.12634,
      -0.45196,
      0.36038,
      -1.77019,
      -0.27812,
      1.28972,
      0.45269
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.35095,
      0.12743,
      1.1545
    ],
    "tcp_roll_pitch_yaw": [
      -0.52139,
      -0.17025,
      -0.08492
    ],
    "tcp_rotation_matrix": [
      [
        0.98741,
        -0.0995,
        0.12295
      ],
      [
        -0.04332,
        -0.91773,
        -0.39484
      ],
      [
        0.15212,
        0.38454,
        -0.91049
      ]
    ],
    "simulated_seconds_remaining": 19.536,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 8.20665699057281,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.25,
                    "y": 0.27,
                    "z": 1.3,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 0
                  },
                  "note": "The fingers are contacting the table edge before reaching alignment. Raising and backing away provides clearance over the yellow handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "Target outside robot workspace bounds (+/-1.2 m)",
    "movement_executed": false
  }
}

{
  "call": 11,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.12634,
      -0.45196,
      0.36038,
      -1.77019,
      -0.27812,
      1.28972,
      0.45269
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.35095,
      0.12743,
      1.1545
    ],
    "tcp_roll_pitch_yaw": [
      -0.52139,
      -0.17025,
      -0.08492
    ],
    "tcp_rotation_matrix": [
      [
        0.98741,
        -0.0995,
        0.12295
      ],
      [
        -0.04332,
        -0.91773,
        -0.39484
      ],
      [
        0.15212,
        0.38454,
        -0.91049
      ]
    ],
    "simulated_seconds_remaining": 19.536,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 5.805136673152447,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.22,
                    "y": 0.27,
                    "z": 1.19,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 0
                  },
                  "note": "Using the allowed height and backing farther from the edge should free the fingers for alignment."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 24,
    "motion_seconds": 1.584,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.25385,
      -0.58806,
      0.30458,
      -1.73299,
      0.29196,
      1.24387,
      0.57634
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.22068,
      0.26926,
      1.18982
    ],
    "tcp_roll_pitch_yaw": [
      -0.00285,
      -0.00099,
      -0.00062
    ],
    "tcp_rotation_matrix": [
      [
        0.99905,
        0.04366,
        0.00053
      ],
      [
        0.04325,
        -0.99119,
        0.12518
      ],
      [
        0.00599,
        -0.12504,
        -0.99213
      ]
    ],
    "simulated_seconds_remaining": 17.952,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 12.210513471625745,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.22,
                    "y": 0.1,
                    "z": 0.94,
                    "roll": 0,
                    "pitch": -0.7,
                    "yaw": 0
                  },
                  "note": "With the arm clear of the edge, I am moving down and angling toward the table face to expose the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 13,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.25385,
      -0.58806,
      0.30458,
      -1.73299,
      0.29196,
      1.24387,
      0.57634
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.22068,
      0.26926,
      1.18982
    ],
    "tcp_roll_pitch_yaw": [
      -0.00285,
      -0.00099,
      -0.00062
    ],
    "tcp_rotation_matrix": [
      [
        0.99905,
        0.04366,
        0.00053
      ],
      [
        0.04325,
        -0.99119,
        0.12518
      ],
      [
        0.00599,
        -0.12504,
        -0.99213
      ]
    ],
    "simulated_seconds_remaining": 17.952,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 7.606446732766926,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.22,
                    "y": -0.1,
                    "z": 1.1,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 0
                  },
                  "note": "The yellow handle moved farther left during the last lateral motion. Reversing that shift should bring it between the fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 43,
    "motion_seconds": 2.838,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.21236,
      -0.9483,
      -0.34662,
      -2.14156,
      -0.16065,
      1.22682,
      -0.09388
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.22001,
      -0.09871,
      1.10032
    ],
    "tcp_roll_pitch_yaw": [
      0.0001,
      -1e-05,
      -0.00016
    ],
    "tcp_rotation_matrix": [
      [
        0.99903,
        0.044,
        -0.0005
      ],
      [
        0.0437,
        -0.9908,
        0.12812
      ],
      [
        0.00514,
        -0.12801,
        -0.99176
      ]
    ],
    "simulated_seconds_remaining": 15.114,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 7.006354129873216,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.26,
                    "y": -0.15,
                    "z": 0.88,
                    "roll": 1.2,
                    "pitch": 0,
                    "yaw": 0
                  },
                  "note": "I am pointing the gripper sideways toward the broad table front and lowering below the tabletop to seek the handle directly."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 29,
    "motion_seconds": 1.9140000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.65807,
      -0.91736,
      -1.57545,
      -2.3037,
      0.16585,
      1.4132,
      -0.53066
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.25984,
      -0.14986,
      0.88083
    ],
    "tcp_roll_pitch_yaw": [
      1.1959,
      -0.00017,
      -2e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99902,
        0.04431,
        -0.00047
      ],
      [
        0.01127,
        -0.24378,
        0.96976
      ],
      [
        0.04286,
        -0.96882,
        -0.24404
      ]
    ],
    "simulated_seconds_remaining": 13.2,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 8.608369885012507,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.47,
                    "y": -0.12,
                    "z": 0.92,
                    "roll": 1.57,
                    "pitch": 0,
                    "yaw": 0
                  },
                  "note": "The side-facing view reveals the yellow handle ahead and to the right. I am aligning along the table and leveling the fingers for a direct grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 26,
    "motion_seconds": 1.7160000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      1.3446,
      -1.17226,
      -1.81419,
      -1.89671,
      0.4269,
      1.50411,
      -0.37679
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.45834,
      -0.1242,
      0.91656
    ],
    "tcp_roll_pitch_yaw": [
      1.56526,
      0.00343,
      0.02198
    ],
    "tcp_rotation_matrix": [
      [
        0.99904,
        0.03805,
        -0.02192
      ],
      [
        0.01707,
        0.12329,
        0.99222
      ],
      [
        0.04046,
        -0.99164,
        0.12252
      ]
    ],
    "simulated_seconds_remaining": 11.484,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 8.207529506646097,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.57,
                    "y": -0.04,
                    "z": 0.99,
                    "roll": 1.44,
                    "pitch": 0,
                    "yaw": 0
                  },
                  "note": "The yellow pull is above and right of the grasp point. I am moving toward it and raising the fingers to its center."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      1.45273,
      -1.08557,
      -1.783,
      -1.74394,
      0.11505,
      1.33144,
      0.04683
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.43477,
      -0.13297,
      0.88321
    ],
    "tcp_roll_pitch_yaw": [
      1.15996,
      0.42752,
      0.15121
    ],
    "tcp_rotation_matrix": [
      [
        0.91413,
        -0.31159,
        -0.25939
      ],
      [
        0.15225,
        -0.32913,
        0.93193
      ],
      [
        -0.37575,
        -0.89139,
        -0.25343
      ]
    ],
    "simulated_seconds_remaining": 10.164,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 8.80818937998265,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.57,
                    "y": -0.28,
                    "z": 0.98,
                    "roll": 1.44,
                    "pitch": 0,
                    "yaw": 0
                  },
                  "note": "The approach contacted the wood before aligning. Backing away from the panel while sliding toward the pull gives the fingers clearance."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 18,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      1.45273,
      -1.08557,
      -1.783,
      -1.74394,
      0.11505,
      1.33144,
      0.04683
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.43477,
      -0.13297,
      0.88321
    ],
    "tcp_roll_pitch_yaw": [
      1.15996,
      0.42752,
      0.15121
    ],
    "tcp_rotation_matrix": [
      [
        0.91413,
        -0.31159,
        -0.25939
      ],
      [
        0.15225,
        -0.32913,
        0.93193
      ],
      [
        -0.37575,
        -0.89139,
        -0.25343
      ]
    ],
    "simulated_seconds_remaining": 10.164,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 5.607537340372801,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": -0.25,
                    "roll": 1.44,
                    "pitch": 0,
                    "yaw": 0
                  },
                  "note": "First withdrawing straight from the wooden panel will clear the obstruction without a large joint change."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 19,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      1.351,
      -1.35047,
      -1.7919,
      -1.53925,
      0.16322,
      1.27644,
      -0.26044
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.43476,
      -0.24926,
      0.88315
    ],
    "tcp_roll_pitch_yaw": [
      1.43787,
      0.00322,
      0.00125
    ],
    "tcp_rotation_matrix": [
      [
        0.99916,
        0.04094,
        -0.00179
      ],
      [
        0.00198,
        -0.00449,
        0.99999
      ],
      [
        0.04093,
        -0.99915,
        -0.00457
      ]
    ],
    "simulated_seconds_remaining": 9.108,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 6.205191057175398,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.53,
                    "z": 0.96
                  },
                  "note": "With clearance restored, I am aligning the grasp point with the yellow pull’s horizontal and vertical position."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 20,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      1.65291,
      -1.35463,
      -1.74367,
      -1.15088,
      0.17495,
      1.13618,
      -0.10608
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.50509,
      -0.24883,
      0.93991
    ],
    "tcp_roll_pitch_yaw": [
      1.38593,
      0.03723,
      0.07232
    ],
    "tcp_rotation_matrix": [
      [
        0.99714,
        0.01106,
        -0.07476
      ],
      [
        0.07526,
        -0.05574,
        0.9956
      ],
      [
        0.00684,
        -0.99838,
        -0.05641
      ]
    ],
    "simulated_seconds_remaining": 7.986,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 11.208624947816133,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.59,
                    "z": 0.86,
                    "roll": 1.44,
                    "pitch": 0,
                    "yaw": 0
                  },
                  "note": "The pull moved upward in the image as the wrist rose. Lowering while sliding farther along the face should center it at the fingertips."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 21,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      1.94048,
      -1.54371,
      -1.79214,
      -0.59904,
      0.44713,
      0.72206,
      -0.17766
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.48221,
      -0.28798,
      0.95325
    ],
    "tcp_roll_pitch_yaw": [
      1.69009,
      -0.24606,
      0.17328
    ],
    "tcp_rotation_matrix": [
      [
        0.9459,
        0.23234,
        -0.22647
      ],
      [
        0.15509,
        0.28931,
        0.94459
      ],
      [
        0.28499,
        -0.92861,
        0.23762
      ]
    ],
    "simulated_seconds_remaining": 6.93,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 7.809582391753793,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48,
                    "y": -0.1,
                    "z": 0.82,
                    "roll": 1.44,
                    "pitch": 0,
                    "yaw": 0
                  },
                  "note": "The yellow pull is now nearly centered horizontally. I am lowering to its height and advancing the open fingers around it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 22,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      1.94048,
      -1.54371,
      -1.79214,
      -0.59904,
      0.44713,
      0.72206,
      -0.17766
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.48221,
      -0.28798,
      0.95325
    ],
    "tcp_roll_pitch_yaw": [
      1.69009,
      -0.24606,
      0.17328
    ],
    "tcp_rotation_matrix": [
      [
        0.9459,
        0.23234,
        -0.22647
      ],
      [
        0.15509,
        0.28931,
        0.94459
      ],
      [
        0.28499,
        -0.92861,
        0.23762
      ]
    ],
    "simulated_seconds_remaining": 6.93,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 4.80468606390059,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.88
                  },
                  "note": "Splitting the approach into a small vertical adjustment avoids the rejected joint jump."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 23,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      1.94048,
      -1.54371,
      -1.79214,
      -0.59904,
      0.44713,
      0.72206,
      -0.17766
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.48221,
      -0.28798,
      0.95325
    ],
    "tcp_roll_pitch_yaw": [
      1.69009,
      -0.24606,
      0.17328
    ],
    "tcp_rotation_matrix": [
      [
        0.9459,
        0.23234,
        -0.22647
      ],
      [
        0.15509,
        0.28931,
        0.94459
      ],
      [
        0.28499,
        -0.92861,
        0.23762
      ]
    ],
    "simulated_seconds_remaining": 6.93,
    "calls_remaining_including_this": 35
  },
  "api_seconds": 5.805010995827615,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.42,
                    "y": -0.23,
                    "z": 0.91,
                    "roll": 1.44,
                    "pitch": 0,
                    "yaw": 0
                  },
                  "note": "The arm is near a joint limit. Moving slightly inward restores a reachable side-grasp posture."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 24,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      1.94048,
      -1.54371,
      -1.79214,
      -0.59904,
      0.44713,
      0.72206,
      -0.17766
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.48221,
      -0.28798,
      0.95325
    ],
    "tcp_roll_pitch_yaw": [
      1.69009,
      -0.24606,
      0.17328
    ],
    "tcp_rotation_matrix": [
      [
        0.9459,
        0.23234,
        -0.22647
      ],
      [
        0.15509,
        0.28931,
        0.94459
      ],
      [
        0.28499,
        -0.92861,
        0.23762
      ]
    ],
    "simulated_seconds_remaining": 6.93,
    "calls_remaining_including_this": 34
  },
  "api_seconds": 6.405157808214426,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.46
                  },
                  "note": "Trying a minimal inward adjustment to escape the near-straight-arm configuration."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 7,
    "motion_seconds": 0.462,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 25,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      1.7788,
      -1.48705,
      -1.81949,
      -0.86222,
      0.43324,
      0.80167,
      -0.24997
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.46098,
      -0.28816,
      0.95331
    ],
    "tcp_roll_pitch_yaw": [
      1.68995,
      -0.24611,
      0.17303
    ],
    "tcp_rotation_matrix": [
      [
        0.94592,
        0.23249,
        -0.22622
      ],
      [
        0.15486,
        0.28913,
        0.94468
      ],
      [
        0.28504,
        -0.92863,
        0.23749
      ]
    ],
    "simulated_seconds_remaining": 6.468,
    "calls_remaining_including_this": 33
  },
  "api_seconds": 5.004488630220294,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.43,
                    "z": 0.87,
                    "roll": 1.44,
                    "pitch": 0,
                    "yaw": 0
                  },
                  "note": "The small retreat succeeded. I can now lower and square the fingers to the pull."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 26,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      1.45449,
      -1.27801,
      -1.94542,
      -1.35022,
      0.24865,
      1.13964,
      -0.35804
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.4303,
      -0.28825,
      0.87091
    ],
    "tcp_roll_pitch_yaw": [
      1.44269,
      -0.00219,
      0.00188
    ],
    "tcp_rotation_matrix": [
      [
        0.99892,
        0.04635,
        -0.00241
      ],
      [
        0.00239,
        0.00037,
        1.0
      ],
      [
        0.04635,
        -0.99893,
        0.00026
      ]
    ],
    "simulated_seconds_remaining": 5.61,
    "calls_remaining_including_this": 32
  },
  "api_seconds": 9.407056970521808,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.31,
                    "z": 1.06
                  },
                  "note": "The wrist camera is rotated relative to the table. Adjusting back along x and upward should bring the yellow pull into the center of the open jaws."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 27,
    "motion_seconds": 1.782,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 27,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      1.06933,
      -1.00984,
      -1.71229,
      -1.56281,
      0.49012,
      0.98905,
      -0.18464
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.31072,
      -0.2883,
      1.05891
    ],
    "tcp_roll_pitch_yaw": [
      1.44256,
      -0.00229,
      0.00173
    ],
    "tcp_rotation_matrix": [
      [
        0.99892,
        0.04644,
        -0.00226
      ],
      [
        0.00225,
        0.00023,
        1.0
      ],
      [
        0.04644,
        -0.99892,
        0.00013
      ]
    ],
    "simulated_seconds_remaining": 3.828,
    "calls_remaining_including_this": 31
  },
  "api_seconds": 8.007076520472765,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.28,
                    "y": -0.08,
                    "z": 1.02
                  },
                  "note": "The yellow pull is now beside the fingertips. I am advancing the open jaws onto it with a small centering correction."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 26,
    "motion_seconds": 1.7160000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 28,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.54503,
      -0.85241,
      -1.32636,
      -2.37259,
      0.58651,
      1.32704,
      -0.41125
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.28018,
      -0.08128,
      1.02026
    ],
    "tcp_roll_pitch_yaw": [
      1.44258,
      -0.00228,
      0.00193
    ],
    "tcp_rotation_matrix": [
      [
        0.99892,
        0.04643,
        -0.00246
      ],
      [
        0.00245,
        0.00026,
        1.0
      ],
      [
        0.04643,
        -0.99892,
        0.00015
      ]
    ],
    "simulated_seconds_remaining": 2.112,
    "calls_remaining_including_this": 30
  },
  "api_seconds": 5.405023314990103,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The yellow pull is between the fingertips at the bottom of the wrist view. Closing the jaws to secure it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 29,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.54503,
      -0.85241,
      -1.32636,
      -2.37259,
      0.58651,
      1.32704,
      -0.41125
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.28018,
      -0.08126,
      1.02026
    ],
    "tcp_roll_pitch_yaw": [
      1.44258,
      -0.00228,
      0.00193
    ],
    "tcp_rotation_matrix": [
      [
        0.99892,
        0.04643,
        -0.00245
      ],
      [
        0.00244,
        0.00026,
        1.0
      ],
      [
        0.04643,
        -0.99892,
        0.00015
      ]
    ],
    "simulated_seconds_remaining": 1.188,
    "calls_remaining_including_this": 29
  },
  "api_seconds": 7.206661061383784,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": -0.21
                  },
                  "note": "The jaws are closed at the pull. Retracting away from the table should draw its articulated section open."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

========================================================================
GPT-Astra / Open / Episode 013

Completed scored attempt. Images are available in the paired videos.

Opaque provider signatures, image payloads, and local paths are omitted.


RESULT
{
  "benchmark_index": 13,
  "source_episode_index": 323,
  "house_index": 217,
  "status": "completed",
  "success": true,
  "oracle_success": true,
  "action_decisions": 12,
  "wall_seconds": 165.12,
  "usage": {
    "input_tokens": 215237,
    "cached_input_tokens": 197504,
    "cache_write_input_tokens": 0,
    "output_tokens": 2644,
    "reasoning_output_tokens": 1149
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task.
You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose.
Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion.
move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up.
roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial.
Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5).
The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y.
The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics.
Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration.
Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target.
You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time.
Each move must include a short note describing what you observe and why you chose that motion.
Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done.
Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available.



AGENT TRANSCRIPT (visible messages and completed tool calls)

I’ll inspect the scene and use the camera feedback to guide the opening.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.01101, -0.77225, 0.02406, -2.41378, -0.0809, 1.6051, 0.13552], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.30638, -0.01101, 0.98819], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.99428, -0.10144, -0.03357], [-0.10429, -0.98966, -0.09846], [-0.02324, 0.1014, -0.99457]], \"simulated_seconds_remaining\": 30.03, \"calls_remaining_including_this\": 57}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "x": 0.48,
    "y": 0,
    "z": 0.85,
    "pitch": -1.57,
    "gripper": 1,
    "note": "The dresser is ahead, with horizontal handles on the upper drawers. I am turning the gripper forward and approaching the central drawer height."
  },
  "result": null,
  "error": {
    "message": "tool call error: tool call failed for `robot/move_to`\n\nCaused by:\n    Mcp error: -32602: Unexpected argument"
  },
  "status": "failed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.48,
      "y": 0,
      "z": 0.85,
      "pitch": -1.57,
      "gripper": 1
    },
    "note": "The dresser is ahead with upper drawer handles. I am turning the gripper forward and approaching drawer height."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.01101, -0.77225, 0.02406, -2.41378, -0.0809, 1.6051, 0.13552], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.30638, -0.01101, 0.98819], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.99428, -0.10144, -0.03357], [-0.10429, -0.98966, -0.09846], [-0.02324, 0.1014, -0.99457]], \"simulated_seconds_remaining\": 30.03, \"calls_remaining_including_this\": 56}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.4,
      "y": 0,
      "z": 0.9,
      "pitch": -0.7
    },
    "note": "The first forward-facing pose was unreachable. I will make a smaller turn and lower approach while keeping clear of the dresser."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.03452, -0.94085, 0.07648, -3.01077, -0.14021, 2.72477, 0.27976], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.39938, -0.00015, 0.90016], \"tcp_roll_pitch_yaw\": [-0.00031, -0.69468, -9e-05], \"tcp_rotation_matrix\": [[0.7787, -0.14312, 0.61085], [-0.10437, -0.98962, -0.09882], [0.61865, 0.0132, -0.78556]], \"simulated_seconds_remaining\": 28.776, \"calls_remaining_including_this\": 55}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 19, \"motion_seconds\": 1.254, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.5,
      "z": 1.02,
      "pitch": -1.15
    },
    "note": "The wrist view shows the lower door handles above the fingers. I am raising the grasp point toward the upper drawers and turning farther toward the front."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.23122, -0.70434, 0.208, -2.86351, -0.16973, 3.28655, 0.36175], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.49936, -0.00018, 1.01916], \"tcp_roll_pitch_yaw\": [-0.00039, -1.1468, -0.00013], \"tcp_rotation_matrix\": [[0.43018, -0.13463, 0.89265], [-0.10436, -0.9896, -0.09897], [0.89669, -0.05058, -0.43976]], \"simulated_seconds_remaining\": 27.456, \"calls_remaining_including_this\": 54}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 20, \"motion_seconds\": 1.32, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.55,
      "y": -0.08,
      "z": 1.04,
      "pitch": -1.5,
      "roll": 1.57
    },
    "note": "A horizontal drawer handle is visible just ahead and to the right. I am aligning with its center and rotating the jaws to pinch it vertically."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.23122, -0.70434, 0.208, -2.86351, -0.16973, 3.28655, 0.36175], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.49936, -0.00018, 1.01916], \"tcp_roll_pitch_yaw\": [-0.00039, -1.1468, -0.00013], \"tcp_rotation_matrix\": [[0.43018, -0.13463, 0.89265], [-0.10436, -0.9896, -0.09897], [0.89669, -0.05058, -0.43976]], \"simulated_seconds_remaining\": 27.456, \"calls_remaining_including_this\": 53}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK requires a large joint jump; split the motion or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "y": -0.07,
      "z": 1.04,
      "roll": 0.65
    },
    "note": "The drawer handle remains visible. I will split the wrist rotation into a smaller step while centering the grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.23122, -0.70434, 0.208, -2.86351, -0.16973, 3.28655, 0.36175], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.49936, -0.00018, 1.01916], \"tcp_roll_pitch_yaw\": [-0.00039, -1.1468, -0.00013], \"tcp_rotation_matrix\": [[0.43018, -0.13463, 0.89265], [-0.10436, -0.9896, -0.09897], [0.89669, -0.05058, -0.43976]], \"simulated_seconds_remaining\": 27.456, \"calls_remaining_including_this\": 52}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK requires a large joint jump; split the motion or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "y": -0.06,
      "roll": 0.4,
      "yaw": -0.4,
      "pitch": -1.2
    },
    "note": "The arm rejected the isolated roll. I am coordinating roll and yaw in a small step so the fingers rotate while still facing the drawer."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.0724, -0.63882, -0.11967, -2.89047, -0.20681, 3.43764, 0.31216], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.49936, -0.05915, 1.01918], \"tcp_roll_pitch_yaw\": [0.39357, -1.1996, -0.39364], \"tcp_rotation_matrix\": [[0.35244, -0.15343, 0.92317], [-0.24102, -0.96807, -0.06888], [0.90427, -0.19823, -0.37816]], \"simulated_seconds_remaining\": 26.73, \"calls_remaining_including_this\": 51}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 11, \"motion_seconds\": 0.726, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "y": 0.07,
      "roll": 0.75,
      "pitch": -0.8,
      "yaw": -0.85
    },
    "note": "The handle shifted farther right, so I am correcting laterally in the opposite direction and continuing the wrist turn to place the jaws above and below the bar."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.11377, -0.71222, 0.28689, -2.74883, 0.0763, 3.00302, 0.78756], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.4994, 0.06922, 1.01926], \"tcp_roll_pitch_yaw\": [0.74915, -0.80304, -0.84819], \"tcp_rotation_matrix\": [[0.45317, -0.35661, 0.81699], [-0.60552, -0.79575, -0.01147], [0.6542, -0.48951, -0.57654]], \"simulated_seconds_remaining\": 25.542, \"calls_remaining_including_this\": 50}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 18, \"motion_seconds\": 1.1880000000000002, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "roll": 1.5,
      "pitch": -0.1,
      "yaw": -1.5
    },
    "note": "The drawer bar is now close to the center of the wrist view. I am completing the vertical jaw orientation before advancing onto it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.37361, -0.45934, -0.09176, -2.93933, 0.30167, 3.90595, 1.34682], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.49944, 0.06924, 1.01912], \"tcp_roll_pitch_yaw\": [1.49769, -0.10388, -1.49858], \"tcp_rotation_matrix\": [[0.08766, -0.17291, 0.98103], [-0.99615, -0.0132, 0.08668], [-0.00204, -0.98485, -0.1734]], \"simulated_seconds_remaining\": 23.892, \"calls_remaining_including_this\": 49}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 25, \"motion_seconds\": 1.6500000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.6,
      "z": 1.035
    },
    "note": "The bar is visible between the vertically oriented fingers, with some forward clearance. I am advancing slowly and raising slightly to bring the grasp point onto the handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.38523, -0.1886, -0.20556, -2.63856, 0.15287, 3.85904, 1.43599], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.59873, 0.06922, 1.0348], \"tcp_roll_pitch_yaw\": [1.49767, -0.10385, -1.49863], \"tcp_rotation_matrix\": [[0.0876, -0.17294, 0.98103], [-0.99615, -0.01316, 0.08663], [-0.00207, -0.98485, -0.17342]], \"simulated_seconds_remaining\": 22.902, \"calls_remaining_including_this\": 48}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 15, \"motion_seconds\": 0.99, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.655
    },
    "note": "The handle is centered across the jaw opening in the wrist image. I am moving a short distance forward to seat the fingers around the bar."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 11, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.3785, -0.03464, -0.24633, -2.46667, 0.07092, 3.83094, 1.5175], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.65371, 0.0692, 1.03477], \"tcp_roll_pitch_yaw\": [1.4976, -0.10385, -1.49869], \"tcp_rotation_matrix\": [[0.08754, -0.173, 0.98102], [-0.99616, -0.01315, 0.08658], [-0.00207, -0.98483, -0.17349]], \"simulated_seconds_remaining\": 22.242, \"calls_remaining_including_this\": 47}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 10, \"motion_seconds\": 0.66, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The handle runs through the finger opening and the fingertips are at the drawer front. I am closing the jaws to secure the bar."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 12, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.3788, -0.02899, -0.24602, -2.47666, 0.07148, 3.74327, 1.51803], \"gripper_open\": 0.1456, \"tcp_xyz\": [0.65439, 0.07093, 1.00127], \"tcp_roll_pitch_yaw\": [1.39409, -0.10501, -1.48305], \"tcp_rotation_matrix\": [[0.09216, -0.27279, 0.95765], [-0.99574, -0.02337, 0.08917], [-0.00195, -0.96179, -0.27378]], \"simulated_seconds_remaining\": 21.318, \"calls_remaining_including_this\": 46}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.53
    },
    "note": "The jaws stopped partially closed around the handle. I am pulling straight back to slide the drawer outward."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "Episode ended. Do not call more tools. Return a brief final response."
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

I grasped the dresser handle and pulled outward. The episode ended before I could confirm the final opening.

TURN USAGE
{
  "input_tokens": 215237,
  "cached_input_tokens": 197504,
  "cache_write_input_tokens": 0,
  "output_tokens": 2644,
  "reasoning_output_tokens": 1149
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.01101,
      -0.77225,
      0.02406,
      -2.41378,
      -0.0809,
      1.6051,
      0.13552
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.30638,
      -0.01101,
      0.98819
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99428,
        -0.10144,
        -0.03357
      ],
      [
        -0.10429,
        -0.98966,
        -0.09846
      ],
      [
        -0.02324,
        0.1014,
        -0.99457
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 26.41870901826769,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48,
                    "y": 0,
                    "z": 0.85,
                    "pitch": -1.57,
                    "gripper": 1
                  },
                  "note": "The dresser is ahead with upper drawer handles. I am turning the gripper forward and approaching drawer height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 2,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.01101,
      -0.77225,
      0.02406,
      -2.41378,
      -0.0809,
      1.6051,
      0.13552
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.30638,
      -0.01101,
      0.98819
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99428,
        -0.10144,
        -0.03357
      ],
      [
        -0.10429,
        -0.98966,
        -0.09846
      ],
      [
        -0.02324,
        0.1014,
        -0.99457
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 6.204605140723288,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "y": 0,
                    "z": 0.9,
                    "pitch": -0.7
                  },
                  "note": "The first forward-facing pose was unreachable. I will make a smaller turn and lower approach while keeping clear of the dresser."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.03452,
      -0.94085,
      0.07648,
      -3.01077,
      -0.14021,
      2.72477,
      0.27976
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.39938,
      -0.00015,
      0.90016
    ],
    "tcp_roll_pitch_yaw": [
      -0.00031,
      -0.69468,
      -9e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.7787,
        -0.14312,
        0.61085
      ],
      [
        -0.10437,
        -0.98962,
        -0.09882
      ],
      [
        0.61865,
        0.0132,
        -0.78556
      ]
    ],
    "simulated_seconds_remaining": 28.776,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 9.20678436756134,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.5,
                    "z": 1.02,
                    "pitch": -1.15
                  },
                  "note": "The wrist view shows the lower door handles above the fingers. I am raising the grasp point toward the upper drawers and turning farther toward the front."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.23122,
      -0.70434,
      0.208,
      -2.86351,
      -0.16973,
      3.28655,
      0.36175
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.49936,
      -0.00018,
      1.01916
    ],
    "tcp_roll_pitch_yaw": [
      -0.00039,
      -1.1468,
      -0.00013
    ],
    "tcp_rotation_matrix": [
      [
        0.43018,
        -0.13463,
        0.89265
      ],
      [
        -0.10436,
        -0.9896,
        -0.09897
      ],
      [
        0.89669,
        -0.05058,
        -0.43976
      ]
    ],
    "simulated_seconds_remaining": 27.456,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 11.816079284995794,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.55,
                    "y": -0.08,
                    "z": 1.04,
                    "pitch": -1.5,
                    "roll": 1.57
                  },
                  "note": "A horizontal drawer handle is visible just ahead and to the right. I am aligning with its center and rotating the jaws to pinch it vertically."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 5,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.23122,
      -0.70434,
      0.208,
      -2.86351,
      -0.16973,
      3.28655,
      0.36175
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.49936,
      -0.00018,
      1.01916
    ],
    "tcp_roll_pitch_yaw": [
      -0.00039,
      -1.1468,
      -0.00013
    ],
    "tcp_rotation_matrix": [
      [
        0.43018,
        -0.13463,
        0.89265
      ],
      [
        -0.10436,
        -0.9896,
        -0.09897
      ],
      [
        0.89669,
        -0.05058,
        -0.43976
      ]
    ],
    "simulated_seconds_remaining": 27.456,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 6.0051135038957,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": -0.07,
                    "z": 1.04,
                    "roll": 0.65
                  },
                  "note": "The drawer handle remains visible. I will split the wrist rotation into a smaller step while centering the grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 6,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.23122,
      -0.70434,
      0.208,
      -2.86351,
      -0.16973,
      3.28655,
      0.36175
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.49936,
      -0.00018,
      1.01916
    ],
    "tcp_roll_pitch_yaw": [
      -0.00039,
      -1.1468,
      -0.00013
    ],
    "tcp_rotation_matrix": [
      [
        0.43018,
        -0.13463,
        0.89265
      ],
      [
        -0.10436,
        -0.9896,
        -0.09897
      ],
      [
        0.89669,
        -0.05058,
        -0.43976
      ]
    ],
    "simulated_seconds_remaining": 27.456,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 15.213907002471387,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": -0.06,
                    "roll": 0.4,
                    "yaw": -0.4,
                    "pitch": -1.2
                  },
                  "note": "The arm rejected the isolated roll. I am coordinating roll and yaw in a small step so the fingers rotate while still facing the drawer."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.0724,
      -0.63882,
      -0.11967,
      -2.89047,
      -0.20681,
      3.43764,
      0.31216
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.49936,
      -0.05915,
      1.01918
    ],
    "tcp_roll_pitch_yaw": [
      0.39357,
      -1.1996,
      -0.39364
    ],
    "tcp_rotation_matrix": [
      [
        0.35244,
        -0.15343,
        0.92317
      ],
      [
        -0.24102,
        -0.96807,
        -0.06888
      ],
      [
        0.90427,
        -0.19823,
        -0.37816
      ]
    ],
    "simulated_seconds_remaining": 26.73,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 10.009148810990155,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.07,
                    "roll": 0.75,
                    "pitch": -0.8,
                    "yaw": -0.85
                  },
                  "note": "The handle shifted farther right, so I am correcting laterally in the opposite direction and continuing the wrist turn to place the jaws above and below the bar."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.11377,
      -0.71222,
      0.28689,
      -2.74883,
      0.0763,
      3.00302,
      0.78756
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.4994,
      0.06922,
      1.01926
    ],
    "tcp_roll_pitch_yaw": [
      0.74915,
      -0.80304,
      -0.84819
    ],
    "tcp_rotation_matrix": [
      [
        0.45317,
        -0.35661,
        0.81699
      ],
      [
        -0.60552,
        -0.79575,
        -0.01147
      ],
      [
        0.6542,
        -0.48951,
        -0.57654
      ]
    ],
    "simulated_seconds_remaining": 25.542,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 5.804061744362116,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "roll": 1.5,
                    "pitch": -0.1,
                    "yaw": -1.5
                  },
                  "note": "The drawer bar is now close to the center of the wrist view. I am completing the vertical jaw orientation before advancing onto it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 25,
    "motion_seconds": 1.6500000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.37361,
      -0.45934,
      -0.09176,
      -2.93933,
      0.30167,
      3.90595,
      1.34682
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.49944,
      0.06924,
      1.01912
    ],
    "tcp_roll_pitch_yaw": [
      1.49769,
      -0.10388,
      -1.49858
    ],
    "tcp_rotation_matrix": [
      [
        0.08766,
        -0.17291,
        0.98103
      ],
      [
        -0.99615,
        -0.0132,
        0.08668
      ],
      [
        -0.00204,
        -0.98485,
        -0.1734
      ]
    ],
    "simulated_seconds_remaining": 23.892,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 21.214746022596955,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.6,
                    "z": 1.035
                  },
                  "note": "The bar is visible between the vertically oriented fingers, with some forward clearance. I am advancing slowly and raising slightly to bring the grasp point onto the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.38523,
      -0.1886,
      -0.20556,
      -2.63856,
      0.15287,
      3.85904,
      1.43599
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.59873,
      0.06922,
      1.0348
    ],
    "tcp_roll_pitch_yaw": [
      1.49767,
      -0.10385,
      -1.49863
    ],
    "tcp_rotation_matrix": [
      [
        0.0876,
        -0.17294,
        0.98103
      ],
      [
        -0.99615,
        -0.01316,
        0.08663
      ],
      [
        -0.00207,
        -0.98485,
        -0.17342
      ]
    ],
    "simulated_seconds_remaining": 22.902,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 6.605493109673262,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.655
                  },
                  "note": "The handle is centered across the jaw opening in the wrist image. I am moving a short distance forward to seat the fingers around the bar."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.3785,
      -0.03464,
      -0.24633,
      -2.46667,
      0.07092,
      3.83094,
      1.5175
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.65371,
      0.0692,
      1.03477
    ],
    "tcp_roll_pitch_yaw": [
      1.4976,
      -0.10385,
      -1.49869
    ],
    "tcp_rotation_matrix": [
      [
        0.08754,
        -0.173,
        0.98102
      ],
      [
        -0.99616,
        -0.01315,
        0.08658
      ],
      [
        -0.00207,
        -0.98483,
        -0.17349
      ]
    ],
    "simulated_seconds_remaining": 22.242,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 6.005005521699786,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The handle runs through the finger opening and the fingertips are at the drawer front. I am closing the jaws to secure the bar."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.3788,
      -0.02899,
      -0.24602,
      -2.47666,
      0.07148,
      3.74327,
      1.51803
    ],
    "gripper_open": 0.1456,
    "tcp_xyz": [
      0.65439,
      0.07093,
      1.00127
    ],
    "tcp_roll_pitch_yaw": [
      1.39409,
      -0.10501,
      -1.48305
    ],
    "tcp_rotation_matrix": [
      [
        0.09216,
        -0.27279,
        0.95765
      ],
      [
        -0.99574,
        -0.02337,
        0.08917
      ],
      [
        -0.00195,
        -0.96179,
        -0.27378
      ]
    ],
    "simulated_seconds_remaining": 21.318,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 5.404572496190667,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.53
                  },
                  "note": "The jaws stopped partially closed around the handle. I am pulling straight back to slide the drawer outward."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

========================================================================
GPT-Astra / Open / Episode 014

Completed scored attempt. Images are available in the paired videos.

Opaque provider signatures, image payloads, and local paths are omitted.


RESULT
{
  "benchmark_index": 14,
  "source_episode_index": 352,
  "house_index": 218,
  "status": "completed",
  "success": true,
  "oracle_success": true,
  "action_decisions": 14,
  "wall_seconds": 154.7,
  "usage": {
    "input_tokens": 253015,
    "cached_input_tokens": 229888,
    "cache_write_input_tokens": 0,
    "output_tokens": 2616,
    "reasoning_output_tokens": 985
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task.
You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose.
Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion.
move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up.
roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial.
Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5).
The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y.
The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics.
Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration.
Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target.
You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time.
Each move must include a short note describing what you observe and why you chose that motion.
Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done.
Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available.



AGENT TRANSCRIPT (visible messages and completed tool calls)

I’ll inspect the scene, locate the handle, and guide the gripper through the opening motion.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.01711, -0.82613, 0.07174, -2.28578, 0.00786, 1.62557, 0.12546], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.32581, 0.02048, 1.06781], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.98203, -0.09121, 0.1652], [-0.08591, -0.99554, -0.03896], [0.16801, 0.02407, -0.98549]], \"simulated_seconds_remaining\": 30.03, \"calls_remaining_including_this\": 57}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "x": 0.48,
    "y": 0,
    "z": 0.88,
    "pitch": -1.4,
    "gripper": 1,
    "note": "The dresser is ahead with horizontal drawer pulls. I lower and turn the gripper toward the upper-right pull."
  },
  "result": null,
  "error": {
    "message": "tool call error: tool call failed for `robot/move_to`\n\nCaused by:\n    Mcp error: -32602: Unexpected argument"
  },
  "status": "failed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.48,
      "y": 0,
      "z": 0.88,
      "pitch": -1.4,
      "gripper": 1
    },
    "note": "The dresser is ahead with horizontal drawer pulls. I lower and turn the gripper toward the upper-right pull."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.01711, -0.82613, 0.07174, -2.28578, 0.00786, 1.62557, 0.12546], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.32581, 0.02048, 1.06781], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.98203, -0.09121, 0.1652], [-0.08591, -0.99554, -0.03896], [0.16801, 0.02407, -0.98549]], \"simulated_seconds_remaining\": 30.03, \"calls_remaining_including_this\": 56}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.4,
      "z": 0.97,
      "pitch": -0.65
    },
    "note": "The larger approach was unreachable. I make a smaller forward and downward move while beginning to face the drawer."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.0179, -1.0843, 0.11443, -2.98185, 0.01146, 2.70761, 0.17355], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.39952, 0.02046, 0.97024], \"tcp_roll_pitch_yaw\": [-0.00011, -0.64469, -6e-05], \"tcp_rotation_matrix\": [[0.68395, -0.08749, 0.72427], [-0.08593, -0.99553, -0.03911], [0.72445, -0.03549, -0.68841]], \"simulated_seconds_remaining\": 28.842, \"calls_remaining_including_this\": 55}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 18, \"motion_seconds\": 1.1880000000000002, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.5,
      "y": 0.1,
      "z": 0.98,
      "pitch": -1.1
    },
    "note": "The upper pull remains left of the gripper in the exterior view. I shift toward it and bring the fingers closer to horizontal."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.49623, -0.65185, 0.80691, -2.93192, 0.14522, 3.64051, 0.44933], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.49937, 0.09938, 0.97989], \"tcp_roll_pitch_yaw\": [-0.00126, -1.09647, 0.00062], \"tcp_rotation_matrix\": [[0.29902, -0.06357, 0.95213], [-0.08552, -0.99555, -0.03961], [0.95041, -0.06958, -0.30313]], \"simulated_seconds_remaining\": 27.72, \"calls_remaining_including_this\": 54}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 17, \"motion_seconds\": 1.122, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.55,
      "z": 1.04,
      "pitch": -1.35
    },
    "note": "The gripper is slightly below the upper drawer pull. I raise it and approach the pull more squarely."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.83848, -0.51408, 1.11896, -2.82507, 0.25063, 3.87994, 0.42115], \"gripper_open\": 1.0, \"tcp_xyz\": [0.5404, 0.0926, 0.98819], \"tcp_roll_pitch_yaw\": [0.05856, -1.22471, -0.07794], \"tcp_rotation_matrix\": [[0.17208, -0.07623, 0.98213], [-0.10933, -0.99232, -0.05786], [0.979, -0.09742, -0.1791]], \"simulated_seconds_remaining\": 26.928, \"calls_remaining_including_this\": 53}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 12, \"motion_seconds\": 0.792, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.44,
      "z": 1.06,
      "pitch": -1.1
    },
    "note": "The measured pose stopped below the requested height, suggesting contact with the front. I back away and raise the fingers clear of the drawer."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.1844, -1.01379, 0.49782, -2.97145, 0.1154, 3.24736, 0.42963], \"gripper_open\": 0.9958, \"tcp_xyz\": [0.44111, 0.09245, 1.05854], \"tcp_roll_pitch_yaw\": [0.05724, -1.09885, -0.07756], \"tcp_rotation_matrix\": [[0.29313, -0.08922, 0.9519], [-0.11845, -0.99135, -0.05645], [0.94871, -0.09621, -0.30116]], \"simulated_seconds_remaining\": 25.806, \"calls_remaining_including_this\": 52}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 17, \"motion_seconds\": 1.122, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "roll": -1.5,
      "pitch": 0,
      "yaw": 1.57,
      "x": 0.4,
      "z": 1.07
    },
    "note": "The wrist view now clearly shows the horizontal pull. I rotate the jaws to straddle it vertically before approaching."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.1844, -1.01379, 0.49782, -2.97145, 0.1154, 3.24736, 0.42963], \"gripper_open\": 0.9958, \"tcp_xyz\": [0.44111, 0.09245, 1.05854], \"tcp_roll_pitch_yaw\": [0.05724, -1.09885, -0.07756], \"tcp_rotation_matrix\": [[0.29313, -0.08922, 0.9519], [-0.11845, -0.99135, -0.05645], [0.94871, -0.09621, -0.30116]], \"simulated_seconds_remaining\": 25.806, \"calls_remaining_including_this\": 51}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "roll": 1.5,
      "pitch": 0,
      "yaw": -1.57,
      "x": 0.44,
      "z": 1.06
    },
    "note": "The first wrist rotation was unreachable. I try the equivalent vertical-jaw orientation using the opposite wrist rotation."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.29142, -0.89463, 0.91756, -2.9312, 0.96833, 3.57605, 1.50069], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.44001, 0.09249, 1.06002], \"tcp_roll_pitch_yaw\": [1.49904, -0.00444, -1.56878], \"tcp_rotation_matrix\": [[-0.17175, -0.09556, 0.98049], [-0.9827, 0.08662, -0.1637], [-0.06929, -0.99165, -0.10878]], \"simulated_seconds_remaining\": 23.43, \"calls_remaining_including_this\": 50}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 36, \"motion_seconds\": 2.3760000000000003, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.53,
      "y": 0.12,
      "z": 1.09
    },
    "note": "The vertical jaws are ready, and the pull is just above the grasp center. I move forward while raising and centering the grasp on the bar."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.60333, -0.67608, 1.06144, -2.63883, 0.89157, 3.60549, 1.48166], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.52875, 0.11962, 1.08958], \"tcp_roll_pitch_yaw\": [1.49902, -0.00444, -1.56881], \"tcp_rotation_matrix\": [[-0.17179, -0.09558, 0.98049], [-0.98269, 0.08662, -0.16373], [-0.06928, -0.99165, -0.1088]], \"simulated_seconds_remaining\": 22.506, \"calls_remaining_including_this\": 49}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "z": 1.025,
      "x": 0.55
    },
    "note": "Both views show the fingers above the pull. I lower the grasp to the bar height and advance slightly."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.8108, -0.47028, 1.30084, -2.64498, 0.82143, 4.02797, 1.55049], \"gripper_open\": 0.9716, \"tcp_xyz\": [0.53558, 0.11768, 1.07508], \"tcp_roll_pitch_yaw\": [1.67473, -0.03236, -1.58928], \"tcp_rotation_matrix\": [[-0.17637, 0.08042, 0.98103], [-0.98176, 0.05757, -0.18122], [-0.07105, -0.9951, 0.06881]], \"simulated_seconds_remaining\": 21.78, \"calls_remaining_including_this\": 48}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 11, \"motion_seconds\": 0.726, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.45,
      "z": 1.025,
      "roll": 1.5,
      "pitch": 0,
      "yaw": -1.57
    },
    "note": "Contact prevented the downward correction. I withdraw from the face while lowering to the pull's height."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 11, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.36488, -0.73417, 1.08945, -2.89035, 1.05096, 3.73762, 1.51776], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.4508, 0.11778, 1.02552], \"tcp_roll_pitch_yaw\": [1.50182, -0.00066, -1.57005], \"tcp_rotation_matrix\": [[-0.17281, -0.09269, 0.98058], [-0.98221, 0.09049, -0.16454], [-0.07348, -0.99157, -0.10668]], \"simulated_seconds_remaining\": 20.79, \"calls_remaining_including_this\": 47}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 15, \"motion_seconds\": 0.99, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.51
    },
    "note": "The pull now lies between the projected finger paths in the wrist view. I advance straight toward it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 12, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.5861, -0.53249, 1.16217, -2.75654, 0.89693, 3.84781, 1.5357], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.50864, 0.11774, 1.02549], \"tcp_roll_pitch_yaw\": [1.50168, -0.00063, -1.57022], \"tcp_rotation_matrix\": [[-0.17297, -0.09282, 0.98054], [-0.98218, 0.09054, -0.16469], [-0.07349, -0.99156, -0.10683]], \"simulated_seconds_remaining\": 20.13, \"calls_remaining_including_this\": 46}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 10, \"motion_seconds\": 0.66, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.55,
      "z": 1.018
    },
    "note": "The bar is close and aligned between the fingers. I make a short final insertion with a small height correction."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 13, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.81761, -0.39949, 1.32913, -2.64993, 0.83959, 3.9203, 1.51091], \"gripper_open\": 0.997, \"tcp_xyz\": [0.54886, 0.11772, 1.01817], \"tcp_roll_pitch_yaw\": [1.50159, -0.00067, -1.57029], \"tcp_rotation_matrix\": [[-0.17306, -0.0929, 0.98052], [-0.98217, 0.0905, -0.16478], [-0.07343, -0.99155, -0.10691]], \"simulated_seconds_remaining\": 19.536, \"calls_remaining_including_this\": 45}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 9, \"motion_seconds\": 0.5940000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The pull sits within the open jaws in the wrist view. I close the gripper to secure it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 14, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.81725, -0.39685, 1.33195, -2.65528, 0.83953, 3.91248, 1.51041], \"gripper_open\": 0.238, \"tcp_xyz\": [0.5484, 0.11783, 1.01236], \"tcp_roll_pitch_yaw\": [1.48691, -0.00095, -1.56821], \"tcp_rotation_matrix\": [[-0.17208, -0.10763, 0.97919], [-0.98255, 0.09, -0.16278], [-0.0706, -0.99011, -0.12124]], \"simulated_seconds_remaining\": 18.612, \"calls_remaining_including_this\": 44}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.43
    },
    "note": "The jaws stopped partially closed around the pull, indicating a grasp. I pull outward along the drawer's travel."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "Episode ended. Do not call more tools. Return a brief final response."
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

Opened the dresser drawer.

TURN USAGE
{
  "input_tokens": 253015,
  "cached_input_tokens": 229888,
  "cache_write_input_tokens": 0,
  "output_tokens": 2616,
  "reasoning_output_tokens": 985
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.01711,
      -0.82613,
      0.07174,
      -2.28578,
      0.00786,
      1.62557,
      0.12546
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.32581,
      0.02048,
      1.06781
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.98203,
        -0.09121,
        0.1652
      ],
      [
        -0.08591,
        -0.99554,
        -0.03896
      ],
      [
        0.16801,
        0.02407,
        -0.98549
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 23.019626985304058,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48,
                    "y": 0,
                    "z": 0.88,
                    "pitch": -1.4,
                    "gripper": 1
                  },
                  "note": "The dresser is ahead with horizontal drawer pulls. I lower and turn the gripper toward the upper-right pull."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 2,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.01711,
      -0.82613,
      0.07174,
      -2.28578,
      0.00786,
      1.62557,
      0.12546
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.32581,
      0.02048,
      1.06781
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.98203,
        -0.09121,
        0.1652
      ],
      [
        -0.08591,
        -0.99554,
        -0.03896
      ],
      [
        0.16801,
        0.02407,
        -0.98549
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 4.804213537834585,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "z": 0.97,
                    "pitch": -0.65
                  },
                  "note": "The larger approach was unreachable. I make a smaller forward and downward move while beginning to face the drawer."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.0179,
      -1.0843,
      0.11443,
      -2.98185,
      0.01146,
      2.70761,
      0.17355
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.39952,
      0.02046,
      0.97024
    ],
    "tcp_roll_pitch_yaw": [
      -0.00011,
      -0.64469,
      -6e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.68395,
        -0.08749,
        0.72427
      ],
      [
        -0.08593,
        -0.99553,
        -0.03911
      ],
      [
        0.72445,
        -0.03549,
        -0.68841
      ]
    ],
    "simulated_seconds_remaining": 28.842,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 7.009456739760935,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.5,
                    "y": 0.1,
                    "z": 0.98,
                    "pitch": -1.1
                  },
                  "note": "The upper pull remains left of the gripper in the exterior view. I shift toward it and bring the fingers closer to horizontal."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.49623,
      -0.65185,
      0.80691,
      -2.93192,
      0.14522,
      3.64051,
      0.44933
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.49937,
      0.09938,
      0.97989
    ],
    "tcp_roll_pitch_yaw": [
      -0.00126,
      -1.09647,
      0.00062
    ],
    "tcp_rotation_matrix": [
      [
        0.29902,
        -0.06357,
        0.95213
      ],
      [
        -0.08552,
        -0.99555,
        -0.03961
      ],
      [
        0.95041,
        -0.06958,
        -0.30313
      ]
    ],
    "simulated_seconds_remaining": 27.72,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 14.813001330941916,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.55,
                    "z": 1.04,
                    "pitch": -1.35
                  },
                  "note": "The gripper is slightly below the upper drawer pull. I raise it and approach the pull more squarely."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.83848,
      -0.51408,
      1.11896,
      -2.82507,
      0.25063,
      3.87994,
      0.42115
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.5404,
      0.0926,
      0.98819
    ],
    "tcp_roll_pitch_yaw": [
      0.05856,
      -1.22471,
      -0.07794
    ],
    "tcp_rotation_matrix": [
      [
        0.17208,
        -0.07623,
        0.98213
      ],
      [
        -0.10933,
        -0.99232,
        -0.05786
      ],
      [
        0.979,
        -0.09742,
        -0.1791
      ]
    ],
    "simulated_seconds_remaining": 26.928,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 6.206036604940891,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.44,
                    "z": 1.06,
                    "pitch": -1.1
                  },
                  "note": "The measured pose stopped below the requested height, suggesting contact with the front. I back away and raise the fingers clear of the drawer."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.1844,
      -1.01379,
      0.49782,
      -2.97145,
      0.1154,
      3.24736,
      0.42963
    ],
    "gripper_open": 0.9958,
    "tcp_xyz": [
      0.44111,
      0.09245,
      1.05854
    ],
    "tcp_roll_pitch_yaw": [
      0.05724,
      -1.09885,
      -0.07756
    ],
    "tcp_rotation_matrix": [
      [
        0.29313,
        -0.08922,
        0.9519
      ],
      [
        -0.11845,
        -0.99135,
        -0.05645
      ],
      [
        0.94871,
        -0.09621,
        -0.30116
      ]
    ],
    "simulated_seconds_remaining": 25.806,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 7.006287196651101,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "roll": -1.5,
                    "pitch": 0,
                    "yaw": 1.57,
                    "x": 0.4,
                    "z": 1.07
                  },
                  "note": "The wrist view now clearly shows the horizontal pull. I rotate the jaws to straddle it vertically before approaching."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 7,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.1844,
      -1.01379,
      0.49782,
      -2.97145,
      0.1154,
      3.24736,
      0.42963
    ],
    "gripper_open": 0.9958,
    "tcp_xyz": [
      0.44111,
      0.09245,
      1.05854
    ],
    "tcp_roll_pitch_yaw": [
      0.05724,
      -1.09885,
      -0.07756
    ],
    "tcp_rotation_matrix": [
      [
        0.29313,
        -0.08922,
        0.9519
      ],
      [
        -0.11845,
        -0.99135,
        -0.05645
      ],
      [
        0.94871,
        -0.09621,
        -0.30116
      ]
    ],
    "simulated_seconds_remaining": 25.806,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 6.00552739482373,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "roll": 1.5,
                    "pitch": 0,
                    "yaw": -1.57,
                    "x": 0.44,
                    "z": 1.06
                  },
                  "note": "The first wrist rotation was unreachable. I try the equivalent vertical-jaw orientation using the opposite wrist rotation."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 36,
    "motion_seconds": 2.3760000000000003,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.29142,
      -0.89463,
      0.91756,
      -2.9312,
      0.96833,
      3.57605,
      1.50069
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44001,
      0.09249,
      1.06002
    ],
    "tcp_roll_pitch_yaw": [
      1.49904,
      -0.00444,
      -1.56878
    ],
    "tcp_rotation_matrix": [
      [
        -0.17175,
        -0.09556,
        0.98049
      ],
      [
        -0.9827,
        0.08662,
        -0.1637
      ],
      [
        -0.06929,
        -0.99165,
        -0.10878
      ]
    ],
    "simulated_seconds_remaining": 23.43,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 11.809554202482104,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.53,
                    "y": 0.12,
                    "z": 1.09
                  },
                  "note": "The vertical jaws are ready, and the pull is just above the grasp center. I move forward while raising and centering the grasp on the bar."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.60333,
      -0.67608,
      1.06144,
      -2.63883,
      0.89157,
      3.60549,
      1.48166
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.52875,
      0.11962,
      1.08958
    ],
    "tcp_roll_pitch_yaw": [
      1.49902,
      -0.00444,
      -1.56881
    ],
    "tcp_rotation_matrix": [
      [
        -0.17179,
        -0.09558,
        0.98049
      ],
      [
        -0.98269,
        0.08662,
        -0.16373
      ],
      [
        -0.06928,
        -0.99165,
        -0.1088
      ]
    ],
    "simulated_seconds_remaining": 22.506,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 7.205812026746571,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.025,
                    "x": 0.55
                  },
                  "note": "Both views show the fingers above the pull. I lower the grasp to the bar height and advance slightly."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.8108,
      -0.47028,
      1.30084,
      -2.64498,
      0.82143,
      4.02797,
      1.55049
    ],
    "gripper_open": 0.9716,
    "tcp_xyz": [
      0.53558,
      0.11768,
      1.07508
    ],
    "tcp_roll_pitch_yaw": [
      1.67473,
      -0.03236,
      -1.58928
    ],
    "tcp_rotation_matrix": [
      [
        -0.17637,
        0.08042,
        0.98103
      ],
      [
        -0.98176,
        0.05757,
        -0.18122
      ],
      [
        -0.07105,
        -0.9951,
        0.06881
      ]
    ],
    "simulated_seconds_remaining": 21.78,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 7.806982047855854,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.45,
                    "z": 1.025,
                    "roll": 1.5,
                    "pitch": 0,
                    "yaw": -1.57
                  },
                  "note": "Contact prevented the downward correction. I withdraw from the face while lowering to the pull's height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.36488,
      -0.73417,
      1.08945,
      -2.89035,
      1.05096,
      3.73762,
      1.51776
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.4508,
      0.11778,
      1.02552
    ],
    "tcp_roll_pitch_yaw": [
      1.50182,
      -0.00066,
      -1.57005
    ],
    "tcp_rotation_matrix": [
      [
        -0.17281,
        -0.09269,
        0.98058
      ],
      [
        -0.98221,
        0.09049,
        -0.16454
      ],
      [
        -0.07348,
        -0.99157,
        -0.10668
      ]
    ],
    "simulated_seconds_remaining": 20.79,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 5.2056646989658475,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.51
                  },
                  "note": "The pull now lies between the projected finger paths in the wrist view. I advance straight toward it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.5861,
      -0.53249,
      1.16217,
      -2.75654,
      0.89693,
      3.84781,
      1.5357
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.50864,
      0.11774,
      1.02549
    ],
    "tcp_roll_pitch_yaw": [
      1.50168,
      -0.00063,
      -1.57022
    ],
    "tcp_rotation_matrix": [
      [
        -0.17297,
        -0.09282,
        0.98054
      ],
      [
        -0.98218,
        0.09054,
        -0.16469
      ],
      [
        -0.07349,
        -0.99156,
        -0.10683
      ]
    ],
    "simulated_seconds_remaining": 20.13,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 7.007149466313422,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.55,
                    "z": 1.018
                  },
                  "note": "The bar is close and aligned between the fingers. I make a short final insertion with a small height correction."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.81761,
      -0.39949,
      1.32913,
      -2.64993,
      0.83959,
      3.9203,
      1.51091
    ],
    "gripper_open": 0.997,
    "tcp_xyz": [
      0.54886,
      0.11772,
      1.01817
    ],
    "tcp_roll_pitch_yaw": [
      1.50159,
      -0.00067,
      -1.57029
    ],
    "tcp_rotation_matrix": [
      [
        -0.17306,
        -0.0929,
        0.98052
      ],
      [
        -0.98217,
        0.0905,
        -0.16478
      ],
      [
        -0.07343,
        -0.99155,
        -0.10691
      ]
    ],
    "simulated_seconds_remaining": 19.536,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 5.60494268219918,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The pull sits within the open jaws in the wrist view. I close the gripper to secure it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.81725,
      -0.39685,
      1.33195,
      -2.65528,
      0.83953,
      3.91248,
      1.51041
    ],
    "gripper_open": 0.238,
    "tcp_xyz": [
      0.5484,
      0.11783,
      1.01236
    ],
    "tcp_roll_pitch_yaw": [
      1.48691,
      -0.00095,
      -1.56821
    ],
    "tcp_rotation_matrix": [
      [
        -0.17208,
        -0.10763,
        0.97919
      ],
      [
        -0.98255,
        0.09,
        -0.16278
      ],
      [
        -0.0706,
        -0.99011,
        -0.12124
      ]
    ],
    "simulated_seconds_remaining": 18.612,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 5.405101693235338,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.43
                  },
                  "note": "The jaws stopped partially closed around the pull, indicating a grasp. I pull outward along the drawer's travel."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

========================================================================
GPT-Astra / Open / Episode 015

Completed scored attempt. Images are available in the paired videos.

Opaque provider signatures, image payloads, and local paths are omitted.


RESULT
{
  "benchmark_index": 15,
  "source_episode_index": 372,
  "house_index": 219,
  "status": "completed",
  "success": true,
  "oracle_success": true,
  "action_decisions": 10,
  "wall_seconds": 142.87,
  "usage": {
    "input_tokens": 181810,
    "cached_input_tokens": 162816,
    "cache_write_input_tokens": 0,
    "output_tokens": 2472,
    "reasoning_output_tokens": 1117
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task.
You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose.
Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion.
move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up.
roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial.
Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5).
The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y.
The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics.
Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration.
Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target.
You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time.
Each move must include a short note describing what you observe and why you chose that motion.
Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done.
Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available.



AGENT TRANSCRIPT (visible messages and completed tool calls)

I’ll observe the robot and handle, then use fresh camera feedback to guide each motion.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.01867, -0.82619, 0.0262, -2.44787, -0.05909, 1.55926, -0.15031], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.28274, -0.01442, 0.98439], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.98647, 0.15152, -0.06253], [0.14651, -0.98612, -0.07817], [-0.07351, 0.06796, -0.99498]], \"simulated_seconds_remaining\": 30.03, \"calls_remaining_including_this\": 57}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "z": 1.18,
    "x": 0.25,
    "note": "The dresser is close beneath the gripper and fills the wrist view. I am raising the open gripper to see its front and handles clearly."
  },
  "result": null,
  "error": {
    "message": "tool call error: tool call failed for `robot/move_to`\n\nCaused by:\n    Mcp error: -32602: Unexpected argument"
  },
  "status": "failed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "z": 1.18,
      "x": 0.25
    },
    "note": "The dresser is close beneath the gripper and fills the wrist view. I am raising the open gripper to see its front and handles clearly."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.02803, -0.68527, 0.03026, -1.82645, -0.06739, 1.08023, -0.18508], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.25024, -0.01442, 1.17875], \"tcp_roll_pitch_yaw\": [-0.0, -0.00022, 1e-05], \"tcp_rotation_matrix\": [[0.98649, 0.15152, -0.06232], [0.14652, -0.98611, -0.07818], [-0.0733, 0.06799, -0.99499]], \"simulated_seconds_remaining\": 28.38, \"calls_remaining_including_this\": 56}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 25, \"motion_seconds\": 1.6500000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "pitch": -1.5,
      "z": 1.08
    },
    "note": "The dresser front is the narrow vertical wooden face beside the robot. I am turning the fingers forward to approach a drawer handle horizontally."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.02803, -0.68527, 0.03026, -1.82645, -0.06739, 1.08023, -0.18508], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.25024, -0.01442, 1.17875], \"tcp_roll_pitch_yaw\": [-0.0, -0.00022, 1e-05], \"tcp_rotation_matrix\": [[0.98649, 0.15152, -0.06232], [0.14652, -0.98611, -0.07818], [-0.0733, 0.06799, -0.99499]], \"simulated_seconds_remaining\": 28.38, \"calls_remaining_including_this\": 55}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "pitch": -0.8,
      "z": 1,
      "x": 0.3
    },
    "note": "The full forward rotation was unreachable at the raised position. I am lowering and applying a smaller rotation toward the visible dresser front."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.01352, -1.52825, 0.01427, -2.98051, -0.07227, 2.18419, -0.10589], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.29969, -0.01443, 1.00071], \"tcp_roll_pitch_yaw\": [-6e-05, -0.79576, -1e-05], \"tcp_rotation_matrix\": [[0.7428, 0.05743, 0.66704], [0.1465, -0.98611, -0.07824], [0.65329, 0.15584, -0.7409]], \"simulated_seconds_remaining\": 26.862, \"calls_remaining_including_this\": 54}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 23, \"motion_seconds\": 1.518, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "pitch": -1.45,
      "x": 0.38,
      "z": 0.87
    },
    "note": "The wrist image shows the curved drawer pulls above and left of the fingers. I am moving lower and forward with the fingers nearly horizontal to line up with a pull."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.01352, -1.52825, 0.01427, -2.98051, -0.07227, 2.18419, -0.10589], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.29969, -0.01443, 1.00071], \"tcp_roll_pitch_yaw\": [-6e-05, -0.79576, -1e-05], \"tcp_rotation_matrix\": [[0.7428, 0.05743, 0.66704], [0.1465, -0.98611, -0.07824], [0.65329, 0.15584, -0.7409]], \"simulated_seconds_remaining\": 26.862, \"calls_remaining_including_this\": 53}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "pitch": -1.2,
      "x": 0.48,
      "z": 0.9
    },
    "note": "The handle remains visible on the wooden front. I am extending the arm farther forward with a moderate tilt to obtain a reachable approach."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.01352, -1.52825, 0.01427, -2.98051, -0.07227, 2.18419, -0.10589], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.29969, -0.01443, 1.00071], \"tcp_roll_pitch_yaw\": [-6e-05, -0.79576, -1e-05], \"tcp_rotation_matrix\": [[0.7428, 0.05743, 0.66704], [0.1465, -0.98611, -0.07824], [0.65329, 0.15584, -0.7409]], \"simulated_seconds_remaining\": 26.862, \"calls_remaining_including_this\": 52}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.43,
      "z": 0.92,
      "pitch": -0.8
    },
    "note": "The current tilt shows the pull clearly, but stronger rotations exceed the arm's reach. I am keeping this tilt and translating toward the handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.06686, -0.85286, 0.04646, -2.96509, -0.09756, 2.84911, -0.05737], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.42882, -0.01445, 0.92062], \"tcp_roll_pitch_yaw\": [-0.0001, -0.79961, -4e-05], \"tcp_rotation_matrix\": [[0.74029, 0.05677, 0.66989], [0.14648, -0.98611, -0.0783], [0.65614, 0.15609, -0.73832]], \"simulated_seconds_remaining\": 25.542, \"calls_remaining_including_this\": 51}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 20, \"motion_seconds\": 1.32, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.51,
      "y": 0.1,
      "z": 0.86
    },
    "note": "The silver pull is left and ahead of the finger gap in the wrist view. I am shifting left while moving forward and down to center it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.41709, -0.64847, 0.63684, -2.77175, -0.17115, 2.79719, 0.33327], \"gripper_open\": 1.0, \"tcp_xyz\": [0.47509, 0.04424, 0.88749], \"tcp_roll_pitch_yaw\": [-0.21811, -0.71788, 0.00479], \"tcp_rotation_matrix\": [[0.81046, -0.06534, 0.58214], [0.13102, -0.94837, -0.28884], [0.57096, 0.31036, -0.76005]], \"simulated_seconds_remaining\": 24.222, \"calls_remaining_including_this\": 50}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 20, \"motion_seconds\": 1.32, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.4,
      "y": 0.04,
      "z": 1,
      "pitch": -0.8,
      "roll": 0,
      "yaw": 0
    },
    "note": "The fingers reached the dresser surface below the pull. I am backing away and raising them to approach the visible handle at its height."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.03333, -1.04494, 0.19129, -2.83626, 0.00135, 2.52479, 0.00907], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.40061, 0.04003, 0.99931], \"tcp_roll_pitch_yaw\": [-0.00174, -0.79972, 2e-05], \"tcp_rotation_matrix\": [[0.74038, 0.05565, 0.66988], [0.1464, -0.98599, -0.0799], [0.65606, 0.15722, -0.73815]], \"simulated_seconds_remaining\": 23.034, \"calls_remaining_including_this\": 49}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 18, \"motion_seconds\": 1.1880000000000002, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

The current approach is reaching the wooden surface below the pulls. I’m adjusting the viewing angle to align with the dresser’s front.


{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.36,
      "y": 0.12,
      "z": 1.02,
      "pitch": 0,
      "roll": -1.3,
      "yaw": 0
    },
    "note": "The visible wood and handle positions suggest the front faces sideways across the robot. I am retreating slightly and turning toward that face to view the pulls head-on."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.89003, -0.71567, 1.26965, -1.81432, -0.51428, 1.30028, 0.20542], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.3837, 0.1169, 1.13234], \"tcp_roll_pitch_yaw\": [-1.12913, -0.26383, -0.02613], \"tcp_rotation_matrix\": [[0.99464, -0.10316, 0.00773], [-0.02982, -0.3575, -0.93344], [0.09905, 0.9282, -0.35866]], \"simulated_seconds_remaining\": 20.724, \"calls_remaining_including_this\": 48}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 35, \"motion_seconds\": 2.31, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.28,
      "y": 0,
      "z": 1.15,
      "roll": 0,
      "pitch": 0,
      "yaw": 0
    },
    "note": "The sideways turn points the wrist camera toward the floor and chair. I am returning to a clear raised pose before approaching from the opposite side."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "Episode ended. Do not call more tools. Return a brief final response."
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

I wasn’t able to grasp the handle and open the dresser before the episode ended.

TURN USAGE
{
  "input_tokens": 181810,
  "cached_input_tokens": 162816,
  "cache_write_input_tokens": 0,
  "output_tokens": 2472,
  "reasoning_output_tokens": 1117
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.01867,
      -0.82619,
      0.0262,
      -2.44787,
      -0.05909,
      1.55926,
      -0.15031
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.28274,
      -0.01442,
      0.98439
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.98647,
        0.15152,
        -0.06253
      ],
      [
        0.14651,
        -0.98612,
        -0.07817
      ],
      [
        -0.07351,
        0.06796,
        -0.99498
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 21.817468925379217,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.18,
                    "x": 0.25
                  },
                  "note": "The dresser is close beneath the gripper and fills the wrist view. I am raising the open gripper to see its front and handles clearly."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 25,
    "motion_seconds": 1.6500000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.02803,
      -0.68527,
      0.03026,
      -1.82645,
      -0.06739,
      1.08023,
      -0.18508
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.25024,
      -0.01442,
      1.17875
    ],
    "tcp_roll_pitch_yaw": [
      -0.0,
      -0.00022,
      1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.98649,
        0.15152,
        -0.06232
      ],
      [
        0.14652,
        -0.98611,
        -0.07818
      ],
      [
        -0.0733,
        0.06799,
        -0.99499
      ]
    ],
    "simulated_seconds_remaining": 28.38,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 8.607073516584933,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.5,
                    "z": 1.08
                  },
                  "note": "The dresser front is the narrow vertical wooden face beside the robot. I am turning the fingers forward to approach a drawer handle horizontally."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 3,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.02803,
      -0.68527,
      0.03026,
      -1.82645,
      -0.06739,
      1.08023,
      -0.18508
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.25024,
      -0.01442,
      1.17875
    ],
    "tcp_roll_pitch_yaw": [
      -0.0,
      -0.00022,
      1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.98649,
        0.15152,
        -0.06232
      ],
      [
        0.14652,
        -0.98611,
        -0.07818
      ],
      [
        -0.0733,
        0.06799,
        -0.99499
      ]
    ],
    "simulated_seconds_remaining": 28.38,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 4.404091379605234,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.8,
                    "z": 1,
                    "x": 0.3
                  },
                  "note": "The full forward rotation was unreachable at the raised position. I am lowering and applying a smaller rotation toward the visible dresser front."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.01352,
      -1.52825,
      0.01427,
      -2.98051,
      -0.07227,
      2.18419,
      -0.10589
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.29969,
      -0.01443,
      1.00071
    ],
    "tcp_roll_pitch_yaw": [
      -6e-05,
      -0.79576,
      -1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.7428,
        0.05743,
        0.66704
      ],
      [
        0.1465,
        -0.98611,
        -0.07824
      ],
      [
        0.65329,
        0.15584,
        -0.7409
      ]
    ],
    "simulated_seconds_remaining": 26.862,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 6.605511301197112,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.45,
                    "x": 0.38,
                    "z": 0.87
                  },
                  "note": "The wrist image shows the curved drawer pulls above and left of the fingers. I am moving lower and forward with the fingers nearly horizontal to line up with a pull."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 5,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.01352,
      -1.52825,
      0.01427,
      -2.98051,
      -0.07227,
      2.18419,
      -0.10589
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.29969,
      -0.01443,
      1.00071
    ],
    "tcp_roll_pitch_yaw": [
      -6e-05,
      -0.79576,
      -1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.7428,
        0.05743,
        0.66704
      ],
      [
        0.1465,
        -0.98611,
        -0.07824
      ],
      [
        0.65329,
        0.15584,
        -0.7409
      ]
    ],
    "simulated_seconds_remaining": 26.862,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 6.005312075838447,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.2,
                    "x": 0.48,
                    "z": 0.9
                  },
                  "note": "The handle remains visible on the wooden front. I am extending the arm farther forward with a moderate tilt to obtain a reachable approach."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 6,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.01352,
      -1.52825,
      0.01427,
      -2.98051,
      -0.07227,
      2.18419,
      -0.10589
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.29969,
      -0.01443,
      1.00071
    ],
    "tcp_roll_pitch_yaw": [
      -6e-05,
      -0.79576,
      -1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.7428,
        0.05743,
        0.66704
      ],
      [
        0.1465,
        -0.98611,
        -0.07824
      ],
      [
        0.65329,
        0.15584,
        -0.7409
      ]
    ],
    "simulated_seconds_remaining": 26.862,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 9.408535345457494,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.43,
                    "z": 0.92,
                    "pitch": -0.8
                  },
                  "note": "The current tilt shows the pull clearly, but stronger rotations exceed the arm's reach. I am keeping this tilt and translating toward the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.06686,
      -0.85286,
      0.04646,
      -2.96509,
      -0.09756,
      2.84911,
      -0.05737
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.42882,
      -0.01445,
      0.92062
    ],
    "tcp_roll_pitch_yaw": [
      -0.0001,
      -0.79961,
      -4e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.74029,
        0.05677,
        0.66989
      ],
      [
        0.14648,
        -0.98611,
        -0.0783
      ],
      [
        0.65614,
        0.15609,
        -0.73832
      ]
    ],
    "simulated_seconds_remaining": 25.542,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 12.210859772749245,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.51,
                    "y": 0.1,
                    "z": 0.86
                  },
                  "note": "The silver pull is left and ahead of the finger gap in the wrist view. I am shifting left while moving forward and down to center it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.41709,
      -0.64847,
      0.63684,
      -2.77175,
      -0.17115,
      2.79719,
      0.33327
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.47509,
      0.04424,
      0.88749
    ],
    "tcp_roll_pitch_yaw": [
      -0.21811,
      -0.71788,
      0.00479
    ],
    "tcp_rotation_matrix": [
      [
        0.81046,
        -0.06534,
        0.58214
      ],
      [
        0.13102,
        -0.94837,
        -0.28884
      ],
      [
        0.57096,
        0.31036,
        -0.76005
      ]
    ],
    "simulated_seconds_remaining": 24.222,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 13.809965195134282,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "y": 0.04,
                    "z": 1,
                    "pitch": -0.8,
                    "roll": 0,
                    "yaw": 0
                  },
                  "note": "The fingers reached the dresser surface below the pull. I am backing away and raising them to approach the visible handle at its height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.03333,
      -1.04494,
      0.19129,
      -2.83626,
      0.00135,
      2.52479,
      0.00907
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.40061,
      0.04003,
      0.99931
    ],
    "tcp_roll_pitch_yaw": [
      -0.00174,
      -0.79972,
      2e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.74038,
        0.05565,
        0.66988
      ],
      [
        0.1464,
        -0.98599,
        -0.0799
      ],
      [
        0.65606,
        0.15722,
        -0.73815
      ]
    ],
    "simulated_seconds_remaining": 23.034,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 20.42073107138276,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.36,
                    "y": 0.12,
                    "z": 1.02,
                    "pitch": 0,
                    "roll": -1.3,
                    "yaw": 0
                  },
                  "note": "The visible wood and handle positions suggest the front faces sideways across the robot. I am retreating slightly and turning toward that face to view the pulls head-on."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 35,
    "motion_seconds": 2.31,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.89003,
      -0.71567,
      1.26965,
      -1.81432,
      -0.51428,
      1.30028,
      0.20542
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.3837,
      0.1169,
      1.13234
    ],
    "tcp_roll_pitch_yaw": [
      -1.12913,
      -0.26383,
      -0.02613
    ],
    "tcp_rotation_matrix": [
      [
        0.99464,
        -0.10316,
        0.00773
      ],
      [
        -0.02982,
        -0.3575,
        -0.93344
      ],
      [
        0.09905,
        0.9282,
        -0.35866
      ]
    ],
    "simulated_seconds_remaining": 20.724,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 7.806869611144066,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.28,
                    "y": 0,
                    "z": 1.15,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 0
                  },
                  "note": "The sideways turn points the wrist camera toward the floor and chair. I am returning to a clear raised pose before approaching from the opposite side."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 28,
    "motion_seconds": 1.848,
    "status": "executing; next observation shows actual arrival"
  }
}

========================================================================
GPT-Astra / Open / Episode 016

Completed scored attempt. Images are available in the paired videos.

Opaque provider signatures, image payloads, and local paths are omitted.


RESULT
{
  "benchmark_index": 16,
  "source_episode_index": 404,
  "house_index": 220,
  "status": "completed",
  "success": true,
  "oracle_success": true,
  "action_decisions": 5,
  "wall_seconds": 89.25,
  "usage": {
    "input_tokens": 104069,
    "cached_input_tokens": 92160,
    "cache_write_input_tokens": 0,
    "output_tokens": 1299,
    "reasoning_output_tokens": 486
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task.
You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose.
Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion.
move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up.
roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial.
Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5).
The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y.
The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics.
Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration.
Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target.
You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time.
Each move must include a short note describing what you observe and why you chose that motion.
Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done.
Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available.



AGENT TRANSCRIPT (visible messages and completed tool calls)

I’ll inspect the scene, then approach the handle and open the object using visual feedback.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.02172, -0.75069, -0.06726, -2.29361, 0.06938, 1.44196, 0.08796], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.28784, 0.00576, 1.02505], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.9887, -0.11275, -0.0988], [-0.10098, -0.98799, 0.11693], [-0.11079, -0.10564, -0.98821]], \"simulated_seconds_remaining\": 30.03, \"calls_remaining_including_this\": 57}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "x": 0.48,
    "y": 0,
    "z": 1.05,
    "pitch": -1.45,
    "gripper": 1,
    "note": "The dresser is ahead with a horizontal drawer handle. I am moving closer and turning the fingers forward to view and approach the handle."
  },
  "result": null,
  "error": {
    "message": "tool call error: tool call failed for `robot/move_to`\n\nCaused by:\n    Mcp error: -32602: Unexpected argument"
  },
  "status": "failed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.48,
      "y": 0,
      "z": 1.05,
      "pitch": -1.45,
      "gripper": 1
    },
    "note": "The dresser is ahead with a horizontal drawer handle. I am moving closer and turning the fingers forward to view and approach the handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.36097, -0.76235, -0.34757, -2.97235, 0.08551, 3.59108, -0.18327], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.47958, 0.00011, 1.04956], \"tcp_roll_pitch_yaw\": [0.00154, -1.44439, -0.001], \"tcp_rotation_matrix\": [[0.2346, 0.0911, 0.96781], [-0.10104, -0.98792, 0.11749], [0.96683, -0.12536, -0.22256]], \"simulated_seconds_remaining\": 27.786, \"calls_remaining_including_this\": 56}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 34, \"motion_seconds\": 2.244, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.59,
      "z": 1.075,
      "y": 0.015
    },
    "note": "The wrist view shows the silver horizontal handle just above the fingertips. I am raising slightly and approaching it with the gripper open."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.56586, -0.40871, -0.52034, -2.90836, 0.03205, 4.15103, -0.09643], \"gripper_open\": 1.0, \"tcp_xyz\": [0.50939, 0.00384, 1.05686], \"tcp_roll_pitch_yaw\": [2.96874, -1.44657, -3.03774], \"tcp_rotation_matrix\": [[-0.01898, 0.05166, 0.99848], [-0.12115, -0.99142, 0.04899], [0.99245, -0.12004, 0.02508]], \"simulated_seconds_remaining\": 26.73, \"calls_remaining_including_this\": 55}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 16, \"motion_seconds\": 1.056, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.44,
      "z": 1.075,
      "roll": 1.57,
      "pitch": 0,
      "yaw": -1.57
    },
    "note": "The handle runs horizontally, so the jaws need to straddle it vertically. I am backing away slightly and rotating the gripper for that grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.56586, -0.40871, -0.52034, -2.90836, 0.03205, 4.15103, -0.09643], \"gripper_open\": 1.0, \"tcp_xyz\": [0.50939, 0.00384, 1.05686], \"tcp_roll_pitch_yaw\": [2.96874, -1.44657, -3.03774], \"tcp_rotation_matrix\": [[-0.01898, 0.05166, 0.99848], [-0.12115, -0.99142, 0.04899], [0.99245, -0.12004, 0.02508]], \"simulated_seconds_remaining\": 26.73, \"calls_remaining_including_this\": 54}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.43,
      "z": 1.07,
      "roll": -1.57,
      "pitch": 0,
      "yaw": 1.57
    },
    "note": "The first vertical-jaw orientation was unreachable. I am trying the equivalent opposite wrist rotation while withdrawing from the drawer."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.56586, -0.40871, -0.52034, -2.90836, 0.03205, 4.15103, -0.09643], \"gripper_open\": 1.0, \"tcp_xyz\": [0.50939, 0.00384, 1.05686], \"tcp_roll_pitch_yaw\": [2.96874, -1.44657, -3.03774], \"tcp_rotation_matrix\": [[-0.01898, 0.05166, 0.99848], [-0.12115, -0.99142, 0.04899], [0.99245, -0.12004, 0.02508]], \"simulated_seconds_remaining\": 26.73, \"calls_remaining_including_this\": 53}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.4,
      "z": 1.08,
      "roll": 0,
      "pitch": -0.8,
      "yaw": 0
    },
    "note": "The wrist is near its reach limit. I am retreating with a shallower approach angle before aligning the jaws."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "Episode ended. Do not call more tools. Return a brief final response."
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

I couldn’t complete the opening before the episode ended.

TURN USAGE
{
  "input_tokens": 104069,
  "cached_input_tokens": 92160,
  "cache_write_input_tokens": 0,
  "output_tokens": 1299,
  "reasoning_output_tokens": 486
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.02172,
      -0.75069,
      -0.06726,
      -2.29361,
      0.06938,
      1.44196,
      0.08796
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.28784,
      0.00576,
      1.02505
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.9887,
        -0.11275,
        -0.0988
      ],
      [
        -0.10098,
        -0.98799,
        0.11693
      ],
      [
        -0.11079,
        -0.10564,
        -0.98821
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 26.22006616741419,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48,
                    "y": 0,
                    "z": 1.05,
                    "pitch": -1.45,
                    "gripper": 1
                  },
                  "note": "The dresser is ahead with a horizontal drawer handle. I am moving closer and turning the fingers forward to view and approach the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 34,
    "motion_seconds": 2.244,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.36097,
      -0.76235,
      -0.34757,
      -2.97235,
      0.08551,
      3.59108,
      -0.18327
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.47958,
      0.00011,
      1.04956
    ],
    "tcp_roll_pitch_yaw": [
      0.00154,
      -1.44439,
      -0.001
    ],
    "tcp_rotation_matrix": [
      [
        0.2346,
        0.0911,
        0.96781
      ],
      [
        -0.10104,
        -0.98792,
        0.11749
      ],
      [
        0.96683,
        -0.12536,
        -0.22256
      ]
    ],
    "simulated_seconds_remaining": 27.786,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 7.606276718899608,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.59,
                    "z": 1.075,
                    "y": 0.015
                  },
                  "note": "The wrist view shows the silver horizontal handle just above the fingertips. I am raising slightly and approaching it with the gripper open."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.56586,
      -0.40871,
      -0.52034,
      -2.90836,
      0.03205,
      4.15103,
      -0.09643
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.50939,
      0.00384,
      1.05686
    ],
    "tcp_roll_pitch_yaw": [
      2.96874,
      -1.44657,
      -3.03774
    ],
    "tcp_rotation_matrix": [
      [
        -0.01898,
        0.05166,
        0.99848
      ],
      [
        -0.12115,
        -0.99142,
        0.04899
      ],
      [
        0.99245,
        -0.12004,
        0.02508
      ]
    ],
    "simulated_seconds_remaining": 26.73,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 14.010740919038653,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.44,
                    "z": 1.075,
                    "roll": 1.57,
                    "pitch": 0,
                    "yaw": -1.57
                  },
                  "note": "The handle runs horizontally, so the jaws need to straddle it vertically. I am backing away slightly and rotating the gripper for that grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 4,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.56586,
      -0.40871,
      -0.52034,
      -2.90836,
      0.03205,
      4.15103,
      -0.09643
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.50939,
      0.00384,
      1.05686
    ],
    "tcp_roll_pitch_yaw": [
      2.96874,
      -1.44657,
      -3.03774
    ],
    "tcp_rotation_matrix": [
      [
        -0.01898,
        0.05166,
        0.99848
      ],
      [
        -0.12115,
        -0.99142,
        0.04899
      ],
      [
        0.99245,
        -0.12004,
        0.02508
      ]
    ],
    "simulated_seconds_remaining": 26.73,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 5.804662849754095,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.43,
                    "z": 1.07,
                    "roll": -1.57,
                    "pitch": 0,
                    "yaw": 1.57
                  },
                  "note": "The first vertical-jaw orientation was unreachable. I am trying the equivalent opposite wrist rotation while withdrawing from the drawer."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 5,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.56586,
      -0.40871,
      -0.52034,
      -2.90836,
      0.03205,
      4.15103,
      -0.09643
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.50939,
      0.00384,
      1.05686
    ],
    "tcp_roll_pitch_yaw": [
      2.96874,
      -1.44657,
      -3.03774
    ],
    "tcp_rotation_matrix": [
      [
        -0.01898,
        0.05166,
        0.99848
      ],
      [
        -0.12115,
        -0.99142,
        0.04899
      ],
      [
        0.99245,
        -0.12004,
        0.02508
      ]
    ],
    "simulated_seconds_remaining": 26.73,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 6.606072736904025,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "z": 1.08,
                    "roll": 0,
                    "pitch": -0.8,
                    "yaw": 0
                  },
                  "note": "The wrist is near its reach limit. I am retreating with a shallower approach angle before aligning the jaws."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

========================================================================
GPT-Astra / Open / Episode 017

Completed scored attempt. Images are available in the paired videos.

Opaque provider signatures, image payloads, and local paths are omitted.


RESULT
{
  "benchmark_index": 17,
  "source_episode_index": 449,
  "house_index": 221,
  "status": "completed",
  "success": false,
  "oracle_success": false,
  "action_decisions": 27,
  "wall_seconds": 325.64,
  "usage": {
    "input_tokens": 556845,
    "cached_input_tokens": 515840,
    "cache_write_input_tokens": 0,
    "output_tokens": 5871,
    "reasoning_output_tokens": 2951
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task.
You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose.
Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion.
move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up.
roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial.
Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5).
The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y.
The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics.
Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration.
Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target.
You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time.
Each move must include a short note describing what you observe and why you chose that motion.
Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done.
Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available.



AGENT TRANSCRIPT (visible messages and completed tool calls)

I’ll inspect the scene and use fresh visual feedback to guide the opening motion.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"open the table.\", \"joint_positions\": [-0.01349, -0.81055, -0.01992, -2.29759, -0.09555, 1.53674, -0.11875], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.30357, -0.0355, 1.04837], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.99541, 0.08342, 0.04698], [0.08708, -0.9928, -0.08229], [0.03978, 0.08601, -0.9955]], \"simulated_seconds_remaining\": 30.03, \"calls_remaining_including_this\": 57}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "x": 0.48,
    "y": 0,
    "z": 0.88,
    "pitch": -1.57,
    "gripper": 1,
    "note": "The dark table has a drawer with a small front knob. I am approaching with the gripper facing forward to inspect and align with it."
  },
  "result": null,
  "error": {
    "message": "tool call error: tool call failed for `robot/move_to`\n\nCaused by:\n    Mcp error: -32602: Unexpected argument"
  },
  "status": "failed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.48,
      "y": 0,
      "z": 0.88,
      "pitch": -1.57,
      "gripper": 1
    },
    "note": "The dark table has a drawer with a small front knob. I am approaching with the gripper facing forward to inspect and align with it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"open the table.\", \"joint_positions\": [-0.01349, -0.81055, -0.01992, -2.29759, -0.09555, 1.53674, -0.11875], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.30357, -0.0355, 1.04837], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.99541, 0.08342, 0.04698], [0.08708, -0.9928, -0.08229], [0.03978, 0.08601, -0.9955]], \"simulated_seconds_remaining\": 30.03, \"calls_remaining_including_this\": 56}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.42,
      "y": 0,
      "z": 0.9,
      "pitch": -0.75
    },
    "note": "The full forward-facing pose was unreachable. I will first lower and rotate partway toward the drawer."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"open the table.\", \"joint_positions\": [-0.01349, -0.81055, -0.01992, -2.29759, -0.09555, 1.53674, -0.11875], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.30357, -0.0355, 1.04837], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.99541, 0.08342, 0.04698], [0.08708, -0.9928, -0.08229], [0.03978, 0.08601, -0.9955]], \"simulated_seconds_remaining\": 30.03, \"calls_remaining_including_this\": 55}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.4,
      "z": 0.98
    },
    "note": "I will make a small forward and downward motion with the existing orientation to establish a reachable approach."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"open the table.\", \"joint_positions\": [-0.00967, -0.54616, -0.02421, -2.29926, -0.09604, 1.80158, -0.09649], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.39885, -0.0355, 0.9807], \"tcp_roll_pitch_yaw\": [0.0, 0.00032, -0.0], \"tcp_rotation_matrix\": [[0.99542, 0.08344, 0.04666], [0.08708, -0.9928, -0.08229], [0.03946, 0.08598, -0.99552]], \"simulated_seconds_remaining\": 28.974, \"calls_remaining_including_this\": 54}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 16, \"motion_seconds\": 1.056, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.5,
      "z": 0.75,
      "pitch": -0.4
    },
    "note": "The gripper moved successfully and remains above the knob. I will lower toward drawer height while beginning the forward rotation."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"open the table.\", \"joint_positions\": [-0.15096, -0.13523, 0.03882, -2.72153, -0.32101, 3.10825, 0.13829], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.5146, -0.03374, 0.76888], \"tcp_roll_pitch_yaw\": [0.01093, -0.47217, 0.00066], \"tcp_rotation_matrix\": [[0.86791, 0.04077, 0.49504], [0.08722, -0.99365, -0.07108], [0.489, 0.10487, -0.86596]], \"simulated_seconds_remaining\": 26.994, \"calls_remaining_including_this\": 53}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 30, \"motion_seconds\": 1.98, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.5,
      "z": 0.86,
      "pitch": 0,
      "roll": 1.5
    },
    "note": "The wrist is near its rotation limit and the knob is above the fingers. I will raise the grasp point and roll the wrist to allow a horizontal approach."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"open the table.\", \"joint_positions\": [-0.15096, -0.13523, 0.03882, -2.72153, -0.32101, 3.10825, 0.13829], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.5146, -0.03374, 0.76888], \"tcp_roll_pitch_yaw\": [0.01093, -0.47217, 0.00066], \"tcp_rotation_matrix\": [[0.86791, 0.04077, 0.49504], [0.08722, -0.99365, -0.07108], [0.489, 0.10487, -0.86596]], \"simulated_seconds_remaining\": 26.994, \"calls_remaining_including_this\": 52}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK requires a large joint jump; split the motion or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.65,
      "z": 0.9,
      "pitch": 0
    },
    "note": "I will approach the visible knob from above with the reachable downward orientation, then align the open fingers around it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"open the table.\", \"joint_positions\": [-0.0184, 0.09609, -0.00508, -1.64358, -0.07225, 0.54822, -0.08892], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.29371, -0.02211, 1.05808], \"tcp_roll_pitch_yaw\": [-0.11978, 1.23223, -0.20037], \"tcp_rotation_matrix\": [[0.36904, 0.0216, -0.92916], [0.01812, -0.99971, -0.01604], [-0.92924, -0.01092, -0.36932]], \"simulated_seconds_remaining\": 25.41, \"calls_remaining_including_this\": 51}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 24, \"motion_seconds\": 1.584, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.42,
      "z": 0.98,
      "pitch": 0.7,
      "yaw": 0,
      "roll": 0
    },
    "note": "The measured pose deviated from the requested approach. I will recover in a small step before continuing toward the drawer."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"open the table.\", \"joint_positions\": [-0.01569, 0.1052, 0.00231, -1.61693, -0.09577, 0.57511, -0.12293], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.30448, -0.0248, 1.05528], \"tcp_roll_pitch_yaw\": [-0.07631, 1.19161, -0.13043], \"tcp_rotation_matrix\": [[0.40744, 0.05142, -0.91178], [0.03718, -0.99852, -0.0397], [-0.91248, -0.01773, -0.40875]], \"simulated_seconds_remaining\": 24.156, \"calls_remaining_including_this\": 50}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 19, \"motion_seconds\": 1.254, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.3,
      "z": 1.15,
      "pitch": 0,
      "roll": 0,
      "yaw": 0
    },
    "note": "The arm is not following the approach, suggesting contact. I will lift to clear the furniture and restore the downward grasp orientation."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"open the table.\", \"joint_positions\": [0.00112, -0.69322, -0.00279, -1.94767, -0.08733, 1.29864, -0.11187], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.29994, -0.0248, 1.14975], \"tcp_roll_pitch_yaw\": [3e-05, 0.0041, -0.00025], \"tcp_rotation_matrix\": [[0.99558, 0.08352, 0.04288], [0.08683, -0.99282, -0.08227], [0.0357, 0.08563, -0.99569]], \"simulated_seconds_remaining\": 22.242, \"calls_remaining_including_this\": 49}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 29, \"motion_seconds\": 1.9140000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.6,
      "z": 1.1
    },
    "note": "The lift restored accurate control. I will move above the table’s front to locate the knob from a closer downward view."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"open the table.\", \"joint_positions\": [0.00049, 0.16973, -0.00538, -1.22598, -0.0819, 1.44161, -0.10266], \"gripper_open\": 1.0, \"tcp_xyz\": [0.59809, -0.02489, 1.10189], \"tcp_roll_pitch_yaw\": [5e-05, 0.00206, -0.00019], \"tcp_rotation_matrix\": [[0.9955, 0.08341, 0.04491], [0.08689, -0.99282, -0.08225], [0.03773, 0.08578, -0.9956]], \"simulated_seconds_remaining\": 19.932, \"calls_remaining_including_this\": 48}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 35, \"motion_seconds\": 2.31, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.48,
      "y": 0.015,
      "z": 0.96
    },
    "note": "The wrist now sees the tabletop directly below. I will move back toward its front edge and lower toward the knob, offsetting left to center it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 11, \"instruction\": \"open the table.\", \"joint_positions\": [0.03201, -0.29608, 0.02824, -2.10994, -0.08031, 2.61308, 0.0041], \"gripper_open\": 1.0, \"tcp_xyz\": [0.62758, 0.03418, 1.1075], \"tcp_roll_pitch_yaw\": [0.05053, -0.75422, 0.0391], \"tcp_rotation_matrix\": [[0.69139, 0.07522, 0.71856], [0.11207, -0.99369, -0.00382], [0.71374, 0.08317, -0.69546]], \"simulated_seconds_remaining\": 18.348, \"calls_remaining_including_this\": 47}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 24, \"motion_seconds\": 1.584, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.43,
      "y": 0.25,
      "z": 1.13,
      "pitch": 0
    },
    "note": "The table surface blocked the descent. The exterior view places the knob farther left, so I will lift and shift left to approach its front."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 12, \"instruction\": \"open the table.\", \"joint_positions\": [0.17515, -0.14136, 0.33505, -1.51824, -0.00455, 1.4147, 0.38342], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.43071, 0.24936, 1.12991], \"tcp_roll_pitch_yaw\": [0.05065, -0.00279, 0.03929], \"tcp_rotation_matrix\": [[0.99117, 0.12237, 0.05098], [0.12398, -0.99184, -0.02981], [0.04691, 0.03587, -0.99825]], \"simulated_seconds_remaining\": 16.104, \"calls_remaining_including_this\": 46}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 34, \"motion_seconds\": 2.244, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "z": 0.99
    },
    "note": "The exterior view now shows the fingers directly above the knob, with the table edge behind them in the wrist view. I will lower carefully to knob height."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 13, \"instruction\": \"open the table.\", \"joint_positions\": [0.1809, -0.23997, 0.32787, -1.98055, 0.02658, 1.78299, 0.37235], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.43069, 0.24934, 0.9912], \"tcp_roll_pitch_yaw\": [0.05053, -0.0025, 0.03929], \"tcp_rotation_matrix\": [[0.99119, 0.12238, 0.05069], [0.12399, -0.99183, -0.02994], [0.04661, 0.03596, -0.99827]], \"simulated_seconds_remaining\": 14.85, \"calls_remaining_including_this\": 45}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 19, \"motion_seconds\": 1.254, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.46,
      "z": 1.03
    },
    "note": "The fingers appear slightly below and in front of the knob. I will raise a little and advance three centimeters to place the knob between them."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 14, \"instruction\": \"open the table.\", \"joint_positions\": [0.16738, -0.1494, 0.32418, -1.79458, -0.00283, 1.68371, 0.36567], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.45925, 0.24933, 1.02896], \"tcp_roll_pitch_yaw\": [0.0506, -0.0026, 0.03922], \"tcp_rotation_matrix\": [[0.99119, 0.1223, 0.05079], [0.12391, -0.99184, -0.02987], [0.04672, 0.0359, -0.99826]], \"simulated_seconds_remaining\": 14.256, \"calls_remaining_including_this\": 44}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 9, \"motion_seconds\": 0.5940000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "y": 0.2,
      "gripper": 0
    },
    "note": "The knob is just right of the finger center in the exterior view. I will shift five centimeters right and close around it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 15, \"instruction\": \"open the table.\", \"joint_positions\": [0.13471, -0.21905, 0.26569, -1.86962, 0.01002, 1.69345, 0.2709], \"gripper_open\": 0.0, \"tcp_xyz\": [0.45927, 0.20101, 1.02898], \"tcp_roll_pitch_yaw\": [0.05061, -0.00262, 0.03909], \"tcp_rotation_matrix\": [[0.99121, 0.12218, 0.05081], [0.12379, -0.99186, -0.02987], [0.04674, 0.03589, -0.99826]], \"simulated_seconds_remaining\": 13.332, \"calls_remaining_including_this\": 43}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "y": 0.26,
      "z": 0.99,
      "gripper": 1
    },
    "note": "The closed fingers missed the knob; the wrist image reveals it to the left and slightly lower. I will reopen and realign at that position."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 16, \"instruction\": \"open the table.\", \"joint_positions\": [0.17483, -0.14414, 0.33625, -1.88606, -0.00349, 1.77963, 0.38567], \"gripper_open\": 0.9965, \"tcp_xyz\": [0.45923, 0.25884, 0.99074], \"tcp_roll_pitch_yaw\": [0.05056, -0.00249, 0.03924], \"tcp_rotation_matrix\": [[0.9912, 0.12233, 0.05068], [0.12393, -0.99184, -0.02992], [0.04661, 0.03593, -0.99827]], \"simulated_seconds_remaining\": 12.408, \"calls_remaining_including_this\": 42}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.5,
      "y": 0.22,
      "z": 1.015
    },
    "note": "I will center between the two previous alignments and move slightly toward the drawer face so the open fingers surround the knob."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 17, \"instruction\": \"open the table.\", \"joint_positions\": [0.13853, -0.08132, 0.296, -1.76255, -0.02124, 1.71103, 0.30594], \"gripper_open\": 0.9875, \"tcp_xyz\": [0.49436, 0.22572, 1.01331], \"tcp_roll_pitch_yaw\": [0.05098, 0.00574, 0.04622], \"tcp_rotation_matrix\": [[0.99066, 0.12954, 0.04266], [0.13085, -0.99096, -0.02952], [0.03845, 0.03482, -0.99865]], \"simulated_seconds_remaining\": 11.682, \"calls_remaining_including_this\": 41}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 11, \"motion_seconds\": 0.726, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The fingers now straddle the front-handle region. I will close to secure it before a short pull."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 18, \"instruction\": \"open the table.\", \"joint_positions\": [0.13829, -0.08599, 0.29559, -1.75999, -0.02198, 1.70911, 0.30696], \"gripper_open\": 0.0115, \"tcp_xyz\": [0.49416, 0.22521, 1.01682], \"tcp_roll_pitch_yaw\": [0.05105, 0.0002, 0.04463], \"tcp_rotation_matrix\": [[0.99064, 0.12777, 0.04813], [0.12926, -0.99118, -0.02927], [0.04397, 0.03522, -0.99841]], \"simulated_seconds_remaining\": 10.758, \"calls_remaining_including_this\": 40}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.36
    },
    "note": "I will pull outward from the drawer face and check whether the drawer follows the grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 19, \"instruction\": \"open the table.\", \"joint_positions\": [0.19734, -0.46397, 0.30585, -2.11166, 0.08771, 1.69576, 0.33577], \"gripper_open\": 0.0, \"tcp_xyz\": [0.3613, 0.22527, 1.0169], \"tcp_roll_pitch_yaw\": [0.05104, 4e-05, 0.04478], \"tcp_rotation_matrix\": [[0.99061, 0.12792, 0.0483], [0.12942, -0.99116, -0.02927], [0.04413, 0.03525, -0.9984]], \"simulated_seconds_remaining\": 9.57, \"calls_remaining_including_this\": 39}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 18, \"motion_seconds\": 1.1880000000000002, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.48,
      "y": 0.2,
      "z": 0.985,
      "gripper": 1
    },
    "note": "The drawer did not follow, and the knob is visible just above-left of the withdrawn hand. I will retry with the grasp point lower and slightly right."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 20, \"instruction\": \"open the table.\", \"joint_positions\": [0.129, -0.17318, 0.26613, -1.93097, -0.00064, 1.79966, 0.2623], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.47835, 0.20084, 0.9869], \"tcp_roll_pitch_yaw\": [0.0514, -0.00233, 0.04568], \"tcp_rotation_matrix\": [[0.99039, 0.12872, 0.05067], [0.13028, -0.99106, -0.02876], [0.04652, 0.03509, -0.9983]], \"simulated_seconds_remaining\": 8.448, \"calls_remaining_including_this\": 38}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 17, \"motion_seconds\": 1.122, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The hand is aligned over the knob at the revised lower height. I will close the fingers for another grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 21, \"instruction\": \"open the table.\", \"joint_positions\": [0.1292, -0.17421, 0.26634, -1.93175, -0.0005, 1.79799, 0.26244], \"gripper_open\": 0.0, \"tcp_xyz\": [0.47762, 0.2008, 0.98687], \"tcp_roll_pitch_yaw\": [0.05076, -0.00102, 0.04581], \"tcp_rotation_matrix\": [[0.99043, 0.12889, 0.0494], [0.13044, -0.99102, -0.02945], [0.04516, 0.03561, -0.99834]], \"simulated_seconds_remaining\": 7.524, \"calls_remaining_including_this\": 37}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.48,
      "y": 0.14,
      "z": 1.025,
      "gripper": 1
    },
    "note": "The fingers fully closed without catching the knob. I will raise to the visible knob center and shift right to correct the remaining lateral offset."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 22, \"instruction\": \"open the table.\", \"joint_positions\": [0.0876, -0.22395, 0.19733, -1.89279, 0.0035, 1.70944, 0.14639], \"gripper_open\": 0.9841, \"tcp_xyz\": [0.47849, 0.14357, 1.02349], \"tcp_roll_pitch_yaw\": [0.05176, 0.0024, 0.04973], \"tcp_rotation_matrix\": [[0.99006, 0.1329, 0.04605], [0.13429, -0.99053, -0.02842], [0.04184, 0.03433, -0.99853]], \"simulated_seconds_remaining\": 6.6, \"calls_remaining_including_this\": 36}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.54,
      "y": 0.18,
      "z": 1
    },
    "note": "The knob remains left of the hand. I will advance toward the face and shift left while keeping the fingers open around knob height."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 23, \"instruction\": \"open the table.\", \"joint_positions\": [0.10056, -0.04946, 0.22779, -1.70514, -0.04444, 1.50612, 0.21185], \"gripper_open\": 0.9961, \"tcp_xyz\": [0.48108, 0.15236, 1.0099], \"tcp_roll_pitch_yaw\": [-0.01589, 0.17462, 0.02136], \"tcp_rotation_matrix\": [[0.98484, 0.12098, -0.12431], [0.10876, -0.98895, -0.10078], [-0.13513, 0.08574, -0.98711]], \"simulated_seconds_remaining\": 5.808, \"calls_remaining_including_this\": 35}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 12, \"motion_seconds\": 0.792, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.47,
      "y": 0.18,
      "z": 1.04,
      "pitch": 0,
      "gripper": 0
    },
    "note": "Contact prevented the advance. I will retract slightly and close higher, where the exterior view places the knob between the fingertips."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 24, \"instruction\": \"open the table.\", \"joint_positions\": [0.12785, -0.18391, 0.26076, -1.80323, -0.06096, 1.63282, 0.28064], \"gripper_open\": 0.0, \"tcp_xyz\": [0.47009, 0.17977, 1.03975], \"tcp_roll_pitch_yaw\": [-0.01589, 0.00173, 0.02149], \"tcp_rotation_matrix\": [[0.99336, 0.10487, 0.04736], [0.10907, -0.98928, -0.09711], [0.03667, 0.10163, -0.99415]], \"simulated_seconds_remaining\": 4.884, \"calls_remaining_including_this\": 34}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.45,
      "y": 0.24,
      "z": 1.015,
      "gripper": 1
    },
    "note": "The grasp is still empty. I will make one final small alignment toward the visible knob, left and down from the current fingertips."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 25, \"instruction\": \"open the table.\", \"joint_positions\": [0.17574, -0.16515, 0.33217, -1.83913, -0.05479, 1.67726, 0.40186], \"gripper_open\": 0.9965, \"tcp_xyz\": [0.45039, 0.23877, 1.01551], \"tcp_roll_pitch_yaw\": [-0.01592, 0.00179, 0.02168], \"tcp_rotation_matrix\": [[0.99334, 0.10506, 0.04732], [0.10926, -0.98926, -0.09713], [0.03661, 0.10165, -0.99415]], \"simulated_seconds_remaining\": 3.96, \"calls_remaining_including_this\": 33}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The knob appears centered beneath the hand at this alignment. I will close before testing the final pull."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 26, \"instruction\": \"open the table.\", \"joint_positions\": [0.17574, -0.16515, 0.33217, -1.83913, -0.05479, 1.67726, 0.40186], \"gripper_open\": 0.0, \"tcp_xyz\": [0.45039, 0.23878, 1.01551], \"tcp_roll_pitch_yaw\": [-0.01592, 0.00179, 0.02167], \"tcp_rotation_matrix\": [[0.99334, 0.10506, 0.04732], [0.10926, -0.98926, -0.09713], [0.03661, 0.10165, -0.99415]], \"simulated_seconds_remaining\": 3.036, \"calls_remaining_including_this\": 32}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.28
    },
    "note": "I will pull outward and inspect whether this final grasp opens the drawer."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 27, \"instruction\": \"open the table.\", \"joint_positions\": [0.2828, -0.61671, 0.35665, -2.20785, 0.09586, 1.60796, 0.46448], \"gripper_open\": 0.0, \"tcp_xyz\": [0.28128, 0.23884, 1.01557], \"tcp_roll_pitch_yaw\": [-0.01592, 0.00162, 0.02183], \"tcp_rotation_matrix\": [[0.99332, 0.1052, 0.04751], [0.10942, -0.98924, -0.09712], [0.03678, 0.10167, -0.99414]], \"simulated_seconds_remaining\": 1.584, \"calls_remaining_including_this\": 31}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 22, \"motion_seconds\": 1.452, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "give_up",
  "arguments": {
    "note": "I could not secure the table drawer knob. The drawer remained closed after the grasp attempts, and the remaining motion time is insufficient to retry."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "Episode ended. Do not call more tools. Return a brief final response."
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

I couldn’t secure the knob, so the table drawer remains closed.

TURN USAGE
{
  "input_tokens": 556845,
  "cached_input_tokens": 515840,
  "cache_write_input_tokens": 0,
  "output_tokens": 5871,
  "reasoning_output_tokens": 2951
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.01349,
      -0.81055,
      -0.01992,
      -2.29759,
      -0.09555,
      1.53674,
      -0.11875
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.30357,
      -0.0355,
      1.04837
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99541,
        0.08342,
        0.04698
      ],
      [
        0.08708,
        -0.9928,
        -0.08229
      ],
      [
        0.03978,
        0.08601,
        -0.9955
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 25.41826949454844,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48,
                    "y": 0,
                    "z": 0.88,
                    "pitch": -1.57,
                    "gripper": 1
                  },
                  "note": "The dark table has a drawer with a small front knob. I am approaching with the gripper facing forward to inspect and align with it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 2,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.01349,
      -0.81055,
      -0.01992,
      -2.29759,
      -0.09555,
      1.53674,
      -0.11875
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.30357,
      -0.0355,
      1.04837
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99541,
        0.08342,
        0.04698
      ],
      [
        0.08708,
        -0.9928,
        -0.08229
      ],
      [
        0.03978,
        0.08601,
        -0.9955
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 6.605293739587069,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.42,
                    "y": 0,
                    "z": 0.9,
                    "pitch": -0.75
                  },
                  "note": "The full forward-facing pose was unreachable. I will first lower and rotate partway toward the drawer."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 3,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.01349,
      -0.81055,
      -0.01992,
      -2.29759,
      -0.09555,
      1.53674,
      -0.11875
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.30357,
      -0.0355,
      1.04837
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99541,
        0.08342,
        0.04698
      ],
      [
        0.08708,
        -0.9928,
        -0.08229
      ],
      [
        0.03978,
        0.08601,
        -0.9955
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 7.611059340648353,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "z": 0.98
                  },
                  "note": "I will make a small forward and downward motion with the existing orientation to establish a reachable approach."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.00967,
      -0.54616,
      -0.02421,
      -2.29926,
      -0.09604,
      1.80158,
      -0.09649
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.39885,
      -0.0355,
      0.9807
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.00032,
      -0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99542,
        0.08344,
        0.04666
      ],
      [
        0.08708,
        -0.9928,
        -0.08229
      ],
      [
        0.03946,
        0.08598,
        -0.99552
      ]
    ],
    "simulated_seconds_remaining": 28.974,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 6.2168887332081795,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.5,
                    "z": 0.75,
                    "pitch": -0.4
                  },
                  "note": "The gripper moved successfully and remains above the knob. I will lower toward drawer height while beginning the forward rotation."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 30,
    "motion_seconds": 1.98,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.15096,
      -0.13523,
      0.03882,
      -2.72153,
      -0.32101,
      3.10825,
      0.13829
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.5146,
      -0.03374,
      0.76888
    ],
    "tcp_roll_pitch_yaw": [
      0.01093,
      -0.47217,
      0.00066
    ],
    "tcp_rotation_matrix": [
      [
        0.86791,
        0.04077,
        0.49504
      ],
      [
        0.08722,
        -0.99365,
        -0.07108
      ],
      [
        0.489,
        0.10487,
        -0.86596
      ]
    ],
    "simulated_seconds_remaining": 26.994,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 20.019061403349042,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.5,
                    "z": 0.86,
                    "pitch": 0,
                    "roll": 1.5
                  },
                  "note": "The wrist is near its rotation limit and the knob is above the fingers. I will raise the grasp point and roll the wrist to allow a horizontal approach."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 6,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.15096,
      -0.13523,
      0.03882,
      -2.72153,
      -0.32101,
      3.10825,
      0.13829
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.5146,
      -0.03374,
      0.76888
    ],
    "tcp_roll_pitch_yaw": [
      0.01093,
      -0.47217,
      0.00066
    ],
    "tcp_rotation_matrix": [
      [
        0.86791,
        0.04077,
        0.49504
      ],
      [
        0.08722,
        -0.99365,
        -0.07108
      ],
      [
        0.489,
        0.10487,
        -0.86596
      ]
    ],
    "simulated_seconds_remaining": 26.994,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 6.004645604640245,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.65,
                    "z": 0.9,
                    "pitch": 0
                  },
                  "note": "I will approach the visible knob from above with the reachable downward orientation, then align the open fingers around it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 24,
    "motion_seconds": 1.584,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.0184,
      0.09609,
      -0.00508,
      -1.64358,
      -0.07225,
      0.54822,
      -0.08892
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.29371,
      -0.02211,
      1.05808
    ],
    "tcp_roll_pitch_yaw": [
      -0.11978,
      1.23223,
      -0.20037
    ],
    "tcp_rotation_matrix": [
      [
        0.36904,
        0.0216,
        -0.92916
      ],
      [
        0.01812,
        -0.99971,
        -0.01604
      ],
      [
        -0.92924,
        -0.01092,
        -0.36932
      ]
    ],
    "simulated_seconds_remaining": 25.41,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 8.406404445879161,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.42,
                    "z": 0.98,
                    "pitch": 0.7,
                    "yaw": 0,
                    "roll": 0
                  },
                  "note": "The measured pose deviated from the requested approach. I will recover in a small step before continuing toward the drawer."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.01569,
      0.1052,
      0.00231,
      -1.61693,
      -0.09577,
      0.57511,
      -0.12293
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.30448,
      -0.0248,
      1.05528
    ],
    "tcp_roll_pitch_yaw": [
      -0.07631,
      1.19161,
      -0.13043
    ],
    "tcp_rotation_matrix": [
      [
        0.40744,
        0.05142,
        -0.91178
      ],
      [
        0.03718,
        -0.99852,
        -0.0397
      ],
      [
        -0.91248,
        -0.01773,
        -0.40875
      ]
    ],
    "simulated_seconds_remaining": 24.156,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 5.804332827217877,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.3,
                    "z": 1.15,
                    "pitch": 0,
                    "roll": 0,
                    "yaw": 0
                  },
                  "note": "The arm is not following the approach, suggesting contact. I will lift to clear the furniture and restore the downward grasp orientation."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 29,
    "motion_seconds": 1.9140000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.00112,
      -0.69322,
      -0.00279,
      -1.94767,
      -0.08733,
      1.29864,
      -0.11187
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.29994,
      -0.0248,
      1.14975
    ],
    "tcp_roll_pitch_yaw": [
      3e-05,
      0.0041,
      -0.00025
    ],
    "tcp_rotation_matrix": [
      [
        0.99558,
        0.08352,
        0.04288
      ],
      [
        0.08683,
        -0.99282,
        -0.08227
      ],
      [
        0.0357,
        0.08563,
        -0.99569
      ]
    ],
    "simulated_seconds_remaining": 22.242,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 8.206517782062292,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.6,
                    "z": 1.1
                  },
                  "note": "The lift restored accurate control. I will move above the table’s front to locate the knob from a closer downward view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 35,
    "motion_seconds": 2.31,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.00049,
      0.16973,
      -0.00538,
      -1.22598,
      -0.0819,
      1.44161,
      -0.10266
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.59809,
      -0.02489,
      1.10189
    ],
    "tcp_roll_pitch_yaw": [
      5e-05,
      0.00206,
      -0.00019
    ],
    "tcp_rotation_matrix": [
      [
        0.9955,
        0.08341,
        0.04491
      ],
      [
        0.08689,
        -0.99282,
        -0.08225
      ],
      [
        0.03773,
        0.08578,
        -0.9956
      ]
    ],
    "simulated_seconds_remaining": 19.932,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 13.41139356046915,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48,
                    "y": 0.015,
                    "z": 0.96
                  },
                  "note": "The wrist now sees the tabletop directly below. I will move back toward its front edge and lower toward the knob, offsetting left to center it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 24,
    "motion_seconds": 1.584,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.03201,
      -0.29608,
      0.02824,
      -2.10994,
      -0.08031,
      2.61308,
      0.0041
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.62758,
      0.03418,
      1.1075
    ],
    "tcp_roll_pitch_yaw": [
      0.05053,
      -0.75422,
      0.0391
    ],
    "tcp_rotation_matrix": [
      [
        0.69139,
        0.07522,
        0.71856
      ],
      [
        0.11207,
        -0.99369,
        -0.00382
      ],
      [
        0.71374,
        0.08317,
        -0.69546
      ]
    ],
    "simulated_seconds_remaining": 18.348,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 20.214016117155552,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.43,
                    "y": 0.25,
                    "z": 1.13,
                    "pitch": 0
                  },
                  "note": "The table surface blocked the descent. The exterior view places the knob farther left, so I will lift and shift left to approach its front."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 34,
    "motion_seconds": 2.244,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.17515,
      -0.14136,
      0.33505,
      -1.51824,
      -0.00455,
      1.4147,
      0.38342
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.43071,
      0.24936,
      1.12991
    ],
    "tcp_roll_pitch_yaw": [
      0.05065,
      -0.00279,
      0.03929
    ],
    "tcp_rotation_matrix": [
      [
        0.99117,
        0.12237,
        0.05098
      ],
      [
        0.12398,
        -0.99184,
        -0.02981
      ],
      [
        0.04691,
        0.03587,
        -0.99825
      ]
    ],
    "simulated_seconds_remaining": 16.104,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 6.805303328670561,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.99
                  },
                  "note": "The exterior view now shows the fingers directly above the knob, with the table edge behind them in the wrist view. I will lower carefully to knob height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.1809,
      -0.23997,
      0.32787,
      -1.98055,
      0.02658,
      1.78299,
      0.37235
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.43069,
      0.24934,
      0.9912
    ],
    "tcp_roll_pitch_yaw": [
      0.05053,
      -0.0025,
      0.03929
    ],
    "tcp_rotation_matrix": [
      [
        0.99119,
        0.12238,
        0.05069
      ],
      [
        0.12399,
        -0.99183,
        -0.02994
      ],
      [
        0.04661,
        0.03596,
        -0.99827
      ]
    ],
    "simulated_seconds_remaining": 14.85,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 11.213134187273681,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.46,
                    "z": 1.03
                  },
                  "note": "The fingers appear slightly below and in front of the knob. I will raise a little and advance three centimeters to place the knob between them."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.16738,
      -0.1494,
      0.32418,
      -1.79458,
      -0.00283,
      1.68371,
      0.36567
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.45925,
      0.24933,
      1.02896
    ],
    "tcp_roll_pitch_yaw": [
      0.0506,
      -0.0026,
      0.03922
    ],
    "tcp_rotation_matrix": [
      [
        0.99119,
        0.1223,
        0.05079
      ],
      [
        0.12391,
        -0.99184,
        -0.02987
      ],
      [
        0.04672,
        0.0359,
        -0.99826
      ]
    ],
    "simulated_seconds_remaining": 14.256,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 11.208516173064709,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.2,
                    "gripper": 0
                  },
                  "note": "The knob is just right of the finger center in the exterior view. I will shift five centimeters right and close around it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.13471,
      -0.21905,
      0.26569,
      -1.86962,
      0.01002,
      1.69345,
      0.2709
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.45927,
      0.20101,
      1.02898
    ],
    "tcp_roll_pitch_yaw": [
      0.05061,
      -0.00262,
      0.03909
    ],
    "tcp_rotation_matrix": [
      [
        0.99121,
        0.12218,
        0.05081
      ],
      [
        0.12379,
        -0.99186,
        -0.02987
      ],
      [
        0.04674,
        0.03589,
        -0.99826
      ]
    ],
    "simulated_seconds_remaining": 13.332,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 11.809720092453063,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.26,
                    "z": 0.99,
                    "gripper": 1
                  },
                  "note": "The closed fingers missed the knob; the wrist image reveals it to the left and slightly lower. I will reopen and realign at that position."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.17483,
      -0.14414,
      0.33625,
      -1.88606,
      -0.00349,
      1.77963,
      0.38567
    ],
    "gripper_open": 0.9965,
    "tcp_xyz": [
      0.45923,
      0.25884,
      0.99074
    ],
    "tcp_roll_pitch_yaw": [
      0.05056,
      -0.00249,
      0.03924
    ],
    "tcp_rotation_matrix": [
      [
        0.9912,
        0.12233,
        0.05068
      ],
      [
        0.12393,
        -0.99184,
        -0.02992
      ],
      [
        0.04661,
        0.03593,
        -0.99827
      ]
    ],
    "simulated_seconds_remaining": 12.408,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 15.814304710365832,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.5,
                    "y": 0.22,
                    "z": 1.015
                  },
                  "note": "I will center between the two previous alignments and move slightly toward the drawer face so the open fingers surround the knob."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.13853,
      -0.08132,
      0.296,
      -1.76255,
      -0.02124,
      1.71103,
      0.30594
    ],
    "gripper_open": 0.9875,
    "tcp_xyz": [
      0.49436,
      0.22572,
      1.01331
    ],
    "tcp_roll_pitch_yaw": [
      0.05098,
      0.00574,
      0.04622
    ],
    "tcp_rotation_matrix": [
      [
        0.99066,
        0.12954,
        0.04266
      ],
      [
        0.13085,
        -0.99096,
        -0.02952
      ],
      [
        0.03845,
        0.03482,
        -0.99865
      ]
    ],
    "simulated_seconds_remaining": 11.682,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 7.205797292292118,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The fingers now straddle the front-handle region. I will close to secure it before a short pull."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.13829,
      -0.08599,
      0.29559,
      -1.75999,
      -0.02198,
      1.70911,
      0.30696
    ],
    "gripper_open": 0.0115,
    "tcp_xyz": [
      0.49416,
      0.22521,
      1.01682
    ],
    "tcp_roll_pitch_yaw": [
      0.05105,
      0.0002,
      0.04463
    ],
    "tcp_rotation_matrix": [
      [
        0.99064,
        0.12777,
        0.04813
      ],
      [
        0.12926,
        -0.99118,
        -0.02927
      ],
      [
        0.04397,
        0.03522,
        -0.99841
      ]
    ],
    "simulated_seconds_remaining": 10.758,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 6.004683090373874,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.36
                  },
                  "note": "I will pull outward from the drawer face and check whether the drawer follows the grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 19,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.19734,
      -0.46397,
      0.30585,
      -2.11166,
      0.08771,
      1.69576,
      0.33577
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.3613,
      0.22527,
      1.0169
    ],
    "tcp_roll_pitch_yaw": [
      0.05104,
      4e-05,
      0.04478
    ],
    "tcp_rotation_matrix": [
      [
        0.99061,
        0.12792,
        0.0483
      ],
      [
        0.12942,
        -0.99116,
        -0.02927
      ],
      [
        0.04413,
        0.03525,
        -0.9984
      ]
    ],
    "simulated_seconds_remaining": 9.57,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 13.410065750591457,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48,
                    "y": 0.2,
                    "z": 0.985,
                    "gripper": 1
                  },
                  "note": "The drawer did not follow, and the knob is visible just above-left of the withdrawn hand. I will retry with the grasp point lower and slightly right."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 20,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.129,
      -0.17318,
      0.26613,
      -1.93097,
      -0.00064,
      1.79966,
      0.2623
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.47835,
      0.20084,
      0.9869
    ],
    "tcp_roll_pitch_yaw": [
      0.0514,
      -0.00233,
      0.04568
    ],
    "tcp_rotation_matrix": [
      [
        0.99039,
        0.12872,
        0.05067
      ],
      [
        0.13028,
        -0.99106,
        -0.02876
      ],
      [
        0.04652,
        0.03509,
        -0.9983
      ]
    ],
    "simulated_seconds_remaining": 8.448,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 4.803948584012687,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The hand is aligned over the knob at the revised lower height. I will close the fingers for another grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 21,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.1292,
      -0.17421,
      0.26634,
      -1.93175,
      -0.0005,
      1.79799,
      0.26244
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.47762,
      0.2008,
      0.98687
    ],
    "tcp_roll_pitch_yaw": [
      0.05076,
      -0.00102,
      0.04581
    ],
    "tcp_rotation_matrix": [
      [
        0.99043,
        0.12889,
        0.0494
      ],
      [
        0.13044,
        -0.99102,
        -0.02945
      ],
      [
        0.04516,
        0.03561,
        -0.99834
      ]
    ],
    "simulated_seconds_remaining": 7.524,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 21.414570464752614,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48,
                    "y": 0.14,
                    "z": 1.025,
                    "gripper": 1
                  },
                  "note": "The fingers fully closed without catching the knob. I will raise to the visible knob center and shift right to correct the remaining lateral offset."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 22,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.0876,
      -0.22395,
      0.19733,
      -1.89279,
      0.0035,
      1.70944,
      0.14639
    ],
    "gripper_open": 0.9841,
    "tcp_xyz": [
      0.47849,
      0.14357,
      1.02349
    ],
    "tcp_roll_pitch_yaw": [
      0.05176,
      0.0024,
      0.04973
    ],
    "tcp_rotation_matrix": [
      [
        0.99006,
        0.1329,
        0.04605
      ],
      [
        0.13429,
        -0.99053,
        -0.02842
      ],
      [
        0.04184,
        0.03433,
        -0.99853
      ]
    ],
    "simulated_seconds_remaining": 6.6,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 7.805187036283314,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.54,
                    "y": 0.18,
                    "z": 1
                  },
                  "note": "The knob remains left of the hand. I will advance toward the face and shift left while keeping the fingers open around knob height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 23,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.10056,
      -0.04946,
      0.22779,
      -1.70514,
      -0.04444,
      1.50612,
      0.21185
    ],
    "gripper_open": 0.9961,
    "tcp_xyz": [
      0.48108,
      0.15236,
      1.0099
    ],
    "tcp_roll_pitch_yaw": [
      -0.01589,
      0.17462,
      0.02136
    ],
    "tcp_rotation_matrix": [
      [
        0.98484,
        0.12098,
        -0.12431
      ],
      [
        0.10876,
        -0.98895,
        -0.10078
      ],
      [
        -0.13513,
        0.08574,
        -0.98711
      ]
    ],
    "simulated_seconds_remaining": 5.808,
    "calls_remaining_including_this": 35
  },
  "api_seconds": 9.807084809988737,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.47,
                    "y": 0.18,
                    "z": 1.04,
                    "pitch": 0,
                    "gripper": 0
                  },
                  "note": "Contact prevented the advance. I will retract slightly and close higher, where the exterior view places the knob between the fingertips."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 24,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.12785,
      -0.18391,
      0.26076,
      -1.80323,
      -0.06096,
      1.63282,
      0.28064
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.47009,
      0.17977,
      1.03975
    ],
    "tcp_roll_pitch_yaw": [
      -0.01589,
      0.00173,
      0.02149
    ],
    "tcp_rotation_matrix": [
      [
        0.99336,
        0.10487,
        0.04736
      ],
      [
        0.10907,
        -0.98928,
        -0.09711
      ],
      [
        0.03667,
        0.10163,
        -0.99415
      ]
    ],
    "simulated_seconds_remaining": 4.884,
    "calls_remaining_including_this": 34
  },
  "api_seconds": 14.20945811830461,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.45,
                    "y": 0.24,
                    "z": 1.015,
                    "gripper": 1
                  },
                  "note": "The grasp is still empty. I will make one final small alignment toward the visible knob, left and down from the current fingertips."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 25,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.17574,
      -0.16515,
      0.33217,
      -1.83913,
      -0.05479,
      1.67726,
      0.40186
    ],
    "gripper_open": 0.9965,
    "tcp_xyz": [
      0.45039,
      0.23877,
      1.01551
    ],
    "tcp_roll_pitch_yaw": [
      -0.01592,
      0.00179,
      0.02168
    ],
    "tcp_rotation_matrix": [
      [
        0.99334,
        0.10506,
        0.04732
      ],
      [
        0.10926,
        -0.98926,
        -0.09713
      ],
      [
        0.03661,
        0.10165,
        -0.99415
      ]
    ],
    "simulated_seconds_remaining": 3.96,
    "calls_remaining_including_this": 33
  },
  "api_seconds": 5.804394146427512,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The knob appears centered beneath the hand at this alignment. I will close before testing the final pull."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 26,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.17574,
      -0.16515,
      0.33217,
      -1.83913,
      -0.05479,
      1.67726,
      0.40186
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.45039,
      0.23878,
      1.01551
    ],
    "tcp_roll_pitch_yaw": [
      -0.01592,
      0.00179,
      0.02167
    ],
    "tcp_rotation_matrix": [
      [
        0.99334,
        0.10506,
        0.04732
      ],
      [
        0.10926,
        -0.98926,
        -0.09713
      ],
      [
        0.03661,
        0.10165,
        -0.99415
      ]
    ],
    "simulated_seconds_remaining": 3.036,
    "calls_remaining_including_this": 32
  },
  "api_seconds": 4.6037963181734085,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.28
                  },
                  "note": "I will pull outward and inspect whether this final grasp opens the drawer."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 22,
    "motion_seconds": 1.452,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 27,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.2828,
      -0.61671,
      0.35665,
      -2.20785,
      0.09586,
      1.60796,
      0.46448
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.28128,
      0.23884,
      1.01557
    ],
    "tcp_roll_pitch_yaw": [
      -0.01592,
      0.00162,
      0.02183
    ],
    "tcp_rotation_matrix": [
      [
        0.99332,
        0.1052,
        0.04751
      ],
      [
        0.10942,
        -0.98924,
        -0.09712
      ],
      [
        0.03678,
        0.10167,
        -0.99414
      ]
    ],
    "simulated_seconds_remaining": 1.584,
    "calls_remaining_including_this": 31
  },
  "api_seconds": 4.4039335595443845,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "give_up",
                "args": {
                  "note": "I could not secure the table drawer knob. The drawer remained closed after the grasp attempts, and the remaining motion time is insufficient to retry."
                }
              }
            }
          ]
        }
      }
    ]
  }
}

========================================================================
GPT-Astra / Open / Episode 018

Completed scored attempt. Images are available in the paired videos.

Opaque provider signatures, image payloads, and local paths are omitted.


RESULT
{
  "benchmark_index": 18,
  "source_episode_index": 459,
  "house_index": 222,
  "status": "completed",
  "success": true,
  "oracle_success": true,
  "action_decisions": 23,
  "wall_seconds": 317.3,
  "usage": {
    "input_tokens": 476337,
    "cached_input_tokens": 436352,
    "cache_write_input_tokens": 0,
    "output_tokens": 5512,
    "reasoning_output_tokens": 2766
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task.
You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose.
Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion.
move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up.
roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial.
Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5).
The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y.
The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics.
Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration.
Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target.
You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time.
Each move must include a short note describing what you observe and why you chose that motion.
Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done.
Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available.



AGENT TRANSCRIPT (visible messages and completed tool calls)

I’ll inspect the scene and guide the gripper to open the object.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"open the table.\", \"joint_positions\": [0.00812, -0.76442, -0.02124, -2.26309, 0.00021, 1.6792, 0.08052], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.3515, -0.00474, 1.06614], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.97996, -0.0863, 0.17954], [-0.09014, -0.99584, 0.01337], [0.17764, -0.02929, -0.98366]], \"simulated_seconds_remaining\": 30.03, \"calls_remaining_including_this\": 57}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "x": 0.52,
    "y": 0,
    "z": 0.88,
    "gripper": 1,
    "note": "The small wooden table has a drawer facing the robot. I lower the open gripper toward its front to locate the handle more clearly."
  },
  "result": null,
  "error": {
    "message": "tool call error: tool call failed for `robot/move_to`\n\nCaused by:\n    Mcp error: -32602: Unexpected argument"
  },
  "status": "failed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.52,
      "y": 0,
      "z": 0.88,
      "gripper": 1
    },
    "note": "The wooden table has a drawer facing the robot. I lower the open gripper toward its front to locate the handle more clearly."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"open the table.\", \"joint_positions\": [0.02023, -0.69854, -0.02136, -2.29203, 0.01652, 1.87346, 0.07341], \"gripper_open\": 1.0, \"tcp_xyz\": [0.40271, 0.00332, 1.05435], \"tcp_roll_pitch_yaw\": [0.01281, -0.0997, 0.01472], \"tcp_rotation_matrix\": [[0.95878, -0.06702, 0.27612], [-0.0783, -0.99648, 0.03004], [0.27313, -0.05043, -0.96065]], \"simulated_seconds_remaining\": 28.05, \"calls_remaining_including_this\": 56}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 30, \"motion_seconds\": 1.98, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"open the table.\", \"joint_positions\": [0.02023, -0.69854, -0.02136, -2.29203, 0.01652, 1.87346, 0.07341], \"gripper_open\": 1.0, \"tcp_xyz\": [0.40271, 0.00332, 1.05435], \"tcp_roll_pitch_yaw\": [0.01281, -0.0997, 0.01472], \"tcp_rotation_matrix\": [[0.95878, -0.06702, 0.27612], [-0.0783, -0.99648, 0.03004], [0.27313, -0.05043, -0.96065]], \"simulated_seconds_remaining\": 28.05, \"calls_remaining_including_this\": 56}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.48,
      "y": 0,
      "z": 0.96,
      "pitch": -1.3
    },
    "note": "The handle is on the table's vertical front face. I turn the fingers forward and approach above the drawer."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"open the table.\", \"joint_positions\": [0.02023, -0.69854, -0.02136, -2.29203, 0.01652, 1.87346, 0.07341], \"gripper_open\": 1.0, \"tcp_xyz\": [0.40271, 0.00332, 1.05435], \"tcp_roll_pitch_yaw\": [0.01281, -0.0997, 0.01472], \"tcp_rotation_matrix\": [[0.95878, -0.06702, 0.27612], [-0.0783, -0.99648, 0.03004], [0.27313, -0.05043, -0.96065]], \"simulated_seconds_remaining\": 28.05, \"calls_remaining_including_this\": 55}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.42,
      "y": 0,
      "z": 0.91,
      "pitch": -0.65
    },
    "note": "The full forward rotation was unreachable. I lower slightly and use a smaller turn to establish a reachable approach."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"open the table.\", \"joint_positions\": [0.02023, -0.69854, -0.02136, -2.29203, 0.01652, 1.87346, 0.07341], \"gripper_open\": 1.0, \"tcp_xyz\": [0.40271, 0.00332, 1.05435], \"tcp_roll_pitch_yaw\": [0.01281, -0.0997, 0.01472], \"tcp_rotation_matrix\": [[0.95878, -0.06702, 0.27612], [-0.0783, -0.99648, 0.03004], [0.27313, -0.05043, -0.96065]], \"simulated_seconds_remaining\": 28.05, \"calls_remaining_including_this\": 54}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.3,
      "z": 0.95,
      "pitch": -0.3
    },
    "note": "I pull back from the tabletop edge and lower the wrist to make room for a side approach to the drawer."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"open the table.\", \"joint_positions\": [0.00941, -1.31391, -0.02054, -2.91812, 0.01513, 2.08286, 0.06665], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.30066, 0.00332, 0.95075], \"tcp_roll_pitch_yaw\": [0.0128, -0.29852, 0.01473], \"tcp_rotation_matrix\": [[0.88598, -0.05545, 0.46039], [-0.07937, -0.99631, 0.03275], [0.45688, -0.06556, -0.88711]], \"simulated_seconds_remaining\": 26.796, \"calls_remaining_including_this\": 53}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 19, \"motion_seconds\": 1.254, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.3,
      "z": 0.92,
      "pitch": -0.9
    },
    "note": "The open fingers are just outside the drawer. I rotate them toward its face while maintaining clearance."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"open the table.\", \"joint_positions\": [0.00941, -1.31391, -0.02054, -2.91812, 0.01513, 2.08286, 0.06665], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.30066, 0.00332, 0.95075], \"tcp_roll_pitch_yaw\": [0.0128, -0.29852, 0.01473], \"tcp_rotation_matrix\": [[0.88598, -0.05545, 0.46039], [-0.07937, -0.99631, 0.03275], [0.45688, -0.06556, -0.88711]], \"simulated_seconds_remaining\": 26.796, \"calls_remaining_including_this\": 52}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.4,
      "z": 0.88
    },
    "note": "The knob lies left of the fingertips in the exterior view. I advance and lower the grasp point toward knob height."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"open the table.\", \"joint_positions\": [0.0237, -0.82215, -0.03125, -2.90352, 0.02049, 2.55949, 0.05368], \"gripper_open\": 1.0, \"tcp_xyz\": [0.39865, 0.00315, 0.88069], \"tcp_roll_pitch_yaw\": [0.01261, -0.29795, 0.01505], \"tcp_rotation_matrix\": [[0.88626, -0.05523, 0.45988], [-0.07905, -0.99633, 0.0327], [0.45638, -0.06534, -0.88738]], \"simulated_seconds_remaining\": 25.674, \"calls_remaining_including_this\": 51}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 17, \"motion_seconds\": 1.122, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.46,
      "z": 0.93,
      "pitch": 0
    },
    "note": "The handle appears slightly above and ahead of the grasp point. I bring the downward-facing fingers around it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"open the table.\", \"joint_positions\": [0.02535, -0.50004, -0.03196, -2.38367, 0.01763, 1.556, 0.07297], \"gripper_open\": 0.9965, \"tcp_xyz\": [0.31069, 0.00379, 0.91383], \"tcp_roll_pitch_yaw\": [0.02857, 0.50749, 0.02638], \"tcp_rotation_matrix\": [[0.94368, -0.0772, -0.32174], [-0.07031, -0.99698, 0.033], [-0.32331, -0.00852, -0.94625]], \"simulated_seconds_remaining\": 24.882, \"calls_remaining_including_this\": 50}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 12, \"motion_seconds\": 0.792, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.32,
      "y": 0.12,
      "z": 0.98,
      "pitch": 0
    },
    "note": "Contact deflected the wrist at the table edge. I shift sideways and lift to align the fingers with the visible knob."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"open the table.\", \"joint_positions\": [0.12412, -0.86684, 0.17426, -2.53395, 0.13944, 1.85589, 0.28774], \"gripper_open\": 0.9965, \"tcp_xyz\": [0.31994, 0.1193, 0.97961], \"tcp_roll_pitch_yaw\": [0.0284, 0.00317, 0.02656], \"tcp_rotation_matrix\": [[0.98269, -0.06003, 0.17526], [-0.06908, -0.99655, 0.04597], [0.1719, -0.05729, -0.98345]], \"simulated_seconds_remaining\": 23.694, \"calls_remaining_including_this\": 49}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 18, \"motion_seconds\": 1.1880000000000002, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.36,
      "y": 0.12,
      "z": 1
    },
    "note": "The fingers are beside the knob. I make a short forward and upward correction to center it between the jaws."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"open the table.\", \"joint_positions\": [0.10122, -0.73307, 0.16854, -2.40982, 0.1211, 1.86245, 0.27522], \"gripper_open\": 0.996, \"tcp_xyz\": [0.3581, 0.12079, 0.99856], \"tcp_roll_pitch_yaw\": [0.02736, 0.0057, 0.02909], \"tcp_rotation_matrix\": [[0.98329, -0.05765, 0.17269], [-0.06639, -0.99676, 0.04532], [0.16952, -0.05603, -0.98393]], \"simulated_seconds_remaining\": 23.1, \"calls_remaining_including_this\": 48}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 9, \"motion_seconds\": 0.5940000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "y": 0.16,
      "z": 0.965
    },
    "note": "The knob is just below and to the left of the jaw center. I lower and shift left to straddle it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 11, \"instruction\": \"open the table.\", \"joint_positions\": [0.12368, -0.76858, 0.23296, -2.4514, 0.15075, 1.92648, 0.33998], \"gripper_open\": 1.0, \"tcp_xyz\": [0.35116, 0.15377, 0.99445], \"tcp_roll_pitch_yaw\": [0.03251, -0.04678, 0.02609], \"tcp_rotation_matrix\": [[0.97289, -0.05735, 0.22404], [-0.07052, -0.9962, 0.0512], [0.22025, -0.06562, -0.97323]], \"simulated_seconds_remaining\": 22.44, \"calls_remaining_including_this\": 47}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 10, \"motion_seconds\": 0.66, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

The tabletop is blocking the downward approach. I’m repositioning the wrist to reach the knob from the front.


{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.25,
      "y": 0.14,
      "z": 0.94,
      "roll": 1.5,
      "pitch": 0,
      "yaw": 0
    },
    "note": "The tabletop stops the downward fingers. I retract and rotate the wrist sideways to prepare a frontal grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 12, \"instruction\": \"open the table.\", \"joint_positions\": [0.12368, -0.76858, 0.23296, -2.4514, 0.15075, 1.92648, 0.33998], \"gripper_open\": 1.0, \"tcp_xyz\": [0.35116, 0.15377, 0.99445], \"tcp_roll_pitch_yaw\": [0.03251, -0.04678, 0.02609], \"tcp_rotation_matrix\": [[0.97289, -0.05735, 0.22404], [-0.07052, -0.9962, 0.0512], [0.22025, -0.06562, -0.97323]], \"simulated_seconds_remaining\": 22.44, \"calls_remaining_including_this\": 46}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.3,
      "y": 0.12,
      "z": 0.9,
      "pitch": -0.65,
      "yaw": 1.57,
      "roll": 0
    },
    "note": "I try a frontward wrist angle with the jaws turned vertically, keeping the grasp point outside the drawer."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 13, \"instruction\": \"open the table.\", \"joint_positions\": [0.67164, -1.19714, -0.78326, -2.78029, 0.21721, 2.08213, -1.38632], \"gripper_open\": 1.0, \"tcp_xyz\": [0.31438, 0.10718, 0.97173], \"tcp_roll_pitch_yaw\": [-0.1752, -0.7788, 1.63263], \"tcp_rotation_matrix\": [[0.02287, 0.99389, 0.10795], [0.56609, -0.10187, 0.81803], [0.82403, 0.0424, -0.56496]], \"simulated_seconds_remaining\": 19.998, \"calls_remaining_including_this\": 45}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 37, \"motion_seconds\": 2.442, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.28,
      "y": 0.05,
      "z": 0.94,
      "roll": 0,
      "pitch": -1.35,
      "yaw": 0
    },
    "note": "The drawer face is now clearly beside the wrist. I retract and align the fingers horizontally toward its knob."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 14, \"instruction\": \"open the table.\", \"joint_positions\": [0.67164, -1.19714, -0.78326, -2.78029, 0.21721, 2.08213, -1.38632], \"gripper_open\": 1.0, \"tcp_xyz\": [0.31438, 0.10718, 0.97173], \"tcp_roll_pitch_yaw\": [-0.1752, -0.7788, 1.63263], \"tcp_rotation_matrix\": [[0.02287, 0.99389, 0.10795], [0.56609, -0.10187, 0.81803], [0.82403, 0.0424, -0.56496]], \"simulated_seconds_remaining\": 19.998, \"calls_remaining_including_this\": 44}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.32,
      "y": 0.04,
      "z": 0.91,
      "roll": 0,
      "pitch": -1.35,
      "yaw": 1.57
    },
    "note": "I straighten the current side approach and lower to the knob's height while staying in front of the table."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 15, \"instruction\": \"open the table.\", \"joint_positions\": [0.8136, -1.25688, -1.46648, -2.68033, 0.32012, 1.6303, -1.81555], \"gripper_open\": 0.996, \"tcp_xyz\": [0.25218, 0.05396, 0.94566], \"tcp_roll_pitch_yaw\": [-0.71131, -1.42761, 2.52014], \"tcp_rotation_matrix\": [[0.01418, 0.96564, -0.25949], [-0.0688, 0.25984, 0.9632], [0.99753, 0.00419, 0.07012]], \"simulated_seconds_remaining\": 18.942, \"calls_remaining_including_this\": 43}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 16, \"motion_seconds\": 1.056, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.34,
      "y": 0.055,
      "z": 0.94
    },
    "note": "The wrist view shows the black knob left of the fingers. I slide along the drawer face to bring it toward the jaw center."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 16, \"instruction\": \"open the table.\", \"joint_positions\": [1.10379, -1.24365, -1.5418, -2.44613, 0.31775, 1.59661, -2.08155], \"gripper_open\": 0.9784, \"tcp_xyz\": [0.31249, 0.04059, 0.94662], \"tcp_roll_pitch_yaw\": [-1.3252, -1.19378, -3.10619], \"tcp_rotation_matrix\": [[-0.23384, 0.91311, -0.33399], [-0.15877, 0.30304, 0.93966], [0.95922, 0.27276, 0.07411]], \"simulated_seconds_remaining\": 18.084, \"calls_remaining_including_this\": 42}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 13, \"motion_seconds\": 0.8580000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.31,
      "y": -0.09,
      "z": 0.94,
      "roll": 0,
      "pitch": -1.35,
      "yaw": 1.57
    },
    "note": "The wrist is brushing the drawer face. I back away along the approach direction and restore the horizontal alignment."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 17, \"instruction\": \"open the table.\", \"joint_positions\": [0.77663, -1.07977, -1.52608, -2.35984, 0.32777, 1.50987, -1.79642], \"gripper_open\": 0.9769, \"tcp_xyz\": [0.30867, -0.08755, 0.93976], \"tcp_roll_pitch_yaw\": [-0.00566, -1.35167, 1.58387], \"tcp_rotation_matrix\": [[0.08862, 0.99585, -0.02087], [0.0403, 0.01735, 0.99904], [0.99525, -0.08937, -0.03859]], \"simulated_seconds_remaining\": 16.896, \"calls_remaining_including_this\": 41}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 18, \"motion_seconds\": 1.1880000000000002, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.28,
      "y": 0.06,
      "z": 0.94
    },
    "note": "The knob is visible just left of the jaw opening. I correct sideways and advance toward it with the gripper horizontal."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 18, \"instruction\": \"open the table.\", \"joint_positions\": [0.6091, -1.10982, -1.2922, -2.78123, 0.46105, 1.79528, -1.81806], \"gripper_open\": 0.9998, \"tcp_xyz\": [0.28097, 0.05733, 0.94042], \"tcp_roll_pitch_yaw\": [-0.01086, -1.35224, 1.58539], \"tcp_rotation_matrix\": [[0.08765, 0.996, -0.01727], [0.0394, 0.01386, 0.99913], [0.99537, -0.08825, -0.03803]], \"simulated_seconds_remaining\": 15.576, \"calls_remaining_including_this\": 40}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 20, \"motion_seconds\": 1.32, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.245,
      "y": 0.12,
      "z": 0.94
    },
    "note": "The knob is beside the inner edge of the left finger. I shift the opening onto it and advance a short distance."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 19, \"instruction\": \"open the table.\", \"joint_positions\": [0.48646, -1.19467, -1.16071, -2.98534, 0.52462, 1.88857, -1.79747], \"gripper_open\": 1.0, \"tcp_xyz\": [0.24638, 0.11782, 0.94039], \"tcp_roll_pitch_yaw\": [-0.01499, -1.35262, 1.58642], \"tcp_rotation_matrix\": [[0.08688, 0.99612, -0.01424], [0.03875, 0.0109, 0.99919], [0.99547, -0.08736, -0.03765]], \"simulated_seconds_remaining\": 14.784, \"calls_remaining_including_this\": 39}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 12, \"motion_seconds\": 0.792, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.25,
      "y": 0.1,
      "z": 0.94,
      "roll": 1.57,
      "pitch": 0,
      "yaw": -1.57
    },
    "note": "The drawer face is edge-on in the wrist view, so the approach is along its side. I turn toward the face with the jaws opening vertically."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 20, \"instruction\": \"open the table.\", \"joint_positions\": [0.48646, -1.19467, -1.16071, -2.98534, 0.52462, 1.88857, -1.79747], \"gripper_open\": 1.0, \"tcp_xyz\": [0.24638, 0.11782, 0.94039], \"tcp_roll_pitch_yaw\": [-0.01499, -1.35262, 1.58642], \"tcp_rotation_matrix\": [[0.08688, 0.99612, -0.01424], [0.03875, 0.0109, 0.99919], [0.99547, -0.08736, -0.03765]], \"simulated_seconds_remaining\": 14.784, \"calls_remaining_including_this\": 38}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.25,
      "y": 0.1,
      "z": 0.94,
      "roll": -1.57,
      "pitch": 0,
      "yaw": 1.57
    },
    "note": "I use the opposite wrist roll to reach the same front-facing grasp without exceeding joint limits."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 21, \"instruction\": \"open the table.\", \"joint_positions\": [0.48646, -1.19467, -1.16071, -2.98534, 0.52462, 1.88857, -1.79747], \"gripper_open\": 1.0, \"tcp_xyz\": [0.24638, 0.11782, 0.94039], \"tcp_roll_pitch_yaw\": [-0.01499, -1.35262, 1.58642], \"tcp_rotation_matrix\": [[0.08688, 0.99612, -0.01424], [0.03875, 0.0109, 0.99919], [0.99547, -0.08736, -0.03765]], \"simulated_seconds_remaining\": 14.784, \"calls_remaining_including_this\": 37}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.34,
      "y": 0.16,
      "z": 0.88,
      "roll": 0,
      "pitch": -0.9,
      "yaw": 0.7
    },
    "note": "The knob sits below the current grasp line. I lower the wrist and take a diagonal approach toward the drawer front."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 22, \"instruction\": \"open the table.\", \"joint_positions\": [0.48646, -1.19467, -1.16071, -2.98534, 0.52462, 1.88857, -1.79747], \"gripper_open\": 1.0, \"tcp_xyz\": [0.24638, 0.11782, 0.94039], \"tcp_roll_pitch_yaw\": [-0.01499, -1.35262, 1.58642], \"tcp_rotation_matrix\": [[0.08688, 0.99612, -0.01424], [0.03875, 0.0109, 0.99919], [0.99547, -0.08736, -0.03765]], \"simulated_seconds_remaining\": 14.784, \"calls_remaining_including_this\": 36}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.3,
      "y": 0.25,
      "z": 1.04,
      "roll": 0,
      "pitch": 0,
      "yaw": 0
    },
    "note": "The side orientations are constrained by the arm. I reposition above the protruding knob for a downward pinch."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 23, \"instruction\": \"open the table.\", \"joint_positions\": [0.48646, -1.19467, -1.16071, -2.98534, 0.52462, 1.88857, -1.79747], \"gripper_open\": 1.0, \"tcp_xyz\": [0.24638, 0.11782, 0.94039], \"tcp_roll_pitch_yaw\": [-0.01499, -1.35262, 1.58642], \"tcp_rotation_matrix\": [[0.08688, 0.99612, -0.01424], [0.03875, 0.0109, 0.99919], [0.99547, -0.08736, -0.03765]], \"simulated_seconds_remaining\": 14.784, \"calls_remaining_including_this\": 35}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.3,
      "y": 0.12,
      "z": 1.02,
      "roll": 0,
      "pitch": -0.5,
      "yaw": 1.57
    },
    "note": "I raise the grasp point and unwind the wrist in a smaller step to avoid an unreachable joint transition."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "Episode ended. Do not call more tools. Return a brief final response."
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

I wasn’t able to secure the handle and open the table before the episode ended.

TURN USAGE
{
  "input_tokens": 476337,
  "cached_input_tokens": 436352,
  "cache_write_input_tokens": 0,
  "output_tokens": 5512,
  "reasoning_output_tokens": 2766
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.00812,
      -0.76442,
      -0.02124,
      -2.26309,
      0.00021,
      1.6792,
      0.08052
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.3515,
      -0.00474,
      1.06614
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.97996,
        -0.0863,
        0.17954
      ],
      [
        -0.09014,
        -0.99584,
        0.01337
      ],
      [
        0.17764,
        -0.02929,
        -0.98366
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 34.22573467064649,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.52,
                    "y": 0,
                    "z": 0.88,
                    "gripper": 1
                  },
                  "note": "The wooden table has a drawer facing the robot. I lower the open gripper toward its front to locate the handle more clearly."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 30,
    "motion_seconds": 1.98,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.02023,
      -0.69854,
      -0.02136,
      -2.29203,
      0.01652,
      1.87346,
      0.07341
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.40271,
      0.00332,
      1.05435
    ],
    "tcp_roll_pitch_yaw": [
      0.01281,
      -0.0997,
      0.01472
    ],
    "tcp_rotation_matrix": [
      [
        0.95878,
        -0.06702,
        0.27612
      ],
      [
        -0.0783,
        -0.99648,
        0.03004
      ],
      [
        0.27313,
        -0.05043,
        -0.96065
      ]
    ],
    "simulated_seconds_remaining": 28.05,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 8.20818446855992,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48,
                    "y": 0,
                    "z": 0.96,
                    "pitch": -1.3
                  },
                  "note": "The handle is on the table's vertical front face. I turn the fingers forward and approach above the drawer."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 3,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.02023,
      -0.69854,
      -0.02136,
      -2.29203,
      0.01652,
      1.87346,
      0.07341
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.40271,
      0.00332,
      1.05435
    ],
    "tcp_roll_pitch_yaw": [
      0.01281,
      -0.0997,
      0.01472
    ],
    "tcp_rotation_matrix": [
      [
        0.95878,
        -0.06702,
        0.27612
      ],
      [
        -0.0783,
        -0.99648,
        0.03004
      ],
      [
        0.27313,
        -0.05043,
        -0.96065
      ]
    ],
    "simulated_seconds_remaining": 28.05,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 6.005935203284025,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.42,
                    "y": 0,
                    "z": 0.91,
                    "pitch": -0.65
                  },
                  "note": "The full forward rotation was unreachable. I lower slightly and use a smaller turn to establish a reachable approach."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 4,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.02023,
      -0.69854,
      -0.02136,
      -2.29203,
      0.01652,
      1.87346,
      0.07341
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.40271,
      0.00332,
      1.05435
    ],
    "tcp_roll_pitch_yaw": [
      0.01281,
      -0.0997,
      0.01472
    ],
    "tcp_rotation_matrix": [
      [
        0.95878,
        -0.06702,
        0.27612
      ],
      [
        -0.0783,
        -0.99648,
        0.03004
      ],
      [
        0.27313,
        -0.05043,
        -0.96065
      ]
    ],
    "simulated_seconds_remaining": 28.05,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 10.610106918029487,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.3,
                    "z": 0.95,
                    "pitch": -0.3
                  },
                  "note": "I pull back from the tabletop edge and lower the wrist to make room for a side approach to the drawer."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.00941,
      -1.31391,
      -0.02054,
      -2.91812,
      0.01513,
      2.08286,
      0.06665
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.30066,
      0.00332,
      0.95075
    ],
    "tcp_roll_pitch_yaw": [
      0.0128,
      -0.29852,
      0.01473
    ],
    "tcp_rotation_matrix": [
      [
        0.88598,
        -0.05545,
        0.46039
      ],
      [
        -0.07937,
        -0.99631,
        0.03275
      ],
      [
        0.45688,
        -0.06556,
        -0.88711
      ]
    ],
    "simulated_seconds_remaining": 26.796,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 6.005329989828169,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.3,
                    "z": 0.92,
                    "pitch": -0.9
                  },
                  "note": "The open fingers are just outside the drawer. I rotate them toward its face while maintaining clearance."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 6,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.00941,
      -1.31391,
      -0.02054,
      -2.91812,
      0.01513,
      2.08286,
      0.06665
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.30066,
      0.00332,
      0.95075
    ],
    "tcp_roll_pitch_yaw": [
      0.0128,
      -0.29852,
      0.01473
    ],
    "tcp_rotation_matrix": [
      [
        0.88598,
        -0.05545,
        0.46039
      ],
      [
        -0.07937,
        -0.99631,
        0.03275
      ],
      [
        0.45688,
        -0.06556,
        -0.88711
      ]
    ],
    "simulated_seconds_remaining": 26.796,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 5.604897587560117,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "z": 0.88
                  },
                  "note": "The knob lies left of the fingertips in the exterior view. I advance and lower the grasp point toward knob height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.0237,
      -0.82215,
      -0.03125,
      -2.90352,
      0.02049,
      2.55949,
      0.05368
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.39865,
      0.00315,
      0.88069
    ],
    "tcp_roll_pitch_yaw": [
      0.01261,
      -0.29795,
      0.01505
    ],
    "tcp_rotation_matrix": [
      [
        0.88626,
        -0.05523,
        0.45988
      ],
      [
        -0.07905,
        -0.99633,
        0.0327
      ],
      [
        0.45638,
        -0.06534,
        -0.88738
      ]
    ],
    "simulated_seconds_remaining": 25.674,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 10.408302836120129,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.46,
                    "z": 0.93,
                    "pitch": 0
                  },
                  "note": "The handle appears slightly above and ahead of the grasp point. I bring the downward-facing fingers around it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.02535,
      -0.50004,
      -0.03196,
      -2.38367,
      0.01763,
      1.556,
      0.07297
    ],
    "gripper_open": 0.9965,
    "tcp_xyz": [
      0.31069,
      0.00379,
      0.91383
    ],
    "tcp_roll_pitch_yaw": [
      0.02857,
      0.50749,
      0.02638
    ],
    "tcp_rotation_matrix": [
      [
        0.94368,
        -0.0772,
        -0.32174
      ],
      [
        -0.07031,
        -0.99698,
        0.033
      ],
      [
        -0.32331,
        -0.00852,
        -0.94625
      ]
    ],
    "simulated_seconds_remaining": 24.882,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 9.409734477289021,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.32,
                    "y": 0.12,
                    "z": 0.98,
                    "pitch": 0
                  },
                  "note": "Contact deflected the wrist at the table edge. I shift sideways and lift to align the fingers with the visible knob."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.12412,
      -0.86684,
      0.17426,
      -2.53395,
      0.13944,
      1.85589,
      0.28774
    ],
    "gripper_open": 0.9965,
    "tcp_xyz": [
      0.31994,
      0.1193,
      0.97961
    ],
    "tcp_roll_pitch_yaw": [
      0.0284,
      0.00317,
      0.02656
    ],
    "tcp_rotation_matrix": [
      [
        0.98269,
        -0.06003,
        0.17526
      ],
      [
        -0.06908,
        -0.99655,
        0.04597
      ],
      [
        0.1719,
        -0.05729,
        -0.98345
      ]
    ],
    "simulated_seconds_remaining": 23.694,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 13.211363936774433,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.36,
                    "y": 0.12,
                    "z": 1
                  },
                  "note": "The fingers are beside the knob. I make a short forward and upward correction to center it between the jaws."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.10122,
      -0.73307,
      0.16854,
      -2.40982,
      0.1211,
      1.86245,
      0.27522
    ],
    "gripper_open": 0.996,
    "tcp_xyz": [
      0.3581,
      0.12079,
      0.99856
    ],
    "tcp_roll_pitch_yaw": [
      0.02736,
      0.0057,
      0.02909
    ],
    "tcp_rotation_matrix": [
      [
        0.98329,
        -0.05765,
        0.17269
      ],
      [
        -0.06639,
        -0.99676,
        0.04532
      ],
      [
        0.16952,
        -0.05603,
        -0.98393
      ]
    ],
    "simulated_seconds_remaining": 23.1,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 6.605228518135846,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.16,
                    "z": 0.965
                  },
                  "note": "The knob is just below and to the left of the jaw center. I lower and shift left to straddle it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.12368,
      -0.76858,
      0.23296,
      -2.4514,
      0.15075,
      1.92648,
      0.33998
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.35116,
      0.15377,
      0.99445
    ],
    "tcp_roll_pitch_yaw": [
      0.03251,
      -0.04678,
      0.02609
    ],
    "tcp_rotation_matrix": [
      [
        0.97289,
        -0.05735,
        0.22404
      ],
      [
        -0.07052,
        -0.9962,
        0.0512
      ],
      [
        0.22025,
        -0.06562,
        -0.97323
      ]
    ],
    "simulated_seconds_remaining": 22.44,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 24.223451108671725,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.25,
                    "y": 0.14,
                    "z": 0.94,
                    "roll": 1.5,
                    "pitch": 0,
                    "yaw": 0
                  },
                  "note": "The tabletop stops the downward fingers. I retract and rotate the wrist sideways to prepare a frontal grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 12,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.12368,
      -0.76858,
      0.23296,
      -2.4514,
      0.15075,
      1.92648,
      0.33998
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.35116,
      0.15377,
      0.99445
    ],
    "tcp_roll_pitch_yaw": [
      0.03251,
      -0.04678,
      0.02609
    ],
    "tcp_rotation_matrix": [
      [
        0.97289,
        -0.05735,
        0.22404
      ],
      [
        -0.07052,
        -0.9962,
        0.0512
      ],
      [
        0.22025,
        -0.06562,
        -0.97323
      ]
    ],
    "simulated_seconds_remaining": 22.44,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 6.605531346984208,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.3,
                    "y": 0.12,
                    "z": 0.9,
                    "pitch": -0.65,
                    "yaw": 1.57,
                    "roll": 0
                  },
                  "note": "I try a frontward wrist angle with the jaws turned vertically, keeping the grasp point outside the drawer."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 37,
    "motion_seconds": 2.442,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.67164,
      -1.19714,
      -0.78326,
      -2.78029,
      0.21721,
      2.08213,
      -1.38632
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.31438,
      0.10718,
      0.97173
    ],
    "tcp_roll_pitch_yaw": [
      -0.1752,
      -0.7788,
      1.63263
    ],
    "tcp_rotation_matrix": [
      [
        0.02287,
        0.99389,
        0.10795
      ],
      [
        0.56609,
        -0.10187,
        0.81803
      ],
      [
        0.82403,
        0.0424,
        -0.56496
      ]
    ],
    "simulated_seconds_remaining": 19.998,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 9.409633057191968,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.28,
                    "y": 0.05,
                    "z": 0.94,
                    "roll": 0,
                    "pitch": -1.35,
                    "yaw": 0
                  },
                  "note": "The drawer face is now clearly beside the wrist. I retract and align the fingers horizontally toward its knob."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 14,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.67164,
      -1.19714,
      -0.78326,
      -2.78029,
      0.21721,
      2.08213,
      -1.38632
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.31438,
      0.10718,
      0.97173
    ],
    "tcp_roll_pitch_yaw": [
      -0.1752,
      -0.7788,
      1.63263
    ],
    "tcp_rotation_matrix": [
      [
        0.02287,
        0.99389,
        0.10795
      ],
      [
        0.56609,
        -0.10187,
        0.81803
      ],
      [
        0.82403,
        0.0424,
        -0.56496
      ]
    ],
    "simulated_seconds_remaining": 19.998,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 27.624632691964507,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.32,
                    "y": 0.04,
                    "z": 0.91,
                    "roll": 0,
                    "pitch": -1.35,
                    "yaw": 1.57
                  },
                  "note": "I straighten the current side approach and lower to the knob's height while staying in front of the table."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.8136,
      -1.25688,
      -1.46648,
      -2.68033,
      0.32012,
      1.6303,
      -1.81555
    ],
    "gripper_open": 0.996,
    "tcp_xyz": [
      0.25218,
      0.05396,
      0.94566
    ],
    "tcp_roll_pitch_yaw": [
      -0.71131,
      -1.42761,
      2.52014
    ],
    "tcp_rotation_matrix": [
      [
        0.01418,
        0.96564,
        -0.25949
      ],
      [
        -0.0688,
        0.25984,
        0.9632
      ],
      [
        0.99753,
        0.00419,
        0.07012
      ]
    ],
    "simulated_seconds_remaining": 18.942,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 12.210373842157423,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.34,
                    "y": 0.055,
                    "z": 0.94
                  },
                  "note": "The wrist view shows the black knob left of the fingers. I slide along the drawer face to bring it toward the jaw center."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      1.10379,
      -1.24365,
      -1.5418,
      -2.44613,
      0.31775,
      1.59661,
      -2.08155
    ],
    "gripper_open": 0.9784,
    "tcp_xyz": [
      0.31249,
      0.04059,
      0.94662
    ],
    "tcp_roll_pitch_yaw": [
      -1.3252,
      -1.19378,
      -3.10619
    ],
    "tcp_rotation_matrix": [
      [
        -0.23384,
        0.91311,
        -0.33399
      ],
      [
        -0.15877,
        0.30304,
        0.93966
      ],
      [
        0.95922,
        0.27276,
        0.07411
      ]
    ],
    "simulated_seconds_remaining": 18.084,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 9.407404291443527,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.31,
                    "y": -0.09,
                    "z": 0.94,
                    "roll": 0,
                    "pitch": -1.35,
                    "yaw": 1.57
                  },
                  "note": "The wrist is brushing the drawer face. I back away along the approach direction and restore the horizontal alignment."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.77663,
      -1.07977,
      -1.52608,
      -2.35984,
      0.32777,
      1.50987,
      -1.79642
    ],
    "gripper_open": 0.9769,
    "tcp_xyz": [
      0.30867,
      -0.08755,
      0.93976
    ],
    "tcp_roll_pitch_yaw": [
      -0.00566,
      -1.35167,
      1.58387
    ],
    "tcp_rotation_matrix": [
      [
        0.08862,
        0.99585,
        -0.02087
      ],
      [
        0.0403,
        0.01735,
        0.99904
      ],
      [
        0.99525,
        -0.08937,
        -0.03859
      ]
    ],
    "simulated_seconds_remaining": 16.896,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 21.41695791296661,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.28,
                    "y": 0.06,
                    "z": 0.94
                  },
                  "note": "The knob is visible just left of the jaw opening. I correct sideways and advance toward it with the gripper horizontal."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.6091,
      -1.10982,
      -1.2922,
      -2.78123,
      0.46105,
      1.79528,
      -1.81806
    ],
    "gripper_open": 0.9998,
    "tcp_xyz": [
      0.28097,
      0.05733,
      0.94042
    ],
    "tcp_roll_pitch_yaw": [
      -0.01086,
      -1.35224,
      1.58539
    ],
    "tcp_rotation_matrix": [
      [
        0.08765,
        0.996,
        -0.01727
      ],
      [
        0.0394,
        0.01386,
        0.99913
      ],
      [
        0.99537,
        -0.08825,
        -0.03803
      ]
    ],
    "simulated_seconds_remaining": 15.576,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 8.406381050124764,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.245,
                    "y": 0.12,
                    "z": 0.94
                  },
                  "note": "The knob is beside the inner edge of the left finger. I shift the opening onto it and advance a short distance."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 19,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.48646,
      -1.19467,
      -1.16071,
      -2.98534,
      0.52462,
      1.88857,
      -1.79747
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.24638,
      0.11782,
      0.94039
    ],
    "tcp_roll_pitch_yaw": [
      -0.01499,
      -1.35262,
      1.58642
    ],
    "tcp_rotation_matrix": [
      [
        0.08688,
        0.99612,
        -0.01424
      ],
      [
        0.03875,
        0.0109,
        0.99919
      ],
      [
        0.99547,
        -0.08736,
        -0.03765
      ]
    ],
    "simulated_seconds_remaining": 14.784,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 13.810342113487422,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.25,
                    "y": 0.1,
                    "z": 0.94,
                    "roll": 1.57,
                    "pitch": 0,
                    "yaw": -1.57
                  },
                  "note": "The drawer face is edge-on in the wrist view, so the approach is along its side. I turn toward the face with the jaws opening vertically."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 20,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.48646,
      -1.19467,
      -1.16071,
      -2.98534,
      0.52462,
      1.88857,
      -1.79747
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.24638,
      0.11782,
      0.94039
    ],
    "tcp_roll_pitch_yaw": [
      -0.01499,
      -1.35262,
      1.58642
    ],
    "tcp_rotation_matrix": [
      [
        0.08688,
        0.99612,
        -0.01424
      ],
      [
        0.03875,
        0.0109,
        0.99919
      ],
      [
        0.99547,
        -0.08736,
        -0.03765
      ]
    ],
    "simulated_seconds_remaining": 14.784,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 8.411388453096151,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.25,
                    "y": 0.1,
                    "z": 0.94,
                    "roll": -1.57,
                    "pitch": 0,
                    "yaw": 1.57
                  },
                  "note": "I use the opposite wrist roll to reach the same front-facing grasp without exceeding joint limits."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 21,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.48646,
      -1.19467,
      -1.16071,
      -2.98534,
      0.52462,
      1.88857,
      -1.79747
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.24638,
      0.11782,
      0.94039
    ],
    "tcp_roll_pitch_yaw": [
      -0.01499,
      -1.35262,
      1.58642
    ],
    "tcp_rotation_matrix": [
      [
        0.08688,
        0.99612,
        -0.01424
      ],
      [
        0.03875,
        0.0109,
        0.99919
      ],
      [
        0.99547,
        -0.08736,
        -0.03765
      ]
    ],
    "simulated_seconds_remaining": 14.784,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 12.009737369604409,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.34,
                    "y": 0.16,
                    "z": 0.88,
                    "roll": 0,
                    "pitch": -0.9,
                    "yaw": 0.7
                  },
                  "note": "The knob sits below the current grasp line. I lower the wrist and take a diagonal approach toward the drawer front."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 22,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.48646,
      -1.19467,
      -1.16071,
      -2.98534,
      0.52462,
      1.88857,
      -1.79747
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.24638,
      0.11782,
      0.94039
    ],
    "tcp_roll_pitch_yaw": [
      -0.01499,
      -1.35262,
      1.58642
    ],
    "tcp_rotation_matrix": [
      [
        0.08688,
        0.99612,
        -0.01424
      ],
      [
        0.03875,
        0.0109,
        0.99919
      ],
      [
        0.99547,
        -0.08736,
        -0.03765
      ]
    ],
    "simulated_seconds_remaining": 14.784,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 8.60951665788889,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.3,
                    "y": 0.25,
                    "z": 1.04,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 0
                  },
                  "note": "The side orientations are constrained by the arm. I reposition above the protruding knob for a downward pinch."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 23,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.48646,
      -1.19467,
      -1.16071,
      -2.98534,
      0.52462,
      1.88857,
      -1.79747
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.24638,
      0.11782,
      0.94039
    ],
    "tcp_roll_pitch_yaw": [
      -0.01499,
      -1.35262,
      1.58642
    ],
    "tcp_rotation_matrix": [
      [
        0.08688,
        0.99612,
        -0.01424
      ],
      [
        0.03875,
        0.0109,
        0.99919
      ],
      [
        0.99547,
        -0.08736,
        -0.03765
      ]
    ],
    "simulated_seconds_remaining": 14.784,
    "calls_remaining_including_this": 35
  },
  "api_seconds": 6.806218000128865,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.3,
                    "y": 0.12,
                    "z": 1.02,
                    "roll": 0,
                    "pitch": -0.5,
                    "yaw": 1.57
                  },
                  "note": "I raise the grasp point and unwind the wrist in a smaller step to avoid an unreachable joint transition."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 22,
    "motion_seconds": 1.452,
    "status": "executing; next observation shows actual arrival"
  }
}

========================================================================
GPT-Astra / Open / Episode 019

Completed scored attempt. Images are available in the paired videos.

Opaque provider signatures, image payloads, and local paths are omitted.


RESULT
{
  "benchmark_index": 19,
  "source_episode_index": 467,
  "house_index": 224,
  "status": "completed",
  "success": false,
  "oracle_success": false,
  "action_decisions": 45,
  "wall_seconds": 393.91,
  "usage": {
    "input_tokens": 1077042,
    "cached_input_tokens": 1026560,
    "cache_write_input_tokens": 0,
    "output_tokens": 7335,
    "reasoning_output_tokens": 2777
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task.
You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose.
Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion.
move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up.
roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial.
Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5).
The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y.
The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics.
Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration.
Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target.
You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time.
Each move must include a short note describing what you observe and why you chose that motion.
Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done.
Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available.



AGENT TRANSCRIPT (visible messages and completed tool calls)

I’ll observe the scene, then use fresh camera feedback to guide the grasp and opening motion.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"open the table.\", \"joint_positions\": [-0.01218, -0.75365, -0.03262, -2.44286, 0.08897, 1.60508, -0.05411], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.30137, 0.01091, 0.96941], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.99678, 0.00767, -0.07978], [0.01676, -0.99335, 0.11387], [-0.07838, -0.11484, -0.99029]], \"simulated_seconds_remaining\": 30.03, \"calls_remaining_including_this\": 57}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "x": 0.52,
    "y": 0.01,
    "z": 0.85,
    "gripper": 1,
    "note": "The black table is ahead, with its drawer facing the robot. I am approaching above the front to locate the handle."
  },
  "result": null,
  "error": {
    "message": "tool call error: tool call failed for `robot/move_to`\n\nCaused by:\n    Mcp error: -32602: Unexpected argument"
  },
  "status": "failed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.52,
      "y": 0.01,
      "z": 0.85,
      "gripper": 1
    },
    "note": "The black table is ahead with its drawer facing the robot. I am approaching above its front to locate the handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"open the table.\", \"joint_positions\": [0.00567, -0.01952, -0.03417, -2.09298, 0.12153, 1.9869, -0.09471], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.51879, 0.01, 0.85056], \"tcp_roll_pitch_yaw\": [0.0, 0.00021, -0.0], \"tcp_rotation_matrix\": [[0.99677, 0.00764, -0.08], [0.01675, -0.99335, 0.11387], [-0.07859, -0.11484, -0.99027]], \"simulated_seconds_remaining\": 28.05, \"calls_remaining_including_this\": 56}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 30, \"motion_seconds\": 1.98, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.48,
      "y": 0.23,
      "z": 0.82,
      "pitch": -1.57
    },
    "note": "The drawer front and small knob are left of the gripper in the exterior view. I am shifting toward the knob and turning the fingers forward for a frontal grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"open the table.\", \"joint_positions\": [0.00567, -0.01952, -0.03417, -2.09298, 0.12153, 1.9869, -0.09471], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.51879, 0.01, 0.85056], \"tcp_roll_pitch_yaw\": [0.0, 0.00021, -0.0], \"tcp_rotation_matrix\": [[0.99677, 0.00764, -0.08], [0.01675, -0.99335, 0.11387], [-0.07859, -0.11484, -0.99027]], \"simulated_seconds_remaining\": 28.05, \"calls_remaining_including_this\": 55}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK requires a large joint jump; split the motion or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.46,
      "y": 0.2,
      "z": 0.86,
      "pitch": -0.7
    },
    "note": "The full rotation was rejected without movement. I am splitting the approach and rotating partway while moving toward the drawer center."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"open the table.\", \"joint_positions\": [0.04926, -0.44657, 0.41847, -2.76337, 0.04227, 2.95655, 0.39329], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.46022, 0.19923, 0.8599], \"tcp_roll_pitch_yaw\": [-0.00061, -0.69685, 0.00057], \"tcp_rotation_matrix\": [[0.8147, 0.07976, 0.57437], [0.01717, -0.99338, 0.11359], [0.57962, -0.08268, -0.81068]], \"simulated_seconds_remaining\": 26.4, \"calls_remaining_including_this\": 54}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 25, \"motion_seconds\": 1.6500000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.7,
      "y": 0.13,
      "z": 0.88,
      "pitch": -1.3
    },
    "note": "The table remains farther ahead of the fingertips. I am advancing toward its front while completing more of the forward-facing rotation."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"open the table.\", \"joint_positions\": [0.04926, -0.44657, 0.41847, -2.76337, 0.04227, 2.95655, 0.39329], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.46022, 0.19923, 0.8599], \"tcp_roll_pitch_yaw\": [-0.00061, -0.69685, 0.00057], \"tcp_rotation_matrix\": [[0.8147, 0.07976, 0.57437], [0.01717, -0.99338, 0.11359], [0.57962, -0.08268, -0.81068]], \"simulated_seconds_remaining\": 26.4, \"calls_remaining_including_this\": 53}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK requires a large joint jump; split the motion or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.68,
      "y": 0.13,
      "z": 0.88
    },
    "note": "The larger combined motion was rejected. I am first advancing at the current orientation to get a closer view of the drawer."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"open the table.\", \"joint_positions\": [-0.11631, 0.11333, 0.30424, -2.14276, -0.08443, 2.87563, 0.19607], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.67875, 0.13031, 0.87986], \"tcp_roll_pitch_yaw\": [-0.00056, -0.69681, 0.00036], \"tcp_rotation_matrix\": [[0.81473, 0.07959, 0.57435], [0.01701, -0.99339, 0.11353], [0.57959, -0.08273, -0.8107]], \"simulated_seconds_remaining\": 24.552, \"calls_remaining_including_this\": 52}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 28, \"motion_seconds\": 1.848, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "z": 1.03,
      "pitch": -1.15
    },
    "note": "The fingertips are below the drawer knob in the exterior view, and the wrist sees the table legs. I am raising the grasp point and aiming more horizontally."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"open the table.\", \"joint_positions\": [-0.3629, -0.07702, 0.44316, -2.2104, -0.70125, 3.23472, 0.74948], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.67887, 0.13019, 1.02943], \"tcp_roll_pitch_yaw\": [-0.00046, -1.14786, -8e-05], \"tcp_rotation_matrix\": [[0.4806, 0.10737, 0.87034], [0.01668, -0.99342, 0.11334], [0.87678, -0.03996, -0.47923]], \"simulated_seconds_remaining\": 23.232, \"calls_remaining_including_this\": 51}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 20, \"motion_seconds\": 1.32, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "pitch": -1.55
    },
    "note": "The wrist now shows the drawer face and its round knob. I am leveling the fingers to approach the knob straight on."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"open the table.\", \"joint_positions\": [-0.3629, -0.07702, 0.44316, -2.2104, -0.70125, 3.23472, 0.74948], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.67887, 0.13019, 1.02943], \"tcp_roll_pitch_yaw\": [-0.00046, -1.14786, -8e-05], \"tcp_rotation_matrix\": [[0.4806, 0.10737, 0.87034], [0.01668, -0.99342, 0.11334], [0.87678, -0.03996, -0.47923]], \"simulated_seconds_remaining\": 23.232, \"calls_remaining_including_this\": 50}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK requires a large joint jump; split the motion or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.73,
      "y": 0.18,
      "z": 0.98
    },
    "note": "The knob is beside the left finger in the wrist view. I am shifting left and slightly down while advancing so the knob sits between the jaws."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"open the table.\", \"joint_positions\": [-0.3629, -0.07702, 0.44316, -2.2104, -0.70125, 3.23472, 0.74948], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.67887, 0.13019, 1.02943], \"tcp_roll_pitch_yaw\": [-0.00046, -1.14786, -8e-05], \"tcp_rotation_matrix\": [[0.4806, 0.10737, 0.87034], [0.01668, -0.99342, 0.11334], [0.87678, -0.03996, -0.47923]], \"simulated_seconds_remaining\": 23.232, \"calls_remaining_including_this\": 49}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK requires a large joint jump; split the motion or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.71,
      "y": 0.17,
      "z": 1,
      "pitch": -0.9
    },
    "note": "The adjustment was blocked by the arm configuration. I am using a less horizontal angle and a smaller step to bring the open jaws toward the knob."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"open the table.\", \"joint_positions\": [-0.3629, -0.07702, 0.44316, -2.2104, -0.70125, 3.23472, 0.74948], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.67887, 0.13019, 1.02943], \"tcp_roll_pitch_yaw\": [-0.00046, -1.14786, -8e-05], \"tcp_rotation_matrix\": [[0.4806, 0.10737, 0.87034], [0.01668, -0.99342, 0.11334], [0.87678, -0.03996, -0.47923]], \"simulated_seconds_remaining\": 23.232, \"calls_remaining_including_this\": 48}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK requires a large joint jump; split the motion or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "y": 0.15
    },
    "note": "I am isolating a two-centimeter sideways correction to align with the visible knob without a large joint change."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 11, \"instruction\": \"open the table.\", \"joint_positions\": [-0.47338, -0.06831, 0.56769, -2.16826, -0.87742, 3.20593, 0.9367], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.67887, 0.14868, 1.02949], \"tcp_roll_pitch_yaw\": [-0.0006, -1.14793, 0.00017], \"tcp_rotation_matrix\": [[0.48054, 0.10749, 0.87036], [0.01679, -0.99341, 0.11342], [0.87681, -0.03989, -0.47917]], \"simulated_seconds_remaining\": 22.77, \"calls_remaining_including_this\": 47}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 7, \"motion_seconds\": 0.462, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "y": 0.1
    },
    "note": "The knob moved farther left in the wrist image after the sideways step. I am correcting in the opposite direction to center it between the fingers."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 12, \"instruction\": \"open the table.\", \"joint_positions\": [-0.47338, -0.06831, 0.56769, -2.16826, -0.87742, 3.20593, 0.9367], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.67887, 0.14868, 1.02949], \"tcp_roll_pitch_yaw\": [-0.0006, -1.14793, 0.00017], \"tcp_rotation_matrix\": [[0.48054, 0.10749, 0.87036], [0.01679, -0.99341, 0.11342], [0.87681, -0.03989, -0.47917]], \"simulated_seconds_remaining\": 22.77, \"calls_remaining_including_this\": 46}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK requires a large joint jump; split the motion or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "y": 0.125
    },
    "note": "The larger sideways correction was rejected. I am moving back in a smaller increment while keeping the knob visible."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 13, \"instruction\": \"open the table.\", \"joint_positions\": [-0.32776, -0.07875, 0.40754, -2.22056, -0.65052, 3.24014, 0.69678], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.67886, 0.12605, 1.02941], \"tcp_roll_pitch_yaw\": [-0.00032, -1.14781, -0.00019], \"tcp_rotation_matrix\": [[0.48065, 0.10739, 0.87031], [0.01664, -0.99341, 0.11339], [0.87676, -0.04002, -0.47927]], \"simulated_seconds_remaining\": 22.308, \"calls_remaining_including_this\": 45}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 7, \"motion_seconds\": 0.462, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "y": 0.105
    },
    "note": "The knob is moving toward the gap between the fingers. I am continuing the small lateral correction."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 14, \"instruction\": \"open the table.\", \"joint_positions\": [-0.07373, -0.08422, 0.15624, -2.25882, -0.42948, 3.25698, 0.46141], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.67885, 0.10643, 1.02934], \"tcp_roll_pitch_yaw\": [-8e-05, -1.14774, -0.00055], \"tcp_rotation_matrix\": [[0.48071, 0.10724, 0.8703], [0.01648, -0.99342, 0.11331], [0.87672, -0.04012, -0.47932]], \"simulated_seconds_remaining\": 21.846, \"calls_remaining_including_this\": 44}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 7, \"motion_seconds\": 0.462, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "y": 0.085
    },
    "note": "The knob is now visible inside the left side of the jaw gap. I am shifting another two centimeters to center the grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 15, \"instruction\": \"open the table.\", \"joint_positions\": [-0.07373, -0.08422, 0.15624, -2.25882, -0.42948, 3.25698, 0.46141], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.67885, 0.10643, 1.02934], \"tcp_roll_pitch_yaw\": [-8e-05, -1.14774, -0.00055], \"tcp_rotation_matrix\": [[0.48071, 0.10724, 0.8703], [0.01648, -0.99342, 0.11331], [0.87672, -0.04012, -0.47932]], \"simulated_seconds_remaining\": 21.846, \"calls_remaining_including_this\": 43}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK requires a large joint jump; split the motion or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.7,
      "z": 1.01
    },
    "note": "The knob is ahead of the fingertips. I am making a short diagonal approach along the finger direction to bring it deeper into the jaw gap."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 16, \"instruction\": \"open the table.\", \"joint_positions\": [-0.07373, -0.08422, 0.15624, -2.25882, -0.42948, 3.25698, 0.46141], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.67885, 0.10643, 1.02934], \"tcp_roll_pitch_yaw\": [-8e-05, -1.14774, -0.00055], \"tcp_rotation_matrix\": [[0.48071, 0.10724, 0.8703], [0.01648, -0.99342, 0.11331], [0.87672, -0.04012, -0.47932]], \"simulated_seconds_remaining\": 21.846, \"calls_remaining_including_this\": 42}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK requires a large joint jump; split the motion or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

The knob is visible, but the arm is near a configuration that rejects small approach motions. I’m adjusting the wrist angle to regain room to move.


{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "pitch": -1
    },
    "note": "The arm rejects translation near its current configuration. I am easing the wrist angle before continuing the approach."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 17, \"instruction\": \"open the table.\", \"joint_positions\": [-0.07373, -0.08422, 0.15624, -2.25882, -0.42948, 3.25698, 0.46141], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.67885, 0.10643, 1.02934], \"tcp_roll_pitch_yaw\": [-8e-05, -1.14774, -0.00055], \"tcp_rotation_matrix\": [[0.48071, 0.10724, 0.8703], [0.01648, -0.99342, 0.11331], [0.87672, -0.04012, -0.47932]], \"simulated_seconds_remaining\": 21.846, \"calls_remaining_including_this\": 41}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK requires a large joint jump; split the motion or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "roll": 0.2
    },
    "note": "The pitch change was rejected. I am adding a small roll to change the wrist configuration while holding the grasp point stationary."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 18, \"instruction\": \"open the table.\", \"joint_positions\": [-0.07373, -0.08422, 0.15624, -2.25882, -0.42948, 3.25698, 0.46141], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.67885, 0.10643, 1.02934], \"tcp_roll_pitch_yaw\": [-8e-05, -1.14774, -0.00055], \"tcp_rotation_matrix\": [[0.48071, 0.10724, 0.8703], [0.01648, -0.99342, 0.11331], [0.87672, -0.04012, -0.47932]], \"simulated_seconds_remaining\": 21.846, \"calls_remaining_including_this\": 40}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK requires a large joint jump; split the motion or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "y": 0.13
    },
    "note": "I am returning to the previous reachable sideways position so I can adjust the approach angle away from the arm's singular configuration."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 19, \"instruction\": \"open the table.\", \"joint_positions\": [-0.36523, -0.07838, 0.44646, -2.21505, -0.67481, 3.23721, 0.72414], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.67887, 0.12902, 1.02945], \"tcp_roll_pitch_yaw\": [-0.00033, -1.14784, -0.00014], \"tcp_rotation_matrix\": [[0.48062, 0.10743, 0.87032], [0.01666, -0.99341, 0.11342], [0.87677, -0.04001, -0.47924]], \"simulated_seconds_remaining\": 21.384, \"calls_remaining_including_this\": 39}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 7, \"motion_seconds\": 0.462, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "pitch": -1.05
    },
    "note": "Back at the reachable position, I am reducing pitch in a small step to free the wrist for the final approach."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 20, \"instruction\": \"open the table.\", \"joint_positions\": [-0.36523, -0.07838, 0.44646, -2.21505, -0.67481, 3.23721, 0.72414], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.67887, 0.12902, 1.02945], \"tcp_roll_pitch_yaw\": [-0.00033, -1.14784, -0.00014], \"tcp_rotation_matrix\": [[0.48062, 0.10743, 0.87032], [0.01666, -0.99341, 0.11342], [0.87677, -0.04001, -0.47924]], \"simulated_seconds_remaining\": 21.384, \"calls_remaining_including_this\": 38}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK requires a large joint jump; split the motion or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "pitch": -1.25
    },
    "note": "The shallower angle is unreachable from this configuration. I am testing a small rotation toward a horizontal approach instead."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 21, \"instruction\": \"open the table.\", \"joint_positions\": [-0.36523, -0.07838, 0.44646, -2.21505, -0.67481, 3.23721, 0.72414], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.67887, 0.12902, 1.02945], \"tcp_roll_pitch_yaw\": [-0.00033, -1.14784, -0.00014], \"tcp_rotation_matrix\": [[0.48062, 0.10743, 0.87032], [0.01666, -0.99341, 0.11342], [0.87677, -0.04001, -0.47924]], \"simulated_seconds_remaining\": 21.384, \"calls_remaining_including_this\": 37}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK requires a large joint jump; split the motion or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "z": 1.01
    },
    "note": "The knob is below the current grasp point. I am lowering only two centimeters, keeping the current orientation and lateral position."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 22, \"instruction\": \"open the table.\", \"joint_positions\": [-0.36523, -0.07838, 0.44646, -2.21505, -0.67481, 3.23721, 0.72414], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.67887, 0.12902, 1.02945], \"tcp_roll_pitch_yaw\": [-0.00033, -1.14784, -0.00014], \"tcp_rotation_matrix\": [[0.48062, 0.10743, 0.87032], [0.01666, -0.99341, 0.11342], [0.87677, -0.04001, -0.47924]], \"simulated_seconds_remaining\": 21.384, \"calls_remaining_including_this\": 36}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK requires a large joint jump; split the motion or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.678,
      "y": 0.13,
      "z": 0.88,
      "pitch": -0.7,
      "roll": 0,
      "yaw": 0
    },
    "note": "Small motions are consistently rejected here. I am retreating to the last lower, reachable approach pose to reset the arm configuration."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 23, \"instruction\": \"open the table.\", \"joint_positions\": [-0.10288, 0.10832, 0.29032, -2.14954, -0.07919, 2.88415, 0.19218], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.67803, 0.12996, 0.88089], \"tcp_roll_pitch_yaw\": [-2e-05, -0.70287, -5e-05], \"tcp_rotation_matrix\": [[0.8112, 0.08002, 0.57926], [0.01671, -0.99336, 0.11382], [0.58452, -0.08265, -0.80716]], \"simulated_seconds_remaining\": 20.064, \"calls_remaining_including_this\": 35}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 20, \"motion_seconds\": 1.32, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.7,
      "y": 0.075,
      "z": 0.99,
      "pitch": -0.7
    },
    "note": "The retreat restored motion. I am approaching the knob from above at the reachable wrist angle, with the lateral correction established from the camera feedback."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 24, \"instruction\": \"open the table.\", \"joint_positions\": [-0.17462, 0.03984, 0.28149, -1.94512, 0.09183, 2.59895, -0.01811], \"gripper_open\": 0.9844, \"tcp_xyz\": [0.69812, 0.07949, 0.98439], \"tcp_roll_pitch_yaw\": [0.00131, -0.69095, 0.00428], \"tcp_rotation_matrix\": [[0.81802, 0.08417, 0.569], [0.02036, -0.99285, 0.1176], [0.57484, -0.08462, -0.81388]], \"simulated_seconds_remaining\": 18.942, \"calls_remaining_including_this\": 34}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 17, \"motion_seconds\": 1.122, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The fingertips overlap the knob area in the exterior view. I am closing the jaws to test whether the knob is seated between them."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 25, \"instruction\": \"open the table.\", \"joint_positions\": [-0.17395, 0.04131, 0.28233, -1.94794, 0.09196, 2.59651, -0.01807], \"gripper_open\": 0.0001, \"tcp_xyz\": [0.69702, 0.08049, 0.98116], \"tcp_roll_pitch_yaw\": [0.0013, -0.68426, 0.00597], \"tcp_rotation_matrix\": [[0.82181, 0.08528, 0.56334], [0.02176, -0.99271, 0.11853], [0.56934, -0.08515, -0.81768]], \"simulated_seconds_remaining\": 18.018, \"calls_remaining_including_this\": 33}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.61,
      "z": 1.03,
      "gripper": 1,
      "pitch": -0.95
    },
    "note": "The jaws closed fully, so the knob was missed. I am backing away and opening them for a clearer view and a more frontal approach."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 26, \"instruction\": \"open the table.\", \"joint_positions\": [-0.09708, -0.31915, 0.2398, -2.36507, 0.31201, 2.91915, -0.18385], \"gripper_open\": 0.9965, \"tcp_xyz\": [0.61083, 0.08059, 1.02962], \"tcp_roll_pitch_yaw\": [0.00122, -0.94749, 0.0062], \"tcp_rotation_matrix\": [[0.64535, 0.10486, 0.75665], [0.02085, -0.99258, 0.11977], [0.7636, -0.06152, -0.64275]], \"simulated_seconds_remaining\": 17.028, \"calls_remaining_including_this\": 32}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 15, \"motion_seconds\": 0.99, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.67,
      "y": 0.05,
      "z": 1.01
    },
    "note": "The knob is clearly visible just left of the jaw center. I am advancing halfway and shifting right and down to center it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 27, \"instruction\": \"open the table.\", \"joint_positions\": [-0.08049, -0.13287, 0.17615, -2.22017, 0.35521, 2.95706, -0.29328], \"gripper_open\": 1.0, \"tcp_xyz\": [0.66861, 0.05207, 1.01433], \"tcp_roll_pitch_yaw\": [0.00121, -0.95384, 0.00786], \"tcp_rotation_matrix\": [[0.64046, 0.10688, 0.76052], [0.02188, -0.99241, 0.12104], [0.76768, -0.06088, -0.63793]], \"simulated_seconds_remaining\": 16.236, \"calls_remaining_including_this\": 31}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 12, \"motion_seconds\": 0.792, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.703,
      "z": 0.992
    },
    "note": "The knob is centered between the jaws in the wrist image. I am moving a short distance along the finger direction to seat the knob before closing."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 28, \"instruction\": \"open the table.\", \"joint_positions\": [-0.07765, -0.02584, 0.18304, -2.13178, 0.34009, 3.03873, -0.29653], \"gripper_open\": 1.0, \"tcp_xyz\": [0.70599, 0.05478, 1.01762], \"tcp_roll_pitch_yaw\": [-0.00914, -1.01473, 0.01402], \"tcp_rotation_matrix\": [[0.59257, 0.1078, 0.79828], [0.02435, -0.99295, 0.11601], [0.80515, -0.04931, -0.59101]], \"simulated_seconds_remaining\": 15.642, \"calls_remaining_including_this\": 30}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 9, \"motion_seconds\": 0.5940000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The knob is now at the center of the fingertips, and the approach met contact. I am closing the gripper around it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 29, \"instruction\": \"open the table.\", \"joint_positions\": [-0.07671, -0.02419, 0.18427, -2.1363, 0.34024, 3.03529, -0.29646], \"gripper_open\": 0.0002, \"tcp_xyz\": [0.70477, 0.05646, 1.01274], \"tcp_roll_pitch_yaw\": [-0.00879, -1.00526, 0.01675], \"tcp_rotation_matrix\": [[0.60009, 0.11033, 0.79229], [0.02612, -0.99262, 0.11845], [0.7995, -0.05039, -0.59854]], \"simulated_seconds_remaining\": 14.718, \"calls_remaining_including_this\": 29}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.6
    },
    "note": "I am pulling straight back to check whether the closed jaws have engaged the drawer knob."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 30, \"instruction\": \"open the table.\", \"joint_positions\": [-0.01661, -0.33369, 0.15791, -2.45655, 0.47481, 3.04656, -0.37817], \"gripper_open\": 0.0, \"tcp_xyz\": [0.60133, 0.0565, 1.01282], \"tcp_roll_pitch_yaw\": [-0.00885, -1.00535, 0.01685], \"tcp_rotation_matrix\": [[0.60001, 0.11039, 0.79234], [0.02617, -0.99261, 0.11847], [0.79956, -0.05035, -0.59847]], \"simulated_seconds_remaining\": 13.728, \"calls_remaining_including_this\": 28}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 15, \"motion_seconds\": 0.99, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.49
    },
    "note": "The front panel shifted during the pull and its knob is now much farther left in the wrist view. I am continuing backward to increase the opening."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 31, \"instruction\": \"open the table.\", \"joint_positions\": [-0.01301, -0.72201, 0.18379, -2.75242, 0.49686, 2.95072, -0.34273], \"gripper_open\": 0.0, \"tcp_xyz\": [0.49129, 0.05653, 1.01289], \"tcp_roll_pitch_yaw\": [-0.00889, -1.00548, 0.01693], \"tcp_rotation_matrix\": [[0.59991, 0.11044, 0.79241], [0.02622, -0.99261, 0.1185], [0.79964, -0.05031, -0.59837]], \"simulated_seconds_remaining\": 12.672, \"calls_remaining_including_this\": 27}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 16, \"motion_seconds\": 1.056, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.59,
      "z": 0.94,
      "gripper": 1
    },
    "note": "The drawer did not continue moving with the gripper. I am reopening the jaws and approaching lower so the fingertips engage the knob below the tabletop."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 32, \"instruction\": \"open the table.\", \"joint_positions\": [0.34917, -0.25857, -0.14233, -2.57603, 0.58884, 3.27162, -0.51325], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.58893, 0.05652, 0.9407], \"tcp_roll_pitch_yaw\": [-0.00849, -1.00524, 0.01661], \"tcp_rotation_matrix\": [[0.60011, 0.11045, 0.79226], [0.02606, -0.9926, 0.11864], [0.79949, -0.05055, -0.59854]], \"simulated_seconds_remaining\": 11.55, \"calls_remaining_including_this\": 26}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 17, \"motion_seconds\": 1.122, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "z": 1.07,
      "pitch": -0.7
    },
    "note": "The lower position puts the drawer above the wrist view. I am raising the open gripper to recover the knob and avoid approaching beneath it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 33, \"instruction\": \"open the table.\", \"joint_positions\": [0.34917, -0.25857, -0.14233, -2.57603, 0.58884, 3.27162, -0.51325], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.58893, 0.05652, 0.9407], \"tcp_roll_pitch_yaw\": [-0.00849, -1.00524, 0.01661], \"tcp_rotation_matrix\": [[0.60011, 0.11045, 0.79226], [0.02606, -0.9926, 0.11864], [0.79949, -0.05055, -0.59854]], \"simulated_seconds_remaining\": 11.55, \"calls_remaining_including_this\": 25}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK requires a large joint jump; split the motion or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "z": 1.05
    },
    "note": "The combined adjustment was rejected. I am raising the grasp point at the existing angle to bring the drawer back into view."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 34, \"instruction\": \"open the table.\", \"joint_positions\": [-0.05267, -0.41305, 0.17003, -2.43553, 0.40334, 2.9444, -0.30574], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.58896, 0.05653, 1.0489], \"tcp_roll_pitch_yaw\": [-0.00839, -1.0056, 0.01655], \"tcp_rotation_matrix\": [[0.59982, 0.11049, 0.79247], [0.02603, -0.99259, 0.11869], [0.79971, -0.05057, -0.59825]], \"simulated_seconds_remaining\": 10.494, \"calls_remaining_including_this\": 24}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 16, \"motion_seconds\": 1.056, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.7,
      "z": 1.07
    },
    "note": "Both knobs are visible; the right knob aligns laterally with the jaw gap. I am approaching it higher so the fingers clear the drawer face and surround the knob."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 35, \"instruction\": \"open the table.\", \"joint_positions\": [-0.13171, -0.09663, 0.21584, -2.06424, 0.26469, 2.90113, -0.21651], \"gripper_open\": 1.0, \"tcp_xyz\": [0.69845, 0.05553, 1.07579], \"tcp_roll_pitch_yaw\": [-0.00933, -1.01562, 0.01529], \"tcp_rotation_matrix\": [[0.59182, 0.10895, 0.79867], [0.02508, -0.99283, 0.11686], [0.80568, -0.04913, -0.59031]], \"simulated_seconds_remaining\": 9.438, \"calls_remaining_including_this\": 23}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 16, \"motion_seconds\": 1.056, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.745,
      "z": 1.055
    },
    "note": "The right knob is between the fingers but still ahead of them. I am advancing another small step to enclose its stem."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 36, \"instruction\": \"open the table.\", \"joint_positions\": [-0.13318, 0.04653, 0.22086, -1.9362, 0.19802, 2.93276, -0.17889], \"gripper_open\": 1.0, \"tcp_xyz\": [0.74372, 0.05736, 1.06606], \"tcp_roll_pitch_yaw\": [-0.01242, -1.03286, 0.01997], \"tcp_rotation_matrix\": [[0.57777, 0.11179, 0.80851], [0.02732, -0.99267, 0.11773], [0.81574, -0.04593, -0.57659]], \"simulated_seconds_remaining\": 8.778, \"calls_remaining_including_this\": 22}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 10, \"motion_seconds\": 0.66, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The knob is now deep in the jaw gap. I am closing the fingers for the pull."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 37, \"instruction\": \"open the table.\", \"joint_positions\": [-0.13194, 0.04632, 0.22242, -1.93736, 0.1981, 2.93199, -0.17857], \"gripper_open\": 0.0001, \"tcp_xyz\": [0.74329, 0.05947, 1.06527], \"tcp_roll_pitch_yaw\": [-0.01184, -1.03113, 0.02221], \"tcp_rotation_matrix\": [[0.57911, 0.11443, 0.80718], [0.02869, -0.99235, 0.12009], [0.81475, -0.04639, -0.57796]], \"simulated_seconds_remaining\": 7.854, \"calls_remaining_including_this\": 21}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "z": 1.095,
      "gripper": 1
    },
    "note": "The jaws again closed fully. The knob sits below the finger tips in the wrist image, so I am opening and raising the grasp point slightly to align the contact surfaces."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 38, \"instruction\": \"open the table.\", \"joint_positions\": [-0.13187, 0.03576, 0.21887, -1.88794, 0.17531, 2.85958, -0.15238], \"gripper_open\": 0.9826, \"tcp_xyz\": [0.743, 0.06132, 1.08645], \"tcp_roll_pitch_yaw\": [-0.00834, -1.01842, 0.02163], \"tcp_rotation_matrix\": [[0.58938, 0.11621, 0.79945], [0.02885, -0.992, 0.12293], [0.80734, -0.04939, -0.58802]], \"simulated_seconds_remaining\": 6.93, \"calls_remaining_including_this\": 20}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "z": 1.12
    },
    "note": "The knob moved closer to the fingertip line. I am raising another small increment to place it directly between the gripping surfaces."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 39, \"instruction\": \"open the table.\", \"joint_positions\": [-0.13295, 0.02761, 0.21554, -1.82186, 0.15413, 2.77758, -0.12827], \"gripper_open\": 0.9927, \"tcp_xyz\": [0.74287, 0.06194, 1.11431], \"tcp_roll_pitch_yaw\": [-0.00632, -1.01025, 0.02068], \"tcp_rotation_matrix\": [[0.59595, 0.11656, 0.79452], [0.02859, -0.99186, 0.12407], [0.80251, -0.05122, -0.59443]], \"simulated_seconds_remaining\": 6.402, \"calls_remaining_including_this\": 19}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 8, \"motion_seconds\": 0.528, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The knob is now level with the inner fingertip surfaces. I am closing the jaws at this corrected height."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 40, \"instruction\": \"open the table.\", \"joint_positions\": [-0.13321, 0.02867, 0.21521, -1.82468, 0.15422, 2.77527, -0.12813], \"gripper_open\": 0.0, \"tcp_xyz\": [0.74259, 0.06155, 1.11109], \"tcp_roll_pitch_yaw\": [-0.00607, -1.00407, 0.02014], \"tcp_rotation_matrix\": [[0.60091, 0.11592, 0.79087], [0.02839, -0.9919, 0.12381], [0.79881, -0.05195, -0.59933]], \"simulated_seconds_remaining\": 5.478, \"calls_remaining_including_this\": 18}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.78,
      "z": 1.095,
      "gripper": 1
    },
    "note": "The knob remains just beyond the closed fingertips. I am reopening and advancing along the finger direction to capture it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 41, \"instruction\": \"open the table.\", \"joint_positions\": [-0.12304, 0.14733, 0.2107, -1.71143, 0.10745, 2.7847, -0.103], \"gripper_open\": 1.0, \"tcp_xyz\": [0.77886, 0.06196, 1.09886], \"tcp_roll_pitch_yaw\": [-0.00651, -1.00936, 0.02081], \"tcp_rotation_matrix\": [[0.59666, 0.11649, 0.79399], [0.02867, -0.99187, 0.12398], [0.80198, -0.05121, -0.59515]], \"simulated_seconds_remaining\": 4.554, \"calls_remaining_including_this\": 17}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "y": 0.043,
      "z": 1.12
    },
    "note": "The knob sits slightly left and below the jaw center. I am making the final small alignment correction before closing."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 42, \"instruction\": \"open the table.\", \"joint_positions\": [-0.1488, 0.14149, 0.21186, -1.66745, 0.14841, 2.72908, -0.15257], \"gripper_open\": 0.9927, \"tcp_xyz\": [0.77876, 0.0451, 1.11782], \"tcp_roll_pitch_yaw\": [-0.00544, -1.00707, 0.02152], \"tcp_rotation_matrix\": [[0.59846, 0.11796, 0.79242], [0.02921, -0.99166, 0.12556], [0.80062, -0.05199, -0.59692]], \"simulated_seconds_remaining\": 4.092, \"calls_remaining_including_this\": 16}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 7, \"motion_seconds\": 0.462, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "y": 0.025,
      "gripper": 0
    },
    "note": "The knob is still slightly left of center. I am shifting the jaws onto it and closing to secure the handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 43, \"instruction\": \"open the table.\", \"joint_positions\": [-0.17374, 0.13879, 0.21696, -1.66592, 0.19939, 2.72173, -0.21515], \"gripper_open\": 0.0, \"tcp_xyz\": [0.77842, 0.03118, 1.11938], \"tcp_roll_pitch_yaw\": [-0.00517, -1.00932, 0.02835], \"tcp_rotation_matrix\": [[0.59644, 0.12508, 0.79285], [0.03327, -0.99079, 0.13128], [0.80197, -0.05192, -0.59511]], \"simulated_seconds_remaining\": 3.168, \"calls_remaining_including_this\": 15}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.51
    },
    "note": "The fingers are closed at the handle location. I am pulling backward to open the table's front compartment."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 44, \"instruction\": \"open the table.\", \"joint_positions\": [-0.12969, -0.71246, 0.15101, -2.47438, 0.45366, 2.66516, -0.37128], \"gripper_open\": 0.0, \"tcp_xyz\": [0.51132, 0.0312, 1.11949], \"tcp_roll_pitch_yaw\": [-0.00526, -1.0095, 0.02844], \"tcp_rotation_matrix\": [[0.59629, 0.1251, 0.79296], [0.03331, -0.99079, 0.13126], [0.80208, -0.05186, -0.59497]], \"simulated_seconds_remaining\": 1.056, \"calls_remaining_including_this\": 14}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 32, \"motion_seconds\": 2.112, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.41
    },
    "note": "The front compartment has visibly extended toward the robot. I am continuing the pull to widen the opening."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 45, \"instruction\": \"open the table.\", \"joint_positions\": [-0.13667, -1.07251, 0.1296, -2.65947, 0.4332, 2.48521, -0.33674], \"gripper_open\": 0.0, \"tcp_xyz\": [0.41127, 0.0312, 1.11961], \"tcp_roll_pitch_yaw\": [-0.00533, -1.00973, 0.0285], \"tcp_rotation_matrix\": [[0.59611, 0.12511, 0.7931], [0.03334, -0.99079, 0.13124], [0.80221, -0.05179, -0.59479]], \"simulated_seconds_remaining\": 0.066, \"calls_remaining_including_this\": 13}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 15, \"motion_seconds\": 0.99, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "give_up",
  "arguments": {
    "note": "The available motion time is exhausted. I could not establish a reliable grasp or verify that the table compartment opened."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "Episode ended. Do not call more tools. Return a brief final response."
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

I couldn’t secure the handle and verify opening before the motion time ran out.

TURN USAGE
{
  "input_tokens": 1077042,
  "cached_input_tokens": 1026560,
  "cache_write_input_tokens": 0,
  "output_tokens": 7335,
  "reasoning_output_tokens": 2777
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.01218,
      -0.75365,
      -0.03262,
      -2.44286,
      0.08897,
      1.60508,
      -0.05411
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.30137,
      0.01091,
      0.96941
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99678,
        0.00767,
        -0.07978
      ],
      [
        0.01676,
        -0.99335,
        0.11387
      ],
      [
        -0.07838,
        -0.11484,
        -0.99029
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 25.42204685881734,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.52,
                    "y": 0.01,
                    "z": 0.85,
                    "gripper": 1
                  },
                  "note": "The black table is ahead with its drawer facing the robot. I am approaching above its front to locate the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 30,
    "motion_seconds": 1.98,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.00567,
      -0.01952,
      -0.03417,
      -2.09298,
      0.12153,
      1.9869,
      -0.09471
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.51879,
      0.01,
      0.85056
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.00021,
      -0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99677,
        0.00764,
        -0.08
      ],
      [
        0.01675,
        -0.99335,
        0.11387
      ],
      [
        -0.07859,
        -0.11484,
        -0.99027
      ]
    ],
    "simulated_seconds_remaining": 28.05,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 13.010065970011055,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48,
                    "y": 0.23,
                    "z": 0.82,
                    "pitch": -1.57
                  },
                  "note": "The drawer front and small knob are left of the gripper in the exterior view. I am shifting toward the knob and turning the fingers forward for a frontal grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 3,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.00567,
      -0.01952,
      -0.03417,
      -2.09298,
      0.12153,
      1.9869,
      -0.09471
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.51879,
      0.01,
      0.85056
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.00021,
      -0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99677,
        0.00764,
        -0.08
      ],
      [
        0.01675,
        -0.99335,
        0.11387
      ],
      [
        -0.07859,
        -0.11484,
        -0.99027
      ]
    ],
    "simulated_seconds_remaining": 28.05,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 5.606015712954104,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.46,
                    "y": 0.2,
                    "z": 0.86,
                    "pitch": -0.7
                  },
                  "note": "The full rotation was rejected without movement. I am splitting the approach and rotating partway while moving toward the drawer center."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 25,
    "motion_seconds": 1.6500000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.04926,
      -0.44657,
      0.41847,
      -2.76337,
      0.04227,
      2.95655,
      0.39329
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.46022,
      0.19923,
      0.8599
    ],
    "tcp_roll_pitch_yaw": [
      -0.00061,
      -0.69685,
      0.00057
    ],
    "tcp_rotation_matrix": [
      [
        0.8147,
        0.07976,
        0.57437
      ],
      [
        0.01717,
        -0.99338,
        0.11359
      ],
      [
        0.57962,
        -0.08268,
        -0.81068
      ]
    ],
    "simulated_seconds_remaining": 26.4,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 13.409588958136737,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.7,
                    "y": 0.13,
                    "z": 0.88,
                    "pitch": -1.3
                  },
                  "note": "The table remains farther ahead of the fingertips. I am advancing toward its front while completing more of the forward-facing rotation."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 5,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.04926,
      -0.44657,
      0.41847,
      -2.76337,
      0.04227,
      2.95655,
      0.39329
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.46022,
      0.19923,
      0.8599
    ],
    "tcp_roll_pitch_yaw": [
      -0.00061,
      -0.69685,
      0.00057
    ],
    "tcp_rotation_matrix": [
      [
        0.8147,
        0.07976,
        0.57437
      ],
      [
        0.01717,
        -0.99338,
        0.11359
      ],
      [
        0.57962,
        -0.08268,
        -0.81068
      ]
    ],
    "simulated_seconds_remaining": 26.4,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 7.8063196409493685,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.68,
                    "y": 0.13,
                    "z": 0.88
                  },
                  "note": "The larger combined motion was rejected. I am first advancing at the current orientation to get a closer view of the drawer."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 28,
    "motion_seconds": 1.848,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.11631,
      0.11333,
      0.30424,
      -2.14276,
      -0.08443,
      2.87563,
      0.19607
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.67875,
      0.13031,
      0.87986
    ],
    "tcp_roll_pitch_yaw": [
      -0.00056,
      -0.69681,
      0.00036
    ],
    "tcp_rotation_matrix": [
      [
        0.81473,
        0.07959,
        0.57435
      ],
      [
        0.01701,
        -0.99339,
        0.11353
      ],
      [
        0.57959,
        -0.08273,
        -0.8107
      ]
    ],
    "simulated_seconds_remaining": 24.552,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 8.00557498447597,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.03,
                    "pitch": -1.15
                  },
                  "note": "The fingertips are below the drawer knob in the exterior view, and the wrist sees the table legs. I am raising the grasp point and aiming more horizontally."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.3629,
      -0.07702,
      0.44316,
      -2.2104,
      -0.70125,
      3.23472,
      0.74948
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.67887,
      0.13019,
      1.02943
    ],
    "tcp_roll_pitch_yaw": [
      -0.00046,
      -1.14786,
      -8e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.4806,
        0.10737,
        0.87034
      ],
      [
        0.01668,
        -0.99342,
        0.11334
      ],
      [
        0.87678,
        -0.03996,
        -0.47923
      ]
    ],
    "simulated_seconds_remaining": 23.232,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 7.20802821777761,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.55
                  },
                  "note": "The wrist now shows the drawer face and its round knob. I am leveling the fingers to approach the knob straight on."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 8,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.3629,
      -0.07702,
      0.44316,
      -2.2104,
      -0.70125,
      3.23472,
      0.74948
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.67887,
      0.13019,
      1.02943
    ],
    "tcp_roll_pitch_yaw": [
      -0.00046,
      -1.14786,
      -8e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.4806,
        0.10737,
        0.87034
      ],
      [
        0.01668,
        -0.99342,
        0.11334
      ],
      [
        0.87678,
        -0.03996,
        -0.47923
      ]
    ],
    "simulated_seconds_remaining": 23.232,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 9.20687311515212,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.73,
                    "y": 0.18,
                    "z": 0.98
                  },
                  "note": "The knob is beside the left finger in the wrist view. I am shifting left and slightly down while advancing so the knob sits between the jaws."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 9,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.3629,
      -0.07702,
      0.44316,
      -2.2104,
      -0.70125,
      3.23472,
      0.74948
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.67887,
      0.13019,
      1.02943
    ],
    "tcp_roll_pitch_yaw": [
      -0.00046,
      -1.14786,
      -8e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.4806,
        0.10737,
        0.87034
      ],
      [
        0.01668,
        -0.99342,
        0.11334
      ],
      [
        0.87678,
        -0.03996,
        -0.47923
      ]
    ],
    "simulated_seconds_remaining": 23.232,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 5.80650057643652,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.71,
                    "y": 0.17,
                    "z": 1,
                    "pitch": -0.9
                  },
                  "note": "The adjustment was blocked by the arm configuration. I am using a less horizontal angle and a smaller step to bring the open jaws toward the knob."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 10,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.3629,
      -0.07702,
      0.44316,
      -2.2104,
      -0.70125,
      3.23472,
      0.74948
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.67887,
      0.13019,
      1.02943
    ],
    "tcp_roll_pitch_yaw": [
      -0.00046,
      -1.14786,
      -8e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.4806,
        0.10737,
        0.87034
      ],
      [
        0.01668,
        -0.99342,
        0.11334
      ],
      [
        0.87678,
        -0.03996,
        -0.47923
      ]
    ],
    "simulated_seconds_remaining": 23.232,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 5.204078013077378,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.15
                  },
                  "note": "I am isolating a two-centimeter sideways correction to align with the visible knob without a large joint change."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 7,
    "motion_seconds": 0.462,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.47338,
      -0.06831,
      0.56769,
      -2.16826,
      -0.87742,
      3.20593,
      0.9367
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.67887,
      0.14868,
      1.02949
    ],
    "tcp_roll_pitch_yaw": [
      -0.0006,
      -1.14793,
      0.00017
    ],
    "tcp_rotation_matrix": [
      [
        0.48054,
        0.10749,
        0.87036
      ],
      [
        0.01679,
        -0.99341,
        0.11342
      ],
      [
        0.87681,
        -0.03989,
        -0.47917
      ]
    ],
    "simulated_seconds_remaining": 22.77,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 5.608050208538771,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.1
                  },
                  "note": "The knob moved farther left in the wrist image after the sideways step. I am correcting in the opposite direction to center it between the fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 12,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.47338,
      -0.06831,
      0.56769,
      -2.16826,
      -0.87742,
      3.20593,
      0.9367
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.67887,
      0.14868,
      1.02949
    ],
    "tcp_roll_pitch_yaw": [
      -0.0006,
      -1.14793,
      0.00017
    ],
    "tcp_rotation_matrix": [
      [
        0.48054,
        0.10749,
        0.87036
      ],
      [
        0.01679,
        -0.99341,
        0.11342
      ],
      [
        0.87681,
        -0.03989,
        -0.47917
      ]
    ],
    "simulated_seconds_remaining": 22.77,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 4.40467382222414,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.125
                  },
                  "note": "The larger sideways correction was rejected. I am moving back in a smaller increment while keeping the knob visible."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 7,
    "motion_seconds": 0.462,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.32776,
      -0.07875,
      0.40754,
      -2.22056,
      -0.65052,
      3.24014,
      0.69678
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.67886,
      0.12605,
      1.02941
    ],
    "tcp_roll_pitch_yaw": [
      -0.00032,
      -1.14781,
      -0.00019
    ],
    "tcp_rotation_matrix": [
      [
        0.48065,
        0.10739,
        0.87031
      ],
      [
        0.01664,
        -0.99341,
        0.11339
      ],
      [
        0.87676,
        -0.04002,
        -0.47927
      ]
    ],
    "simulated_seconds_remaining": 22.308,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 4.603881366550922,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.105
                  },
                  "note": "The knob is moving toward the gap between the fingers. I am continuing the small lateral correction."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 7,
    "motion_seconds": 0.462,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.07373,
      -0.08422,
      0.15624,
      -2.25882,
      -0.42948,
      3.25698,
      0.46141
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.67885,
      0.10643,
      1.02934
    ],
    "tcp_roll_pitch_yaw": [
      -8e-05,
      -1.14774,
      -0.00055
    ],
    "tcp_rotation_matrix": [
      [
        0.48071,
        0.10724,
        0.8703
      ],
      [
        0.01648,
        -0.99342,
        0.11331
      ],
      [
        0.87672,
        -0.04012,
        -0.47932
      ]
    ],
    "simulated_seconds_remaining": 21.846,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 5.003732486627996,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.085
                  },
                  "note": "The knob is now visible inside the left side of the jaw gap. I am shifting another two centimeters to center the grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 15,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.07373,
      -0.08422,
      0.15624,
      -2.25882,
      -0.42948,
      3.25698,
      0.46141
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.67885,
      0.10643,
      1.02934
    ],
    "tcp_roll_pitch_yaw": [
      -8e-05,
      -1.14774,
      -0.00055
    ],
    "tcp_rotation_matrix": [
      [
        0.48071,
        0.10724,
        0.8703
      ],
      [
        0.01648,
        -0.99342,
        0.11331
      ],
      [
        0.87672,
        -0.04012,
        -0.47932
      ]
    ],
    "simulated_seconds_remaining": 21.846,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 6.406305989250541,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.7,
                    "z": 1.01
                  },
                  "note": "The knob is ahead of the fingertips. I am making a short diagonal approach along the finger direction to bring it deeper into the jaw gap."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 16,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.07373,
      -0.08422,
      0.15624,
      -2.25882,
      -0.42948,
      3.25698,
      0.46141
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.67885,
      0.10643,
      1.02934
    ],
    "tcp_roll_pitch_yaw": [
      -8e-05,
      -1.14774,
      -0.00055
    ],
    "tcp_rotation_matrix": [
      [
        0.48071,
        0.10724,
        0.8703
      ],
      [
        0.01648,
        -0.99342,
        0.11331
      ],
      [
        0.87672,
        -0.04012,
        -0.47932
      ]
    ],
    "simulated_seconds_remaining": 21.846,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 7.40633578132838,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1
                  },
                  "note": "The arm rejects translation near its current configuration. I am easing the wrist angle before continuing the approach."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 17,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.07373,
      -0.08422,
      0.15624,
      -2.25882,
      -0.42948,
      3.25698,
      0.46141
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.67885,
      0.10643,
      1.02934
    ],
    "tcp_roll_pitch_yaw": [
      -8e-05,
      -1.14774,
      -0.00055
    ],
    "tcp_rotation_matrix": [
      [
        0.48071,
        0.10724,
        0.8703
      ],
      [
        0.01648,
        -0.99342,
        0.11331
      ],
      [
        0.87672,
        -0.04012,
        -0.47932
      ]
    ],
    "simulated_seconds_remaining": 21.846,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 5.005030852742493,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "roll": 0.2
                  },
                  "note": "The pitch change was rejected. I am adding a small roll to change the wrist configuration while holding the grasp point stationary."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 18,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.07373,
      -0.08422,
      0.15624,
      -2.25882,
      -0.42948,
      3.25698,
      0.46141
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.67885,
      0.10643,
      1.02934
    ],
    "tcp_roll_pitch_yaw": [
      -8e-05,
      -1.14774,
      -0.00055
    ],
    "tcp_rotation_matrix": [
      [
        0.48071,
        0.10724,
        0.8703
      ],
      [
        0.01648,
        -0.99342,
        0.11331
      ],
      [
        0.87672,
        -0.04012,
        -0.47932
      ]
    ],
    "simulated_seconds_remaining": 21.846,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 4.804516328498721,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.13
                  },
                  "note": "I am returning to the previous reachable sideways position so I can adjust the approach angle away from the arm's singular configuration."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 7,
    "motion_seconds": 0.462,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 19,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.36523,
      -0.07838,
      0.44646,
      -2.21505,
      -0.67481,
      3.23721,
      0.72414
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.67887,
      0.12902,
      1.02945
    ],
    "tcp_roll_pitch_yaw": [
      -0.00033,
      -1.14784,
      -0.00014
    ],
    "tcp_rotation_matrix": [
      [
        0.48062,
        0.10743,
        0.87032
      ],
      [
        0.01666,
        -0.99341,
        0.11342
      ],
      [
        0.87677,
        -0.04001,
        -0.47924
      ]
    ],
    "simulated_seconds_remaining": 21.384,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 4.403551736846566,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.05
                  },
                  "note": "Back at the reachable position, I am reducing pitch in a small step to free the wrist for the final approach."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 20,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.36523,
      -0.07838,
      0.44646,
      -2.21505,
      -0.67481,
      3.23721,
      0.72414
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.67887,
      0.12902,
      1.02945
    ],
    "tcp_roll_pitch_yaw": [
      -0.00033,
      -1.14784,
      -0.00014
    ],
    "tcp_rotation_matrix": [
      [
        0.48062,
        0.10743,
        0.87032
      ],
      [
        0.01666,
        -0.99341,
        0.11342
      ],
      [
        0.87677,
        -0.04001,
        -0.47924
      ]
    ],
    "simulated_seconds_remaining": 21.384,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 5.805248520337045,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.25
                  },
                  "note": "The shallower angle is unreachable from this configuration. I am testing a small rotation toward a horizontal approach instead."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 21,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.36523,
      -0.07838,
      0.44646,
      -2.21505,
      -0.67481,
      3.23721,
      0.72414
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.67887,
      0.12902,
      1.02945
    ],
    "tcp_roll_pitch_yaw": [
      -0.00033,
      -1.14784,
      -0.00014
    ],
    "tcp_rotation_matrix": [
      [
        0.48062,
        0.10743,
        0.87032
      ],
      [
        0.01666,
        -0.99341,
        0.11342
      ],
      [
        0.87677,
        -0.04001,
        -0.47924
      ]
    ],
    "simulated_seconds_remaining": 21.384,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 5.004750011488795,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.01
                  },
                  "note": "The knob is below the current grasp point. I am lowering only two centimeters, keeping the current orientation and lateral position."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 22,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.36523,
      -0.07838,
      0.44646,
      -2.21505,
      -0.67481,
      3.23721,
      0.72414
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.67887,
      0.12902,
      1.02945
    ],
    "tcp_roll_pitch_yaw": [
      -0.00033,
      -1.14784,
      -0.00014
    ],
    "tcp_rotation_matrix": [
      [
        0.48062,
        0.10743,
        0.87032
      ],
      [
        0.01666,
        -0.99341,
        0.11342
      ],
      [
        0.87677,
        -0.04001,
        -0.47924
      ]
    ],
    "simulated_seconds_remaining": 21.384,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 6.6053625121712685,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.678,
                    "y": 0.13,
                    "z": 0.88,
                    "pitch": -0.7,
                    "roll": 0,
                    "yaw": 0
                  },
                  "note": "Small motions are consistently rejected here. I am retreating to the last lower, reachable approach pose to reset the arm configuration."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 23,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.10288,
      0.10832,
      0.29032,
      -2.14954,
      -0.07919,
      2.88415,
      0.19218
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.67803,
      0.12996,
      0.88089
    ],
    "tcp_roll_pitch_yaw": [
      -2e-05,
      -0.70287,
      -5e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.8112,
        0.08002,
        0.57926
      ],
      [
        0.01671,
        -0.99336,
        0.11382
      ],
      [
        0.58452,
        -0.08265,
        -0.80716
      ]
    ],
    "simulated_seconds_remaining": 20.064,
    "calls_remaining_including_this": 35
  },
  "api_seconds": 5.805288258008659,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.7,
                    "y": 0.075,
                    "z": 0.99,
                    "pitch": -0.7
                  },
                  "note": "The retreat restored motion. I am approaching the knob from above at the reachable wrist angle, with the lateral correction established from the camera feedback."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 24,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.17462,
      0.03984,
      0.28149,
      -1.94512,
      0.09183,
      2.59895,
      -0.01811
    ],
    "gripper_open": 0.9844,
    "tcp_xyz": [
      0.69812,
      0.07949,
      0.98439
    ],
    "tcp_roll_pitch_yaw": [
      0.00131,
      -0.69095,
      0.00428
    ],
    "tcp_rotation_matrix": [
      [
        0.81802,
        0.08417,
        0.569
      ],
      [
        0.02036,
        -0.99285,
        0.1176
      ],
      [
        0.57484,
        -0.08462,
        -0.81388
      ]
    ],
    "simulated_seconds_remaining": 18.942,
    "calls_remaining_including_this": 34
  },
  "api_seconds": 7.005769363604486,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The fingertips overlap the knob area in the exterior view. I am closing the jaws to test whether the knob is seated between them."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 25,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.17395,
      0.04131,
      0.28233,
      -1.94794,
      0.09196,
      2.59651,
      -0.01807
    ],
    "gripper_open": 0.0001,
    "tcp_xyz": [
      0.69702,
      0.08049,
      0.98116
    ],
    "tcp_roll_pitch_yaw": [
      0.0013,
      -0.68426,
      0.00597
    ],
    "tcp_rotation_matrix": [
      [
        0.82181,
        0.08528,
        0.56334
      ],
      [
        0.02176,
        -0.99271,
        0.11853
      ],
      [
        0.56934,
        -0.08515,
        -0.81768
      ]
    ],
    "simulated_seconds_remaining": 18.018,
    "calls_remaining_including_this": 33
  },
  "api_seconds": 10.007988406345248,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.61,
                    "z": 1.03,
                    "gripper": 1,
                    "pitch": -0.95
                  },
                  "note": "The jaws closed fully, so the knob was missed. I am backing away and opening them for a clearer view and a more frontal approach."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 26,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.09708,
      -0.31915,
      0.2398,
      -2.36507,
      0.31201,
      2.91915,
      -0.18385
    ],
    "gripper_open": 0.9965,
    "tcp_xyz": [
      0.61083,
      0.08059,
      1.02962
    ],
    "tcp_roll_pitch_yaw": [
      0.00122,
      -0.94749,
      0.0062
    ],
    "tcp_rotation_matrix": [
      [
        0.64535,
        0.10486,
        0.75665
      ],
      [
        0.02085,
        -0.99258,
        0.11977
      ],
      [
        0.7636,
        -0.06152,
        -0.64275
      ]
    ],
    "simulated_seconds_remaining": 17.028,
    "calls_remaining_including_this": 32
  },
  "api_seconds": 11.60802233684808,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.67,
                    "y": 0.05,
                    "z": 1.01
                  },
                  "note": "The knob is clearly visible just left of the jaw center. I am advancing halfway and shifting right and down to center it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 27,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.08049,
      -0.13287,
      0.17615,
      -2.22017,
      0.35521,
      2.95706,
      -0.29328
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.66861,
      0.05207,
      1.01433
    ],
    "tcp_roll_pitch_yaw": [
      0.00121,
      -0.95384,
      0.00786
    ],
    "tcp_rotation_matrix": [
      [
        0.64046,
        0.10688,
        0.76052
      ],
      [
        0.02188,
        -0.99241,
        0.12104
      ],
      [
        0.76768,
        -0.06088,
        -0.63793
      ]
    ],
    "simulated_seconds_remaining": 16.236,
    "calls_remaining_including_this": 31
  },
  "api_seconds": 6.204619036056101,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.703,
                    "z": 0.992
                  },
                  "note": "The knob is centered between the jaws in the wrist image. I am moving a short distance along the finger direction to seat the knob before closing."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 28,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.07765,
      -0.02584,
      0.18304,
      -2.13178,
      0.34009,
      3.03873,
      -0.29653
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.70599,
      0.05478,
      1.01762
    ],
    "tcp_roll_pitch_yaw": [
      -0.00914,
      -1.01473,
      0.01402
    ],
    "tcp_rotation_matrix": [
      [
        0.59257,
        0.1078,
        0.79828
      ],
      [
        0.02435,
        -0.99295,
        0.11601
      ],
      [
        0.80515,
        -0.04931,
        -0.59101
      ]
    ],
    "simulated_seconds_remaining": 15.642,
    "calls_remaining_including_this": 30
  },
  "api_seconds": 5.604623544961214,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The knob is now at the center of the fingertips, and the approach met contact. I am closing the gripper around it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 29,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.07671,
      -0.02419,
      0.18427,
      -2.1363,
      0.34024,
      3.03529,
      -0.29646
    ],
    "gripper_open": 0.0002,
    "tcp_xyz": [
      0.70477,
      0.05646,
      1.01274
    ],
    "tcp_roll_pitch_yaw": [
      -0.00879,
      -1.00526,
      0.01675
    ],
    "tcp_rotation_matrix": [
      [
        0.60009,
        0.11033,
        0.79229
      ],
      [
        0.02612,
        -0.99262,
        0.11845
      ],
      [
        0.7995,
        -0.05039,
        -0.59854
      ]
    ],
    "simulated_seconds_remaining": 14.718,
    "calls_remaining_including_this": 29
  },
  "api_seconds": 6.204956773668528,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.6
                  },
                  "note": "I am pulling straight back to check whether the closed jaws have engaged the drawer knob."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 30,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.01661,
      -0.33369,
      0.15791,
      -2.45655,
      0.47481,
      3.04656,
      -0.37817
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.60133,
      0.0565,
      1.01282
    ],
    "tcp_roll_pitch_yaw": [
      -0.00885,
      -1.00535,
      0.01685
    ],
    "tcp_rotation_matrix": [
      [
        0.60001,
        0.11039,
        0.79234
      ],
      [
        0.02617,
        -0.99261,
        0.11847
      ],
      [
        0.79956,
        -0.05035,
        -0.59847
      ]
    ],
    "simulated_seconds_remaining": 13.728,
    "calls_remaining_including_this": 28
  },
  "api_seconds": 10.207275087945163,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.49
                  },
                  "note": "The front panel shifted during the pull and its knob is now much farther left in the wrist view. I am continuing backward to increase the opening."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 31,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.01301,
      -0.72201,
      0.18379,
      -2.75242,
      0.49686,
      2.95072,
      -0.34273
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.49129,
      0.05653,
      1.01289
    ],
    "tcp_roll_pitch_yaw": [
      -0.00889,
      -1.00548,
      0.01693
    ],
    "tcp_rotation_matrix": [
      [
        0.59991,
        0.11044,
        0.79241
      ],
      [
        0.02622,
        -0.99261,
        0.1185
      ],
      [
        0.79964,
        -0.05031,
        -0.59837
      ]
    ],
    "simulated_seconds_remaining": 12.672,
    "calls_remaining_including_this": 27
  },
  "api_seconds": 14.624101277440786,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.59,
                    "z": 0.94,
                    "gripper": 1
                  },
                  "note": "The drawer did not continue moving with the gripper. I am reopening the jaws and approaching lower so the fingertips engage the knob below the tabletop."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 32,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.34917,
      -0.25857,
      -0.14233,
      -2.57603,
      0.58884,
      3.27162,
      -0.51325
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.58893,
      0.05652,
      0.9407
    ],
    "tcp_roll_pitch_yaw": [
      -0.00849,
      -1.00524,
      0.01661
    ],
    "tcp_rotation_matrix": [
      [
        0.60011,
        0.11045,
        0.79226
      ],
      [
        0.02606,
        -0.9926,
        0.11864
      ],
      [
        0.79949,
        -0.05055,
        -0.59854
      ]
    ],
    "simulated_seconds_remaining": 11.55,
    "calls_remaining_including_this": 26
  },
  "api_seconds": 15.611951678991318,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.07,
                    "pitch": -0.7
                  },
                  "note": "The lower position puts the drawer above the wrist view. I am raising the open gripper to recover the knob and avoid approaching beneath it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 33,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.34917,
      -0.25857,
      -0.14233,
      -2.57603,
      0.58884,
      3.27162,
      -0.51325
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.58893,
      0.05652,
      0.9407
    ],
    "tcp_roll_pitch_yaw": [
      -0.00849,
      -1.00524,
      0.01661
    ],
    "tcp_rotation_matrix": [
      [
        0.60011,
        0.11045,
        0.79226
      ],
      [
        0.02606,
        -0.9926,
        0.11864
      ],
      [
        0.79949,
        -0.05055,
        -0.59854
      ]
    ],
    "simulated_seconds_remaining": 11.55,
    "calls_remaining_including_this": 25
  },
  "api_seconds": 5.805079783312976,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.05
                  },
                  "note": "The combined adjustment was rejected. I am raising the grasp point at the existing angle to bring the drawer back into view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 34,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.05267,
      -0.41305,
      0.17003,
      -2.43553,
      0.40334,
      2.9444,
      -0.30574
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.58896,
      0.05653,
      1.0489
    ],
    "tcp_roll_pitch_yaw": [
      -0.00839,
      -1.0056,
      0.01655
    ],
    "tcp_rotation_matrix": [
      [
        0.59982,
        0.11049,
        0.79247
      ],
      [
        0.02603,
        -0.99259,
        0.11869
      ],
      [
        0.79971,
        -0.05057,
        -0.59825
      ]
    ],
    "simulated_seconds_remaining": 10.494,
    "calls_remaining_including_this": 24
  },
  "api_seconds": 15.610424765385687,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.7,
                    "z": 1.07
                  },
                  "note": "Both knobs are visible; the right knob aligns laterally with the jaw gap. I am approaching it higher so the fingers clear the drawer face and surround the knob."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 35,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.13171,
      -0.09663,
      0.21584,
      -2.06424,
      0.26469,
      2.90113,
      -0.21651
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.69845,
      0.05553,
      1.07579
    ],
    "tcp_roll_pitch_yaw": [
      -0.00933,
      -1.01562,
      0.01529
    ],
    "tcp_rotation_matrix": [
      [
        0.59182,
        0.10895,
        0.79867
      ],
      [
        0.02508,
        -0.99283,
        0.11686
      ],
      [
        0.80568,
        -0.04913,
        -0.59031
      ]
    ],
    "simulated_seconds_remaining": 9.438,
    "calls_remaining_including_this": 23
  },
  "api_seconds": 5.203935828991234,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.745,
                    "z": 1.055
                  },
                  "note": "The right knob is between the fingers but still ahead of them. I am advancing another small step to enclose its stem."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 36,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.13318,
      0.04653,
      0.22086,
      -1.9362,
      0.19802,
      2.93276,
      -0.17889
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.74372,
      0.05736,
      1.06606
    ],
    "tcp_roll_pitch_yaw": [
      -0.01242,
      -1.03286,
      0.01997
    ],
    "tcp_rotation_matrix": [
      [
        0.57777,
        0.11179,
        0.80851
      ],
      [
        0.02732,
        -0.99267,
        0.11773
      ],
      [
        0.81574,
        -0.04593,
        -0.57659
      ]
    ],
    "simulated_seconds_remaining": 8.778,
    "calls_remaining_including_this": 22
  },
  "api_seconds": 5.204006963409483,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The knob is now deep in the jaw gap. I am closing the fingers for the pull."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 37,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.13194,
      0.04632,
      0.22242,
      -1.93736,
      0.1981,
      2.93199,
      -0.17857
    ],
    "gripper_open": 0.0001,
    "tcp_xyz": [
      0.74329,
      0.05947,
      1.06527
    ],
    "tcp_roll_pitch_yaw": [
      -0.01184,
      -1.03113,
      0.02221
    ],
    "tcp_rotation_matrix": [
      [
        0.57911,
        0.11443,
        0.80718
      ],
      [
        0.02869,
        -0.99235,
        0.12009
      ],
      [
        0.81475,
        -0.04639,
        -0.57796
      ]
    ],
    "simulated_seconds_remaining": 7.854,
    "calls_remaining_including_this": 21
  },
  "api_seconds": 7.40582016389817,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.095,
                    "gripper": 1
                  },
                  "note": "The jaws again closed fully. The knob sits below the finger tips in the wrist image, so I am opening and raising the grasp point slightly to align the contact surfaces."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 38,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.13187,
      0.03576,
      0.21887,
      -1.88794,
      0.17531,
      2.85958,
      -0.15238
    ],
    "gripper_open": 0.9826,
    "tcp_xyz": [
      0.743,
      0.06132,
      1.08645
    ],
    "tcp_roll_pitch_yaw": [
      -0.00834,
      -1.01842,
      0.02163
    ],
    "tcp_rotation_matrix": [
      [
        0.58938,
        0.11621,
        0.79945
      ],
      [
        0.02885,
        -0.992,
        0.12293
      ],
      [
        0.80734,
        -0.04939,
        -0.58802
      ]
    ],
    "simulated_seconds_remaining": 6.93,
    "calls_remaining_including_this": 20
  },
  "api_seconds": 6.404942899942398,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.12
                  },
                  "note": "The knob moved closer to the fingertip line. I am raising another small increment to place it directly between the gripping surfaces."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 8,
    "motion_seconds": 0.528,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 39,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.13295,
      0.02761,
      0.21554,
      -1.82186,
      0.15413,
      2.77758,
      -0.12827
    ],
    "gripper_open": 0.9927,
    "tcp_xyz": [
      0.74287,
      0.06194,
      1.11431
    ],
    "tcp_roll_pitch_yaw": [
      -0.00632,
      -1.01025,
      0.02068
    ],
    "tcp_rotation_matrix": [
      [
        0.59595,
        0.11656,
        0.79452
      ],
      [
        0.02859,
        -0.99186,
        0.12407
      ],
      [
        0.80251,
        -0.05122,
        -0.59443
      ]
    ],
    "simulated_seconds_remaining": 6.402,
    "calls_remaining_including_this": 19
  },
  "api_seconds": 5.604381585493684,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The knob is now level with the inner fingertip surfaces. I am closing the jaws at this corrected height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 40,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.13321,
      0.02867,
      0.21521,
      -1.82468,
      0.15422,
      2.77527,
      -0.12813
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.74259,
      0.06155,
      1.11109
    ],
    "tcp_roll_pitch_yaw": [
      -0.00607,
      -1.00407,
      0.02014
    ],
    "tcp_rotation_matrix": [
      [
        0.60091,
        0.11592,
        0.79087
      ],
      [
        0.02839,
        -0.9919,
        0.12381
      ],
      [
        0.79881,
        -0.05195,
        -0.59933
      ]
    ],
    "simulated_seconds_remaining": 5.478,
    "calls_remaining_including_this": 18
  },
  "api_seconds": 6.205063467845321,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.78,
                    "z": 1.095,
                    "gripper": 1
                  },
                  "note": "The knob remains just beyond the closed fingertips. I am reopening and advancing along the finger direction to capture it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 41,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.12304,
      0.14733,
      0.2107,
      -1.71143,
      0.10745,
      2.7847,
      -0.103
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.77886,
      0.06196,
      1.09886
    ],
    "tcp_roll_pitch_yaw": [
      -0.00651,
      -1.00936,
      0.02081
    ],
    "tcp_rotation_matrix": [
      [
        0.59666,
        0.11649,
        0.79399
      ],
      [
        0.02867,
        -0.99187,
        0.12398
      ],
      [
        0.80198,
        -0.05121,
        -0.59515
      ]
    ],
    "simulated_seconds_remaining": 4.554,
    "calls_remaining_including_this": 17
  },
  "api_seconds": 5.604222798720002,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.043,
                    "z": 1.12
                  },
                  "note": "The knob sits slightly left and below the jaw center. I am making the final small alignment correction before closing."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 7,
    "motion_seconds": 0.462,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 42,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.1488,
      0.14149,
      0.21186,
      -1.66745,
      0.14841,
      2.72908,
      -0.15257
    ],
    "gripper_open": 0.9927,
    "tcp_xyz": [
      0.77876,
      0.0451,
      1.11782
    ],
    "tcp_roll_pitch_yaw": [
      -0.00544,
      -1.00707,
      0.02152
    ],
    "tcp_rotation_matrix": [
      [
        0.59846,
        0.11796,
        0.79242
      ],
      [
        0.02921,
        -0.99166,
        0.12556
      ],
      [
        0.80062,
        -0.05199,
        -0.59692
      ]
    ],
    "simulated_seconds_remaining": 4.092,
    "calls_remaining_including_this": 16
  },
  "api_seconds": 7.60544382315129,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.025,
                    "gripper": 0
                  },
                  "note": "The knob is still slightly left of center. I am shifting the jaws onto it and closing to secure the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 43,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.17374,
      0.13879,
      0.21696,
      -1.66592,
      0.19939,
      2.72173,
      -0.21515
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.77842,
      0.03118,
      1.11938
    ],
    "tcp_roll_pitch_yaw": [
      -0.00517,
      -1.00932,
      0.02835
    ],
    "tcp_rotation_matrix": [
      [
        0.59644,
        0.12508,
        0.79285
      ],
      [
        0.03327,
        -0.99079,
        0.13128
      ],
      [
        0.80197,
        -0.05192,
        -0.59511
      ]
    ],
    "simulated_seconds_remaining": 3.168,
    "calls_remaining_including_this": 15
  },
  "api_seconds": 5.003816166892648,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.51
                  },
                  "note": "The fingers are closed at the handle location. I am pulling backward to open the table's front compartment."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 32,
    "motion_seconds": 2.112,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 44,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.12969,
      -0.71246,
      0.15101,
      -2.47438,
      0.45366,
      2.66516,
      -0.37128
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.51132,
      0.0312,
      1.11949
    ],
    "tcp_roll_pitch_yaw": [
      -0.00526,
      -1.0095,
      0.02844
    ],
    "tcp_rotation_matrix": [
      [
        0.59629,
        0.1251,
        0.79296
      ],
      [
        0.03331,
        -0.99079,
        0.13126
      ],
      [
        0.80208,
        -0.05186,
        -0.59497
      ]
    ],
    "simulated_seconds_remaining": 1.056,
    "calls_remaining_including_this": 14
  },
  "api_seconds": 6.605298534035683,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.41
                  },
                  "note": "The front compartment has visibly extended toward the robot. I am continuing the pull to widen the opening."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 45,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.13667,
      -1.07251,
      0.1296,
      -2.65947,
      0.4332,
      2.48521,
      -0.33674
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.41127,
      0.0312,
      1.11961
    ],
    "tcp_roll_pitch_yaw": [
      -0.00533,
      -1.00973,
      0.0285
    ],
    "tcp_rotation_matrix": [
      [
        0.59611,
        0.12511,
        0.7931
      ],
      [
        0.03334,
        -0.99079,
        0.13124
      ],
      [
        0.80221,
        -0.05179,
        -0.59479
      ]
    ],
    "simulated_seconds_remaining": 0.066,
    "calls_remaining_including_this": 13
  },
  "api_seconds": 5.404630823992193,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "give_up",
                "args": {
                  "note": "The available motion time is exhausted. I could not establish a reliable grasp or verify that the table compartment opened."
                }
              }
            }
          ]
        }
      }
    ]
  }
}

========================================================================
GPT-Astra / Open / Episode 020

Completed scored attempt. Images are available in the paired videos.

Opaque provider signatures, image payloads, and local paths are omitted.


RESULT
{
  "benchmark_index": 20,
  "source_episode_index": 531,
  "house_index": 313,
  "status": "completed",
  "success": true,
  "oracle_success": true,
  "action_decisions": 5,
  "wall_seconds": 80.33,
  "usage": {
    "input_tokens": 103648,
    "cached_input_tokens": 95232,
    "cache_write_input_tokens": 0,
    "output_tokens": 1152,
    "reasoning_output_tokens": 300
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task.
You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose.
Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion.
move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up.
roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial.
Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5).
The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y.
The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics.
Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration.
Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target.
You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time.
Each move must include a short note describing what you observe and why you chose that motion.
Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done.
Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available.



AGENT TRANSCRIPT (visible messages and completed tool calls)

I’ll inspect the scene, then use visual feedback to grasp and open the object.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"open the desk.\", \"joint_positions\": [0.0136, -0.79858, 0.02287, -2.3957, 0.08811, 1.52022, -0.15369], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.28402, 0.03321, 0.99756], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.98061, 0.17938, -0.07894], [0.18491, -0.98031, 0.0693], [-0.06496, -0.08255, -0.99447]], \"simulated_seconds_remaining\": 30.03, \"calls_remaining_including_this\": 57}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "x": 0.48,
    "y": 0.03,
    "z": 0.83,
    "pitch": -1.4,
    "gripper": 1,
    "note": "The desk drawer fronts are ahead and below the current grasp point. I approach with the fingers aimed toward the front to locate the handle."
  },
  "result": null,
  "error": {
    "message": "tool call error: tool call failed for `robot/move_to`\n\nCaused by:\n    Mcp error: -32602: Unexpected argument"
  },
  "status": "failed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.48,
      "y": 0.03,
      "z": 0.83,
      "pitch": -1.4,
      "gripper": 1
    },
    "note": "The desk drawer fronts are ahead and below the current grasp point. I approach with the fingers aimed toward the front to locate the handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"open the desk.\", \"joint_positions\": [0.0136, -0.79858, 0.02287, -2.3957, 0.08811, 1.52022, -0.15369], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.28402, 0.03321, 0.99756], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.98061, 0.17938, -0.07894], [0.18491, -0.98031, 0.0693], [-0.06496, -0.08255, -0.99447]], \"simulated_seconds_remaining\": 30.03, \"calls_remaining_including_this\": 56}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.38,
      "z": 0.88,
      "pitch": -0.65
    },
    "note": "The full approach orientation was unreachable. I use a smaller forward and downward step with a partial wrist rotation."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"open the desk.\", \"joint_positions\": [0.04058, -1.0187, 0.0527, -3.01087, 0.13389, 2.59231, -0.2046], \"gripper_open\": 1.0, \"tcp_xyz\": [0.37776, 0.03352, 0.90059], \"tcp_roll_pitch_yaw\": [0.01247, -0.67728, -0.01848], \"tcp_rotation_matrix\": [[0.80672, 0.18105, 0.56251], [0.17083, -0.98272, 0.07131], [0.5657, 0.03856, -0.82371]], \"simulated_seconds_remaining\": 28.71, \"calls_remaining_including_this\": 55}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 20, \"motion_seconds\": 1.32, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.42,
      "z": 0.77,
      "pitch": -1.35
    },
    "note": "The wrist view is angled down across the dark drawer front. I lower the grasp point and finish aiming the fingers forward to inspect the drawer face."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"open the desk.\", \"joint_positions\": [0.04058, -1.0187, 0.0527, -3.01087, 0.13389, 2.59231, -0.2046], \"gripper_open\": 1.0, \"tcp_xyz\": [0.37776, 0.03352, 0.90059], \"tcp_roll_pitch_yaw\": [0.01247, -0.67728, -0.01848], \"tcp_rotation_matrix\": [[0.80672, 0.18105, 0.56251], [0.17083, -0.98272, 0.07131], [0.5657, 0.03856, -0.82371]], \"simulated_seconds_remaining\": 28.71, \"calls_remaining_including_this\": 54}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.6,
      "z": 0.85,
      "pitch": -1.1
    },
    "note": "The bent arm cannot complete the low pose. I extend farther forward while keeping the wrist at an intermediate angle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"open the desk.\", \"joint_positions\": [0.36249, -0.29624, -0.19467, -2.7126, -0.32015, 3.5533, 1.26306], \"gripper_open\": 1.0, \"tcp_xyz\": [0.5527, 0.15433, 0.97027], \"tcp_roll_pitch_yaw\": [1.05598, -0.30034, -1.17132], \"tcp_rotation_matrix\": [[0.48545, -0.20898, 0.84892], [-0.77041, -0.56128, 0.30238], [0.4133, -0.8008, -0.43347]], \"simulated_seconds_remaining\": 26.862, \"calls_remaining_including_this\": 53}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 28, \"motion_seconds\": 1.848, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.35,
      "y": 0.18,
      "z": 1.12,
      "roll": 0,
      "pitch": 0,
      "yaw": 0
    },
    "note": "The measured pose deviated during approach and the wrist view is too close to the dark surface. I lift and retreat to get a clear view of the silver pull near the desk's top."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "Episode ended. Do not call more tools. Return a brief final response."
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

I couldn’t complete the opening before the episode ended.

TURN USAGE
{
  "input_tokens": 103648,
  "cached_input_tokens": 95232,
  "cache_write_input_tokens": 0,
  "output_tokens": 1152,
  "reasoning_output_tokens": 300
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "open the desk.",
    "joint_positions": [
      0.0136,
      -0.79858,
      0.02287,
      -2.3957,
      0.08811,
      1.52022,
      -0.15369
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.28402,
      0.03321,
      0.99756
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.98061,
        0.17938,
        -0.07894
      ],
      [
        0.18491,
        -0.98031,
        0.0693
      ],
      [
        -0.06496,
        -0.08255,
        -0.99447
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 26.026156914420426,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48,
                    "y": 0.03,
                    "z": 0.83,
                    "pitch": -1.4,
                    "gripper": 1
                  },
                  "note": "The desk drawer fronts are ahead and below the current grasp point. I approach with the fingers aimed toward the front to locate the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 2,
  "state": {
    "instruction": "open the desk.",
    "joint_positions": [
      0.0136,
      -0.79858,
      0.02287,
      -2.3957,
      0.08811,
      1.52022,
      -0.15369
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.28402,
      0.03321,
      0.99756
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.98061,
        0.17938,
        -0.07894
      ],
      [
        0.18491,
        -0.98031,
        0.0693
      ],
      [
        -0.06496,
        -0.08255,
        -0.99447
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 5.204887917265296,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.38,
                    "z": 0.88,
                    "pitch": -0.65
                  },
                  "note": "The full approach orientation was unreachable. I use a smaller forward and downward step with a partial wrist rotation."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "open the desk.",
    "joint_positions": [
      0.04058,
      -1.0187,
      0.0527,
      -3.01087,
      0.13389,
      2.59231,
      -0.2046
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.37776,
      0.03352,
      0.90059
    ],
    "tcp_roll_pitch_yaw": [
      0.01247,
      -0.67728,
      -0.01848
    ],
    "tcp_rotation_matrix": [
      [
        0.80672,
        0.18105,
        0.56251
      ],
      [
        0.17083,
        -0.98272,
        0.07131
      ],
      [
        0.5657,
        0.03856,
        -0.82371
      ]
    ],
    "simulated_seconds_remaining": 28.71,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 6.606243067421019,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.42,
                    "z": 0.77,
                    "pitch": -1.35
                  },
                  "note": "The wrist view is angled down across the dark drawer front. I lower the grasp point and finish aiming the fingers forward to inspect the drawer face."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 4,
  "state": {
    "instruction": "open the desk.",
    "joint_positions": [
      0.04058,
      -1.0187,
      0.0527,
      -3.01087,
      0.13389,
      2.59231,
      -0.2046
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.37776,
      0.03352,
      0.90059
    ],
    "tcp_roll_pitch_yaw": [
      0.01247,
      -0.67728,
      -0.01848
    ],
    "tcp_rotation_matrix": [
      [
        0.80672,
        0.18105,
        0.56251
      ],
      [
        0.17083,
        -0.98272,
        0.07131
      ],
      [
        0.5657,
        0.03856,
        -0.82371
      ]
    ],
    "simulated_seconds_remaining": 28.71,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 7.206661133095622,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.6,
                    "z": 0.85,
                    "pitch": -1.1
                  },
                  "note": "The bent arm cannot complete the low pose. I extend farther forward while keeping the wrist at an intermediate angle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 28,
    "motion_seconds": 1.848,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "open the desk.",
    "joint_positions": [
      0.36249,
      -0.29624,
      -0.19467,
      -2.7126,
      -0.32015,
      3.5533,
      1.26306
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.5527,
      0.15433,
      0.97027
    ],
    "tcp_roll_pitch_yaw": [
      1.05598,
      -0.30034,
      -1.17132
    ],
    "tcp_rotation_matrix": [
      [
        0.48545,
        -0.20898,
        0.84892
      ],
      [
        -0.77041,
        -0.56128,
        0.30238
      ],
      [
        0.4133,
        -0.8008,
        -0.43347
      ]
    ],
    "simulated_seconds_remaining": 26.862,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 8.612141506746411,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.35,
                    "y": 0.18,
                    "z": 1.12,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 0
                  },
                  "note": "The measured pose deviated during approach and the wrist view is too close to the dark surface. I lift and retreat to get a clear view of the silver pull near the desk's top."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 33,
    "motion_seconds": 2.178,
    "status": "executing; next observation shows actual arrival"
  }
}

========================================================================
GPT-Astra / Open / Episode 021

Completed scored attempt. Images are available in the paired videos.

Opaque provider signatures, image payloads, and local paths are omitted.


RESULT
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  "benchmark_index": 21,
  "source_episode_index": 555,
  "house_index": 314,
  "status": "completed",
  "success": false,
  "oracle_success": false,
  "action_decisions": 29,
  "wall_seconds": 357.14,
  "usage": {
    "input_tokens": 633571,
    "cached_input_tokens": 609280,
    "cache_write_input_tokens": 0,
    "output_tokens": 6280,
    "reasoning_output_tokens": 2956
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task.
You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose.
Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion.
move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up.
roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial.
Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5).
The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y.
The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics.
Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration.
Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target.
You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time.
Each move must include a short note describing what you observe and why you chose that motion.
Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done.
Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available.



AGENT TRANSCRIPT (visible messages and completed tool calls)

I’ll inspect the robot’s view and use fresh feedback after each motion to open the object.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"open the desk.\", \"joint_positions\": [0.01772, -0.79127, 0.07261, -2.41909, -0.03315, 1.52623, 0.13762], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.28208, 0.01432, 0.98485], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.9931, -0.06643, -0.09666], [-0.0753, -0.99298, -0.09123], [-0.08992, 0.09788, -0.99113]], \"simulated_seconds_remaining\": 30.03, \"calls_remaining_including_this\": 57}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "x": 0.43,
    "y": 0,
    "z": 0.84,
    "pitch": -1.57,
    "gripper": 1,
    "note": "The desk drawer has a horizontal pull beneath the desktop. I turn the fingers toward its front and approach the handle height."
  },
  "result": null,
  "error": {
    "message": "tool call error: tool call failed for `robot/move_to`\n\nCaused by:\n    Mcp error: -32602: Unexpected argument"
  },
  "status": "failed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.43,
      "y": 0,
      "z": 0.84,
      "pitch": -1.57,
      "gripper": 1
    },
    "note": "The desk drawer has a horizontal pull beneath the desktop. I turn the fingers toward its front and approach the handle height."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"open the desk.\", \"joint_positions\": [0.01772, -0.79127, 0.07261, -2.41909, -0.03315, 1.52623, 0.13762], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.28208, 0.01432, 0.98485], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.9931, -0.06643, -0.09666], [-0.0753, -0.99298, -0.09123], [-0.08992, 0.09788, -0.99113]], \"simulated_seconds_remaining\": 30.03, \"calls_remaining_including_this\": 56}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.34,
      "y": 0,
      "z": 0.9,
      "pitch": -0.8
    },
    "note": "The full horizontal approach was unreachable. I use a nearer intermediate pose and a smaller rotation toward the drawer pull."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"open the desk.\", \"joint_positions\": [0.01772, -0.79127, 0.07261, -2.41909, -0.03315, 1.52623, 0.13762], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.28208, 0.01432, 0.98485], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.9931, -0.06643, -0.09666], [-0.0753, -0.99298, -0.09123], [-0.08992, 0.09788, -0.99113]], \"simulated_seconds_remaining\": 30.03, \"calls_remaining_including_this\": 55}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.34,
      "z": 0.88
    },
    "note": "The wrist rotation is constrained at this height. I lower the open gripper toward the visible drawer handle while retaining its reachable orientation."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"open the desk.\", \"joint_positions\": [0.00764, -0.59118, 0.07978, -2.55489, -0.04148, 1.86121, 0.15682], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.33932, 0.01431, 0.88105], \"tcp_roll_pitch_yaw\": [-2e-05, 0.00034, -2e-05], \"tcp_rotation_matrix\": [[0.99307, -0.06642, -0.09699], [-0.07533, -0.99297, -0.09125], [-0.09025, 0.09792, -0.99109]], \"simulated_seconds_remaining\": 28.908, \"calls_remaining_including_this\": 54}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 17, \"motion_seconds\": 1.122, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "pitch": -0.4,
      "z": 0.92
    },
    "note": "The gripper is now just below and right of the pull in the exterior view. I raise it slightly and begin tilting toward the drawer."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"open the desk.\", \"joint_positions\": [0.01853, -0.96454, 0.08594, -2.78739, -0.05084, 2.11474, 0.18734], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.33931, 0.01431, 0.91964], \"tcp_roll_pitch_yaw\": [-7e-05, -0.39603, 1e-05], \"tcp_rotation_matrix\": [[0.95092, -0.09907, 0.29316], [-0.07531, -0.99297, -0.09129], [0.30014, 0.06473, -0.95169]], \"simulated_seconds_remaining\": 28.05, \"calls_remaining_including_this\": 53}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 13, \"motion_seconds\": 0.8580000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.42,
      "z": 0.96,
      "pitch": 0,
      "yaw": 1.57
    },
    "note": "The pull is a horizontal bar. I position above it and rotate the jaw opening across the bar so the fingers can straddle it from above."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"open the desk.\", \"joint_positions\": [0.40874, -0.53245, -0.26172, -2.33017, -0.25414, 1.51097, -1.24433], \"gripper_open\": 0.991, \"tcp_xyz\": [0.32385, -0.01278, 0.93942], \"tcp_roll_pitch_yaw\": [0.35115, 0.09424, 1.53583], \"tcp_rotation_matrix\": [[0.07396, 0.96233, -0.26164], [0.97632, -0.12335, -0.17772], [-0.2033, -0.2423, -0.94866]], \"simulated_seconds_remaining\": 25.608, \"calls_remaining_including_this\": 52}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 37, \"motion_seconds\": 2.442, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.35,
      "y": 0.07,
      "z": 0.9,
      "roll": 0,
      "pitch": 0,
      "yaw": 1.57
    },
    "note": "The approach contacted the desk edge and stopped short. I lower beneath that edge and shift toward the center of the visible handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"open the desk.\", \"joint_positions\": [0.46195, -0.69564, -0.16413, -2.60308, -0.2445, 1.95549, -1.07838], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.3497, 0.06925, 0.90028], \"tcp_roll_pitch_yaw\": [0.00344, 0.00107, 1.56967], \"tcp_rotation_matrix\": [[0.07612, 0.99323, 0.08771], [0.99292, -0.06745, -0.09782], [-0.09124, 0.09454, -0.99133]], \"simulated_seconds_remaining\": 24.684, \"calls_remaining_including_this\": 51}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.38,
      "z": 0.955
    },
    "note": "Both views place the pull above and slightly ahead of the open fingertips. I raise the grasp point to the pull and advance a small distance."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"open the desk.\", \"joint_positions\": [0.46889, -0.61386, -0.17348, -2.41063, -0.22956, 1.84991, -1.11619], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.37944, 0.06926, 0.95396], \"tcp_roll_pitch_yaw\": [0.00328, 0.00101, 1.56965], \"tcp_rotation_matrix\": [[0.07615, 0.99322, 0.08786], [0.99292, -0.06748, -0.09776], [-0.09117, 0.09469, -0.99132]], \"simulated_seconds_remaining\": 23.958, \"calls_remaining_including_this\": 50}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 11, \"motion_seconds\": 0.726, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.415,
      "z": 0.97
    },
    "note": "The pull is close to the jaw gap but still ahead of it. I make a short approach with the jaws open to straddle the bar."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"open the desk.\", \"joint_positions\": [0.47584, -0.51302, -0.19105, -2.29196, -0.21878, 1.78312, -1.14669], \"gripper_open\": 0.966, \"tcp_xyz\": [0.39858, 0.06764, 0.96591], \"tcp_roll_pitch_yaw\": [0.05369, 0.01749, 1.57051], \"tcp_rotation_matrix\": [[0.07066, 0.99678, 0.03788], [0.99129, -0.06593, -0.11404], [-0.11118, 0.04561, -0.99275]], \"simulated_seconds_remaining\": 23.43, \"calls_remaining_including_this\": 49}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 8, \"motion_seconds\": 0.528, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.38,
      "y": 0.17,
      "z": 0.965,
      "roll": 0,
      "pitch": 0
    },
    "note": "The wrist view shows the pull offset along the drawer front from the jaw center. I slide sideways along the front to center the grip on the bar."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"open the desk.\", \"joint_positions\": [0.5499, -0.48641, -0.04822, -2.29017, -0.15705, 1.83355, -0.95399], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.38022, 0.16877, 0.965], \"tcp_roll_pitch_yaw\": [0.00068, 0.0003, 1.57074], \"tcp_rotation_matrix\": [[0.0753, 0.99304, 0.09055], [0.99307, -0.06646, -0.09696], [-0.09027, 0.09722, -0.99116]], \"simulated_seconds_remaining\": 22.44, \"calls_remaining_including_this\": 48}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 15, \"motion_seconds\": 0.99, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "y": -0.04
    },
    "note": "The sideways move shifted the handle away from the jaw center in the wrist view. I correct in the opposite direction to align the bar between the fingers."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 11, \"instruction\": \"open the desk.\", \"joint_positions\": [0.39562, -0.68919, -0.32531, -2.40822, -0.00752, 1.82186, -1.31081], \"gripper_open\": 0.9968, \"tcp_xyz\": [0.3691, 0.03836, 0.97131], \"tcp_roll_pitch_yaw\": [0.05381, -0.30503, 1.5199], \"tcp_rotation_matrix\": [[0.11989, 0.99161, 0.04825], [0.9706, -0.12729, 0.20431], [0.20874, 0.02233, -0.97772]], \"simulated_seconds_remaining\": 20.724, \"calls_remaining_including_this\": 47}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 26, \"motion_seconds\": 1.7160000000000002, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.27,
      "y": -0.03,
      "z": 0.93,
      "roll": 0,
      "pitch": 0,
      "yaw": 1.57
    },
    "note": "Contact with the desk is deflecting the wrist before alignment. I retreat from the front to regain a clean, centered approach."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 12, \"instruction\": \"open the desk.\", \"joint_positions\": [0.25123, -1.06396, -0.19318, -2.71775, -0.27935, 1.73338, -1.31264], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.27078, -0.02942, 0.93035], \"tcp_roll_pitch_yaw\": [0.00035, -0.0026, 1.56972], \"tcp_rotation_matrix\": [[0.07634, 0.99294, 0.09078], [0.99325, -0.06776, -0.09418], [-0.08736, 0.09736, -0.99141]], \"simulated_seconds_remaining\": 19.602, \"calls_remaining_including_this\": 46}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 17, \"motion_seconds\": 1.122, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "y": -0.1,
      "z": 1.045
    },
    "note": "The handle lies left and above the jaw center in the wrist view. I align along its length and lift the fingers for a controlled descent over the bar."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 13, \"instruction\": \"open the desk.\", \"joint_positions\": [0.22717, -0.97893, -0.27405, -2.36733, -0.32715, 1.49893, -1.47534], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.27081, -0.09931, 1.04391], \"tcp_roll_pitch_yaw\": [0.00016, -0.00264, 1.56965], \"tcp_rotation_matrix\": [[0.07642, 0.99292, 0.09096], [0.99325, -0.06783, -0.09414], [-0.08731, 0.09754, -0.99139]], \"simulated_seconds_remaining\": 18.414, \"calls_remaining_including_this\": 45}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 18, \"motion_seconds\": 1.1880000000000002, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.35,
      "y": -0.13
    },
    "note": "The pull is now close to the wrist image center. I advance above it while keeping the open fingers clear of the drawer face."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 14, \"instruction\": \"open the desk.\", \"joint_positions\": [0.27158, -0.8064, -0.36821, -2.20582, -0.25236, 1.43598, -1.52759], \"gripper_open\": 0.9958, \"tcp_xyz\": [0.2964, -0.10511, 1.05448], \"tcp_roll_pitch_yaw\": [0.0943, -0.10952, 1.57075], \"tcp_rotation_matrix\": [[0.06655, 0.99778, -0.00251], [0.9977, -0.06651, 0.01271], [0.01252, -0.00335, -0.99992]], \"simulated_seconds_remaining\": 17.556, \"calls_remaining_including_this\": 44}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 13, \"motion_seconds\": 0.8580000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.32,
      "y": 0.1,
      "z": 0.82,
      "roll": 0,
      "pitch": 0,
      "yaw": 1.57
    },
    "note": "The upper approach is blocked by the desk edge. I move below it toward the lower drawer pull, where there is more clearance for the fingers."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 15, \"instruction\": \"open the desk.\", \"joint_positions\": [0.39915, -0.68562, -0.02481, -2.81179, -0.16855, 2.16845, -1.02728], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.31985, 0.0991, 0.82095], \"tcp_roll_pitch_yaw\": [0.00067, -0.00028, 1.57014], \"tcp_rotation_matrix\": [[0.0759, 0.993, 0.0905], [0.99307, -0.06711, -0.09643], [-0.08969, 0.09719, -0.99122]], \"simulated_seconds_remaining\": 15.18, \"calls_remaining_including_this\": 43}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 36, \"motion_seconds\": 2.3760000000000003, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.43
    },
    "note": "The lower pull is at the gripper's height and ahead of it in the exterior view. I advance slowly to place the open jaws around it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 16, \"instruction\": \"open the desk.\", \"joint_positions\": [0.36598, -0.32189, -0.08652, -2.52893, -0.18891, 2.25984, -1.09923], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.42872, 0.09909, 0.82095], \"tcp_roll_pitch_yaw\": [0.00072, -0.00031, 1.57007], \"tcp_rotation_matrix\": [[0.07596, 0.993, 0.09045], [0.99307, -0.06718, -0.09642], [-0.08967, 0.09715, -0.99122]], \"simulated_seconds_remaining\": 14.124, \"calls_remaining_including_this\": 42}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 16, \"motion_seconds\": 1.056, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "y": -0.015,
      "z": 0.78
    },
    "note": "The open jaws have reached the pull's depth. I lower slightly and align along the bar before closing."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 17, \"instruction\": \"open the desk.\", \"joint_positions\": [0.42276, -0.38103, -0.22632, -2.63326, -0.25884, 2.40587, -1.30829], \"gripper_open\": 1.0, \"tcp_xyz\": [0.43215, 0.07279, 0.81074], \"tcp_roll_pitch_yaw\": [-0.06944, -0.009, 1.7689], \"tcp_rotation_matrix\": [[-0.11582, 0.97792, 0.17393], [0.99039, 0.12702, -0.05465], [-0.07554, 0.16593, -0.98324]], \"simulated_seconds_remaining\": 13.002, \"calls_remaining_including_this\": 41}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 17, \"motion_seconds\": 1.122, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The fingers are in contact near the lower pull. I close the jaws to test whether the bar is seated between them."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 18, \"instruction\": \"open the desk.\", \"joint_positions\": [0.42276, -0.38103, -0.22632, -2.63326, -0.25884, 2.40587, -1.30829], \"gripper_open\": 0.0, \"tcp_xyz\": [0.43215, 0.07279, 0.81074], \"tcp_roll_pitch_yaw\": [-0.06945, -0.009, 1.76893], \"tcp_rotation_matrix\": [[-0.11585, 0.97792, 0.17395], [0.99039, 0.12705, -0.05464], [-0.07553, 0.16594, -0.98324]], \"simulated_seconds_remaining\": 12.078, \"calls_remaining_including_this\": 40}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.3,
      "y": 0,
      "z": 0.78,
      "roll": -1.57,
      "pitch": 0,
      "yaw": 1.57,
      "gripper": 1
    },
    "note": "The jaws closed fully without catching the pull. I withdraw and turn to a front-facing grip with the fingers above and below the horizontal bar."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 19, \"instruction\": \"open the desk.\", \"joint_positions\": [0.42276, -0.38103, -0.22632, -2.63326, -0.25884, 2.40587, -1.30829], \"gripper_open\": 0.0, \"tcp_xyz\": [0.43215, 0.07279, 0.81074], \"tcp_roll_pitch_yaw\": [-0.06945, -0.009, 1.76893], \"tcp_rotation_matrix\": [[-0.11585, 0.97792, 0.17395], [0.99039, 0.12705, -0.05464], [-0.07553, 0.16594, -0.98324]], \"simulated_seconds_remaining\": 12.078, \"calls_remaining_including_this\": 39}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.34,
      "y": 0,
      "z": 0.77,
      "roll": -0.8,
      "pitch": 0,
      "yaw": 1.57,
      "gripper": 1
    },
    "note": "The fully horizontal wrist pose is unreachable. I use a partial tilt from a nearer position to approach beneath the drawer front."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 20, \"instruction\": \"open the desk.\", \"joint_positions\": [0.42276, -0.38103, -0.22632, -2.63326, -0.25884, 2.40587, -1.30829], \"gripper_open\": 0.0, \"tcp_xyz\": [0.43215, 0.07279, 0.81074], \"tcp_roll_pitch_yaw\": [-0.06945, -0.009, 1.76893], \"tcp_rotation_matrix\": [[-0.11585, 0.97792, 0.17395], [0.99039, 0.12705, -0.05464], [-0.07553, 0.16594, -0.98324]], \"simulated_seconds_remaining\": 12.078, \"calls_remaining_including_this\": 38}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.36,
      "y": -0.07,
      "z": 0.77,
      "roll": 0,
      "pitch": 0,
      "yaw": 1.57
    },
    "note": "I keep the fingers together while repositioning clear of the drawer face, then can reopen closer to the pull's center."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 21, \"instruction\": \"open the desk.\", \"joint_positions\": [0.19105, -0.53618, -0.36684, -2.83634, -0.40195, 2.39826, -1.36338], \"gripper_open\": 0.0018, \"tcp_xyz\": [0.36078, -0.06474, 0.7703], \"tcp_roll_pitch_yaw\": [-0.00116, 0.00212, 1.58533], \"tcp_rotation_matrix\": [[0.06097, 0.99372, 0.09381], [0.9939, -0.05179, -0.0974], [-0.09193, 0.09917, -0.99081]], \"simulated_seconds_remaining\": 10.692, \"calls_remaining_including_this\": 37}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 21, \"motion_seconds\": 1.3860000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 1,
      "x": 0.39,
      "y": -0.1,
      "z": 0.79
    },
    "note": "The lower pull is now beside the fingertip gap in the wrist image. I reopen and make a small centering move above the bar."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 22, \"instruction\": \"open the desk.\", \"joint_positions\": [0.21596, -0.47286, -0.40532, -2.73276, -0.31133, 2.19086, -1.52547], \"gripper_open\": 0.9516, \"tcp_xyz\": [0.34122, -0.07609, 0.77153], \"tcp_roll_pitch_yaw\": [0.18235, -0.04329, 1.6385], \"tcp_rotation_matrix\": [[-0.00981, 0.99623, -0.08618], [0.99821, 0.00467, -0.05964], [-0.05901, -0.08661, -0.99449]], \"simulated_seconds_remaining\": 9.768, \"calls_remaining_including_this\": 36}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.43,
      "y": 0,
      "z": 0.85,
      "roll": -1.2,
      "pitch": 0,
      "yaw": 1.57
    },
    "note": "The jaw nearest the drawer keeps contacting the face. I try a more extended, front-facing wrist pose so the jaws can close vertically on the pull."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 23, \"instruction\": \"open the desk.\", \"joint_positions\": [0.21596, -0.47286, -0.40532, -2.73276, -0.31133, 2.19086, -1.52547], \"gripper_open\": 0.9516, \"tcp_xyz\": [0.34122, -0.07609, 0.77153], \"tcp_roll_pitch_yaw\": [0.18235, -0.04329, 1.6385], \"tcp_rotation_matrix\": [[-0.00981, 0.99623, -0.08618], [0.99821, 0.00467, -0.05964], [-0.05901, -0.08661, -0.99449]], \"simulated_seconds_remaining\": 9.768, \"calls_remaining_including_this\": 35}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.46,
      "y": 0.02,
      "z": 0.86,
      "roll": 0,
      "pitch": 0,
      "yaw": 0
    },
    "note": "I return to the reachable downward orientation and approach the pull near its end, keeping the jaw opening parallel to the drawer front."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 24, \"instruction\": \"open the desk.\", \"joint_positions\": [0.13301, -0.32615, -0.0512, -2.55823, 0.4555, 2.18255, 0.19654], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.40804, 0.10855, 0.81624], \"tcp_roll_pitch_yaw\": [0.44537, 0.05599, -0.32639], \"tcp_rotation_matrix\": [[0.9238, -0.38166, -0.0304], [-0.34356, -0.86139, 0.37414], [-0.16898, -0.33519, -0.92687]], \"simulated_seconds_remaining\": 7.26, \"calls_remaining_including_this\": 34}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 38, \"motion_seconds\": 2.508, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.4,
      "y": 0.23,
      "z": 0.81,
      "roll": 0,
      "pitch": 0,
      "yaw": 0
    },
    "note": "The pull is clearly left of the jaw gap in the wrist view. I shift along the drawer front to bring it between the fingers."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 25, \"instruction\": \"open the desk.\", \"joint_positions\": [0.24806, -0.117, 0.27946, -2.30106, 0.00515, 2.06019, 0.59386], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.39997, 0.22933, 0.81001], \"tcp_roll_pitch_yaw\": [0.0032, 0.00016, -0.00188], \"tcp_rotation_matrix\": [[0.99294, -0.06829, -0.09698], [-0.07688, -0.99316, -0.08787], [-0.09032, 0.09471, -0.9914]], \"simulated_seconds_remaining\": 6.138, \"calls_remaining_including_this\": 33}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 17, \"motion_seconds\": 1.122, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.46,
      "y": 0.3
    },
    "note": "The handle remains just ahead and left of the fingertips. I make a final small advance and lateral correction to engage its end."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 26, \"instruction\": \"open the desk.\", \"joint_positions\": [0.28442, 0.14491, 0.31293, -1.99071, -0.06875, 1.99757, 0.70264], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.45915, 0.29904, 0.80999], \"tcp_roll_pitch_yaw\": [0.00321, 0.00021, -0.00181], \"tcp_rotation_matrix\": [[0.99294, -0.06821, -0.09703], [-0.07681, -0.99317, -0.08787], [-0.09037, 0.0947, -0.9914]], \"simulated_seconds_remaining\": 5.214, \"calls_remaining_including_this\": 32}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "y": 0,
      "z": 0.76
    },
    "note": "The exterior view shows the fingers have passed left of the lower pull. I correct back along the drawer and lower onto the bar."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 27, \"instruction\": \"open the desk.\", \"joint_positions\": [0.15734, -0.08217, 0.19178, -2.38334, -0.10687, 2.2821, 0.17711], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.45767, 0.148, 0.77647], \"tcp_roll_pitch_yaw\": [-0.00572, -0.0825, 0.31738], \"tcp_rotation_matrix\": [[0.97096, 0.2387, 0.01628], [0.23914, -0.96616, -0.09664], [-0.00734, 0.09773, -0.99519]], \"simulated_seconds_remaining\": 2.904, \"calls_remaining_including_this\": 31}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 35, \"motion_seconds\": 2.31, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The fingertips have contacted the lower drawer pull area. I close to secure it before a short outward pull."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 28, \"instruction\": \"open the desk.\", \"joint_positions\": [0.15978, -0.08867, 0.19486, -2.38944, -0.10551, 2.2787, 0.1804], \"gripper_open\": 0.0, \"tcp_xyz\": [0.45423, 0.1494, 0.77666], \"tcp_roll_pitch_yaw\": [-0.0066, -0.07974, 0.31839], \"tcp_rotation_matrix\": [[0.97071, 0.23984, 0.01403], [0.24004, -0.96577, -0.09832], [-0.01003, 0.09881, -0.99506]], \"simulated_seconds_remaining\": 1.98, \"calls_remaining_including_this\": 30}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.26
    },
    "note": "I pull outward from the drawer to check whether the closed fingers have engaged the handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 29, \"instruction\": \"open the desk.\", \"joint_positions\": [0.34514, -0.68301, 0.25723, -2.89757, 0.08555, 2.18998, 0.24914], \"gripper_open\": 0.0, \"tcp_xyz\": [0.26134, 0.14943, 0.77669], \"tcp_roll_pitch_yaw\": [-0.00667, -0.07978, 0.31852], \"tcp_rotation_matrix\": [[0.97068, 0.23995, 0.0141], [0.24016, -0.96574, -0.09837], [-0.00998, 0.09887, -0.99505]], \"simulated_seconds_remaining\": 0.396, \"calls_remaining_including_this\": 29}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 24, \"motion_seconds\": 1.584, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "give_up",
  "arguments": {},
  "result": null,
  "error": {
    "message": "tool call error: tool call failed for `robot/give_up`\n\nCaused by:\n    Mcp error: -32602: A short note is required"
  },
  "status": "failed"
}

{
  "type": "mcp_tool_call",
  "tool": "give_up",
  "arguments": {
    "note": "I could not secure the drawer handle, and the drawer remains closed with insufficient motion time for another attempt."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "Episode ended. Do not call more tools. Return a brief final response."
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

I couldn’t secure the handle before motion time ran out. The desk remains closed.

TURN USAGE
{
  "input_tokens": 633571,
  "cached_input_tokens": 609280,
  "cache_write_input_tokens": 0,
  "output_tokens": 6280,
  "reasoning_output_tokens": 2956
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "open the desk.",
    "joint_positions": [
      0.01772,
      -0.79127,
      0.07261,
      -2.41909,
      -0.03315,
      1.52623,
      0.13762
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.28208,
      0.01432,
      0.98485
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.9931,
        -0.06643,
        -0.09666
      ],
      [
        -0.0753,
        -0.99298,
        -0.09123
      ],
      [
        -0.08992,
        0.09788,
        -0.99113
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 28.82644798513502,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.43,
                    "y": 0,
                    "z": 0.84,
                    "pitch": -1.57,
                    "gripper": 1
                  },
                  "note": "The desk drawer has a horizontal pull beneath the desktop. I turn the fingers toward its front and approach the handle height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 2,
  "state": {
    "instruction": "open the desk.",
    "joint_positions": [
      0.01772,
      -0.79127,
      0.07261,
      -2.41909,
      -0.03315,
      1.52623,
      0.13762
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.28208,
      0.01432,
      0.98485
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.9931,
        -0.06643,
        -0.09666
      ],
      [
        -0.0753,
        -0.99298,
        -0.09123
      ],
      [
        -0.08992,
        0.09788,
        -0.99113
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 6.605960696004331,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.34,
                    "y": 0,
                    "z": 0.9,
                    "pitch": -0.8
                  },
                  "note": "The full horizontal approach was unreachable. I use a nearer intermediate pose and a smaller rotation toward the drawer pull."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 3,
  "state": {
    "instruction": "open the desk.",
    "joint_positions": [
      0.01772,
      -0.79127,
      0.07261,
      -2.41909,
      -0.03315,
      1.52623,
      0.13762
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.28208,
      0.01432,
      0.98485
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.9931,
        -0.06643,
        -0.09666
      ],
      [
        -0.0753,
        -0.99298,
        -0.09123
      ],
      [
        -0.08992,
        0.09788,
        -0.99113
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 5.404865384101868,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.34,
                    "z": 0.88
                  },
                  "note": "The wrist rotation is constrained at this height. I lower the open gripper toward the visible drawer handle while retaining its reachable orientation."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "open the desk.",
    "joint_positions": [
      0.00764,
      -0.59118,
      0.07978,
      -2.55489,
      -0.04148,
      1.86121,
      0.15682
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.33932,
      0.01431,
      0.88105
    ],
    "tcp_roll_pitch_yaw": [
      -2e-05,
      0.00034,
      -2e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99307,
        -0.06642,
        -0.09699
      ],
      [
        -0.07533,
        -0.99297,
        -0.09125
      ],
      [
        -0.09025,
        0.09792,
        -0.99109
      ]
    ],
    "simulated_seconds_remaining": 28.908,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 10.608760644681752,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.4,
                    "z": 0.92
                  },
                  "note": "The gripper is now just below and right of the pull in the exterior view. I raise it slightly and begin tilting toward the drawer."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "open the desk.",
    "joint_positions": [
      0.01853,
      -0.96454,
      0.08594,
      -2.78739,
      -0.05084,
      2.11474,
      0.18734
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.33931,
      0.01431,
      0.91964
    ],
    "tcp_roll_pitch_yaw": [
      -7e-05,
      -0.39603,
      1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.95092,
        -0.09907,
        0.29316
      ],
      [
        -0.07531,
        -0.99297,
        -0.09129
      ],
      [
        0.30014,
        0.06473,
        -0.95169
      ]
    ],
    "simulated_seconds_remaining": 28.05,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 9.80767316929996,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.42,
                    "z": 0.96,
                    "pitch": 0,
                    "yaw": 1.57
                  },
                  "note": "The pull is a horizontal bar. I position above it and rotate the jaw opening across the bar so the fingers can straddle it from above."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 37,
    "motion_seconds": 2.442,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "open the desk.",
    "joint_positions": [
      0.40874,
      -0.53245,
      -0.26172,
      -2.33017,
      -0.25414,
      1.51097,
      -1.24433
    ],
    "gripper_open": 0.991,
    "tcp_xyz": [
      0.32385,
      -0.01278,
      0.93942
    ],
    "tcp_roll_pitch_yaw": [
      0.35115,
      0.09424,
      1.53583
    ],
    "tcp_rotation_matrix": [
      [
        0.07396,
        0.96233,
        -0.26164
      ],
      [
        0.97632,
        -0.12335,
        -0.17772
      ],
      [
        -0.2033,
        -0.2423,
        -0.94866
      ]
    ],
    "simulated_seconds_remaining": 25.608,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 8.407344401814044,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.35,
                    "y": 0.07,
                    "z": 0.9,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 1.57
                  },
                  "note": "The approach contacted the desk edge and stopped short. I lower beneath that edge and shift toward the center of the visible handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "open the desk.",
    "joint_positions": [
      0.46195,
      -0.69564,
      -0.16413,
      -2.60308,
      -0.2445,
      1.95549,
      -1.07838
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.3497,
      0.06925,
      0.90028
    ],
    "tcp_roll_pitch_yaw": [
      0.00344,
      0.00107,
      1.56967
    ],
    "tcp_rotation_matrix": [
      [
        0.07612,
        0.99323,
        0.08771
      ],
      [
        0.99292,
        -0.06745,
        -0.09782
      ],
      [
        -0.09124,
        0.09454,
        -0.99133
      ]
    ],
    "simulated_seconds_remaining": 24.684,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 11.209074409678578,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.38,
                    "z": 0.955
                  },
                  "note": "Both views place the pull above and slightly ahead of the open fingertips. I raise the grasp point to the pull and advance a small distance."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "open the desk.",
    "joint_positions": [
      0.46889,
      -0.61386,
      -0.17348,
      -2.41063,
      -0.22956,
      1.84991,
      -1.11619
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.37944,
      0.06926,
      0.95396
    ],
    "tcp_roll_pitch_yaw": [
      0.00328,
      0.00101,
      1.56965
    ],
    "tcp_rotation_matrix": [
      [
        0.07615,
        0.99322,
        0.08786
      ],
      [
        0.99292,
        -0.06748,
        -0.09776
      ],
      [
        -0.09117,
        0.09469,
        -0.99132
      ]
    ],
    "simulated_seconds_remaining": 23.958,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 8.80735538341105,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.415,
                    "z": 0.97
                  },
                  "note": "The pull is close to the jaw gap but still ahead of it. I make a short approach with the jaws open to straddle the bar."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 8,
    "motion_seconds": 0.528,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "open the desk.",
    "joint_positions": [
      0.47584,
      -0.51302,
      -0.19105,
      -2.29196,
      -0.21878,
      1.78312,
      -1.14669
    ],
    "gripper_open": 0.966,
    "tcp_xyz": [
      0.39858,
      0.06764,
      0.96591
    ],
    "tcp_roll_pitch_yaw": [
      0.05369,
      0.01749,
      1.57051
    ],
    "tcp_rotation_matrix": [
      [
        0.07066,
        0.99678,
        0.03788
      ],
      [
        0.99129,
        -0.06593,
        -0.11404
      ],
      [
        -0.11118,
        0.04561,
        -0.99275
      ]
    ],
    "simulated_seconds_remaining": 23.43,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 12.216003675945103,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.38,
                    "y": 0.17,
                    "z": 0.965,
                    "roll": 0,
                    "pitch": 0
                  },
                  "note": "The wrist view shows the pull offset along the drawer front from the jaw center. I slide sideways along the front to center the grip on the bar."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "open the desk.",
    "joint_positions": [
      0.5499,
      -0.48641,
      -0.04822,
      -2.29017,
      -0.15705,
      1.83355,
      -0.95399
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.38022,
      0.16877,
      0.965
    ],
    "tcp_roll_pitch_yaw": [
      0.00068,
      0.0003,
      1.57074
    ],
    "tcp_rotation_matrix": [
      [
        0.0753,
        0.99304,
        0.09055
      ],
      [
        0.99307,
        -0.06646,
        -0.09696
      ],
      [
        -0.09027,
        0.09722,
        -0.99116
      ]
    ],
    "simulated_seconds_remaining": 22.44,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 8.008318879641593,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": -0.04
                  },
                  "note": "The sideways move shifted the handle away from the jaw center in the wrist view. I correct in the opposite direction to align the bar between the fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 26,
    "motion_seconds": 1.7160000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "open the desk.",
    "joint_positions": [
      0.39562,
      -0.68919,
      -0.32531,
      -2.40822,
      -0.00752,
      1.82186,
      -1.31081
    ],
    "gripper_open": 0.9968,
    "tcp_xyz": [
      0.3691,
      0.03836,
      0.97131
    ],
    "tcp_roll_pitch_yaw": [
      0.05381,
      -0.30503,
      1.5199
    ],
    "tcp_rotation_matrix": [
      [
        0.11989,
        0.99161,
        0.04825
      ],
      [
        0.9706,
        -0.12729,
        0.20431
      ],
      [
        0.20874,
        0.02233,
        -0.97772
      ]
    ],
    "simulated_seconds_remaining": 20.724,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 10.011473990045488,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.27,
                    "y": -0.03,
                    "z": 0.93,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 1.57
                  },
                  "note": "Contact with the desk is deflecting the wrist before alignment. I retreat from the front to regain a clean, centered approach."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "open the desk.",
    "joint_positions": [
      0.25123,
      -1.06396,
      -0.19318,
      -2.71775,
      -0.27935,
      1.73338,
      -1.31264
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.27078,
      -0.02942,
      0.93035
    ],
    "tcp_roll_pitch_yaw": [
      0.00035,
      -0.0026,
      1.56972
    ],
    "tcp_rotation_matrix": [
      [
        0.07634,
        0.99294,
        0.09078
      ],
      [
        0.99325,
        -0.06776,
        -0.09418
      ],
      [
        -0.08736,
        0.09736,
        -0.99141
      ]
    ],
    "simulated_seconds_remaining": 19.602,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 6.805710271000862,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": -0.1,
                    "z": 1.045
                  },
                  "note": "The handle lies left and above the jaw center in the wrist view. I align along its length and lift the fingers for a controlled descent over the bar."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "open the desk.",
    "joint_positions": [
      0.22717,
      -0.97893,
      -0.27405,
      -2.36733,
      -0.32715,
      1.49893,
      -1.47534
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.27081,
      -0.09931,
      1.04391
    ],
    "tcp_roll_pitch_yaw": [
      0.00016,
      -0.00264,
      1.56965
    ],
    "tcp_rotation_matrix": [
      [
        0.07642,
        0.99292,
        0.09096
      ],
      [
        0.99325,
        -0.06783,
        -0.09414
      ],
      [
        -0.08731,
        0.09754,
        -0.99139
      ]
    ],
    "simulated_seconds_remaining": 18.414,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 7.206038370728493,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.35,
                    "y": -0.13
                  },
                  "note": "The pull is now close to the wrist image center. I advance above it while keeping the open fingers clear of the drawer face."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "open the desk.",
    "joint_positions": [
      0.27158,
      -0.8064,
      -0.36821,
      -2.20582,
      -0.25236,
      1.43598,
      -1.52759
    ],
    "gripper_open": 0.9958,
    "tcp_xyz": [
      0.2964,
      -0.10511,
      1.05448
    ],
    "tcp_roll_pitch_yaw": [
      0.0943,
      -0.10952,
      1.57075
    ],
    "tcp_rotation_matrix": [
      [
        0.06655,
        0.99778,
        -0.00251
      ],
      [
        0.9977,
        -0.06651,
        0.01271
      ],
      [
        0.01252,
        -0.00335,
        -0.99992
      ]
    ],
    "simulated_seconds_remaining": 17.556,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 20.215932433493435,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.32,
                    "y": 0.1,
                    "z": 0.82,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 1.57
                  },
                  "note": "The upper approach is blocked by the desk edge. I move below it toward the lower drawer pull, where there is more clearance for the fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 36,
    "motion_seconds": 2.3760000000000003,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "open the desk.",
    "joint_positions": [
      0.39915,
      -0.68562,
      -0.02481,
      -2.81179,
      -0.16855,
      2.16845,
      -1.02728
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.31985,
      0.0991,
      0.82095
    ],
    "tcp_roll_pitch_yaw": [
      0.00067,
      -0.00028,
      1.57014
    ],
    "tcp_rotation_matrix": [
      [
        0.0759,
        0.993,
        0.0905
      ],
      [
        0.99307,
        -0.06711,
        -0.09643
      ],
      [
        -0.08969,
        0.09719,
        -0.99122
      ]
    ],
    "simulated_seconds_remaining": 15.18,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 8.006165243685246,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.43
                  },
                  "note": "The lower pull is at the gripper's height and ahead of it in the exterior view. I advance slowly to place the open jaws around it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "open the desk.",
    "joint_positions": [
      0.36598,
      -0.32189,
      -0.08652,
      -2.52893,
      -0.18891,
      2.25984,
      -1.09923
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.42872,
      0.09909,
      0.82095
    ],
    "tcp_roll_pitch_yaw": [
      0.00072,
      -0.00031,
      1.57007
    ],
    "tcp_rotation_matrix": [
      [
        0.07596,
        0.993,
        0.09045
      ],
      [
        0.99307,
        -0.06718,
        -0.09642
      ],
      [
        -0.08967,
        0.09715,
        -0.99122
      ]
    ],
    "simulated_seconds_remaining": 14.124,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 9.207779793068767,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": -0.015,
                    "z": 0.78
                  },
                  "note": "The open jaws have reached the pull's depth. I lower slightly and align along the bar before closing."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "open the desk.",
    "joint_positions": [
      0.42276,
      -0.38103,
      -0.22632,
      -2.63326,
      -0.25884,
      2.40587,
      -1.30829
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.43215,
      0.07279,
      0.81074
    ],
    "tcp_roll_pitch_yaw": [
      -0.06944,
      -0.009,
      1.7689
    ],
    "tcp_rotation_matrix": [
      [
        -0.11582,
        0.97792,
        0.17393
      ],
      [
        0.99039,
        0.12702,
        -0.05465
      ],
      [
        -0.07554,
        0.16593,
        -0.98324
      ]
    ],
    "simulated_seconds_remaining": 13.002,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 8.006980832666159,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The fingers are in contact near the lower pull. I close the jaws to test whether the bar is seated between them."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "open the desk.",
    "joint_positions": [
      0.42276,
      -0.38103,
      -0.22632,
      -2.63326,
      -0.25884,
      2.40587,
      -1.30829
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.43215,
      0.07279,
      0.81074
    ],
    "tcp_roll_pitch_yaw": [
      -0.06945,
      -0.009,
      1.76893
    ],
    "tcp_rotation_matrix": [
      [
        -0.11585,
        0.97792,
        0.17395
      ],
      [
        0.99039,
        0.12705,
        -0.05464
      ],
      [
        -0.07553,
        0.16594,
        -0.98324
      ]
    ],
    "simulated_seconds_remaining": 12.078,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 14.210937018506229,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.3,
                    "y": 0,
                    "z": 0.78,
                    "roll": -1.57,
                    "pitch": 0,
                    "yaw": 1.57,
                    "gripper": 1
                  },
                  "note": "The jaws closed fully without catching the pull. I withdraw and turn to a front-facing grip with the fingers above and below the horizontal bar."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 19,
  "state": {
    "instruction": "open the desk.",
    "joint_positions": [
      0.42276,
      -0.38103,
      -0.22632,
      -2.63326,
      -0.25884,
      2.40587,
      -1.30829
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.43215,
      0.07279,
      0.81074
    ],
    "tcp_roll_pitch_yaw": [
      -0.06945,
      -0.009,
      1.76893
    ],
    "tcp_rotation_matrix": [
      [
        -0.11585,
        0.97792,
        0.17395
      ],
      [
        0.99039,
        0.12705,
        -0.05464
      ],
      [
        -0.07553,
        0.16594,
        -0.98324
      ]
    ],
    "simulated_seconds_remaining": 12.078,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 6.00700837187469,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.34,
                    "y": 0,
                    "z": 0.77,
                    "roll": -0.8,
                    "pitch": 0,
                    "yaw": 1.57,
                    "gripper": 1
                  },
                  "note": "The fully horizontal wrist pose is unreachable. I use a partial tilt from a nearer position to approach beneath the drawer front."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 20,
  "state": {
    "instruction": "open the desk.",
    "joint_positions": [
      0.42276,
      -0.38103,
      -0.22632,
      -2.63326,
      -0.25884,
      2.40587,
      -1.30829
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.43215,
      0.07279,
      0.81074
    ],
    "tcp_roll_pitch_yaw": [
      -0.06945,
      -0.009,
      1.76893
    ],
    "tcp_rotation_matrix": [
      [
        -0.11585,
        0.97792,
        0.17395
      ],
      [
        0.99039,
        0.12705,
        -0.05464
      ],
      [
        -0.07553,
        0.16594,
        -0.98324
      ]
    ],
    "simulated_seconds_remaining": 12.078,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 7.005261923186481,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.36,
                    "y": -0.07,
                    "z": 0.77,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 1.57
                  },
                  "note": "I keep the fingers together while repositioning clear of the drawer face, then can reopen closer to the pull's center."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 21,
  "state": {
    "instruction": "open the desk.",
    "joint_positions": [
      0.19105,
      -0.53618,
      -0.36684,
      -2.83634,
      -0.40195,
      2.39826,
      -1.36338
    ],
    "gripper_open": 0.0018,
    "tcp_xyz": [
      0.36078,
      -0.06474,
      0.7703
    ],
    "tcp_roll_pitch_yaw": [
      -0.00116,
      0.00212,
      1.58533
    ],
    "tcp_rotation_matrix": [
      [
        0.06097,
        0.99372,
        0.09381
      ],
      [
        0.9939,
        -0.05179,
        -0.0974
      ],
      [
        -0.09193,
        0.09917,
        -0.99081
      ]
    ],
    "simulated_seconds_remaining": 10.692,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 5.8049477422609925,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 1,
                    "x": 0.39,
                    "y": -0.1,
                    "z": 0.79
                  },
                  "note": "The lower pull is now beside the fingertip gap in the wrist image. I reopen and make a small centering move above the bar."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 22,
  "state": {
    "instruction": "open the desk.",
    "joint_positions": [
      0.21596,
      -0.47286,
      -0.40532,
      -2.73276,
      -0.31133,
      2.19086,
      -1.52547
    ],
    "gripper_open": 0.9516,
    "tcp_xyz": [
      0.34122,
      -0.07609,
      0.77153
    ],
    "tcp_roll_pitch_yaw": [
      0.18235,
      -0.04329,
      1.6385
    ],
    "tcp_rotation_matrix": [
      [
        -0.00981,
        0.99623,
        -0.08618
      ],
      [
        0.99821,
        0.00467,
        -0.05964
      ],
      [
        -0.05901,
        -0.08661,
        -0.99449
      ]
    ],
    "simulated_seconds_remaining": 9.768,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 17.011902860365808,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.43,
                    "y": 0,
                    "z": 0.85,
                    "roll": -1.2,
                    "pitch": 0,
                    "yaw": 1.57
                  },
                  "note": "The jaw nearest the drawer keeps contacting the face. I try a more extended, front-facing wrist pose so the jaws can close vertically on the pull."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 23,
  "state": {
    "instruction": "open the desk.",
    "joint_positions": [
      0.21596,
      -0.47286,
      -0.40532,
      -2.73276,
      -0.31133,
      2.19086,
      -1.52547
    ],
    "gripper_open": 0.9516,
    "tcp_xyz": [
      0.34122,
      -0.07609,
      0.77153
    ],
    "tcp_roll_pitch_yaw": [
      0.18235,
      -0.04329,
      1.6385
    ],
    "tcp_rotation_matrix": [
      [
        -0.00981,
        0.99623,
        -0.08618
      ],
      [
        0.99821,
        0.00467,
        -0.05964
      ],
      [
        -0.05901,
        -0.08661,
        -0.99449
      ]
    ],
    "simulated_seconds_remaining": 9.768,
    "calls_remaining_including_this": 35
  },
  "api_seconds": 16.613364551216364,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.46,
                    "y": 0.02,
                    "z": 0.86,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 0
                  },
                  "note": "I return to the reachable downward orientation and approach the pull near its end, keeping the jaw opening parallel to the drawer front."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 38,
    "motion_seconds": 2.508,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 24,
  "state": {
    "instruction": "open the desk.",
    "joint_positions": [
      0.13301,
      -0.32615,
      -0.0512,
      -2.55823,
      0.4555,
      2.18255,
      0.19654
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.40804,
      0.10855,
      0.81624
    ],
    "tcp_roll_pitch_yaw": [
      0.44537,
      0.05599,
      -0.32639
    ],
    "tcp_rotation_matrix": [
      [
        0.9238,
        -0.38166,
        -0.0304
      ],
      [
        -0.34356,
        -0.86139,
        0.37414
      ],
      [
        -0.16898,
        -0.33519,
        -0.92687
      ]
    ],
    "simulated_seconds_remaining": 7.26,
    "calls_remaining_including_this": 34
  },
  "api_seconds": 7.009809366427362,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "y": 0.23,
                    "z": 0.81,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 0
                  },
                  "note": "The pull is clearly left of the jaw gap in the wrist view. I shift along the drawer front to bring it between the fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 25,
  "state": {
    "instruction": "open the desk.",
    "joint_positions": [
      0.24806,
      -0.117,
      0.27946,
      -2.30106,
      0.00515,
      2.06019,
      0.59386
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.39997,
      0.22933,
      0.81001
    ],
    "tcp_roll_pitch_yaw": [
      0.0032,
      0.00016,
      -0.00188
    ],
    "tcp_rotation_matrix": [
      [
        0.99294,
        -0.06829,
        -0.09698
      ],
      [
        -0.07688,
        -0.99316,
        -0.08787
      ],
      [
        -0.09032,
        0.09471,
        -0.9914
      ]
    ],
    "simulated_seconds_remaining": 6.138,
    "calls_remaining_including_this": 33
  },
  "api_seconds": 10.208898359909654,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.46,
                    "y": 0.3
                  },
                  "note": "The handle remains just ahead and left of the fingertips. I make a final small advance and lateral correction to engage its end."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 26,
  "state": {
    "instruction": "open the desk.",
    "joint_positions": [
      0.28442,
      0.14491,
      0.31293,
      -1.99071,
      -0.06875,
      1.99757,
      0.70264
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.45915,
      0.29904,
      0.80999
    ],
    "tcp_roll_pitch_yaw": [
      0.00321,
      0.00021,
      -0.00181
    ],
    "tcp_rotation_matrix": [
      [
        0.99294,
        -0.06821,
        -0.09703
      ],
      [
        -0.07681,
        -0.99317,
        -0.08787
      ],
      [
        -0.09037,
        0.0947,
        -0.9914
      ]
    ],
    "simulated_seconds_remaining": 5.214,
    "calls_remaining_including_this": 32
  },
  "api_seconds": 20.616956357844174,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0,
                    "z": 0.76
                  },
                  "note": "The exterior view shows the fingers have passed left of the lower pull. I correct back along the drawer and lower onto the bar."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 35,
    "motion_seconds": 2.31,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 27,
  "state": {
    "instruction": "open the desk.",
    "joint_positions": [
      0.15734,
      -0.08217,
      0.19178,
      -2.38334,
      -0.10687,
      2.2821,
      0.17711
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.45767,
      0.148,
      0.77647
    ],
    "tcp_roll_pitch_yaw": [
      -0.00572,
      -0.0825,
      0.31738
    ],
    "tcp_rotation_matrix": [
      [
        0.97096,
        0.2387,
        0.01628
      ],
      [
        0.23914,
        -0.96616,
        -0.09664
      ],
      [
        -0.00734,
        0.09773,
        -0.99519
      ]
    ],
    "simulated_seconds_remaining": 2.904,
    "calls_remaining_including_this": 31
  },
  "api_seconds": 5.404290050268173,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The fingertips have contacted the lower drawer pull area. I close to secure it before a short outward pull."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 28,
  "state": {
    "instruction": "open the desk.",
    "joint_positions": [
      0.15978,
      -0.08867,
      0.19486,
      -2.38944,
      -0.10551,
      2.2787,
      0.1804
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.45423,
      0.1494,
      0.77666
    ],
    "tcp_roll_pitch_yaw": [
      -0.0066,
      -0.07974,
      0.31839
    ],
    "tcp_rotation_matrix": [
      [
        0.97071,
        0.23984,
        0.01403
      ],
      [
        0.24004,
        -0.96577,
        -0.09832
      ],
      [
        -0.01003,
        0.09881,
        -0.99506
      ]
    ],
    "simulated_seconds_remaining": 1.98,
    "calls_remaining_including_this": 30
  },
  "api_seconds": 4.604479616507888,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.26
                  },
                  "note": "I pull outward from the drawer to check whether the closed fingers have engaged the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 24,
    "motion_seconds": 1.584,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 29,
  "state": {
    "instruction": "open the desk.",
    "joint_positions": [
      0.34514,
      -0.68301,
      0.25723,
      -2.89757,
      0.08555,
      2.18998,
      0.24914
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.26134,
      0.14943,
      0.77669
    ],
    "tcp_roll_pitch_yaw": [
      -0.00667,
      -0.07978,
      0.31852
    ],
    "tcp_rotation_matrix": [
      [
        0.97068,
        0.23995,
        0.0141
      ],
      [
        0.24016,
        -0.96574,
        -0.09837
      ],
      [
        -0.00998,
        0.09887,
        -0.99505
      ]
    ],
    "simulated_seconds_remaining": 0.396,
    "calls_remaining_including_this": 29
  },
  "api_seconds": 11.407834242098033,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "give_up",
                "args": {
                  "note": "I could not secure the drawer handle, and the drawer remains closed with insufficient motion time for another attempt."
                }
              }
            }
          ]
        }
      }
    ]
  }
}

========================================================================
GPT-Astra / Open / Episode 022

Completed scored attempt. Images are available in the paired videos.

Opaque provider signatures, image payloads, and local paths are omitted.


RESULT
{
  "benchmark_index": 22,
  "source_episode_index": 575,
  "house_index": 315,
  "status": "completed",
  "success": false,
  "oracle_success": false,
  "action_decisions": 31,
  "wall_seconds": 315.81,
  "usage": {
    "input_tokens": 656104,
    "cached_input_tokens": 611584,
    "cache_write_input_tokens": 0,
    "output_tokens": 5776,
    "reasoning_output_tokens": 2370
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task.
You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose.
Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion.
move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up.
roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial.
Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5).
The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y.
The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics.
Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration.
Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target.
You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time.
Each move must include a short note describing what you observe and why you chose that motion.
Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done.
Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available.



AGENT TRANSCRIPT (visible messages and completed tool calls)

I’ll inspect the cameras, then guide the gripper to the handle and open the object.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.01625, -0.81161, 0.06347, -2.30073, 0.11711, 1.56216, -0.12927], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.30765, 0.05554, 1.04895], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.97813, 0.19691, 0.06702], [0.19184, -0.97853, 0.07529], [0.08041, -0.06079, -0.99491]], \"simulated_seconds_remaining\": 30.03, \"calls_remaining_including_this\": 57}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "x": 0.3,
    "y": 0.055,
    "z": 0.86,
    "roll": 0,
    "pitch": -1.45,
    "yaw": 0,
    "gripper": 1,
    "note": "The dresser is ahead of the robot; I lower the open gripper and turn it toward the drawer fronts to see the handle."
  },
  "result": null,
  "error": {
    "message": "tool call error: tool call failed for `robot/move_to`\n\nCaused by:\n    Mcp error: -32602: Unexpected argument"
  },
  "status": "failed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.3,
      "y": 0.055,
      "z": 0.86,
      "roll": 0,
      "pitch": -1.45,
      "yaw": 0,
      "gripper": 1
    },
    "note": "The dresser is ahead of the robot; I lower the open gripper and turn it toward the drawer fronts to see the handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.01625, -0.81161, 0.06347, -2.30073, 0.11711, 1.56216, -0.12927], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.30765, 0.05554, 1.04895], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.97813, 0.19691, 0.06702], [0.19184, -0.97853, 0.07529], [0.08041, -0.06079, -0.99491]], \"simulated_seconds_remaining\": 30.03, \"calls_remaining_including_this\": 56}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "z": 0.94
    },
    "note": "The requested wrist turn was unreachable. I lower slightly with the current orientation to bring the drawer hardware into view."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.02211, -0.87109, 0.07872, -2.61053, 0.1342, 1.81162, -0.14852], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.30762, 0.05553, 0.9412], \"tcp_roll_pitch_yaw\": [-3e-05, 0.00026, 1e-05], \"tcp_rotation_matrix\": [[0.97815, 0.19691, 0.06676], [0.19185, -0.97853, 0.07527], [0.08015, -0.06081, -0.99493]], \"simulated_seconds_remaining\": 28.974, \"calls_remaining_including_this\": 55}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 16, \"motion_seconds\": 1.056, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "pitch": -0.65
    },
    "note": "The gripper remains above the drawer face. I tilt toward the dresser in a smaller reachable step to inspect the handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.02211, -0.87109, 0.07872, -2.61053, 0.1342, 1.81162, -0.14852], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.30762, 0.05553, 0.9412], \"tcp_roll_pitch_yaw\": [-3e-05, 0.00026, 1e-05], \"tcp_rotation_matrix\": [[0.97815, 0.19691, 0.06676], [0.19185, -0.97853, 0.07527], [0.08015, -0.06081, -0.99493]], \"simulated_seconds_remaining\": 28.974, \"calls_remaining_including_this\": 54}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.4,
      "z": 0.94,
      "pitch": 0.65
    },
    "note": "The opposite tilt is constrained by the arm. I shift forward and tilt the wrist toward the visible drawer face from the other direction."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.00468, -0.19788, 0.05763, -1.84885, 0.11049, 1.1604, -0.10709], \"gripper_open\": 0.9968, \"tcp_xyz\": [0.36057, 0.05028, 1.01913], \"tcp_roll_pitch_yaw\": [-0.01004, 0.56289, -0.00301], \"tcp_rotation_matrix\": [[0.86967, 0.1364, -0.47441], [0.19002, -0.97951, 0.06673], [-0.45559, -0.14818, -0.87777]], \"simulated_seconds_remaining\": 27.786, \"calls_remaining_including_this\": 53}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 18, \"motion_seconds\": 1.1880000000000002, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.2,
      "z": 1.1,
      "pitch": -0.35
    },
    "note": "The wrist view shows the floor and robot base, so this tilt faces away from the drawer. I retreat upward to gain clearance for turning toward the dresser."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.02138, -1.35807, 0.07095, -2.46957, 0.113, 1.52993, -0.12543], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.2007, 0.0503, 1.09978], \"tcp_roll_pitch_yaw\": [-0.01007, -0.34602, -0.00295], \"tcp_rotation_matrix\": [[0.8941, 0.19963, 0.4009], [0.19001, -0.97969, 0.06409], [0.40556, 0.01887, -0.91388]], \"simulated_seconds_remaining\": 26.268, \"calls_remaining_including_this\": 52}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 23, \"motion_seconds\": 1.518, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.25,
      "z": 0.9,
      "pitch": -0.9
    },
    "note": "The dresser face is centered in the wrist camera. I lower toward its upper drawer and increase the forward tilt while keeping clearance."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.02138, -1.35807, 0.07095, -2.46957, 0.113, 1.52993, -0.12543], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.2007, 0.0503, 1.09978], \"tcp_roll_pitch_yaw\": [-0.01007, -0.34602, -0.00295], \"tcp_rotation_matrix\": [[0.8941, 0.19963, 0.4009], [0.19001, -0.97969, 0.06409], [0.40556, 0.01887, -0.91388]], \"simulated_seconds_remaining\": 26.268, \"calls_remaining_including_this\": 51}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.48,
      "z": 1.1,
      "pitch": -0.8
    },
    "note": "The low approach is outside the reachable wrist configuration. I turn toward the drawer from a higher, more extended arm pose."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.02335, -0.81391, 0.09874, -2.54187, 0.12891, 2.74394, -0.21338], \"gripper_open\": 1.0, \"tcp_xyz\": [0.48738, 0.04114, 1.14628], \"tcp_roll_pitch_yaw\": [-0.00216, -0.94557, -0.02761], \"tcp_rotation_matrix\": [[0.51272, 0.13574, 0.84776], [0.17792, -0.98279, 0.04976], [0.83992, 0.12532, -0.52805]], \"simulated_seconds_remaining\": 24.09, \"calls_remaining_including_this\": 50}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 33, \"motion_seconds\": 2.178, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

The dresser fills the wrist view, but the arm has been constrained near the top edge. I’m adjusting the approach to reach the handle cleanly.


{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.3,
      "z": 1.05,
      "roll": 1.4,
      "pitch": 0,
      "yaw": -1.4
    },
    "note": "The wrist is close to the wooden face. I back off and rotate the jaws vertically so they can grasp the drawer handle from the front."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.02335, -0.81391, 0.09874, -2.54187, 0.12891, 2.74394, -0.21338], \"gripper_open\": 1.0, \"tcp_xyz\": [0.48738, 0.04114, 1.14628], \"tcp_roll_pitch_yaw\": [-0.00216, -0.94557, -0.02761], \"tcp_rotation_matrix\": [[0.51272, 0.13574, 0.84776], [0.17792, -0.98279, 0.04976], [0.83992, 0.12532, -0.52805]], \"simulated_seconds_remaining\": 24.09, \"calls_remaining_including_this\": 49}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.36,
      "z": 1.02,
      "roll": 0.5,
      "pitch": -0.6,
      "yaw": -0.5
    },
    "note": "The full rotation was unreachable. I use a smaller combined turn while withdrawing from the top edge."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.02968, -1.28376, 0.00271, -2.9357, 0.33192, 2.53203, -0.00795], \"gripper_open\": 0.8601, \"tcp_xyz\": [0.36724, 0.03679, 1.03815], \"tcp_roll_pitch_yaw\": [0.53611, -0.65782, -0.53899], \"tcp_rotation_matrix\": [[0.64016, 0.00757, 0.7682], [-0.23854, -0.94857, 0.20813], [0.73027, -0.31649, -0.60543]], \"simulated_seconds_remaining\": 22.572, \"calls_remaining_including_this\": 48}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 23, \"motion_seconds\": 1.518, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.415,
      "y": 0.065,
      "z": 1.01
    },
    "note": "A dark drawer knob is now visible just above the finger gap. I advance a short distance toward it with the jaws open."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 11, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.09671, -1.05599, 0.05185, -2.91798, 0.38449, 2.77933, 0.00557], \"gripper_open\": 1.0, \"tcp_xyz\": [0.41469, 0.05982, 1.01997], \"tcp_roll_pitch_yaw\": [0.55475, -0.67204, -0.56053], \"tcp_rotation_matrix\": [[0.62315, 0.00436, 0.78209], [-0.24862, -0.94701, 0.20338], [0.74153, -0.32118, -0.58904]], \"simulated_seconds_remaining\": 21.846, \"calls_remaining_including_this\": 47}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 11, \"motion_seconds\": 0.726, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.44,
      "y": 0.005,
      "z": 1.005
    },
    "note": "The knob is left of the finger gap in the wrist image. I shift sideways to center it and move slightly closer."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 12, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.13011, -0.95848, -0.12124, -2.882, 0.37043, 2.84559, -0.1607], \"gripper_open\": 1.0, \"tcp_xyz\": [0.4398, 0.01344, 1.01595], \"tcp_roll_pitch_yaw\": [0.55918, -0.69348, -0.54714], \"tcp_rotation_matrix\": [[0.61204, 0.02607, 0.7904], [-0.23237, -0.94941, 0.21125], [0.75592, -0.31296, -0.57502]], \"simulated_seconds_remaining\": 21.12, \"calls_remaining_including_this\": 46}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 11, \"motion_seconds\": 0.726, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The knob now lies between the fingers near their tips. I close the jaws to secure it before pulling."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 13, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.13387, -0.96526, -0.11726, -2.87801, 0.37008, 2.84483, -0.16155], \"gripper_open\": 0.8775, \"tcp_xyz\": [0.43947, 0.0162, 1.02144], \"tcp_roll_pitch_yaw\": [0.56297, -0.70411, -0.54301], \"tcp_rotation_matrix\": [[0.6055, 0.03561, 0.79505], [-0.22607, -0.95015, 0.21472], [0.76306, -0.30975, -0.56726]], \"simulated_seconds_remaining\": 20.196, \"calls_remaining_including_this\": 45}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.32,
      "gripper": 0
    },
    "note": "The jaws met resistance while closing at the knob. I pull straight back to test the grasp and open the drawer."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 14, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.13387, -0.96526, -0.11726, -2.87801, 0.37008, 2.84483, -0.16155], \"gripper_open\": 0.8775, \"tcp_xyz\": [0.43947, 0.0162, 1.02144], \"tcp_roll_pitch_yaw\": [0.56297, -0.70411, -0.54301], \"tcp_rotation_matrix\": [[0.6055, 0.03561, 0.79505], [-0.22607, -0.95015, 0.21472], [0.76306, -0.30975, -0.56726]], \"simulated_seconds_remaining\": 20.196, \"calls_remaining_including_this\": 44}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.385,
      "pitch": -0.5,
      "gripper": 0
    },
    "note": "The long pull exceeded the arm's reachable pose. I make a shorter pull while easing the wrist tilt."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 15, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.04414, -1.13196, -0.11611, -2.85316, 0.35372, 2.32076, -0.05103], \"gripper_open\": 0.1851, \"tcp_xyz\": [0.36313, 0.03573, 0.99083], \"tcp_roll_pitch_yaw\": [0.50157, -0.38072, -0.44464], \"tcp_rotation_matrix\": [[0.82092, -0.01573, 0.57082], [-0.24763, -0.91055, 0.33103], [0.51455, -0.41311, -0.75138]], \"simulated_seconds_remaining\": 19.272, \"calls_remaining_including_this\": 43}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.39,
      "z": 0.9,
      "roll": 1.2,
      "pitch": 0,
      "yaw": -1.2,
      "gripper": 1
    },
    "note": "The pull did not visibly move the drawer, and the knob is above the gripper. I reopen and turn toward a more level front approach."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 16, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.04414, -1.13196, -0.11611, -2.85316, 0.35372, 2.32076, -0.05103], \"gripper_open\": 0.1851, \"tcp_xyz\": [0.36313, 0.03573, 0.99083], \"tcp_roll_pitch_yaw\": [0.50157, -0.38072, -0.44464], \"tcp_rotation_matrix\": [[0.82092, -0.01573, 0.57082], [-0.24763, -0.91055, 0.33103], [0.51455, -0.41311, -0.75138]], \"simulated_seconds_remaining\": 19.272, \"calls_remaining_including_this\": 42}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.4,
      "z": 1.18,
      "roll": 0,
      "pitch": 0,
      "yaw": 0,
      "gripper": 1
    },
    "note": "The level approach is unreachable at that height. I lift above the knob to establish its position and approach from a reachable posture."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 17, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.1145, -0.3961, -0.05262, -1.65302, 0.05357, 1.33214, -0.11502], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.39992, 0.03578, 1.17916], \"tcp_roll_pitch_yaw\": [0.0018, -0.00224, -0.00136], \"tcp_rotation_matrix\": [[0.9782, 0.19573, 0.06935], [0.19037, -0.97869, 0.07698], [0.08294, -0.0621, -0.99462]], \"simulated_seconds_remaining\": 17.688, \"calls_remaining_including_this\": 41}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 24, \"motion_seconds\": 1.584, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "y": 0.22
    },
    "note": "The exterior view places the drawer knob left of the gripper. I move laterally above it before descending."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 18, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.21415, -0.26257, 0.20383, -1.52773, 0.09722, 1.36612, 0.24295], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.3999, 0.21873, 1.17912], \"tcp_roll_pitch_yaw\": [0.00174, -0.00218, -0.0011], \"tcp_rotation_matrix\": [[0.97816, 0.19597, 0.06927], [0.19062, -0.97864, 0.07694], [0.08287, -0.06206, -0.99463]], \"simulated_seconds_remaining\": 16.17, \"calls_remaining_including_this\": 40}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 23, \"motion_seconds\": 1.518, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "y": 0.44,
      "z": 1.12
    },
    "note": "The gripper is still to the right of the upper drawer knob. I continue left and lower toward its height."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 19, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.40955, 0.12606, 0.4734, -1.26514, -0.06154, 1.48124, 0.67281], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.39986, 0.43877, 1.12024], \"tcp_roll_pitch_yaw\": [0.00162, -0.00199, -0.00089], \"tcp_rotation_matrix\": [[0.97813, 0.19617, 0.06907], [0.19084, -0.97861, 0.07684], [0.08266, -0.06198, -0.99465]], \"simulated_seconds_remaining\": 14.322, \"calls_remaining_including_this\": 39}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 28, \"motion_seconds\": 1.848, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.38,
      "y": 0.3,
      "z": 1.08,
      "pitch": -1.1
    },
    "note": "I am beside the upper drawer. I shift toward its center and aim the wrist camera at the front to align the grasp precisely."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 20, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.17144, -0.90715, 0.5463, -2.6511, -0.58744, 2.77088, 0.9691], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.38012, 0.30045, 1.08017], \"tcp_roll_pitch_yaw\": [0.00145, -1.0958, -0.00121], \"tcp_rotation_matrix\": [[0.37581, 0.14419, 0.91541], [0.19126, -0.97862, 0.07563], [0.90674, 0.14666, -0.39535]], \"simulated_seconds_remaining\": 12.54, \"calls_remaining_including_this\": 38}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 27, \"motion_seconds\": 1.782, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

The first grasp did not engage the drawer. I’m aligning with the dark handle near the dresser’s upper edge for another attempt.


{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.47,
      "y": 0.3,
      "z": 1.24,
      "pitch": 0
    },
    "note": "The dark handle is above the current gripper in the exterior view. I lift and point down to approach that handle directly."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 21, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.17144, -0.90715, 0.5463, -2.6511, -0.58744, 2.77088, 0.9691], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.38012, 0.30045, 1.08017], \"tcp_roll_pitch_yaw\": [0.00145, -1.0958, -0.00121], \"tcp_rotation_matrix\": [[0.37581, 0.14419, 0.91541], [0.19126, -0.97862, 0.07563], [0.90674, 0.14666, -0.39535]], \"simulated_seconds_remaining\": 12.54, \"calls_remaining_including_this\": 37}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"Target outside robot workspace bounds (+/-1.2 m)\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.47,
      "y": 0.3,
      "z": 1.2,
      "pitch": 0
    },
    "note": "The requested height exceeds the workspace ceiling. I use the highest permitted approach height over the handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 22, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.17144, -0.90715, 0.5463, -2.6511, -0.58744, 2.77088, 0.9691], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.38012, 0.30045, 1.08017], \"tcp_roll_pitch_yaw\": [0.00145, -1.0958, -0.00121], \"tcp_rotation_matrix\": [[0.37581, 0.14419, 0.91541], [0.19126, -0.97862, 0.07563], [0.90674, 0.14666, -0.39535]], \"simulated_seconds_remaining\": 12.54, \"calls_remaining_including_this\": 36}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK requires a large joint jump; split the motion or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "z": 1.19,
      "pitch": -0.55
    },
    "note": "I split the upward turn into a smaller step to avoid the rejected joint jump."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 23, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.43407, -0.55484, 0.27724, -1.96278, -0.19732, 1.9544, 0.51897], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.38031, 0.30045, 1.18937], \"tcp_roll_pitch_yaw\": [0.00189, -0.55466, -0.00181], \"tcp_rotation_matrix\": [[0.78929, 0.19861, 0.58101], [0.19026, -0.97878, 0.07612], [0.5838, 0.05046, -0.81033]], \"simulated_seconds_remaining\": 11.484, \"calls_remaining_including_this\": 35}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 16, \"motion_seconds\": 1.056, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "y": 0.2,
      "x": 0.42,
      "z": 1.17
    },
    "note": "The wrist camera now clearly shows a black bar handle to the left of the finger gap. I shift sideways and descend slightly to center it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 24, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.42751, -0.65241, 0.08593, -2.11833, -0.18922, 2.04866, 0.3322], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.41958, 0.20108, 1.17022], \"tcp_roll_pitch_yaw\": [0.00197, -0.5546, -0.00206], \"tcp_rotation_matrix\": [[0.78937, 0.19841, 0.58098], [0.19005, -0.97882, 0.07605], [0.58376, 0.05038, -0.81036]], \"simulated_seconds_remaining\": 10.428, \"calls_remaining_including_this\": 34}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 16, \"motion_seconds\": 1.056, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "y": 0.09,
      "x": 0.44,
      "z": 1.15
    },
    "note": "The handle has moved toward the gap but remains left of center. I continue the lateral alignment and approach gently."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 25, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.40818, -0.74679, -0.11101, -2.23703, -0.20506, 2.10719, 0.13566], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.43979, 0.0912, 1.15024], \"tcp_roll_pitch_yaw\": [0.00209, -0.55457, -0.00233], \"tcp_rotation_matrix\": [[0.78943, 0.19821, 0.58096], [0.18983, -0.97887, 0.07601], [0.58375, 0.05028, -0.81037]], \"simulated_seconds_remaining\": 9.372, \"calls_remaining_including_this\": 33}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 16, \"motion_seconds\": 1.056, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The black handle is centered between the finger tips. I close the jaws around it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 26, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.40818, -0.74679, -0.11101, -2.23703, -0.20506, 2.10719, 0.13566], \"gripper_open\": 0.0, \"tcp_xyz\": [0.43979, 0.09119, 1.15024], \"tcp_roll_pitch_yaw\": [0.00209, -0.55457, -0.00233], \"tcp_rotation_matrix\": [[0.78943, 0.19821, 0.58096], [0.18983, -0.97887, 0.07601], [0.58375, 0.05028, -0.81037]], \"simulated_seconds_remaining\": 8.448, \"calls_remaining_including_this\": 32}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 1,
      "x": 0.47,
      "z": 1.105
    },
    "note": "The jaws closed fully, indicating the handle was just beyond their reach. I reopen and advance along the approach direction."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 27, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.40566, -0.69559, -0.13854, -2.31178, -0.21632, 2.24348, 0.13284], \"gripper_open\": 1.0, \"tcp_xyz\": [0.46797, 0.09204, 1.11059], \"tcp_roll_pitch_yaw\": [0.00493, -0.56185, -0.00134], \"tcp_rotation_matrix\": [[0.78467, 0.20029, 0.58666], [0.19039, -0.97849, 0.07941], [0.58995, 0.04938, -0.80593]], \"simulated_seconds_remaining\": 7.524, \"calls_remaining_including_this\": 31}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The fingers now extend around the handle's location. I close again at the deeper grasp position."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 28, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.41178, -0.70347, -0.12964, -2.30762, -0.21108, 2.24215, 0.13221], \"gripper_open\": 0.7626, \"tcp_xyz\": [0.46482, 0.09905, 1.11696], \"tcp_roll_pitch_yaw\": [0.00882, -0.57254, 0.00926], \"tcp_rotation_matrix\": [[0.77586, 0.21217, 0.59416], [0.19831, -0.97604, 0.08957], [0.59892, 0.04834, -0.79935]], \"simulated_seconds_remaining\": 6.6, \"calls_remaining_including_this\": 30}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.3,
      "gripper": 0
    },
    "note": "The jaws stopped partly open on contact. I pull back from the dresser to draw the drawer outward."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 29, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.42067, -1.18953, 0.00877, -2.52817, -0.16966, 1.95944, 0.2103], \"gripper_open\": 0.0, \"tcp_xyz\": [0.30133, 0.09907, 1.11707], \"tcp_roll_pitch_yaw\": [0.0089, -0.57279, 0.00928], \"tcp_rotation_matrix\": [[0.7757, 0.21222, 0.59435], [0.19832, -0.97603, 0.08966], [0.59913, 0.04832, -0.79919]], \"simulated_seconds_remaining\": 5.214, \"calls_remaining_including_this\": 29}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 21, \"motion_seconds\": 1.3860000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.48,
      "y": 0.3,
      "z": 1.12,
      "pitch": 0,
      "gripper": 1
    },
    "note": "The drawer stayed closed after the pull. I reposition directly over the upper dark handle for a final downward grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 30, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.46585, 0.00788, 0.075, -1.40196, 0.03698, 1.51214, 0.33971], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.47939, 0.29927, 1.11986], \"tcp_roll_pitch_yaw\": [0.00879, -0.00196, 0.00926], \"tcp_rotation_matrix\": [[0.97615, 0.20609, 0.06819], [0.20017, -0.9761, 0.08467], [0.08401, -0.069, -0.99407]], \"simulated_seconds_remaining\": 3.102, \"calls_remaining_including_this\": 28}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 32, \"motion_seconds\": 2.112, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The exterior camera shows the fingers straddling the upper handle. I close around it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 31, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.46585, 0.00788, 0.075, -1.40196, 0.03698, 1.51214, 0.33971], \"gripper_open\": 0.0, \"tcp_xyz\": [0.4794, 0.29928, 1.11987], \"tcp_roll_pitch_yaw\": [0.00879, -0.00193, 0.00926], \"tcp_rotation_matrix\": [[0.97616, 0.20609, 0.06816], [0.20017, -0.9761, 0.08467], [0.08398, -0.06901, -0.99408]], \"simulated_seconds_remaining\": 2.178, \"calls_remaining_including_this\": 27}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "give_up",
  "arguments": {
    "note": "I could not secure the dresser handle; repeated pulls left the drawer closed and too little motion time remains for another approach."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "Episode ended. Do not call more tools. Return a brief final response."
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

I couldn’t secure the handle, so the dresser remains closed.

TURN USAGE
{
  "input_tokens": 656104,
  "cached_input_tokens": 611584,
  "cache_write_input_tokens": 0,
  "output_tokens": 5776,
  "reasoning_output_tokens": 2370
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.01625,
      -0.81161,
      0.06347,
      -2.30073,
      0.11711,
      1.56216,
      -0.12927
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.30765,
      0.05554,
      1.04895
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.97813,
        0.19691,
        0.06702
      ],
      [
        0.19184,
        -0.97853,
        0.07529
      ],
      [
        0.08041,
        -0.06079,
        -0.99491
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 40.83710377197713,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.3,
                    "y": 0.055,
                    "z": 0.86,
                    "roll": 0,
                    "pitch": -1.45,
                    "yaw": 0,
                    "gripper": 1
                  },
                  "note": "The dresser is ahead of the robot; I lower the open gripper and turn it toward the drawer fronts to see the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 2,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.01625,
      -0.81161,
      0.06347,
      -2.30073,
      0.11711,
      1.56216,
      -0.12927
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.30765,
      0.05554,
      1.04895
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.97813,
        0.19691,
        0.06702
      ],
      [
        0.19184,
        -0.97853,
        0.07529
      ],
      [
        0.08041,
        -0.06079,
        -0.99491
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 6.4060915019363165,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.94
                  },
                  "note": "The requested wrist turn was unreachable. I lower slightly with the current orientation to bring the drawer hardware into view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.02211,
      -0.87109,
      0.07872,
      -2.61053,
      0.1342,
      1.81162,
      -0.14852
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.30762,
      0.05553,
      0.9412
    ],
    "tcp_roll_pitch_yaw": [
      -3e-05,
      0.00026,
      1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.97815,
        0.19691,
        0.06676
      ],
      [
        0.19185,
        -0.97853,
        0.07527
      ],
      [
        0.08015,
        -0.06081,
        -0.99493
      ]
    ],
    "simulated_seconds_remaining": 28.974,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 7.406108383089304,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.65
                  },
                  "note": "The gripper remains above the drawer face. I tilt toward the dresser in a smaller reachable step to inspect the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 4,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.02211,
      -0.87109,
      0.07872,
      -2.61053,
      0.1342,
      1.81162,
      -0.14852
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.30762,
      0.05553,
      0.9412
    ],
    "tcp_roll_pitch_yaw": [
      -3e-05,
      0.00026,
      1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.97815,
        0.19691,
        0.06676
      ],
      [
        0.19185,
        -0.97853,
        0.07527
      ],
      [
        0.08015,
        -0.06081,
        -0.99493
      ]
    ],
    "simulated_seconds_remaining": 28.974,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 7.206587886437774,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "z": 0.94,
                    "pitch": 0.65
                  },
                  "note": "The opposite tilt is constrained by the arm. I shift forward and tilt the wrist toward the visible drawer face from the other direction."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.00468,
      -0.19788,
      0.05763,
      -1.84885,
      0.11049,
      1.1604,
      -0.10709
    ],
    "gripper_open": 0.9968,
    "tcp_xyz": [
      0.36057,
      0.05028,
      1.01913
    ],
    "tcp_roll_pitch_yaw": [
      -0.01004,
      0.56289,
      -0.00301
    ],
    "tcp_rotation_matrix": [
      [
        0.86967,
        0.1364,
        -0.47441
      ],
      [
        0.19002,
        -0.97951,
        0.06673
      ],
      [
        -0.45559,
        -0.14818,
        -0.87777
      ]
    ],
    "simulated_seconds_remaining": 27.786,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 6.406023210845888,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.2,
                    "z": 1.1,
                    "pitch": -0.35
                  },
                  "note": "The wrist view shows the floor and robot base, so this tilt faces away from the drawer. I retreat upward to gain clearance for turning toward the dresser."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.02138,
      -1.35807,
      0.07095,
      -2.46957,
      0.113,
      1.52993,
      -0.12543
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.2007,
      0.0503,
      1.09978
    ],
    "tcp_roll_pitch_yaw": [
      -0.01007,
      -0.34602,
      -0.00295
    ],
    "tcp_rotation_matrix": [
      [
        0.8941,
        0.19963,
        0.4009
      ],
      [
        0.19001,
        -0.97969,
        0.06409
      ],
      [
        0.40556,
        0.01887,
        -0.91388
      ]
    ],
    "simulated_seconds_remaining": 26.268,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 5.60519440472126,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.25,
                    "z": 0.9,
                    "pitch": -0.9
                  },
                  "note": "The dresser face is centered in the wrist camera. I lower toward its upper drawer and increase the forward tilt while keeping clearance."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 7,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.02138,
      -1.35807,
      0.07095,
      -2.46957,
      0.113,
      1.52993,
      -0.12543
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.2007,
      0.0503,
      1.09978
    ],
    "tcp_roll_pitch_yaw": [
      -0.01007,
      -0.34602,
      -0.00295
    ],
    "tcp_rotation_matrix": [
      [
        0.8941,
        0.19963,
        0.4009
      ],
      [
        0.19001,
        -0.97969,
        0.06409
      ],
      [
        0.40556,
        0.01887,
        -0.91388
      ]
    ],
    "simulated_seconds_remaining": 26.268,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 5.805185464210808,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48,
                    "z": 1.1,
                    "pitch": -0.8
                  },
                  "note": "The low approach is outside the reachable wrist configuration. I turn toward the drawer from a higher, more extended arm pose."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 33,
    "motion_seconds": 2.178,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.02335,
      -0.81391,
      0.09874,
      -2.54187,
      0.12891,
      2.74394,
      -0.21338
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.48738,
      0.04114,
      1.14628
    ],
    "tcp_roll_pitch_yaw": [
      -0.00216,
      -0.94557,
      -0.02761
    ],
    "tcp_rotation_matrix": [
      [
        0.51272,
        0.13574,
        0.84776
      ],
      [
        0.17792,
        -0.98279,
        0.04976
      ],
      [
        0.83992,
        0.12532,
        -0.52805
      ]
    ],
    "simulated_seconds_remaining": 24.09,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 9.610571856610477,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.3,
                    "z": 1.05,
                    "roll": 1.4,
                    "pitch": 0,
                    "yaw": -1.4
                  },
                  "note": "The wrist is close to the wooden face. I back off and rotate the jaws vertically so they can grasp the drawer handle from the front."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 9,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.02335,
      -0.81391,
      0.09874,
      -2.54187,
      0.12891,
      2.74394,
      -0.21338
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.48738,
      0.04114,
      1.14628
    ],
    "tcp_roll_pitch_yaw": [
      -0.00216,
      -0.94557,
      -0.02761
    ],
    "tcp_rotation_matrix": [
      [
        0.51272,
        0.13574,
        0.84776
      ],
      [
        0.17792,
        -0.98279,
        0.04976
      ],
      [
        0.83992,
        0.12532,
        -0.52805
      ]
    ],
    "simulated_seconds_remaining": 24.09,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 7.406300640664995,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.36,
                    "z": 1.02,
                    "roll": 0.5,
                    "pitch": -0.6,
                    "yaw": -0.5
                  },
                  "note": "The full rotation was unreachable. I use a smaller combined turn while withdrawing from the top edge."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.02968,
      -1.28376,
      0.00271,
      -2.9357,
      0.33192,
      2.53203,
      -0.00795
    ],
    "gripper_open": 0.8601,
    "tcp_xyz": [
      0.36724,
      0.03679,
      1.03815
    ],
    "tcp_roll_pitch_yaw": [
      0.53611,
      -0.65782,
      -0.53899
    ],
    "tcp_rotation_matrix": [
      [
        0.64016,
        0.00757,
        0.7682
      ],
      [
        -0.23854,
        -0.94857,
        0.20813
      ],
      [
        0.73027,
        -0.31649,
        -0.60543
      ]
    ],
    "simulated_seconds_remaining": 22.572,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 15.814440791495144,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.415,
                    "y": 0.065,
                    "z": 1.01
                  },
                  "note": "A dark drawer knob is now visible just above the finger gap. I advance a short distance toward it with the jaws open."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.09671,
      -1.05599,
      0.05185,
      -2.91798,
      0.38449,
      2.77933,
      0.00557
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.41469,
      0.05982,
      1.01997
    ],
    "tcp_roll_pitch_yaw": [
      0.55475,
      -0.67204,
      -0.56053
    ],
    "tcp_rotation_matrix": [
      [
        0.62315,
        0.00436,
        0.78209
      ],
      [
        -0.24862,
        -0.94701,
        0.20338
      ],
      [
        0.74153,
        -0.32118,
        -0.58904
      ]
    ],
    "simulated_seconds_remaining": 21.846,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 10.609943540766835,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.44,
                    "y": 0.005,
                    "z": 1.005
                  },
                  "note": "The knob is left of the finger gap in the wrist image. I shift sideways to center it and move slightly closer."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.13011,
      -0.95848,
      -0.12124,
      -2.882,
      0.37043,
      2.84559,
      -0.1607
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.4398,
      0.01344,
      1.01595
    ],
    "tcp_roll_pitch_yaw": [
      0.55918,
      -0.69348,
      -0.54714
    ],
    "tcp_rotation_matrix": [
      [
        0.61204,
        0.02607,
        0.7904
      ],
      [
        -0.23237,
        -0.94941,
        0.21125
      ],
      [
        0.75592,
        -0.31296,
        -0.57502
      ]
    ],
    "simulated_seconds_remaining": 21.12,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 5.405429860576987,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The knob now lies between the fingers near their tips. I close the jaws to secure it before pulling."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.13387,
      -0.96526,
      -0.11726,
      -2.87801,
      0.37008,
      2.84483,
      -0.16155
    ],
    "gripper_open": 0.8775,
    "tcp_xyz": [
      0.43947,
      0.0162,
      1.02144
    ],
    "tcp_roll_pitch_yaw": [
      0.56297,
      -0.70411,
      -0.54301
    ],
    "tcp_rotation_matrix": [
      [
        0.6055,
        0.03561,
        0.79505
      ],
      [
        -0.22607,
        -0.95015,
        0.21472
      ],
      [
        0.76306,
        -0.30975,
        -0.56726
      ]
    ],
    "simulated_seconds_remaining": 20.196,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 5.604933932423592,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.32,
                    "gripper": 0
                  },
                  "note": "The jaws met resistance while closing at the knob. I pull straight back to test the grasp and open the drawer."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 14,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.13387,
      -0.96526,
      -0.11726,
      -2.87801,
      0.37008,
      2.84483,
      -0.16155
    ],
    "gripper_open": 0.8775,
    "tcp_xyz": [
      0.43947,
      0.0162,
      1.02144
    ],
    "tcp_roll_pitch_yaw": [
      0.56297,
      -0.70411,
      -0.54301
    ],
    "tcp_rotation_matrix": [
      [
        0.6055,
        0.03561,
        0.79505
      ],
      [
        -0.22607,
        -0.95015,
        0.21472
      ],
      [
        0.76306,
        -0.30975,
        -0.56726
      ]
    ],
    "simulated_seconds_remaining": 20.196,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 5.404823279008269,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.385,
                    "pitch": -0.5,
                    "gripper": 0
                  },
                  "note": "The long pull exceeded the arm's reachable pose. I make a shorter pull while easing the wrist tilt."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.04414,
      -1.13196,
      -0.11611,
      -2.85316,
      0.35372,
      2.32076,
      -0.05103
    ],
    "gripper_open": 0.1851,
    "tcp_xyz": [
      0.36313,
      0.03573,
      0.99083
    ],
    "tcp_roll_pitch_yaw": [
      0.50157,
      -0.38072,
      -0.44464
    ],
    "tcp_rotation_matrix": [
      [
        0.82092,
        -0.01573,
        0.57082
      ],
      [
        -0.24763,
        -0.91055,
        0.33103
      ],
      [
        0.51455,
        -0.41311,
        -0.75138
      ]
    ],
    "simulated_seconds_remaining": 19.272,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 9.608207859098911,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.39,
                    "z": 0.9,
                    "roll": 1.2,
                    "pitch": 0,
                    "yaw": -1.2,
                    "gripper": 1
                  },
                  "note": "The pull did not visibly move the drawer, and the knob is above the gripper. I reopen and turn toward a more level front approach."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 16,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.04414,
      -1.13196,
      -0.11611,
      -2.85316,
      0.35372,
      2.32076,
      -0.05103
    ],
    "gripper_open": 0.1851,
    "tcp_xyz": [
      0.36313,
      0.03573,
      0.99083
    ],
    "tcp_roll_pitch_yaw": [
      0.50157,
      -0.38072,
      -0.44464
    ],
    "tcp_rotation_matrix": [
      [
        0.82092,
        -0.01573,
        0.57082
      ],
      [
        -0.24763,
        -0.91055,
        0.33103
      ],
      [
        0.51455,
        -0.41311,
        -0.75138
      ]
    ],
    "simulated_seconds_remaining": 19.272,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 10.609045911580324,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "z": 1.18,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 0,
                    "gripper": 1
                  },
                  "note": "The level approach is unreachable at that height. I lift above the knob to establish its position and approach from a reachable posture."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 24,
    "motion_seconds": 1.584,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.1145,
      -0.3961,
      -0.05262,
      -1.65302,
      0.05357,
      1.33214,
      -0.11502
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.39992,
      0.03578,
      1.17916
    ],
    "tcp_roll_pitch_yaw": [
      0.0018,
      -0.00224,
      -0.00136
    ],
    "tcp_rotation_matrix": [
      [
        0.9782,
        0.19573,
        0.06935
      ],
      [
        0.19037,
        -0.97869,
        0.07698
      ],
      [
        0.08294,
        -0.0621,
        -0.99462
      ]
    ],
    "simulated_seconds_remaining": 17.688,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 10.008787711150944,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.22
                  },
                  "note": "The exterior view places the drawer knob left of the gripper. I move laterally above it before descending."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.21415,
      -0.26257,
      0.20383,
      -1.52773,
      0.09722,
      1.36612,
      0.24295
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.3999,
      0.21873,
      1.17912
    ],
    "tcp_roll_pitch_yaw": [
      0.00174,
      -0.00218,
      -0.0011
    ],
    "tcp_rotation_matrix": [
      [
        0.97816,
        0.19597,
        0.06927
      ],
      [
        0.19062,
        -0.97864,
        0.07694
      ],
      [
        0.08287,
        -0.06206,
        -0.99463
      ]
    ],
    "simulated_seconds_remaining": 16.17,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 6.205641019158065,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.44,
                    "z": 1.12
                  },
                  "note": "The gripper is still to the right of the upper drawer knob. I continue left and lower toward its height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 28,
    "motion_seconds": 1.848,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 19,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.40955,
      0.12606,
      0.4734,
      -1.26514,
      -0.06154,
      1.48124,
      0.67281
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.39986,
      0.43877,
      1.12024
    ],
    "tcp_roll_pitch_yaw": [
      0.00162,
      -0.00199,
      -0.00089
    ],
    "tcp_rotation_matrix": [
      [
        0.97813,
        0.19617,
        0.06907
      ],
      [
        0.19084,
        -0.97861,
        0.07684
      ],
      [
        0.08266,
        -0.06198,
        -0.99465
      ]
    ],
    "simulated_seconds_remaining": 14.322,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 14.012520609423518,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.38,
                    "y": 0.3,
                    "z": 1.08,
                    "pitch": -1.1
                  },
                  "note": "I am beside the upper drawer. I shift toward its center and aim the wrist camera at the front to align the grasp precisely."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 27,
    "motion_seconds": 1.782,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 20,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.17144,
      -0.90715,
      0.5463,
      -2.6511,
      -0.58744,
      2.77088,
      0.9691
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.38012,
      0.30045,
      1.08017
    ],
    "tcp_roll_pitch_yaw": [
      0.00145,
      -1.0958,
      -0.00121
    ],
    "tcp_rotation_matrix": [
      [
        0.37581,
        0.14419,
        0.91541
      ],
      [
        0.19126,
        -0.97862,
        0.07563
      ],
      [
        0.90674,
        0.14666,
        -0.39535
      ]
    ],
    "simulated_seconds_remaining": 12.54,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 9.808727029711008,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.47,
                    "y": 0.3,
                    "z": 1.24,
                    "pitch": 0
                  },
                  "note": "The dark handle is above the current gripper in the exterior view. I lift and point down to approach that handle directly."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "Target outside robot workspace bounds (+/-1.2 m)",
    "movement_executed": false
  }
}

{
  "call": 21,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.17144,
      -0.90715,
      0.5463,
      -2.6511,
      -0.58744,
      2.77088,
      0.9691
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.38012,
      0.30045,
      1.08017
    ],
    "tcp_roll_pitch_yaw": [
      0.00145,
      -1.0958,
      -0.00121
    ],
    "tcp_rotation_matrix": [
      [
        0.37581,
        0.14419,
        0.91541
      ],
      [
        0.19126,
        -0.97862,
        0.07563
      ],
      [
        0.90674,
        0.14666,
        -0.39535
      ]
    ],
    "simulated_seconds_remaining": 12.54,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 4.804549125954509,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.47,
                    "y": 0.3,
                    "z": 1.2,
                    "pitch": 0
                  },
                  "note": "The requested height exceeds the workspace ceiling. I use the highest permitted approach height over the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 22,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.17144,
      -0.90715,
      0.5463,
      -2.6511,
      -0.58744,
      2.77088,
      0.9691
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.38012,
      0.30045,
      1.08017
    ],
    "tcp_roll_pitch_yaw": [
      0.00145,
      -1.0958,
      -0.00121
    ],
    "tcp_rotation_matrix": [
      [
        0.37581,
        0.14419,
        0.91541
      ],
      [
        0.19126,
        -0.97862,
        0.07563
      ],
      [
        0.90674,
        0.14666,
        -0.39535
      ]
    ],
    "simulated_seconds_remaining": 12.54,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 5.004207816906273,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.19,
                    "pitch": -0.55
                  },
                  "note": "I split the upward turn into a smaller step to avoid the rejected joint jump."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 23,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.43407,
      -0.55484,
      0.27724,
      -1.96278,
      -0.19732,
      1.9544,
      0.51897
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.38031,
      0.30045,
      1.18937
    ],
    "tcp_roll_pitch_yaw": [
      0.00189,
      -0.55466,
      -0.00181
    ],
    "tcp_rotation_matrix": [
      [
        0.78929,
        0.19861,
        0.58101
      ],
      [
        0.19026,
        -0.97878,
        0.07612
      ],
      [
        0.5838,
        0.05046,
        -0.81033
      ]
    ],
    "simulated_seconds_remaining": 11.484,
    "calls_remaining_including_this": 35
  },
  "api_seconds": 14.212911657989025,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.2,
                    "x": 0.42,
                    "z": 1.17
                  },
                  "note": "The wrist camera now clearly shows a black bar handle to the left of the finger gap. I shift sideways and descend slightly to center it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 24,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.42751,
      -0.65241,
      0.08593,
      -2.11833,
      -0.18922,
      2.04866,
      0.3322
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.41958,
      0.20108,
      1.17022
    ],
    "tcp_roll_pitch_yaw": [
      0.00197,
      -0.5546,
      -0.00206
    ],
    "tcp_rotation_matrix": [
      [
        0.78937,
        0.19841,
        0.58098
      ],
      [
        0.19005,
        -0.97882,
        0.07605
      ],
      [
        0.58376,
        0.05038,
        -0.81036
      ]
    ],
    "simulated_seconds_remaining": 10.428,
    "calls_remaining_including_this": 34
  },
  "api_seconds": 8.207376316189766,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.09,
                    "x": 0.44,
                    "z": 1.15
                  },
                  "note": "The handle has moved toward the gap but remains left of center. I continue the lateral alignment and approach gently."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 25,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.40818,
      -0.74679,
      -0.11101,
      -2.23703,
      -0.20506,
      2.10719,
      0.13566
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.43979,
      0.0912,
      1.15024
    ],
    "tcp_roll_pitch_yaw": [
      0.00209,
      -0.55457,
      -0.00233
    ],
    "tcp_rotation_matrix": [
      [
        0.78943,
        0.19821,
        0.58096
      ],
      [
        0.18983,
        -0.97887,
        0.07601
      ],
      [
        0.58375,
        0.05028,
        -0.81037
      ]
    ],
    "simulated_seconds_remaining": 9.372,
    "calls_remaining_including_this": 33
  },
  "api_seconds": 6.0054299449548125,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The black handle is centered between the finger tips. I close the jaws around it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 26,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.40818,
      -0.74679,
      -0.11101,
      -2.23703,
      -0.20506,
      2.10719,
      0.13566
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.43979,
      0.09119,
      1.15024
    ],
    "tcp_roll_pitch_yaw": [
      0.00209,
      -0.55457,
      -0.00233
    ],
    "tcp_rotation_matrix": [
      [
        0.78943,
        0.19821,
        0.58096
      ],
      [
        0.18983,
        -0.97887,
        0.07601
      ],
      [
        0.58375,
        0.05028,
        -0.81037
      ]
    ],
    "simulated_seconds_remaining": 8.448,
    "calls_remaining_including_this": 32
  },
  "api_seconds": 6.005399470217526,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 1,
                    "x": 0.47,
                    "z": 1.105
                  },
                  "note": "The jaws closed fully, indicating the handle was just beyond their reach. I reopen and advance along the approach direction."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 27,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.40566,
      -0.69559,
      -0.13854,
      -2.31178,
      -0.21632,
      2.24348,
      0.13284
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.46797,
      0.09204,
      1.11059
    ],
    "tcp_roll_pitch_yaw": [
      0.00493,
      -0.56185,
      -0.00134
    ],
    "tcp_rotation_matrix": [
      [
        0.78467,
        0.20029,
        0.58666
      ],
      [
        0.19039,
        -0.97849,
        0.07941
      ],
      [
        0.58995,
        0.04938,
        -0.80593
      ]
    ],
    "simulated_seconds_remaining": 7.524,
    "calls_remaining_including_this": 31
  },
  "api_seconds": 6.205115425400436,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The fingers now extend around the handle's location. I close again at the deeper grasp position."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 28,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.41178,
      -0.70347,
      -0.12964,
      -2.30762,
      -0.21108,
      2.24215,
      0.13221
    ],
    "gripper_open": 0.7626,
    "tcp_xyz": [
      0.46482,
      0.09905,
      1.11696
    ],
    "tcp_roll_pitch_yaw": [
      0.00882,
      -0.57254,
      0.00926
    ],
    "tcp_rotation_matrix": [
      [
        0.77586,
        0.21217,
        0.59416
      ],
      [
        0.19831,
        -0.97604,
        0.08957
      ],
      [
        0.59892,
        0.04834,
        -0.79935
      ]
    ],
    "simulated_seconds_remaining": 6.6,
    "calls_remaining_including_this": 30
  },
  "api_seconds": 7.208593354560435,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.3,
                    "gripper": 0
                  },
                  "note": "The jaws stopped partly open on contact. I pull back from the dresser to draw the drawer outward."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 29,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.42067,
      -1.18953,
      0.00877,
      -2.52817,
      -0.16966,
      1.95944,
      0.2103
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.30133,
      0.09907,
      1.11707
    ],
    "tcp_roll_pitch_yaw": [
      0.0089,
      -0.57279,
      0.00928
    ],
    "tcp_rotation_matrix": [
      [
        0.7757,
        0.21222,
        0.59435
      ],
      [
        0.19832,
        -0.97603,
        0.08966
      ],
      [
        0.59913,
        0.04832,
        -0.79919
      ]
    ],
    "simulated_seconds_remaining": 5.214,
    "calls_remaining_including_this": 29
  },
  "api_seconds": 9.60759499669075,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48,
                    "y": 0.3,
                    "z": 1.12,
                    "pitch": 0,
                    "gripper": 1
                  },
                  "note": "The drawer stayed closed after the pull. I reposition directly over the upper dark handle for a final downward grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 32,
    "motion_seconds": 2.112,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 30,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.46585,
      0.00788,
      0.075,
      -1.40196,
      0.03698,
      1.51214,
      0.33971
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.47939,
      0.29927,
      1.11986
    ],
    "tcp_roll_pitch_yaw": [
      0.00879,
      -0.00196,
      0.00926
    ],
    "tcp_rotation_matrix": [
      [
        0.97615,
        0.20609,
        0.06819
      ],
      [
        0.20017,
        -0.9761,
        0.08467
      ],
      [
        0.08401,
        -0.069,
        -0.99407
      ]
    ],
    "simulated_seconds_remaining": 3.102,
    "calls_remaining_including_this": 28
  },
  "api_seconds": 5.404838033020496,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The exterior camera shows the fingers straddling the upper handle. I close around it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 31,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.46585,
      0.00788,
      0.075,
      -1.40196,
      0.03698,
      1.51214,
      0.33971
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.4794,
      0.29928,
      1.11987
    ],
    "tcp_roll_pitch_yaw": [
      0.00879,
      -0.00193,
      0.00926
    ],
    "tcp_rotation_matrix": [
      [
        0.97616,
        0.20609,
        0.06816
      ],
      [
        0.20017,
        -0.9761,
        0.08467
      ],
      [
        0.08398,
        -0.06901,
        -0.99408
      ]
    ],
    "simulated_seconds_remaining": 2.178,
    "calls_remaining_including_this": 27
  },
  "api_seconds": 5.805261078290641,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "give_up",
                "args": {
                  "note": "I could not secure the dresser handle; repeated pulls left the drawer closed and too little motion time remains for another approach."
                }
              }
            }
          ]
        }
      }
    ]
  }
}

========================================================================
GPT-Astra / Open / Episode 023

Completed scored attempt. Images are available in the paired videos.

Opaque provider signatures, image payloads, and local paths are omitted.


RESULT
{
  "benchmark_index": 23,
  "source_episode_index": 586,
  "house_index": 316,
  "status": "completed",
  "success": true,
  "oracle_success": true,
  "action_decisions": 30,
  "wall_seconds": 321.11,
  "usage": {
    "input_tokens": 620628,
    "cached_input_tokens": 593536,
    "cache_write_input_tokens": 0,
    "output_tokens": 5531,
    "reasoning_output_tokens": 2183
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task.
You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose.
Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion.
move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up.
roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial.
Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5).
The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y.
The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics.
Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration.
Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target.
You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time.
Each move must include a short note describing what you observe and why you chose that motion.
Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done.
Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available.



AGENT TRANSCRIPT (visible messages and completed tool calls)

I’ll observe the scene, locate the handle, and guide the gripper to open it.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"open the table.\", \"joint_positions\": [-0.00313, -0.78279, 0.01956, -2.45079, -0.05671, 1.46372, -0.14563], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.25903, -0.01178, 0.96627], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.96653, 0.15815, -0.20203], [0.14639, -0.9866, -0.07201], [-0.21071, 0.04003, -0.97673]], \"simulated_seconds_remaining\": 30.03, \"calls_remaining_including_this\": 57}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "x": 0.46,
    "y": 0,
    "z": 0.78,
    "note": "The table is a dark bedside cabinet with front drawer handles. I move closer and lower to view the upper handle."
  },
  "result": null,
  "error": {
    "message": "tool call error: tool call failed for `robot/move_to`\n\nCaused by:\n    Mcp error: -32602: Unexpected argument"
  },
  "status": "failed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.46,
      "y": 0,
      "z": 0.78
    },
    "note": "The table is a dark bedside cabinet with drawer handles. I move closer and lower to view the upper handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"open the table.\", \"joint_positions\": [-0.00399, -0.2198, 0.04038, -2.26355, -0.07252, 1.64411, -0.06594], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.37091, -0.00578, 0.86301], \"tcp_roll_pitch_yaw\": [-0.039, 0.18832, -0.04183], \"tcp_rotation_matrix\": [[0.91393, 0.12873, -0.38491], [0.09992, -0.99054, -0.09403], [-0.39338, 0.04747, -0.91815]], \"simulated_seconds_remaining\": 27.918, \"calls_remaining_including_this\": 56}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 32, \"motion_seconds\": 2.112, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.48,
      "y": 0,
      "z": 0.66,
      "roll": 1.57,
      "pitch": 0,
      "yaw": -1.57
    },
    "note": "The upper drawer has a horizontal metal pull. I turn the gripper to face the drawer with the fingers above and below the pull."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"open the table.\", \"joint_positions\": [-0.00399, -0.2198, 0.04038, -2.26355, -0.07252, 1.64411, -0.06594], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.37091, -0.00578, 0.86301], \"tcp_roll_pitch_yaw\": [-0.039, 0.18832, -0.04183], \"tcp_rotation_matrix\": [[0.91393, 0.12873, -0.38491], [0.09992, -0.99054, -0.09403], [-0.39338, 0.04747, -0.91815]], \"simulated_seconds_remaining\": 27.918, \"calls_remaining_including_this\": 55}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK requires a large joint jump; split the motion or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.44,
      "y": 0,
      "z": 0.76,
      "roll": 0.7,
      "pitch": 0,
      "yaw": -0.7
    },
    "note": "The full rotation was rejected, so I split the approach into a smaller rotation while lowering toward the upper drawer."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"open the table.\", \"joint_positions\": [-0.01457, -0.39399, -0.03756, -2.58763, 0.66627, 2.30805, -0.71185], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.45265, 0.06197, 0.85373], \"tcp_roll_pitch_yaw\": [0.58431, -0.44181, -0.09856], \"tcp_rotation_matrix\": [[0.93336, 0.27649, 0.22891], [0.1472, -0.87646, 0.45842], [0.32738, -0.39417, -0.85875]], \"simulated_seconds_remaining\": 26.202, \"calls_remaining_including_this\": 54}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 26, \"motion_seconds\": 1.7160000000000002, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.44,
      "y": 0,
      "z": 0.76,
      "roll": 0.7,
      "pitch": 0,
      "yaw": -0.7
    },
    "note": "The wrist is still turning and the handle is left of its view. I hold the intermediate target so the arm can settle before approaching."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"open the table.\", \"joint_positions\": [-0.10324, -0.21241, -0.14844, -2.60877, 0.89214, 2.29492, -1.91606], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.44764, 0.00164, 0.78078], \"tcp_roll_pitch_yaw\": [0.34698, -0.82658, 0.71315], \"tcp_rotation_matrix\": [[0.44078, 0.86263, 0.24815], [0.65805, -0.49857, 0.56428], [0.61048, -0.08543, -0.78741]], \"simulated_seconds_remaining\": 24.948, \"calls_remaining_including_this\": 53}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 19, \"motion_seconds\": 1.254, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.44,
      "y": 0,
      "z": 0.76,
      "roll": 1.3,
      "pitch": 0,
      "yaw": -1.3
    },
    "note": "The handle is visible beside the wrist. I continue rotating the open fingers toward the drawer face in a second moderate step."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"open the table.\", \"joint_positions\": [-0.0785, -0.23383, -0.24599, -2.93781, 2.15657, 2.22406, -1.32217], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.44, 6e-05, 0.76003], \"tcp_roll_pitch_yaw\": [1.30034, -0.00314, -1.29651], \"tcp_rotation_matrix\": [[0.49483, -0.24723, 0.83308], [-0.86454, -0.23692, 0.44321], [0.0878, -0.93955, -0.33098]], \"simulated_seconds_remaining\": 22.176, \"calls_remaining_including_this\": 52}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 42, \"motion_seconds\": 2.7720000000000002, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.48,
      "y": 0.1,
      "z": 0.78,
      "roll": 1.57,
      "pitch": 0.2,
      "yaw": -1.5
    },
    "note": "The upper pull is ahead and left of the gripper. I align the wrist more squarely with the drawer and shift left toward its center."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"open the table.\", \"joint_positions\": [-0.0785, -0.23383, -0.24599, -2.93781, 2.15657, 2.22406, -1.32217], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.44, 6e-05, 0.76003], \"tcp_roll_pitch_yaw\": [1.30034, -0.00314, -1.29651], \"tcp_rotation_matrix\": [[0.49483, -0.24723, 0.83308], [-0.86454, -0.23692, 0.44321], [0.0878, -0.93955, -0.33098]], \"simulated_seconds_remaining\": 22.176, \"calls_remaining_including_this\": 51}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.42,
      "y": 0.08,
      "z": 0.67,
      "roll": 1.57,
      "pitch": 0,
      "yaw": -1.57
    },
    "note": "The square approach was outside reach at that height. I lower and draw back slightly to obtain a reachable front-facing grasp pose."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"open the table.\", \"joint_positions\": [-0.0785, -0.23383, -0.24599, -2.93781, 2.15657, 2.22406, -1.32217], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.44, 6e-05, 0.76003], \"tcp_roll_pitch_yaw\": [1.30034, -0.00314, -1.29651], \"tcp_rotation_matrix\": [[0.49483, -0.24723, 0.83308], [-0.86454, -0.23692, 0.44321], [0.0878, -0.93955, -0.33098]], \"simulated_seconds_remaining\": 22.176, \"calls_remaining_including_this\": 50}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.5,
      "y": 0.1,
      "z": 0.76
    },
    "note": "The current angled wrist pose sees the handle clearly. I retain that reachable orientation and move toward the pull."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"open the table.\", \"joint_positions\": [0.10505, -0.09375, -0.05346, -2.77807, 2.57098, 2.3132, -1.41328], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.49932, 0.0989, 0.76002], \"tcp_roll_pitch_yaw\": [1.3004, -0.00323, -1.29623], \"tcp_rotation_matrix\": [[0.49507, -0.24709, 0.83298], [-0.8644, -0.23706, 0.44342], [0.0879, -0.93955, -0.33094]], \"simulated_seconds_remaining\": 21.12, \"calls_remaining_including_this\": 49}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 16, \"motion_seconds\": 1.056, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.47,
      "y": 0.22,
      "z": 0.8
    },
    "note": "The pull moved toward the bottom of the wrist image. I shift left and slightly upward to center the handle between the open fingers."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"open the table.\", \"joint_positions\": [0.10505, -0.09375, -0.05346, -2.77807, 2.57098, 2.3132, -1.41328], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.49932, 0.0989, 0.76002], \"tcp_roll_pitch_yaw\": [1.3004, -0.00323, -1.29623], \"tcp_rotation_matrix\": [[0.49507, -0.24709, 0.83298], [-0.8644, -0.23706, 0.44342], [0.0879, -0.93955, -0.33094]], \"simulated_seconds_remaining\": 21.12, \"calls_remaining_including_this\": 48}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "roll": 0.8,
      "pitch": -0.7,
      "yaw": -0.7
    },
    "note": "The leftward approach reaches a wrist joint limit. I adjust the wrist bend while maintaining a forward-facing approach to recover room for alignment."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 11, \"instruction\": \"open the table.\", \"joint_positions\": [0.15753, -0.09753, 0.09991, -2.55507, 2.34361, 2.96815, -1.83521], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.49935, 0.09899, 0.76004], \"tcp_roll_pitch_yaw\": [0.80434, -0.69753, -0.70454], \"tcp_rotation_matrix\": [[0.74839, -0.03529, 0.66231], [-0.30371, -0.90597, 0.29491], [0.58963, -0.42186, -0.68874]], \"simulated_seconds_remaining\": 19.602, \"calls_remaining_including_this\": 47}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 23, \"motion_seconds\": 1.518, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.5,
      "y": 0.19,
      "z": 0.86,
      "roll": 0.3,
      "pitch": -1.2,
      "yaw": -0.2
    },
    "note": "The exterior view shows the gripper below and right of the upper pull. I raise and shift left while straightening the wrist toward the drawer."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 12, \"instruction\": \"open the table.\", \"joint_positions\": [0.15753, -0.09753, 0.09991, -2.55507, 2.34361, 2.96815, -1.83521], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.49935, 0.09899, 0.76004], \"tcp_roll_pitch_yaw\": [0.80434, -0.69753, -0.70454], \"tcp_rotation_matrix\": [[0.74839, -0.03529, 0.66231], [-0.30371, -0.90597, 0.29491], [0.58963, -0.42186, -0.68874]], \"simulated_seconds_remaining\": 19.602, \"calls_remaining_including_this\": 46}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK requires a large joint jump; split the motion or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "y": 0.19,
      "z": 0.86
    },
    "note": "I separate the position correction from the rotation, moving up and left toward the upper drawer handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 13, \"instruction\": \"open the table.\", \"joint_positions\": [0.15753, -0.09753, 0.09991, -2.55507, 2.34361, 2.96815, -1.83521], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.49935, 0.09899, 0.76004], \"tcp_roll_pitch_yaw\": [0.80434, -0.69753, -0.70454], \"tcp_rotation_matrix\": [[0.74839, -0.03529, 0.66231], [-0.30371, -0.90597, 0.29491], [0.58963, -0.42186, -0.68874]], \"simulated_seconds_remaining\": 19.602, \"calls_remaining_including_this\": 45}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK requires a large joint jump; split the motion or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "roll": 0.4,
      "pitch": -0.7,
      "yaw": -0.7
    },
    "note": "The arm rejects the upward shift from its current wrist configuration. I reduce the wrist roll in place before continuing."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 14, \"instruction\": \"open the table.\", \"joint_positions\": [0.15753, -0.09753, 0.09991, -2.55507, 2.34361, 2.96815, -1.83521], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.49935, 0.09899, 0.76004], \"tcp_roll_pitch_yaw\": [0.80434, -0.69753, -0.70454], \"tcp_rotation_matrix\": [[0.74839, -0.03529, 0.66231], [-0.30371, -0.90597, 0.29491], [0.58963, -0.42186, -0.68874]], \"simulated_seconds_remaining\": 19.602, \"calls_remaining_including_this\": 44}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK requires a large joint jump; split the motion or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "roll": 0.7,
      "pitch": 0,
      "yaw": -0.7
    },
    "note": "I return to the earlier intermediate wrist angle to move away from the joint limit."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 15, \"instruction\": \"open the table.\", \"joint_positions\": [0.15753, -0.09753, 0.09991, -2.55507, 2.34361, 2.96815, -1.83521], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.49935, 0.09899, 0.76004], \"tcp_roll_pitch_yaw\": [0.80434, -0.69753, -0.70454], \"tcp_rotation_matrix\": [[0.74839, -0.03529, 0.66231], [-0.30371, -0.90597, 0.29491], [0.58963, -0.42186, -0.68874]], \"simulated_seconds_remaining\": 19.602, \"calls_remaining_including_this\": 43}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK requires a large joint jump; split the motion or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "pitch": -0.45
    },
    "note": "I split the wrist correction further, easing the pitch back by a quarter radian."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 16, \"instruction\": \"open the table.\", \"joint_positions\": [0.15753, -0.09753, 0.09991, -2.55507, 2.34361, 2.96815, -1.83521], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.49935, 0.09899, 0.76004], \"tcp_roll_pitch_yaw\": [0.80434, -0.69753, -0.70454], \"tcp_rotation_matrix\": [[0.74839, -0.03529, 0.66231], [-0.30371, -0.90597, 0.29491], [0.58963, -0.42186, -0.68874]], \"simulated_seconds_remaining\": 19.602, \"calls_remaining_including_this\": 42}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK requires a large joint jump; split the motion or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.45,
      "y": 0.1,
      "z": 0.76
    },
    "note": "The wrist corrections remain blocked. I back the grasp point away from the cabinet to create space for a reachable approach."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 17, \"instruction\": \"open the table.\", \"joint_positions\": [0.16616, -0.22829, 0.12265, -2.69197, 2.42019, 2.966, -1.87881], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.45134, 0.09999, 0.76001], \"tcp_roll_pitch_yaw\": [0.80431, -0.69752, -0.70448], \"tcp_rotation_matrix\": [[0.74842, -0.03527, 0.66229], [-0.30367, -0.90598, 0.29492], [0.58962, -0.42185, -0.68876]], \"simulated_seconds_remaining\": 19.008, \"calls_remaining_including_this\": 41}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 9, \"motion_seconds\": 0.5940000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "z": 0.82
    },
    "note": "With clearance gained, I raise the gripper toward the upper handle while preserving its current orientation."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 18, \"instruction\": \"open the table.\", \"joint_positions\": [0.42448, -0.38342, -0.05144, -2.72253, 2.01632, 3.12229, -1.4385], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.45132, 0.10003, 0.81883], \"tcp_roll_pitch_yaw\": [0.80442, -0.69759, -0.70438], \"tcp_rotation_matrix\": [[0.7484, -0.03506, 0.66232], [-0.30355, -0.90598, 0.29505], [0.5897, -0.42186, -0.68868]], \"simulated_seconds_remaining\": 18.282, \"calls_remaining_including_this\": 40}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 11, \"motion_seconds\": 0.726, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "y": 0.18
    },
    "note": "The handle is left of the wrist center. I translate left to align the grasp point with the middle of the pull."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 19, \"instruction\": \"open the table.\", \"joint_positions\": [0.22305, -0.27318, 0.31586, -2.57395, 2.40132, 3.17235, -1.6451], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.45135, 0.17878, 0.81888], \"tcp_roll_pitch_yaw\": [0.8044, -0.69779, -0.70416], \"tcp_rotation_matrix\": [[0.74839, -0.03481, 0.66235], [-0.30331, -0.90605, 0.29509], [0.58985, -0.42174, -0.68863]], \"simulated_seconds_remaining\": 17.424, \"calls_remaining_including_this\": 39}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 13, \"motion_seconds\": 0.8580000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.57,
      "y": 0.02,
      "z": 0.88
    },
    "note": "The left shift moved the handle farther from center in the wrist view. I correct toward the opposite side and advance toward the upper pull."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 20, \"instruction\": \"open the table.\", \"joint_positions\": [0.38715, -0.25115, -0.29279, -2.51796, 1.14609, 2.93595, -0.80418], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.56777, 0.0309, 0.88315], \"tcp_roll_pitch_yaw\": [0.80936, -0.70398, -0.69058], \"tcp_rotation_matrix\": [[0.74911, -0.01658, 0.66224], [-0.29012, -0.90693, 0.30547], [0.59554, -0.42096, -0.6842]], \"simulated_seconds_remaining\": 15.774, \"calls_remaining_including_this\": 38}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 25, \"motion_seconds\": 1.6500000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "roll": 1.3,
      "pitch": 0,
      "yaw": -1.3
    },
    "note": "The upper pull is near the top of the wrist image. I point the wrist more horizontally so I can approach the handle directly."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 21, \"instruction\": \"open the table.\", \"joint_positions\": [0.43504, -0.25417, -0.48714, -2.54546, 2.1346, 2.60642, -1.03925], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.56772, 0.0309, 0.88306], \"tcp_roll_pitch_yaw\": [1.29861, -0.00389, -1.29796], \"tcp_rotation_matrix\": [[0.4937, -0.24895, 0.83324], [-0.86516, -0.23768, 0.4416], [0.08811, -0.9389, -0.33272]], \"simulated_seconds_remaining\": 14.256, \"calls_remaining_including_this\": 37}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 23, \"motion_seconds\": 1.518, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "y": -0.13,
      "roll": 0.8,
      "pitch": -0.7,
      "yaw": -0.7
    },
    "note": "The handle remains to the left in the wrist view. I shift right in the base frame and restore the view in which the pull was horizontal."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 22, \"instruction\": \"open the table.\", \"joint_positions\": [0.25021, -0.20281, -0.54286, -2.44958, 1.03987, 2.43291, -0.96643], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.53917, -0.05728, 0.85641], \"tcp_roll_pitch_yaw\": [0.89174, -0.52642, -0.58256], \"tcp_rotation_matrix\": [[0.84636, 0.06771, 0.5283], [-0.25115, -0.82395, 0.50796], [0.46968, -0.5626, -0.68035]], \"simulated_seconds_remaining\": 12.738, \"calls_remaining_including_this\": 36}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 23, \"motion_seconds\": 1.518, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.6,
      "y": -0.04,
      "z": 0.8
    },
    "note": "The pull is now centered ahead of the open fingers. I advance and lower the grasp point to bring the handle into the jaws."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 23, \"instruction\": \"open the table.\", \"joint_positions\": [0.28827, -0.18101, -0.54396, -2.43333, 1.17014, 2.51158, -0.95428], \"gripper_open\": 1.0, \"tcp_xyz\": [0.56037, -0.05785, 0.86268], \"tcp_roll_pitch_yaw\": [0.94743, -0.51885, -0.72388], \"tcp_rotation_matrix\": [[0.8003, -0.01114, 0.59949], [-0.36503, -0.80224, 0.4724], [0.47568, -0.59689, -0.6461]], \"simulated_seconds_remaining\": 11.88, \"calls_remaining_including_this\": 35}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 13, \"motion_seconds\": 0.8580000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.52,
      "y": -0.06,
      "z": 0.94
    },
    "note": "The approach stopped against the drawer front below the pull. I lift and back off to align with the handle height."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 24, \"instruction\": \"open the table.\", \"joint_positions\": [0.16976, -0.42615, -0.45579, -2.52015, 0.87152, 2.32484, -0.6633], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.49689, -0.02311, 0.91922], \"tcp_roll_pitch_yaw\": [0.96173, -0.40097, -0.62433], \"tcp_rotation_matrix\": [[0.87213, 0.01801, 0.48894], [-0.31211, -0.74911, 0.58431], [0.3768, -0.6622, -0.6477]], \"simulated_seconds_remaining\": 11.022, \"calls_remaining_including_this\": 34}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 13, \"motion_seconds\": 0.8580000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.5,
      "y": -0.14,
      "z": 0.99,
      "roll": 1.3,
      "pitch": 0,
      "yaw": -1.3
    },
    "note": "The handle is above the fingertips. I raise the gripper further and turn the fingers vertically around the horizontal pull."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 25, \"instruction\": \"open the table.\", \"joint_positions\": [0.10106, -0.55625, -0.58221, -2.56785, 1.28087, 1.85245, -0.45346], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.44832, 0.01213, 1.039], \"tcp_roll_pitch_yaw\": [1.51194, 0.17231, -0.73886], \"tcp_rotation_matrix\": [[0.86832, -0.07534, 0.49025], [-0.49484, -0.06392, 0.86663], [-0.03396, -0.99511, -0.09278]], \"simulated_seconds_remaining\": 9.636, \"calls_remaining_including_this\": 33}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 21, \"motion_seconds\": 1.3860000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.4,
      "y": -0.12,
      "z": 1.04,
      "roll": 1.57,
      "pitch": 0,
      "yaw": -1.9
    },
    "note": "The wrist is pointing past the cabinet. I withdraw slightly and rotate toward the drawer face to align the open jaws with the pull."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 26, \"instruction\": \"open the table.\", \"joint_positions\": [-0.41152, -1.09321, 0.17674, -2.91534, 2.34301, 2.83582, -0.79841], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.4002, -0.11953, 1.0401], \"tcp_roll_pitch_yaw\": [1.56959, -4e-05, -1.89549], \"tcp_rotation_matrix\": [[-0.10847, -0.08953, 0.99006], [-0.98329, -0.13678, -0.1201], [0.14617, -0.98655, -0.0732]], \"simulated_seconds_remaining\": 7.788, \"calls_remaining_including_this\": 32}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 28, \"motion_seconds\": 1.848, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.55,
      "y": -0.28,
      "z": 1.04
    },
    "note": "With the wrist square to the drawer, the handle lies ahead of the fingertips in the image. I shift along the pull and advance toward it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 27, \"instruction\": \"open the table.\", \"joint_positions\": [-0.63469, -0.53625, 0.086, -2.50347, 2.2704, 2.52439, -0.53817], \"gripper_open\": 1.0, \"tcp_xyz\": [0.51087, -0.239, 1.09612], \"tcp_roll_pitch_yaw\": [1.57446, 0.36453, -1.88671], \"tcp_rotation_matrix\": [[-0.09708, 0.02878, 0.99486], [-0.97349, 0.20524, -0.10093], [-0.20709, -0.97829, 0.00809]], \"simulated_seconds_remaining\": 6.006, \"calls_remaining_including_this\": 31}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 27, \"motion_seconds\": 1.782, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.47,
      "y": 0.05,
      "z": 1.01
    },
    "note": "The handle moved farther up the wrist image, so I reverse the lateral correction and back away slightly to avoid the drawer edge."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 28, \"instruction\": \"open the table.\", \"joint_positions\": [-0.80981, -1.42646, 1.20384, -2.79675, 2.80649, 2.7529, 0.14806], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.47013, 0.04951, 1.01023], \"tcp_roll_pitch_yaw\": [1.57432, 0.36316, -1.88638], \"tcp_rotation_matrix\": [[-0.09682, 0.02816, 0.9949], [-0.97379, 0.20402, -0.10054], [-0.20581, -0.97856, 0.00767]], \"simulated_seconds_remaining\": 3.696, \"calls_remaining_including_this\": 30}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 35, \"motion_seconds\": 2.31, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.57,
      "y": 0.09,
      "z": 1.01
    },
    "note": "The pull now runs between the open fingertips in the wrist image. I advance a short distance to seat it in the jaws."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 29, \"instruction\": \"open the table.\", \"joint_positions\": [-1.14681, -1.48975, 1.363, -2.48956, 2.80649, 2.72942, 0.34084], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.56934, 0.08977, 1.01001], \"tcp_roll_pitch_yaw\": [1.57417, 0.36209, -1.88645], \"tcp_rotation_matrix\": [[-0.09694, 0.02771, 0.9949], [-0.97399, 0.20306, -0.10056], [-0.20481, -0.97877, 0.0073]], \"simulated_seconds_remaining\": 2.706, \"calls_remaining_including_this\": 29}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 15, \"motion_seconds\": 0.99, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The handle is between the fingertips. I close the jaws to grip the pull."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 30, \"instruction\": \"open the table.\", \"joint_positions\": [-1.14631, -1.48662, 1.37776, -2.49201, 2.80498, 2.72694, 0.34075], \"gripper_open\": 0.1585, \"tcp_xyz\": [0.57031, 0.09015, 1.00089], \"tcp_roll_pitch_yaw\": [1.55918, 0.35305, -1.89001], \"tcp_rotation_matrix\": [[-0.09856, 0.01154, 0.99506], [-0.975, 0.19898, -0.09888], [-0.19913, -0.97994, -0.00836]], \"simulated_seconds_remaining\": 1.782, \"calls_remaining_including_this\": 28}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.36
    },
    "note": "The jaws have closed around the pull. I draw the gripper straight back to slide the drawer open."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "Episode ended. Do not call more tools. Return a brief final response."
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

I grasped the handle and pulled back. The episode ended before I could verify the drawer was open.

TURN USAGE
{
  "input_tokens": 620628,
  "cached_input_tokens": 593536,
  "cache_write_input_tokens": 0,
  "output_tokens": 5531,
  "reasoning_output_tokens": 2183
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.00313,
      -0.78279,
      0.01956,
      -2.45079,
      -0.05671,
      1.46372,
      -0.14563
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.25903,
      -0.01178,
      0.96627
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.96653,
        0.15815,
        -0.20203
      ],
      [
        0.14639,
        -0.9866,
        -0.07201
      ],
      [
        -0.21071,
        0.04003,
        -0.97673
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 26.621907038614154,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.46,
                    "y": 0,
                    "z": 0.78
                  },
                  "note": "The table is a dark bedside cabinet with drawer handles. I move closer and lower to view the upper handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 32,
    "motion_seconds": 2.112,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.00399,
      -0.2198,
      0.04038,
      -2.26355,
      -0.07252,
      1.64411,
      -0.06594
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.37091,
      -0.00578,
      0.86301
    ],
    "tcp_roll_pitch_yaw": [
      -0.039,
      0.18832,
      -0.04183
    ],
    "tcp_rotation_matrix": [
      [
        0.91393,
        0.12873,
        -0.38491
      ],
      [
        0.09992,
        -0.99054,
        -0.09403
      ],
      [
        -0.39338,
        0.04747,
        -0.91815
      ]
    ],
    "simulated_seconds_remaining": 27.918,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 13.210496209561825,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48,
                    "y": 0,
                    "z": 0.66,
                    "roll": 1.57,
                    "pitch": 0,
                    "yaw": -1.57
                  },
                  "note": "The upper drawer has a horizontal metal pull. I turn the gripper to face the drawer with the fingers above and below the pull."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 3,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.00399,
      -0.2198,
      0.04038,
      -2.26355,
      -0.07252,
      1.64411,
      -0.06594
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.37091,
      -0.00578,
      0.86301
    ],
    "tcp_roll_pitch_yaw": [
      -0.039,
      0.18832,
      -0.04183
    ],
    "tcp_rotation_matrix": [
      [
        0.91393,
        0.12873,
        -0.38491
      ],
      [
        0.09992,
        -0.99054,
        -0.09403
      ],
      [
        -0.39338,
        0.04747,
        -0.91815
      ]
    ],
    "simulated_seconds_remaining": 27.918,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 6.005363207310438,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.44,
                    "y": 0,
                    "z": 0.76,
                    "roll": 0.7,
                    "pitch": 0,
                    "yaw": -0.7
                  },
                  "note": "The full rotation was rejected, so I split the approach into a smaller rotation while lowering toward the upper drawer."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 26,
    "motion_seconds": 1.7160000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.01457,
      -0.39399,
      -0.03756,
      -2.58763,
      0.66627,
      2.30805,
      -0.71185
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.45265,
      0.06197,
      0.85373
    ],
    "tcp_roll_pitch_yaw": [
      0.58431,
      -0.44181,
      -0.09856
    ],
    "tcp_rotation_matrix": [
      [
        0.93336,
        0.27649,
        0.22891
      ],
      [
        0.1472,
        -0.87646,
        0.45842
      ],
      [
        0.32738,
        -0.39417,
        -0.85875
      ]
    ],
    "simulated_seconds_remaining": 26.202,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 7.607271382585168,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.44,
                    "y": 0,
                    "z": 0.76,
                    "roll": 0.7,
                    "pitch": 0,
                    "yaw": -0.7
                  },
                  "note": "The wrist is still turning and the handle is left of its view. I hold the intermediate target so the arm can settle before approaching."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.10324,
      -0.21241,
      -0.14844,
      -2.60877,
      0.89214,
      2.29492,
      -1.91606
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44764,
      0.00164,
      0.78078
    ],
    "tcp_roll_pitch_yaw": [
      0.34698,
      -0.82658,
      0.71315
    ],
    "tcp_rotation_matrix": [
      [
        0.44078,
        0.86263,
        0.24815
      ],
      [
        0.65805,
        -0.49857,
        0.56428
      ],
      [
        0.61048,
        -0.08543,
        -0.78741
      ]
    ],
    "simulated_seconds_remaining": 24.948,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 7.206381728872657,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.44,
                    "y": 0,
                    "z": 0.76,
                    "roll": 1.3,
                    "pitch": 0,
                    "yaw": -1.3
                  },
                  "note": "The handle is visible beside the wrist. I continue rotating the open fingers toward the drawer face in a second moderate step."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 42,
    "motion_seconds": 2.7720000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.0785,
      -0.23383,
      -0.24599,
      -2.93781,
      2.15657,
      2.22406,
      -1.32217
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44,
      6e-05,
      0.76003
    ],
    "tcp_roll_pitch_yaw": [
      1.30034,
      -0.00314,
      -1.29651
    ],
    "tcp_rotation_matrix": [
      [
        0.49483,
        -0.24723,
        0.83308
      ],
      [
        -0.86454,
        -0.23692,
        0.44321
      ],
      [
        0.0878,
        -0.93955,
        -0.33098
      ]
    ],
    "simulated_seconds_remaining": 22.176,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 10.80980556178838,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48,
                    "y": 0.1,
                    "z": 0.78,
                    "roll": 1.57,
                    "pitch": 0.2,
                    "yaw": -1.5
                  },
                  "note": "The upper pull is ahead and left of the gripper. I align the wrist more squarely with the drawer and shift left toward its center."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 7,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.0785,
      -0.23383,
      -0.24599,
      -2.93781,
      2.15657,
      2.22406,
      -1.32217
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44,
      6e-05,
      0.76003
    ],
    "tcp_roll_pitch_yaw": [
      1.30034,
      -0.00314,
      -1.29651
    ],
    "tcp_rotation_matrix": [
      [
        0.49483,
        -0.24723,
        0.83308
      ],
      [
        -0.86454,
        -0.23692,
        0.44321
      ],
      [
        0.0878,
        -0.93955,
        -0.33098
      ]
    ],
    "simulated_seconds_remaining": 22.176,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 7.206810785457492,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.42,
                    "y": 0.08,
                    "z": 0.67,
                    "roll": 1.57,
                    "pitch": 0,
                    "yaw": -1.57
                  },
                  "note": "The square approach was outside reach at that height. I lower and draw back slightly to obtain a reachable front-facing grasp pose."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 8,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.0785,
      -0.23383,
      -0.24599,
      -2.93781,
      2.15657,
      2.22406,
      -1.32217
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44,
      6e-05,
      0.76003
    ],
    "tcp_roll_pitch_yaw": [
      1.30034,
      -0.00314,
      -1.29651
    ],
    "tcp_rotation_matrix": [
      [
        0.49483,
        -0.24723,
        0.83308
      ],
      [
        -0.86454,
        -0.23692,
        0.44321
      ],
      [
        0.0878,
        -0.93955,
        -0.33098
      ]
    ],
    "simulated_seconds_remaining": 22.176,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 6.005526587367058,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.5,
                    "y": 0.1,
                    "z": 0.76
                  },
                  "note": "The current angled wrist pose sees the handle clearly. I retain that reachable orientation and move toward the pull."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.10505,
      -0.09375,
      -0.05346,
      -2.77807,
      2.57098,
      2.3132,
      -1.41328
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.49932,
      0.0989,
      0.76002
    ],
    "tcp_roll_pitch_yaw": [
      1.3004,
      -0.00323,
      -1.29623
    ],
    "tcp_rotation_matrix": [
      [
        0.49507,
        -0.24709,
        0.83298
      ],
      [
        -0.8644,
        -0.23706,
        0.44342
      ],
      [
        0.0879,
        -0.93955,
        -0.33094
      ]
    ],
    "simulated_seconds_remaining": 21.12,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 9.607920715585351,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.47,
                    "y": 0.22,
                    "z": 0.8
                  },
                  "note": "The pull moved toward the bottom of the wrist image. I shift left and slightly upward to center the handle between the open fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 10,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.10505,
      -0.09375,
      -0.05346,
      -2.77807,
      2.57098,
      2.3132,
      -1.41328
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.49932,
      0.0989,
      0.76002
    ],
    "tcp_roll_pitch_yaw": [
      1.3004,
      -0.00323,
      -1.29623
    ],
    "tcp_rotation_matrix": [
      [
        0.49507,
        -0.24709,
        0.83298
      ],
      [
        -0.8644,
        -0.23706,
        0.44342
      ],
      [
        0.0879,
        -0.93955,
        -0.33094
      ]
    ],
    "simulated_seconds_remaining": 21.12,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 7.206231435760856,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "roll": 0.8,
                    "pitch": -0.7,
                    "yaw": -0.7
                  },
                  "note": "The leftward approach reaches a wrist joint limit. I adjust the wrist bend while maintaining a forward-facing approach to recover room for alignment."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.15753,
      -0.09753,
      0.09991,
      -2.55507,
      2.34361,
      2.96815,
      -1.83521
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.49935,
      0.09899,
      0.76004
    ],
    "tcp_roll_pitch_yaw": [
      0.80434,
      -0.69753,
      -0.70454
    ],
    "tcp_rotation_matrix": [
      [
        0.74839,
        -0.03529,
        0.66231
      ],
      [
        -0.30371,
        -0.90597,
        0.29491
      ],
      [
        0.58963,
        -0.42186,
        -0.68874
      ]
    ],
    "simulated_seconds_remaining": 19.602,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 7.8064732644706964,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.5,
                    "y": 0.19,
                    "z": 0.86,
                    "roll": 0.3,
                    "pitch": -1.2,
                    "yaw": -0.2
                  },
                  "note": "The exterior view shows the gripper below and right of the upper pull. I raise and shift left while straightening the wrist toward the drawer."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 12,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.15753,
      -0.09753,
      0.09991,
      -2.55507,
      2.34361,
      2.96815,
      -1.83521
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.49935,
      0.09899,
      0.76004
    ],
    "tcp_roll_pitch_yaw": [
      0.80434,
      -0.69753,
      -0.70454
    ],
    "tcp_rotation_matrix": [
      [
        0.74839,
        -0.03529,
        0.66231
      ],
      [
        -0.30371,
        -0.90597,
        0.29491
      ],
      [
        0.58963,
        -0.42186,
        -0.68874
      ]
    ],
    "simulated_seconds_remaining": 19.602,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 6.807199257425964,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.19,
                    "z": 0.86
                  },
                  "note": "I separate the position correction from the rotation, moving up and left toward the upper drawer handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 13,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.15753,
      -0.09753,
      0.09991,
      -2.55507,
      2.34361,
      2.96815,
      -1.83521
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.49935,
      0.09899,
      0.76004
    ],
    "tcp_roll_pitch_yaw": [
      0.80434,
      -0.69753,
      -0.70454
    ],
    "tcp_rotation_matrix": [
      [
        0.74839,
        -0.03529,
        0.66231
      ],
      [
        -0.30371,
        -0.90597,
        0.29491
      ],
      [
        0.58963,
        -0.42186,
        -0.68874
      ]
    ],
    "simulated_seconds_remaining": 19.602,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 5.205154628492892,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "roll": 0.4,
                    "pitch": -0.7,
                    "yaw": -0.7
                  },
                  "note": "The arm rejects the upward shift from its current wrist configuration. I reduce the wrist roll in place before continuing."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 14,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.15753,
      -0.09753,
      0.09991,
      -2.55507,
      2.34361,
      2.96815,
      -1.83521
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.49935,
      0.09899,
      0.76004
    ],
    "tcp_roll_pitch_yaw": [
      0.80434,
      -0.69753,
      -0.70454
    ],
    "tcp_rotation_matrix": [
      [
        0.74839,
        -0.03529,
        0.66231
      ],
      [
        -0.30371,
        -0.90597,
        0.29491
      ],
      [
        0.58963,
        -0.42186,
        -0.68874
      ]
    ],
    "simulated_seconds_remaining": 19.602,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 5.004940086044371,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "roll": 0.7,
                    "pitch": 0,
                    "yaw": -0.7
                  },
                  "note": "I return to the earlier intermediate wrist angle to move away from the joint limit."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 15,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.15753,
      -0.09753,
      0.09991,
      -2.55507,
      2.34361,
      2.96815,
      -1.83521
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.49935,
      0.09899,
      0.76004
    ],
    "tcp_roll_pitch_yaw": [
      0.80434,
      -0.69753,
      -0.70454
    ],
    "tcp_rotation_matrix": [
      [
        0.74839,
        -0.03529,
        0.66231
      ],
      [
        -0.30371,
        -0.90597,
        0.29491
      ],
      [
        0.58963,
        -0.42186,
        -0.68874
      ]
    ],
    "simulated_seconds_remaining": 19.602,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 4.605201897211373,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.45
                  },
                  "note": "I split the wrist correction further, easing the pitch back by a quarter radian."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 16,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.15753,
      -0.09753,
      0.09991,
      -2.55507,
      2.34361,
      2.96815,
      -1.83521
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.49935,
      0.09899,
      0.76004
    ],
    "tcp_roll_pitch_yaw": [
      0.80434,
      -0.69753,
      -0.70454
    ],
    "tcp_rotation_matrix": [
      [
        0.74839,
        -0.03529,
        0.66231
      ],
      [
        -0.30371,
        -0.90597,
        0.29491
      ],
      [
        0.58963,
        -0.42186,
        -0.68874
      ]
    ],
    "simulated_seconds_remaining": 19.602,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 5.606299194507301,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.45,
                    "y": 0.1,
                    "z": 0.76
                  },
                  "note": "The wrist corrections remain blocked. I back the grasp point away from the cabinet to create space for a reachable approach."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.16616,
      -0.22829,
      0.12265,
      -2.69197,
      2.42019,
      2.966,
      -1.87881
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.45134,
      0.09999,
      0.76001
    ],
    "tcp_roll_pitch_yaw": [
      0.80431,
      -0.69752,
      -0.70448
    ],
    "tcp_rotation_matrix": [
      [
        0.74842,
        -0.03527,
        0.66229
      ],
      [
        -0.30367,
        -0.90598,
        0.29492
      ],
      [
        0.58962,
        -0.42185,
        -0.68876
      ]
    ],
    "simulated_seconds_remaining": 19.008,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 5.80536952894181,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.82
                  },
                  "note": "With clearance gained, I raise the gripper toward the upper handle while preserving its current orientation."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.42448,
      -0.38342,
      -0.05144,
      -2.72253,
      2.01632,
      3.12229,
      -1.4385
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.45132,
      0.10003,
      0.81883
    ],
    "tcp_roll_pitch_yaw": [
      0.80442,
      -0.69759,
      -0.70438
    ],
    "tcp_rotation_matrix": [
      [
        0.7484,
        -0.03506,
        0.66232
      ],
      [
        -0.30355,
        -0.90598,
        0.29505
      ],
      [
        0.5897,
        -0.42186,
        -0.68868
      ]
    ],
    "simulated_seconds_remaining": 18.282,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 5.004540829919279,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.18
                  },
                  "note": "The handle is left of the wrist center. I translate left to align the grasp point with the middle of the pull."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 19,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.22305,
      -0.27318,
      0.31586,
      -2.57395,
      2.40132,
      3.17235,
      -1.6451
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.45135,
      0.17878,
      0.81888
    ],
    "tcp_roll_pitch_yaw": [
      0.8044,
      -0.69779,
      -0.70416
    ],
    "tcp_rotation_matrix": [
      [
        0.74839,
        -0.03481,
        0.66235
      ],
      [
        -0.30331,
        -0.90605,
        0.29509
      ],
      [
        0.58985,
        -0.42174,
        -0.68863
      ]
    ],
    "simulated_seconds_remaining": 17.424,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 11.208924208767712,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.57,
                    "y": 0.02,
                    "z": 0.88
                  },
                  "note": "The left shift moved the handle farther from center in the wrist view. I correct toward the opposite side and advance toward the upper pull."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 25,
    "motion_seconds": 1.6500000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 20,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.38715,
      -0.25115,
      -0.29279,
      -2.51796,
      1.14609,
      2.93595,
      -0.80418
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.56777,
      0.0309,
      0.88315
    ],
    "tcp_roll_pitch_yaw": [
      0.80936,
      -0.70398,
      -0.69058
    ],
    "tcp_rotation_matrix": [
      [
        0.74911,
        -0.01658,
        0.66224
      ],
      [
        -0.29012,
        -0.90693,
        0.30547
      ],
      [
        0.59554,
        -0.42096,
        -0.6842
      ]
    ],
    "simulated_seconds_remaining": 15.774,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 7.407460700720549,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "roll": 1.3,
                    "pitch": 0,
                    "yaw": -1.3
                  },
                  "note": "The upper pull is near the top of the wrist image. I point the wrist more horizontally so I can approach the handle directly."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 21,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.43504,
      -0.25417,
      -0.48714,
      -2.54546,
      2.1346,
      2.60642,
      -1.03925
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.56772,
      0.0309,
      0.88306
    ],
    "tcp_roll_pitch_yaw": [
      1.29861,
      -0.00389,
      -1.29796
    ],
    "tcp_rotation_matrix": [
      [
        0.4937,
        -0.24895,
        0.83324
      ],
      [
        -0.86516,
        -0.23768,
        0.4416
      ],
      [
        0.08811,
        -0.9389,
        -0.33272
      ]
    ],
    "simulated_seconds_remaining": 14.256,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 16.61379327531904,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": -0.13,
                    "roll": 0.8,
                    "pitch": -0.7,
                    "yaw": -0.7
                  },
                  "note": "The handle remains to the left in the wrist view. I shift right in the base frame and restore the view in which the pull was horizontal."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 22,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.25021,
      -0.20281,
      -0.54286,
      -2.44958,
      1.03987,
      2.43291,
      -0.96643
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.53917,
      -0.05728,
      0.85641
    ],
    "tcp_roll_pitch_yaw": [
      0.89174,
      -0.52642,
      -0.58256
    ],
    "tcp_rotation_matrix": [
      [
        0.84636,
        0.06771,
        0.5283
      ],
      [
        -0.25115,
        -0.82395,
        0.50796
      ],
      [
        0.46968,
        -0.5626,
        -0.68035
      ]
    ],
    "simulated_seconds_remaining": 12.738,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 11.610420211218297,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.6,
                    "y": -0.04,
                    "z": 0.8
                  },
                  "note": "The pull is now centered ahead of the open fingers. I advance and lower the grasp point to bring the handle into the jaws."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 23,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.28827,
      -0.18101,
      -0.54396,
      -2.43333,
      1.17014,
      2.51158,
      -0.95428
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.56037,
      -0.05785,
      0.86268
    ],
    "tcp_roll_pitch_yaw": [
      0.94743,
      -0.51885,
      -0.72388
    ],
    "tcp_rotation_matrix": [
      [
        0.8003,
        -0.01114,
        0.59949
      ],
      [
        -0.36503,
        -0.80224,
        0.4724
      ],
      [
        0.47568,
        -0.59689,
        -0.6461
      ]
    ],
    "simulated_seconds_remaining": 11.88,
    "calls_remaining_including_this": 35
  },
  "api_seconds": 6.005103715695441,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.52,
                    "y": -0.06,
                    "z": 0.94
                  },
                  "note": "The approach stopped against the drawer front below the pull. I lift and back off to align with the handle height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 24,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.16976,
      -0.42615,
      -0.45579,
      -2.52015,
      0.87152,
      2.32484,
      -0.6633
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.49689,
      -0.02311,
      0.91922
    ],
    "tcp_roll_pitch_yaw": [
      0.96173,
      -0.40097,
      -0.62433
    ],
    "tcp_rotation_matrix": [
      [
        0.87213,
        0.01801,
        0.48894
      ],
      [
        -0.31211,
        -0.74911,
        0.58431
      ],
      [
        0.3768,
        -0.6622,
        -0.6477
      ]
    ],
    "simulated_seconds_remaining": 11.022,
    "calls_remaining_including_this": 34
  },
  "api_seconds": 6.005375419743359,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.5,
                    "y": -0.14,
                    "z": 0.99,
                    "roll": 1.3,
                    "pitch": 0,
                    "yaw": -1.3
                  },
                  "note": "The handle is above the fingertips. I raise the gripper further and turn the fingers vertically around the horizontal pull."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 25,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.10106,
      -0.55625,
      -0.58221,
      -2.56785,
      1.28087,
      1.85245,
      -0.45346
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44832,
      0.01213,
      1.039
    ],
    "tcp_roll_pitch_yaw": [
      1.51194,
      0.17231,
      -0.73886
    ],
    "tcp_rotation_matrix": [
      [
        0.86832,
        -0.07534,
        0.49025
      ],
      [
        -0.49484,
        -0.06392,
        0.86663
      ],
      [
        -0.03396,
        -0.99511,
        -0.09278
      ]
    ],
    "simulated_seconds_remaining": 9.636,
    "calls_remaining_including_this": 33
  },
  "api_seconds": 10.208765875548124,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "y": -0.12,
                    "z": 1.04,
                    "roll": 1.57,
                    "pitch": 0,
                    "yaw": -1.9
                  },
                  "note": "The wrist is pointing past the cabinet. I withdraw slightly and rotate toward the drawer face to align the open jaws with the pull."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 28,
    "motion_seconds": 1.848,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 26,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.41152,
      -1.09321,
      0.17674,
      -2.91534,
      2.34301,
      2.83582,
      -0.79841
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.4002,
      -0.11953,
      1.0401
    ],
    "tcp_roll_pitch_yaw": [
      1.56959,
      -4e-05,
      -1.89549
    ],
    "tcp_rotation_matrix": [
      [
        -0.10847,
        -0.08953,
        0.99006
      ],
      [
        -0.98329,
        -0.13678,
        -0.1201
      ],
      [
        0.14617,
        -0.98655,
        -0.0732
      ]
    ],
    "simulated_seconds_remaining": 7.788,
    "calls_remaining_including_this": 32
  },
  "api_seconds": 12.809582469984889,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.55,
                    "y": -0.28,
                    "z": 1.04
                  },
                  "note": "With the wrist square to the drawer, the handle lies ahead of the fingertips in the image. I shift along the pull and advance toward it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 27,
    "motion_seconds": 1.782,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 27,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.63469,
      -0.53625,
      0.086,
      -2.50347,
      2.2704,
      2.52439,
      -0.53817
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.51087,
      -0.239,
      1.09612
    ],
    "tcp_roll_pitch_yaw": [
      1.57446,
      0.36453,
      -1.88671
    ],
    "tcp_rotation_matrix": [
      [
        -0.09708,
        0.02878,
        0.99486
      ],
      [
        -0.97349,
        0.20524,
        -0.10093
      ],
      [
        -0.20709,
        -0.97829,
        0.00809
      ]
    ],
    "simulated_seconds_remaining": 6.006,
    "calls_remaining_including_this": 31
  },
  "api_seconds": 9.40861236024648,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.47,
                    "y": 0.05,
                    "z": 1.01
                  },
                  "note": "The handle moved farther up the wrist image, so I reverse the lateral correction and back away slightly to avoid the drawer edge."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 35,
    "motion_seconds": 2.31,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 28,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.80981,
      -1.42646,
      1.20384,
      -2.79675,
      2.80649,
      2.7529,
      0.14806
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.47013,
      0.04951,
      1.01023
    ],
    "tcp_roll_pitch_yaw": [
      1.57432,
      0.36316,
      -1.88638
    ],
    "tcp_rotation_matrix": [
      [
        -0.09682,
        0.02816,
        0.9949
      ],
      [
        -0.97379,
        0.20402,
        -0.10054
      ],
      [
        -0.20581,
        -0.97856,
        0.00767
      ]
    ],
    "simulated_seconds_remaining": 3.696,
    "calls_remaining_including_this": 30
  },
  "api_seconds": 7.006667318753898,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.57,
                    "y": 0.09,
                    "z": 1.01
                  },
                  "note": "The pull now runs between the open fingertips in the wrist image. I advance a short distance to seat it in the jaws."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 29,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -1.14681,
      -1.48975,
      1.363,
      -2.48956,
      2.80649,
      2.72942,
      0.34084
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.56934,
      0.08977,
      1.01001
    ],
    "tcp_roll_pitch_yaw": [
      1.57417,
      0.36209,
      -1.88645
    ],
    "tcp_rotation_matrix": [
      [
        -0.09694,
        0.02771,
        0.9949
      ],
      [
        -0.97399,
        0.20306,
        -0.10056
      ],
      [
        -0.20481,
        -0.97877,
        0.0073
      ]
    ],
    "simulated_seconds_remaining": 2.706,
    "calls_remaining_including_this": 29
  },
  "api_seconds": 5.004837330430746,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The handle is between the fingertips. I close the jaws to grip the pull."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 30,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -1.14631,
      -1.48662,
      1.37776,
      -2.49201,
      2.80498,
      2.72694,
      0.34075
    ],
    "gripper_open": 0.1585,
    "tcp_xyz": [
      0.57031,
      0.09015,
      1.00089
    ],
    "tcp_roll_pitch_yaw": [
      1.55918,
      0.35305,
      -1.89001
    ],
    "tcp_rotation_matrix": [
      [
        -0.09856,
        0.01154,
        0.99506
      ],
      [
        -0.975,
        0.19898,
        -0.09888
      ],
      [
        -0.19913,
        -0.97994,
        -0.00836
      ]
    ],
    "simulated_seconds_remaining": 1.782,
    "calls_remaining_including_this": 28
  },
  "api_seconds": 4.404331989586353,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.36
                  },
                  "note": "The jaws have closed around the pull. I draw the gripper straight back to slide the drawer open."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 26,
    "motion_seconds": 1.7160000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

========================================================================
GPT-Astra / Open / Episode 024

Completed scored attempt. Images are available in the paired videos.

Opaque provider signatures, image payloads, and local paths are omitted.


RESULT
{
  "benchmark_index": 24,
  "source_episode_index": 614,
  "house_index": 317,
  "status": "completed",
  "success": true,
  "oracle_success": true,
  "action_decisions": 15,
  "wall_seconds": 157.29,
  "usage": {
    "input_tokens": 270359,
    "cached_input_tokens": 238976,
    "cache_write_input_tokens": 0,
    "output_tokens": 2577,
    "reasoning_output_tokens": 779
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task.
You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose.
Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion.
move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up.
roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial.
Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5).
The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y.
The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics.
Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration.
Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target.
You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time.
Each move must include a short note describing what you observe and why you chose that motion.
Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done.
Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available.



AGENT TRANSCRIPT (visible messages and completed tool calls)

I’ll inspect the scene, then guide the gripper to the handle and open the object.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"open the table.\", \"joint_positions\": [-0.01381, -0.78272, 0.0471, -2.3155, -0.08521, 1.55536, -0.0336], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.31046, -0.01233, 1.03377], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.99846, 0.04984, 0.0242], [0.05235, -0.99167, -0.11767], [0.01814, 0.11876, -0.99276]], \"simulated_seconds_remaining\": 30.03, \"calls_remaining_including_this\": 57}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "x": 0.52,
    "y": 0.15,
    "z": 0.94,
    "gripper": 1,
    "note": "The wooden bedside table is ahead and left; I am approaching above its front to locate the drawer pull."
  },
  "result": null,
  "error": {
    "message": "tool call error: tool call failed for `robot/move_to`\n\nCaused by:\n    Mcp error: -32602: Unexpected argument"
  },
  "status": "failed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.52,
      "y": 0.15,
      "z": 0.94,
      "gripper": 1
    },
    "note": "The wooden bedside table is ahead and left; I am approaching above its front to locate the drawer pull."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"open the table.\", \"joint_positions\": [0.03406, -0.12975, 0.28496, -1.90922, -0.10865, 1.43573, 0.3042], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.41611, 0.10728, 0.96223], \"tcp_roll_pitch_yaw\": [-0.14785, 0.29671, -0.08249], \"tcp_rotation_matrix\": [[0.95906, 0.04491, -0.27964], [-0.02465, -0.97036, -0.24041], [-0.28214, 0.23746, -0.92952]], \"simulated_seconds_remaining\": 27.852, \"calls_remaining_including_this\": 56}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 33, \"motion_seconds\": 2.178, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.46,
      "y": 0.18,
      "z": 0.94,
      "pitch": -1.4,
      "roll": 0,
      "yaw": 0
    },
    "note": "The drawer pull is on the upper front panel. I am turning the fingers toward the table while keeping clearance from its face."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"open the table.\", \"joint_positions\": [-0.7091, -1.32727, 1.26678, -2.97088, -0.28179, 3.5606, 1.36944], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.45985, 0.1799, 0.94019], \"tcp_roll_pitch_yaw\": [-0.00238, -1.39585, 0.00164], \"tcp_rotation_matrix\": [[0.15596, -0.10896, 0.98174], [0.05265, -0.99157, -0.11842], [0.98636, 0.07016, -0.14891]], \"simulated_seconds_remaining\": 25.278, \"calls_remaining_including_this\": 55}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 39, \"motion_seconds\": 2.5740000000000003, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.46,
      "y": 0.18,
      "z": 1.075,
      "pitch": -1.57
    },
    "note": "The wrist camera is facing the lower panel, below the small drawer knob. I am raising the gripper to the upper drawer."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"open the table.\", \"joint_positions\": [-0.69576, -1.34345, 0.99756, -2.88023, -0.3337, 3.51349, 1.23656], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.46001, 0.18003, 1.07402], \"tcp_roll_pitch_yaw\": [0.03899, -1.56875, -0.03967], \"tcp_rotation_matrix\": [[-0.01606, -0.11933, 0.99272], [0.05228, -0.99159, -0.11835], [0.9985, 0.05, 0.02216]], \"simulated_seconds_remaining\": 24.09, \"calls_remaining_including_this\": 54}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 18, \"motion_seconds\": 1.1880000000000002, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.53,
      "y": 0.14,
      "z": 1.12
    },
    "note": "The gold knob is visible above and right of the fingers. I am moving upward, rightward, and closer to center it between the jaws."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"open the table.\", \"joint_positions\": [-0.93728, -1.15324, 0.95614, -2.8454, -0.37858, 3.98469, 1.15047], \"gripper_open\": 1.0, \"tcp_xyz\": [0.48202, 0.16807, 1.09757], \"tcp_roll_pitch_yaw\": [2.92621, -1.52226, -2.7062], \"tcp_rotation_matrix\": [[-0.07304, 0.09869, 0.99243], [0.02671, -0.99454, 0.10086], [0.99697, 0.03387, 0.07]], \"simulated_seconds_remaining\": 23.166, \"calls_remaining_including_this\": 53}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.43,
      "y": 0.105,
      "z": 1.16,
      "roll": 0,
      "pitch": -1.45,
      "yaw": 0
    },
    "note": "The knob is still above and right of the jaw opening. I am backing off slightly to realign the wrist higher and farther right."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"open the table.\", \"joint_positions\": [-0.31243, -1.1213, 0.36216, -2.79906, -0.83564, 3.22453, 1.09131], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.43043, 0.10586, 1.15969], \"tcp_roll_pitch_yaw\": [0.00369, -1.45235, -0.00092], \"tcp_rotation_matrix\": [[0.09984, -0.10932, 0.98898], [0.05219, -0.992, -0.11492], [0.99363, 0.06309, -0.09333]], \"simulated_seconds_remaining\": 22.176, \"calls_remaining_including_this\": 52}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 15, \"motion_seconds\": 0.99, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "z": 1.035
    },
    "note": "The wrist view is inverted vertically: raising moved the knob out of view. I am lowering to bring the knob into the space between the fingers."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"open the table.\", \"joint_positions\": [-0.31243, -1.1213, 0.36216, -2.79906, -0.83564, 3.22453, 1.09131], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.43043, 0.10586, 1.15969], \"tcp_roll_pitch_yaw\": [0.00369, -1.45235, -0.00092], \"tcp_rotation_matrix\": [[0.09984, -0.10932, 0.98898], [0.05219, -0.992, -0.11492], [0.99363, 0.06309, -0.09333]], \"simulated_seconds_remaining\": 22.176, \"calls_remaining_including_this\": 51}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.46,
      "y": 0.14,
      "z": 1.04,
      "pitch": -1.4,
      "roll": 0,
      "yaw": 0
    },
    "note": "The lower target was unreachable from this wrist configuration. I am using the earlier reachable alignment to lower toward the knob."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"open the table.\", \"joint_positions\": [-0.6509, -1.19693, 0.80758, -2.90516, -0.67548, 3.4991, 1.2998], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.45968, 0.13964, 1.04126], \"tcp_roll_pitch_yaw\": [-0.00093, -1.40049, 0.00091], \"tcp_rotation_matrix\": [[0.15134, -0.10859, 0.9825], [0.05251, -0.99166, -0.11769], [0.98709, 0.0694, -0.14438]], \"simulated_seconds_remaining\": 21.054, \"calls_remaining_including_this\": 50}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 17, \"motion_seconds\": 1.122, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "y": 0.225,
      "z": 1.013,
      "x": 0.47
    },
    "note": "The knob is to the right in the inverted wrist image. I am shifting left in the base frame and slightly down to center the grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"open the table.\", \"joint_positions\": [-0.62954, -1.22629, 1.04519, -2.7859, -0.57818, 3.34028, 1.44605], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.46985, 0.22388, 1.01342], \"tcp_roll_pitch_yaw\": [-0.00169, -1.40052, 0.00183], \"tcp_rotation_matrix\": [[0.15131, -0.10842, 0.98252], [0.05266, -0.99167, -0.11754], [0.98708, 0.06953, -0.14434]], \"simulated_seconds_remaining\": 20.13, \"calls_remaining_including_this\": 49}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.525,
      "y": 0.222,
      "z": 1.015
    },
    "note": "The knob is centered horizontally between the open jaws. I am advancing toward it for a grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"open the table.\", \"joint_positions\": [-0.76583, -1.19779, 1.12476, -2.67693, -0.55158, 3.29634, 1.4527], \"gripper_open\": 1.0, \"tcp_xyz\": [0.50754, 0.22175, 1.01328], \"tcp_roll_pitch_yaw\": [-0.11882, -1.39796, 0.05087], \"tcp_rotation_matrix\": [[0.15713, -0.17375, 0.97217], [0.0622, -0.98071, -0.18533], [0.98562, 0.08959, -0.14329]], \"simulated_seconds_remaining\": 19.47, \"calls_remaining_including_this\": 48}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 10, \"motion_seconds\": 0.66, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.49,
      "y": 0.194,
      "z": 1.002,
      "roll": 0,
      "pitch": -1.4,
      "yaw": 0
    },
    "note": "The fingers reached the drawer face with the knob beside the left jaw. I am withdrawing slightly and shifting the opening onto the knob."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 11, \"instruction\": \"open the table.\", \"joint_positions\": [-0.77508, -1.24242, 1.08181, -2.80227, -0.55691, 3.48939, 1.44121], \"gripper_open\": 0.9967, \"tcp_xyz\": [0.49048, 0.19454, 1.00224], \"tcp_roll_pitch_yaw\": [-0.0034, -1.39987, 0.00127], \"tcp_rotation_matrix\": [[0.15207, -0.11061, 0.98216], [0.05261, -0.9914, -0.1198], [0.98697, 0.06989, -0.14495]], \"simulated_seconds_remaining\": 18.942, \"calls_remaining_including_this\": 47}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 8, \"motion_seconds\": 0.528, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.527,
      "z": 0.997
    },
    "note": "The knob now sits in the jaw opening. I am advancing a short distance along the fingers to place the jaws around it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 12, \"instruction\": \"open the table.\", \"joint_positions\": [-0.87937, -1.24417, 1.13749, -2.75793, -0.51525, 3.55297, 1.45173], \"gripper_open\": 1.0, \"tcp_xyz\": [0.5118, 0.19492, 1.00031], \"tcp_roll_pitch_yaw\": [0.07156, -1.41045, -0.06642], \"tcp_rotation_matrix\": [[0.14093, -0.10511, 0.98442], [0.04166, -0.99284, -0.11197], [0.98914, 0.05679, -0.13554]], \"simulated_seconds_remaining\": 18.414, \"calls_remaining_including_this\": 46}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 8, \"motion_seconds\": 0.528, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The knob is enclosed by the open fingers at the drawer face. I am closing the jaws to grip it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 13, \"instruction\": \"open the table.\", \"joint_positions\": [-0.87572, -1.24621, 1.13545, -2.7616, -0.51527, 3.55334, 1.452], \"gripper_open\": 0.9916, \"tcp_xyz\": [0.51063, 0.19459, 1.00049], \"tcp_roll_pitch_yaw\": [0.07508, -1.41146, -0.06971], \"tcp_rotation_matrix\": [[0.13989, -0.10498, 0.98459], [0.0412, -0.99289, -0.11172], [0.98931, 0.0562, -0.13457]], \"simulated_seconds_remaining\": 17.49, \"calls_remaining_including_this\": 45}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.482,
      "gripper": 0
    },
    "note": "The jaws did not close, indicating contact with the drawer face. I am easing backward while maintaining closure to catch the protruding knob."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 14, \"instruction\": \"open the table.\", \"joint_positions\": [-0.75926, -1.26646, 1.08248, -2.8318, -0.537, 3.50126, 1.45044], \"gripper_open\": 0.2069, \"tcp_xyz\": [0.48352, 0.191, 1.00062], \"tcp_roll_pitch_yaw\": [0.08969, -1.41154, -0.09189], \"tcp_rotation_matrix\": [[0.13993, -0.1127, 0.98373], [0.03784, -0.99217, -0.11905], [0.98944, 0.05388, -0.13457]], \"simulated_seconds_remaining\": 16.566, \"calls_remaining_including_this\": 44}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.36,
      "gripper": 0
    },
    "note": "The jaws have closed around the knob with a small remaining gap. I am pulling straight back to slide the drawer open."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 15, \"instruction\": \"open the table.\", \"joint_positions\": [-0.75926, -1.26646, 1.08248, -2.8318, -0.537, 3.50126, 1.45044], \"gripper_open\": 0.2069, \"tcp_xyz\": [0.48352, 0.191, 1.00062], \"tcp_roll_pitch_yaw\": [0.08969, -1.41154, -0.09189], \"tcp_rotation_matrix\": [[0.13993, -0.1127, 0.98373], [0.03784, -0.99217, -0.11905], [0.98944, 0.05388, -0.13457]], \"simulated_seconds_remaining\": 16.566, \"calls_remaining_including_this\": 43}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.425,
      "gripper": 0,
      "roll": 0,
      "pitch": -1.35,
      "yaw": 0
    },
    "note": "The longer pull exceeded the arm's reach in this configuration. I am making a shorter pull with a slight wrist adjustment."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "Episode ended. Do not call more tools. Return a brief final response."
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

The episode ended during the pull attempt. I couldn’t confirm that the drawer opened.

TURN USAGE
{
  "input_tokens": 270359,
  "cached_input_tokens": 238976,
  "cache_write_input_tokens": 0,
  "output_tokens": 2577,
  "reasoning_output_tokens": 779
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.01381,
      -0.78272,
      0.0471,
      -2.3155,
      -0.08521,
      1.55536,
      -0.0336
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.31046,
      -0.01233,
      1.03377
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99846,
        0.04984,
        0.0242
      ],
      [
        0.05235,
        -0.99167,
        -0.11767
      ],
      [
        0.01814,
        0.11876,
        -0.99276
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 22.616825482808053,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.52,
                    "y": 0.15,
                    "z": 0.94,
                    "gripper": 1
                  },
                  "note": "The wooden bedside table is ahead and left; I am approaching above its front to locate the drawer pull."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 33,
    "motion_seconds": 2.178,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.03406,
      -0.12975,
      0.28496,
      -1.90922,
      -0.10865,
      1.43573,
      0.3042
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.41611,
      0.10728,
      0.96223
    ],
    "tcp_roll_pitch_yaw": [
      -0.14785,
      0.29671,
      -0.08249
    ],
    "tcp_rotation_matrix": [
      [
        0.95906,
        0.04491,
        -0.27964
      ],
      [
        -0.02465,
        -0.97036,
        -0.24041
      ],
      [
        -0.28214,
        0.23746,
        -0.92952
      ]
    ],
    "simulated_seconds_remaining": 27.852,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 7.805865271016955,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.46,
                    "y": 0.18,
                    "z": 0.94,
                    "pitch": -1.4,
                    "roll": 0,
                    "yaw": 0
                  },
                  "note": "The drawer pull is on the upper front panel. I am turning the fingers toward the table while keeping clearance from its face."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 39,
    "motion_seconds": 2.5740000000000003,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.7091,
      -1.32727,
      1.26678,
      -2.97088,
      -0.28179,
      3.5606,
      1.36944
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.45985,
      0.1799,
      0.94019
    ],
    "tcp_roll_pitch_yaw": [
      -0.00238,
      -1.39585,
      0.00164
    ],
    "tcp_rotation_matrix": [
      [
        0.15596,
        -0.10896,
        0.98174
      ],
      [
        0.05265,
        -0.99157,
        -0.11842
      ],
      [
        0.98636,
        0.07016,
        -0.14891
      ]
    ],
    "simulated_seconds_remaining": 25.278,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 7.006009032949805,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.46,
                    "y": 0.18,
                    "z": 1.075,
                    "pitch": -1.57
                  },
                  "note": "The wrist camera is facing the lower panel, below the small drawer knob. I am raising the gripper to the upper drawer."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.69576,
      -1.34345,
      0.99756,
      -2.88023,
      -0.3337,
      3.51349,
      1.23656
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.46001,
      0.18003,
      1.07402
    ],
    "tcp_roll_pitch_yaw": [
      0.03899,
      -1.56875,
      -0.03967
    ],
    "tcp_rotation_matrix": [
      [
        -0.01606,
        -0.11933,
        0.99272
      ],
      [
        0.05228,
        -0.99159,
        -0.11835
      ],
      [
        0.9985,
        0.05,
        0.02216
      ]
    ],
    "simulated_seconds_remaining": 24.09,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 6.620998170226812,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.53,
                    "y": 0.14,
                    "z": 1.12
                  },
                  "note": "The gold knob is visible above and right of the fingers. I am moving upward, rightward, and closer to center it between the jaws."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.93728,
      -1.15324,
      0.95614,
      -2.8454,
      -0.37858,
      3.98469,
      1.15047
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.48202,
      0.16807,
      1.09757
    ],
    "tcp_roll_pitch_yaw": [
      2.92621,
      -1.52226,
      -2.7062
    ],
    "tcp_rotation_matrix": [
      [
        -0.07304,
        0.09869,
        0.99243
      ],
      [
        0.02671,
        -0.99454,
        0.10086
      ],
      [
        0.99697,
        0.03387,
        0.07
      ]
    ],
    "simulated_seconds_remaining": 23.166,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 10.208363393321633,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.43,
                    "y": 0.105,
                    "z": 1.16,
                    "roll": 0,
                    "pitch": -1.45,
                    "yaw": 0
                  },
                  "note": "The knob is still above and right of the jaw opening. I am backing off slightly to realign the wrist higher and farther right."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.31243,
      -1.1213,
      0.36216,
      -2.79906,
      -0.83564,
      3.22453,
      1.09131
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.43043,
      0.10586,
      1.15969
    ],
    "tcp_roll_pitch_yaw": [
      0.00369,
      -1.45235,
      -0.00092
    ],
    "tcp_rotation_matrix": [
      [
        0.09984,
        -0.10932,
        0.98898
      ],
      [
        0.05219,
        -0.992,
        -0.11492
      ],
      [
        0.99363,
        0.06309,
        -0.09333
      ]
    ],
    "simulated_seconds_remaining": 22.176,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 13.010419100522995,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.035
                  },
                  "note": "The wrist view is inverted vertically: raising moved the knob out of view. I am lowering to bring the knob into the space between the fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 7,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.31243,
      -1.1213,
      0.36216,
      -2.79906,
      -0.83564,
      3.22453,
      1.09131
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.43043,
      0.10586,
      1.15969
    ],
    "tcp_roll_pitch_yaw": [
      0.00369,
      -1.45235,
      -0.00092
    ],
    "tcp_rotation_matrix": [
      [
        0.09984,
        -0.10932,
        0.98898
      ],
      [
        0.05219,
        -0.992,
        -0.11492
      ],
      [
        0.99363,
        0.06309,
        -0.09333
      ]
    ],
    "simulated_seconds_remaining": 22.176,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 5.405977187678218,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.46,
                    "y": 0.14,
                    "z": 1.04,
                    "pitch": -1.4,
                    "roll": 0,
                    "yaw": 0
                  },
                  "note": "The lower target was unreachable from this wrist configuration. I am using the earlier reachable alignment to lower toward the knob."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.6509,
      -1.19693,
      0.80758,
      -2.90516,
      -0.67548,
      3.4991,
      1.2998
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.45968,
      0.13964,
      1.04126
    ],
    "tcp_roll_pitch_yaw": [
      -0.00093,
      -1.40049,
      0.00091
    ],
    "tcp_rotation_matrix": [
      [
        0.15134,
        -0.10859,
        0.9825
      ],
      [
        0.05251,
        -0.99166,
        -0.11769
      ],
      [
        0.98709,
        0.0694,
        -0.14438
      ]
    ],
    "simulated_seconds_remaining": 21.054,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 7.005481529980898,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.225,
                    "z": 1.013,
                    "x": 0.47
                  },
                  "note": "The knob is to the right in the inverted wrist image. I am shifting left in the base frame and slightly down to center the grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.62954,
      -1.22629,
      1.04519,
      -2.7859,
      -0.57818,
      3.34028,
      1.44605
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.46985,
      0.22388,
      1.01342
    ],
    "tcp_roll_pitch_yaw": [
      -0.00169,
      -1.40052,
      0.00183
    ],
    "tcp_rotation_matrix": [
      [
        0.15131,
        -0.10842,
        0.98252
      ],
      [
        0.05266,
        -0.99167,
        -0.11754
      ],
      [
        0.98708,
        0.06953,
        -0.14434
      ]
    ],
    "simulated_seconds_remaining": 20.13,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 6.004399836063385,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.525,
                    "y": 0.222,
                    "z": 1.015
                  },
                  "note": "The knob is centered horizontally between the open jaws. I am advancing toward it for a grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.76583,
      -1.19779,
      1.12476,
      -2.67693,
      -0.55158,
      3.29634,
      1.4527
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.50754,
      0.22175,
      1.01328
    ],
    "tcp_roll_pitch_yaw": [
      -0.11882,
      -1.39796,
      0.05087
    ],
    "tcp_rotation_matrix": [
      [
        0.15713,
        -0.17375,
        0.97217
      ],
      [
        0.0622,
        -0.98071,
        -0.18533
      ],
      [
        0.98562,
        0.08959,
        -0.14329
      ]
    ],
    "simulated_seconds_remaining": 19.47,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 8.206346313469112,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.49,
                    "y": 0.194,
                    "z": 1.002,
                    "roll": 0,
                    "pitch": -1.4,
                    "yaw": 0
                  },
                  "note": "The fingers reached the drawer face with the knob beside the left jaw. I am withdrawing slightly and shifting the opening onto the knob."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 8,
    "motion_seconds": 0.528,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.77508,
      -1.24242,
      1.08181,
      -2.80227,
      -0.55691,
      3.48939,
      1.44121
    ],
    "gripper_open": 0.9967,
    "tcp_xyz": [
      0.49048,
      0.19454,
      1.00224
    ],
    "tcp_roll_pitch_yaw": [
      -0.0034,
      -1.39987,
      0.00127
    ],
    "tcp_rotation_matrix": [
      [
        0.15207,
        -0.11061,
        0.98216
      ],
      [
        0.05261,
        -0.9914,
        -0.1198
      ],
      [
        0.98697,
        0.06989,
        -0.14495
      ]
    ],
    "simulated_seconds_remaining": 18.942,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 5.208661920391023,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.527,
                    "z": 0.997
                  },
                  "note": "The knob now sits in the jaw opening. I am advancing a short distance along the fingers to place the jaws around it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 8,
    "motion_seconds": 0.528,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.87937,
      -1.24417,
      1.13749,
      -2.75793,
      -0.51525,
      3.55297,
      1.45173
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.5118,
      0.19492,
      1.00031
    ],
    "tcp_roll_pitch_yaw": [
      0.07156,
      -1.41045,
      -0.06642
    ],
    "tcp_rotation_matrix": [
      [
        0.14093,
        -0.10511,
        0.98442
      ],
      [
        0.04166,
        -0.99284,
        -0.11197
      ],
      [
        0.98914,
        0.05679,
        -0.13554
      ]
    ],
    "simulated_seconds_remaining": 18.414,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 5.0039699245244265,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The knob is enclosed by the open fingers at the drawer face. I am closing the jaws to grip it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.87572,
      -1.24621,
      1.13545,
      -2.7616,
      -0.51527,
      3.55334,
      1.452
    ],
    "gripper_open": 0.9916,
    "tcp_xyz": [
      0.51063,
      0.19459,
      1.00049
    ],
    "tcp_roll_pitch_yaw": [
      0.07508,
      -1.41146,
      -0.06971
    ],
    "tcp_rotation_matrix": [
      [
        0.13989,
        -0.10498,
        0.98459
      ],
      [
        0.0412,
        -0.99289,
        -0.11172
      ],
      [
        0.98931,
        0.0562,
        -0.13457
      ]
    ],
    "simulated_seconds_remaining": 17.49,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 7.207040371373296,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.482,
                    "gripper": 0
                  },
                  "note": "The jaws did not close, indicating contact with the drawer face. I am easing backward while maintaining closure to catch the protruding knob."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.75926,
      -1.26646,
      1.08248,
      -2.8318,
      -0.537,
      3.50126,
      1.45044
    ],
    "gripper_open": 0.2069,
    "tcp_xyz": [
      0.48352,
      0.191,
      1.00062
    ],
    "tcp_roll_pitch_yaw": [
      0.08969,
      -1.41154,
      -0.09189
    ],
    "tcp_rotation_matrix": [
      [
        0.13993,
        -0.1127,
        0.98373
      ],
      [
        0.03784,
        -0.99217,
        -0.11905
      ],
      [
        0.98944,
        0.05388,
        -0.13457
      ]
    ],
    "simulated_seconds_remaining": 16.566,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 5.204354676418006,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.36,
                    "gripper": 0
                  },
                  "note": "The jaws have closed around the knob with a small remaining gap. I am pulling straight back to slide the drawer open."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 15,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.75926,
      -1.26646,
      1.08248,
      -2.8318,
      -0.537,
      3.50126,
      1.45044
    ],
    "gripper_open": 0.2069,
    "tcp_xyz": [
      0.48352,
      0.191,
      1.00062
    ],
    "tcp_roll_pitch_yaw": [
      0.08969,
      -1.41154,
      -0.09189
    ],
    "tcp_rotation_matrix": [
      [
        0.13993,
        -0.1127,
        0.98373
      ],
      [
        0.03784,
        -0.99217,
        -0.11905
      ],
      [
        0.98944,
        0.05388,
        -0.13457
      ]
    ],
    "simulated_seconds_remaining": 16.566,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 5.004332168959081,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.425,
                    "gripper": 0,
                    "roll": 0,
                    "pitch": -1.35,
                    "yaw": 0
                  },
                  "note": "The longer pull exceeded the arm's reach in this configuration. I am making a shorter pull with a slight wrist adjustment."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

========================================================================
GPT-Astra / Open / Episode 025

Completed scored attempt. Images are available in the paired videos.

Opaque provider signatures, image payloads, and local paths are omitted.


RESULT
{
  "benchmark_index": 25,
  "source_episode_index": 635,
  "house_index": 318,
  "status": "completed",
  "success": true,
  "oracle_success": true,
  "action_decisions": 25,
  "wall_seconds": 247.35,
  "usage": {
    "input_tokens": 502075,
    "cached_input_tokens": 479360,
    "cache_write_input_tokens": 0,
    "output_tokens": 4913,
    "reasoning_output_tokens": 1967
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task.
You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose.
Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion.
move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up.
roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial.
Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5).
The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y.
The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics.
Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration.
Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target.
You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time.
Each move must include a short note describing what you observe and why you chose that motion.
Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done.
Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available.



AGENT TRANSCRIPT (visible messages and completed tool calls)

I’ll inspect the scene and use fresh camera feedback to guide each motion.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.00214, -0.80217, -0.0173, -2.43586, -0.04942, 1.66344, -0.15031], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.31417, -0.01791, 0.99103], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.9899, 0.13874, 0.02922], [0.13978, -0.98948, -0.03718], [0.02375, 0.04089, -0.99888]], \"simulated_seconds_remaining\": 30.03, \"calls_remaining_including_this\": 57}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "x": 0.48,
    "y": 0.08,
    "z": 0.78,
    "pitch": -1.57,
    "gripper": 1,
    "note": "The dresser is ahead with a horizontal drawer handle. I am lowering and orienting the fingers forward to approach it."
  },
  "result": null,
  "error": {
    "message": "tool call error: tool call failed for `robot/move_to`\n\nCaused by:\n    Mcp error: -32602: Unexpected argument"
  },
  "status": "failed"
}

{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.00214, -0.80217, -0.0173, -2.43586, -0.04942, 1.66344, -0.15031], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.31417, -0.01791, 0.99103], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.9899, 0.13874, 0.02922], [0.13978, -0.98948, -0.03718], [0.02375, 0.04089, -0.99888]], \"simulated_seconds_remaining\": 30.03, \"calls_remaining_including_this\": 57}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.48,
      "y": 0.08,
      "z": 0.78,
      "pitch": -1.57,
      "gripper": 1
    },
    "note": "The horizontal handle is ahead on the dresser. I am lowering the grasp point and turning the fingers toward its front."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.00214, -0.80217, -0.0173, -2.43586, -0.04942, 1.66344, -0.15031], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.31417, -0.01791, 0.99103], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.9899, 0.13874, 0.02922], [0.13978, -0.98948, -0.03718], [0.02375, 0.04089, -0.99888]], \"simulated_seconds_remaining\": 30.03, \"calls_remaining_including_this\": 56}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.43,
      "y": 0.08,
      "z": 0.84,
      "pitch": -0.7
    },
    "note": "The full turn was unreachable, so I am taking a smaller forward and downward step with a partial wrist turn."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.10432, -0.647, 0.39026, -3.03366, -0.04795, 3.11847, 0.21838], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.4295, 0.07942, 0.84034], \"tcp_roll_pitch_yaw\": [-0.00102, -0.69633, 0.00021], \"tcp_rotation_matrix\": [[0.74428, 0.07977, 0.66309], [0.13996, -0.98942, -0.03807], [0.65304, 0.12114, -0.74757]], \"simulated_seconds_remaining\": 28.314, \"calls_remaining_including_this\": 55}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 26, \"motion_seconds\": 1.7160000000000002, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.5,
      "y": 0.08,
      "z": 0.67,
      "pitch": -1.3,
      "roll": 1.4
    },
    "note": "The handle is below the current grasp point. I am lowering toward it and rotating the jaw opening to straddle the horizontal bar."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.10432, -0.647, 0.39026, -3.03366, -0.04795, 3.11847, 0.21838], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.4295, 0.07942, 0.84034], \"tcp_roll_pitch_yaw\": [-0.00102, -0.69633, 0.00021], \"tcp_rotation_matrix\": [[0.74428, 0.07977, 0.66309], [0.13996, -0.98942, -0.03807], [0.65304, 0.12114, -0.74757]], \"simulated_seconds_remaining\": 28.314, \"calls_remaining_including_this\": 54}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.46,
      "y": 0.08,
      "z": 0.7,
      "roll": 1.57,
      "pitch": 0,
      "yaw": -1.57
    },
    "note": "The prior combined rotation was unreachable. This alternative wrist orientation points forward with vertical jaws while lowering toward the handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.10432, -0.647, 0.39026, -3.03366, -0.04795, 3.11847, 0.21838], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.4295, 0.07942, 0.84034], \"tcp_roll_pitch_yaw\": [-0.00102, -0.69633, 0.00021], \"tcp_rotation_matrix\": [[0.74428, 0.07977, 0.66309], [0.13996, -0.98942, -0.03807], [0.65304, 0.12114, -0.74757]], \"simulated_seconds_remaining\": 28.314, \"calls_remaining_including_this\": 53}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "z": 0.63,
      "pitch": 0
    },
    "note": "I will first lower with the original downward orientation to gain room for a reachable approach to the handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.25107, -0.07616, 0.4268, -2.61173, -0.27623, 2.77022, 0.26923], \"gripper_open\": 1.0, \"tcp_xyz\": [0.48458, 0.07597, 0.72852], \"tcp_roll_pitch_yaw\": [-0.05564, -0.22844, 0.02553], \"tcp_rotation_matrix\": [[0.95666, 0.13855, 0.25613], [0.16536, -0.98246, -0.08617], [0.2397, 0.12478, -0.9628]], \"simulated_seconds_remaining\": 26.598, \"calls_remaining_including_this\": 52}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 26, \"motion_seconds\": 1.7160000000000002, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.4,
      "z": 0.86,
      "pitch": 0
    },
    "note": "The fingers appear below and right of the handle, and the last motion stopped short. I am lifting and backing away to clear the dresser before realigning."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.10923, -0.46236, 0.32358, -2.51704, 0.0527, 2.09134, -0.00839], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.40069, 0.07599, 0.85924], \"tcp_roll_pitch_yaw\": [-0.05566, -0.00199, 0.02554], \"tcp_rotation_matrix\": [[0.98594, 0.16368, 0.03356], [0.16612, -0.98182, -0.09187], [0.01791, 0.09615, -0.99521]], \"simulated_seconds_remaining\": 25.278, \"calls_remaining_including_this\": 51}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 20, \"motion_seconds\": 1.32, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.4,
      "y": 0.25,
      "z": 0.9,
      "roll": 1.2,
      "pitch": 0,
      "yaw": 0
    },
    "note": "The handle remains to the left of the fingers in the exterior view. I am moving left and tilting toward that side to bring the handle into the wrist view."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.21834, -0.32503, -0.10875, -2.60135, 1.30651, 1.96317, -0.77786], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.39989, 0.24941, 0.89969], \"tcp_roll_pitch_yaw\": [1.1954, 0.00037, 0.00041], \"tcp_rotation_matrix\": [[0.98994, 0.13857, 0.02869], [0.02956, -0.40077, 0.9157], [0.13839, -0.90564, -0.40084]], \"simulated_seconds_remaining\": 23.298, \"calls_remaining_including_this\": 50}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 30, \"motion_seconds\": 1.98, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.57,
      "y": 0.1,
      "z": 0.95,
      "roll": 1.57,
      "pitch": 0,
      "yaw": -1.57
    },
    "note": "The side-facing view misses the dresser. I am turning forward from this raised clearance pose and positioning near the visible handle height."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.21834, -0.32503, -0.10875, -2.60135, 1.30651, 1.96317, -0.77786], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.39989, 0.24941, 0.89969], \"tcp_roll_pitch_yaw\": [1.1954, 0.00037, 0.00041], \"tcp_rotation_matrix\": [[0.98994, 0.13857, 0.02869], [0.02956, -0.40077, 0.9157], [0.13839, -0.90564, -0.40084]], \"simulated_seconds_remaining\": 23.298, \"calls_remaining_including_this\": 49}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.5,
      "y": 0.15,
      "z": 0.95,
      "roll": 1.2,
      "pitch": 0,
      "yaw": -0.8
    },
    "note": "I am using a smaller wrist turn and forward step because the full forward-facing pose was unreachable."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.15643, -0.50645, 0.03596, -2.65358, 1.7717, 2.61682, -0.60664], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.49953, 0.15061, 0.9498], \"tcp_roll_pitch_yaw\": [1.2001, -0.0002, -0.79547], \"tcp_rotation_matrix\": [[0.71321, -0.18599, 0.67583], [-0.68701, -0.37679, 0.62132], [0.13909, -0.90743, -0.39651]], \"simulated_seconds_remaining\": 21.912, \"calls_remaining_including_this\": 48}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 21, \"motion_seconds\": 1.3860000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.58,
      "y": 0.15,
      "z": 0.92,
      "roll": 1.57,
      "yaw": -1.4
    },
    "note": "The wrist view now shows the handle on the right. I am completing the forward turn and moving closer while keeping the jaws open."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 11, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.15643, -0.50645, 0.03596, -2.65358, 1.7717, 2.61682, -0.60664], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.49953, 0.15061, 0.9498], \"tcp_roll_pitch_yaw\": [1.2001, -0.0002, -0.79547], \"tcp_rotation_matrix\": [[0.71321, -0.18599, 0.67583], [-0.68701, -0.37679, 0.62132], [0.13909, -0.90743, -0.39651]], \"simulated_seconds_remaining\": 21.912, \"calls_remaining_including_this\": 47}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK requires a large joint jump; split the motion or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.55,
      "z": 0.93,
      "roll": 1.4,
      "yaw": -1.05
    },
    "note": "I am splitting the rejected turn into a smaller rotation to keep the arm configuration continuous."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 12, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.05432, -0.33185, 0.15926, -2.58118, 2.5588, 2.58643, -1.21572], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.54927, 0.15076, 0.9301], \"tcp_roll_pitch_yaw\": [1.39712, -0.0004, -1.0457], \"tcp_rotation_matrix\": [[0.49686, -0.11305, 0.86044], [-0.85611, -0.22629, 0.46462], [0.14218, -0.96748, -0.20922]], \"simulated_seconds_remaining\": 21.186, \"calls_remaining_including_this\": 46}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 11, \"motion_seconds\": 0.726, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.59,
      "z": 1.01
    },
    "note": "The exterior view places the fingertips below the handle, and the wrist view puts the bar beside the opening. I am raising the grasp point and advancing slightly."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 13, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.09106, -0.30966, 0.13193, -2.38913, 2.36256, 2.77709, -0.98888], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.5866, 0.14061, 0.9947], \"tcp_roll_pitch_yaw\": [1.35987, 0.00613, -1.07435], \"tcp_rotation_matrix\": [[0.47721, -0.15404, 0.86519], [-0.86827, -0.23453, 0.43715], [0.13558, -0.95983, -0.24567]], \"simulated_seconds_remaining\": 20.262, \"calls_remaining_including_this\": 45}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "z": 1.05,
      "x": 0.575
    },
    "note": "Raising brought the handle closer to the jaw center. I am making a smaller upward correction with a slight retreat to avoid pressing the drawer front."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 14, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.16179, -0.38548, 0.10349, -2.37146, 2.17471, 2.87867, -0.77357], \"gripper_open\": 1.0, \"tcp_xyz\": [0.57388, 0.14186, 1.03673], \"tcp_roll_pitch_yaw\": [1.34076, 0.01238, -1.07322], \"tcp_rotation_matrix\": [[0.48096, -0.17267, 0.85957], [-0.86716, -0.23822, 0.43736], [0.12925, -0.95574, -0.26431]], \"simulated_seconds_remaining\": 19.602, \"calls_remaining_including_this\": 44}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 10, \"motion_seconds\": 0.66, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "z": 1.018,
      "x": 0.565
    },
    "note": "The bar crossed to the other side of the jaw center. I am lowering slightly and easing back so the fingers can close around the exposed bar."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 15, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.14101, -0.39587, 0.11819, -2.41318, 2.24762, 2.85173, -0.84638], \"gripper_open\": 0.9967, \"tcp_xyz\": [0.56558, 0.14188, 1.01914], \"tcp_roll_pitch_yaw\": [1.34051, 0.01248, -1.07319], \"tcp_rotation_matrix\": [[0.48103, -0.17292, 0.85948], [-0.86714, -0.23826, 0.43738], [0.12915, -0.95568, -0.26455]], \"simulated_seconds_remaining\": 19.14, \"calls_remaining_including_this\": 43}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 7, \"motion_seconds\": 0.462, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "z": 0.995,
      "x": 0.58,
      "gripper": 1
    },
    "note": "The handle is still just left of the center in the wrist image. I am lowering a little and moving forward to place it between the fingertips."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 16, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.10453, -0.33494, 0.13106, -2.39689, 2.32369, 2.80717, -0.94034], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.5796, 0.14071, 0.99982], \"tcp_roll_pitch_yaw\": [1.34491, 0.0085, -1.07546], \"tcp_rotation_matrix\": [[0.47826, -0.16795, 0.86201], [-0.86807, -0.2392, 0.43502], [0.13313, -0.95633, -0.26019]], \"simulated_seconds_remaining\": 18.678, \"calls_remaining_including_this\": 42}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 7, \"motion_seconds\": 0.462, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The handle now lies between the open fingers in the wrist view. I am closing the gripper to secure it before pulling."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 17, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.1054, -0.33579, 0.13194, -2.40205, 2.32546, 2.80906, -0.93927], \"gripper_open\": 0.3681, \"tcp_xyz\": [0.57805, 0.14087, 0.9968], \"tcp_roll_pitch_yaw\": [1.33973, 0.01148, -1.07643], \"tcp_rotation_matrix\": [[0.47824, -0.17388, 0.86084], [-0.86853, -0.23889, 0.43426], [0.13013, -0.95535, -0.26527]], \"simulated_seconds_remaining\": 17.754, \"calls_remaining_including_this\": 41}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.46,
      "gripper": 0
    },
    "note": "The fingers stopped partly open around the handle, indicating contact. I am pulling backward to slide the drawer outward."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 18, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.21361, -0.72434, 0.13898, -2.71068, 2.33447, 2.90808, -0.8629], \"gripper_open\": 0.0001, \"tcp_xyz\": [0.46136, 0.14092, 0.99686], \"tcp_roll_pitch_yaw\": [1.33982, 0.01142, -1.07635], \"tcp_rotation_matrix\": [[0.4783, -0.17377, 0.86083], [-0.86849, -0.23891, 0.43433], [0.13019, -0.95537, -0.26519]], \"simulated_seconds_remaining\": 16.698, \"calls_remaining_including_this\": 40}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 16, \"motion_seconds\": 1.056, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.6,
      "gripper": 1
    },
    "note": "The gripper closed fully during the pull and the drawer stayed shut, so the handle slipped. I am reopening and approaching slightly deeper for a firmer grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 19, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.10237, -0.28057, 0.13927, -2.34422, 2.31908, 2.8898, -0.93765], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.59166, 0.13033, 0.98705], \"tcp_roll_pitch_yaw\": [1.28413, -0.00306, -1.12182], \"tcp_rotation_matrix\": [[0.44455, -0.22593, 0.8668], [-0.88414, -0.26603, 0.3841], [0.14382, -0.93711, -0.31802]], \"simulated_seconds_remaining\": 15.444, \"calls_remaining_including_this\": 39}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 19, \"motion_seconds\": 1.254, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.57,
      "y": 0.09,
      "z": 1.015,
      "roll": 1.57,
      "pitch": 0,
      "yaw": -1.35
    },
    "note": "The current approach is oblique and pushing against the front. I am straightening the wrist and centering the jaws on the handle before trying again."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 20, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.10237, -0.28057, 0.13927, -2.34422, 2.31908, 2.8898, -0.93765], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.59166, 0.13033, 0.98705], \"tcp_roll_pitch_yaw\": [1.28413, -0.00306, -1.12182], \"tcp_rotation_matrix\": [[0.44455, -0.22593, 0.8668], [-0.88414, -0.26603, 0.3841], [0.14382, -0.93711, -0.31802]], \"simulated_seconds_remaining\": 15.444, \"calls_remaining_including_this\": 38}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.615,
      "z": 1.02
    },
    "note": "The wrist turn remains unreachable. I am keeping the reachable orientation and lifting slightly while placing the open jaws farther around the handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 21, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.14405, -0.24592, 0.11641, -2.2601, 2.16804, 2.96238, -0.77778], \"gripper_open\": 1.0, \"tcp_xyz\": [0.61014, 0.12912, 1.01167], \"tcp_roll_pitch_yaw\": [1.26402, -0.00025, -1.13565], \"tcp_rotation_matrix\": [[0.43501, -0.24773, 0.86568], [-0.88937, -0.26841, 0.3701], [0.14067, -0.9309, -0.33709]], \"simulated_seconds_remaining\": 14.85, \"calls_remaining_including_this\": 37}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 9, \"motion_seconds\": 0.5940000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "z": 1.045
    },
    "note": "The bar is still near the right inner finger. I am raising the grasp point a little to center it before closing."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 22, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.19853, -0.26975, 0.08904, -2.25261, 1.98088, 3.00573, -0.57978], \"gripper_open\": 1.0, \"tcp_xyz\": [0.60842, 0.13141, 1.03419], \"tcp_roll_pitch_yaw\": [1.24924, 0.00502, -1.13297], \"tcp_rotation_matrix\": [[0.43958, -0.26151, 0.85929], [-0.88798, -0.27048, 0.37193], [0.13516, -0.92653, -0.35111]], \"simulated_seconds_remaining\": 14.322, \"calls_remaining_including_this\": 36}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 8, \"motion_seconds\": 0.528, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The bar is centered between the fingers after the height correction. I am closing for a second grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 23, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.1995, -0.26647, 0.09007, -2.26234, 1.98446, 3.00729, -0.57835], \"gripper_open\": 0.5775, \"tcp_xyz\": [0.60649, 0.13163, 1.02581], \"tcp_roll_pitch_yaw\": [1.23625, 0.01106, -1.13462], \"tcp_rotation_matrix\": [[0.4401, -0.27518, 0.85475], [-0.88865, -0.27009, 0.3706], [0.12888, -0.92268, -0.3634]], \"simulated_seconds_remaining\": 13.398, \"calls_remaining_including_this\": 35}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.55,
      "y": 0.105,
      "z": 1.045,
      "gripper": 0
    },
    "note": "The gripper is holding contact. I am making a short pull back along the approach direction to check whether the drawer follows."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 24, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.25496, -0.47352, 0.04071, -2.45849, 1.768, 2.9979, -0.36834], \"gripper_open\": 0.1354, \"tcp_xyz\": [0.54888, 0.11612, 1.03522], \"tcp_roll_pitch_yaw\": [1.22345, 0.01779, -1.11075], \"tcp_rotation_matrix\": [[0.46316, -0.2819, 0.84025], [-0.87785, -0.27631, 0.39119], [0.12189, -0.9188, -0.37544]], \"simulated_seconds_remaining\": 12.474, \"calls_remaining_including_this\": 34}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.4,
      "z": 1.035,
      "gripper": 0
    },
    "note": "The fingers remain slightly separated around the bar after the short pull. I am continuing backward to extend the drawer."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 25, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.18596, -1.08787, 0.22706, -2.94182, 1.28132, 2.92681, 0.29944], \"gripper_open\": 0.0, \"tcp_xyz\": [0.40128, 0.11615, 1.03513], \"tcp_roll_pitch_yaw\": [1.22376, 0.01755, -1.1105], \"tcp_rotation_matrix\": [[0.46333, -0.28148, 0.8403], [-0.87773, -0.27645, 0.39136], [0.12213, -0.91888, -0.37515]], \"simulated_seconds_remaining\": 11.154, \"calls_remaining_including_this\": 33}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 20, \"motion_seconds\": 1.32, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.58,
      "y": 0.15,
      "z": 1.15,
      "roll": 0,
      "pitch": 0,
      "yaw": 1.57,
      "gripper": 1
    },
    "note": "The oblique grip slipped again. I am switching to a downward approach with the jaws across the handle so the bar can sit deeper between the fingers."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "Episode ended. Do not call more tools. Return a brief final response."
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

I couldn’t open the dresser before the episode ended. The handle slipped during both pull attempts.

TURN USAGE
{
  "input_tokens": 502075,
  "cached_input_tokens": 479360,
  "cache_write_input_tokens": 0,
  "output_tokens": 4913,
  "reasoning_output_tokens": 1967
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.00214,
      -0.80217,
      -0.0173,
      -2.43586,
      -0.04942,
      1.66344,
      -0.15031
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.31417,
      -0.01791,
      0.99103
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.9899,
        0.13874,
        0.02922
      ],
      [
        0.13978,
        -0.98948,
        -0.03718
      ],
      [
        0.02375,
        0.04089,
        -0.99888
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 26.019941434264183,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48,
                    "y": 0.08,
                    "z": 0.78,
                    "pitch": -1.57,
                    "gripper": 1
                  },
                  "note": "The horizontal handle is ahead on the dresser. I am lowering the grasp point and turning the fingers toward its front."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 2,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.00214,
      -0.80217,
      -0.0173,
      -2.43586,
      -0.04942,
      1.66344,
      -0.15031
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.31417,
      -0.01791,
      0.99103
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.9899,
        0.13874,
        0.02922
      ],
      [
        0.13978,
        -0.98948,
        -0.03718
      ],
      [
        0.02375,
        0.04089,
        -0.99888
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 5.00442779995501,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.43,
                    "y": 0.08,
                    "z": 0.84,
                    "pitch": -0.7
                  },
                  "note": "The full turn was unreachable, so I am taking a smaller forward and downward step with a partial wrist turn."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 26,
    "motion_seconds": 1.7160000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.10432,
      -0.647,
      0.39026,
      -3.03366,
      -0.04795,
      3.11847,
      0.21838
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.4295,
      0.07942,
      0.84034
    ],
    "tcp_roll_pitch_yaw": [
      -0.00102,
      -0.69633,
      0.00021
    ],
    "tcp_rotation_matrix": [
      [
        0.74428,
        0.07977,
        0.66309
      ],
      [
        0.13996,
        -0.98942,
        -0.03807
      ],
      [
        0.65304,
        0.12114,
        -0.74757
      ]
    ],
    "simulated_seconds_remaining": 28.314,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 7.012856676243246,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.5,
                    "y": 0.08,
                    "z": 0.67,
                    "pitch": -1.3,
                    "roll": 1.4
                  },
                  "note": "The handle is below the current grasp point. I am lowering toward it and rotating the jaw opening to straddle the horizontal bar."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 4,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.10432,
      -0.647,
      0.39026,
      -3.03366,
      -0.04795,
      3.11847,
      0.21838
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.4295,
      0.07942,
      0.84034
    ],
    "tcp_roll_pitch_yaw": [
      -0.00102,
      -0.69633,
      0.00021
    ],
    "tcp_rotation_matrix": [
      [
        0.74428,
        0.07977,
        0.66309
      ],
      [
        0.13996,
        -0.98942,
        -0.03807
      ],
      [
        0.65304,
        0.12114,
        -0.74757
      ]
    ],
    "simulated_seconds_remaining": 28.314,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 10.80887024383992,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.46,
                    "y": 0.08,
                    "z": 0.7,
                    "roll": 1.57,
                    "pitch": 0,
                    "yaw": -1.57
                  },
                  "note": "The prior combined rotation was unreachable. This alternative wrist orientation points forward with vertical jaws while lowering toward the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 5,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.10432,
      -0.647,
      0.39026,
      -3.03366,
      -0.04795,
      3.11847,
      0.21838
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.4295,
      0.07942,
      0.84034
    ],
    "tcp_roll_pitch_yaw": [
      -0.00102,
      -0.69633,
      0.00021
    ],
    "tcp_rotation_matrix": [
      [
        0.74428,
        0.07977,
        0.66309
      ],
      [
        0.13996,
        -0.98942,
        -0.03807
      ],
      [
        0.65304,
        0.12114,
        -0.74757
      ]
    ],
    "simulated_seconds_remaining": 28.314,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 4.40378350764513,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.63,
                    "pitch": 0
                  },
                  "note": "I will first lower with the original downward orientation to gain room for a reachable approach to the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 26,
    "motion_seconds": 1.7160000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.25107,
      -0.07616,
      0.4268,
      -2.61173,
      -0.27623,
      2.77022,
      0.26923
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.48458,
      0.07597,
      0.72852
    ],
    "tcp_roll_pitch_yaw": [
      -0.05564,
      -0.22844,
      0.02553
    ],
    "tcp_rotation_matrix": [
      [
        0.95666,
        0.13855,
        0.25613
      ],
      [
        0.16536,
        -0.98246,
        -0.08617
      ],
      [
        0.2397,
        0.12478,
        -0.9628
      ]
    ],
    "simulated_seconds_remaining": 26.598,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 11.008293406106532,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "z": 0.86,
                    "pitch": 0
                  },
                  "note": "The fingers appear below and right of the handle, and the last motion stopped short. I am lifting and backing away to clear the dresser before realigning."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.10923,
      -0.46236,
      0.32358,
      -2.51704,
      0.0527,
      2.09134,
      -0.00839
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.40069,
      0.07599,
      0.85924
    ],
    "tcp_roll_pitch_yaw": [
      -0.05566,
      -0.00199,
      0.02554
    ],
    "tcp_rotation_matrix": [
      [
        0.98594,
        0.16368,
        0.03356
      ],
      [
        0.16612,
        -0.98182,
        -0.09187
      ],
      [
        0.01791,
        0.09615,
        -0.99521
      ]
    ],
    "simulated_seconds_remaining": 25.278,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 9.608201308175921,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "y": 0.25,
                    "z": 0.9,
                    "roll": 1.2,
                    "pitch": 0,
                    "yaw": 0
                  },
                  "note": "The handle remains to the left of the fingers in the exterior view. I am moving left and tilting toward that side to bring the handle into the wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 30,
    "motion_seconds": 1.98,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.21834,
      -0.32503,
      -0.10875,
      -2.60135,
      1.30651,
      1.96317,
      -0.77786
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.39989,
      0.24941,
      0.89969
    ],
    "tcp_roll_pitch_yaw": [
      1.1954,
      0.00037,
      0.00041
    ],
    "tcp_rotation_matrix": [
      [
        0.98994,
        0.13857,
        0.02869
      ],
      [
        0.02956,
        -0.40077,
        0.9157
      ],
      [
        0.13839,
        -0.90564,
        -0.40084
      ]
    ],
    "simulated_seconds_remaining": 23.298,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 7.0057327738031745,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.57,
                    "y": 0.1,
                    "z": 0.95,
                    "roll": 1.57,
                    "pitch": 0,
                    "yaw": -1.57
                  },
                  "note": "The side-facing view misses the dresser. I am turning forward from this raised clearance pose and positioning near the visible handle height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 9,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.21834,
      -0.32503,
      -0.10875,
      -2.60135,
      1.30651,
      1.96317,
      -0.77786
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.39989,
      0.24941,
      0.89969
    ],
    "tcp_roll_pitch_yaw": [
      1.1954,
      0.00037,
      0.00041
    ],
    "tcp_rotation_matrix": [
      [
        0.98994,
        0.13857,
        0.02869
      ],
      [
        0.02956,
        -0.40077,
        0.9157
      ],
      [
        0.13839,
        -0.90564,
        -0.40084
      ]
    ],
    "simulated_seconds_remaining": 23.298,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 5.806929687038064,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.5,
                    "y": 0.15,
                    "z": 0.95,
                    "roll": 1.2,
                    "pitch": 0,
                    "yaw": -0.8
                  },
                  "note": "I am using a smaller wrist turn and forward step because the full forward-facing pose was unreachable."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.15643,
      -0.50645,
      0.03596,
      -2.65358,
      1.7717,
      2.61682,
      -0.60664
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.49953,
      0.15061,
      0.9498
    ],
    "tcp_roll_pitch_yaw": [
      1.2001,
      -0.0002,
      -0.79547
    ],
    "tcp_rotation_matrix": [
      [
        0.71321,
        -0.18599,
        0.67583
      ],
      [
        -0.68701,
        -0.37679,
        0.62132
      ],
      [
        0.13909,
        -0.90743,
        -0.39651
      ]
    ],
    "simulated_seconds_remaining": 21.912,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 6.204738146625459,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.58,
                    "y": 0.15,
                    "z": 0.92,
                    "roll": 1.57,
                    "yaw": -1.4
                  },
                  "note": "The wrist view now shows the handle on the right. I am completing the forward turn and moving closer while keeping the jaws open."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 11,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.15643,
      -0.50645,
      0.03596,
      -2.65358,
      1.7717,
      2.61682,
      -0.60664
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.49953,
      0.15061,
      0.9498
    ],
    "tcp_roll_pitch_yaw": [
      1.2001,
      -0.0002,
      -0.79547
    ],
    "tcp_rotation_matrix": [
      [
        0.71321,
        -0.18599,
        0.67583
      ],
      [
        -0.68701,
        -0.37679,
        0.62132
      ],
      [
        0.13909,
        -0.90743,
        -0.39651
      ]
    ],
    "simulated_seconds_remaining": 21.912,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 4.604082291945815,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.55,
                    "z": 0.93,
                    "roll": 1.4,
                    "yaw": -1.05
                  },
                  "note": "I am splitting the rejected turn into a smaller rotation to keep the arm configuration continuous."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.05432,
      -0.33185,
      0.15926,
      -2.58118,
      2.5588,
      2.58643,
      -1.21572
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.54927,
      0.15076,
      0.9301
    ],
    "tcp_roll_pitch_yaw": [
      1.39712,
      -0.0004,
      -1.0457
    ],
    "tcp_rotation_matrix": [
      [
        0.49686,
        -0.11305,
        0.86044
      ],
      [
        -0.85611,
        -0.22629,
        0.46462
      ],
      [
        0.14218,
        -0.96748,
        -0.20922
      ]
    ],
    "simulated_seconds_remaining": 21.186,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 12.409397779032588,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.59,
                    "z": 1.01
                  },
                  "note": "The exterior view places the fingertips below the handle, and the wrist view puts the bar beside the opening. I am raising the grasp point and advancing slightly."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.09106,
      -0.30966,
      0.13193,
      -2.38913,
      2.36256,
      2.77709,
      -0.98888
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.5866,
      0.14061,
      0.9947
    ],
    "tcp_roll_pitch_yaw": [
      1.35987,
      0.00613,
      -1.07435
    ],
    "tcp_rotation_matrix": [
      [
        0.47721,
        -0.15404,
        0.86519
      ],
      [
        -0.86827,
        -0.23453,
        0.43715
      ],
      [
        0.13558,
        -0.95983,
        -0.24567
      ]
    ],
    "simulated_seconds_remaining": 20.262,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 8.406775058247149,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.05,
                    "x": 0.575
                  },
                  "note": "Raising brought the handle closer to the jaw center. I am making a smaller upward correction with a slight retreat to avoid pressing the drawer front."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.16179,
      -0.38548,
      0.10349,
      -2.37146,
      2.17471,
      2.87867,
      -0.77357
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.57388,
      0.14186,
      1.03673
    ],
    "tcp_roll_pitch_yaw": [
      1.34076,
      0.01238,
      -1.07322
    ],
    "tcp_rotation_matrix": [
      [
        0.48096,
        -0.17267,
        0.85957
      ],
      [
        -0.86716,
        -0.23822,
        0.43736
      ],
      [
        0.12925,
        -0.95574,
        -0.26431
      ]
    ],
    "simulated_seconds_remaining": 19.602,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 7.009759424254298,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.018,
                    "x": 0.565
                  },
                  "note": "The bar crossed to the other side of the jaw center. I am lowering slightly and easing back so the fingers can close around the exposed bar."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 7,
    "motion_seconds": 0.462,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.14101,
      -0.39587,
      0.11819,
      -2.41318,
      2.24762,
      2.85173,
      -0.84638
    ],
    "gripper_open": 0.9967,
    "tcp_xyz": [
      0.56558,
      0.14188,
      1.01914
    ],
    "tcp_roll_pitch_yaw": [
      1.34051,
      0.01248,
      -1.07319
    ],
    "tcp_rotation_matrix": [
      [
        0.48103,
        -0.17292,
        0.85948
      ],
      [
        -0.86714,
        -0.23826,
        0.43738
      ],
      [
        0.12915,
        -0.95568,
        -0.26455
      ]
    ],
    "simulated_seconds_remaining": 19.14,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 5.40603905916214,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.995,
                    "x": 0.58,
                    "gripper": 1
                  },
                  "note": "The handle is still just left of the center in the wrist image. I am lowering a little and moving forward to place it between the fingertips."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 7,
    "motion_seconds": 0.462,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.10453,
      -0.33494,
      0.13106,
      -2.39689,
      2.32369,
      2.80717,
      -0.94034
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.5796,
      0.14071,
      0.99982
    ],
    "tcp_roll_pitch_yaw": [
      1.34491,
      0.0085,
      -1.07546
    ],
    "tcp_rotation_matrix": [
      [
        0.47826,
        -0.16795,
        0.86201
      ],
      [
        -0.86807,
        -0.2392,
        0.43502
      ],
      [
        0.13313,
        -0.95633,
        -0.26019
      ]
    ],
    "simulated_seconds_remaining": 18.678,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 4.603994561359286,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The handle now lies between the open fingers in the wrist view. I am closing the gripper to secure it before pulling."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.1054,
      -0.33579,
      0.13194,
      -2.40205,
      2.32546,
      2.80906,
      -0.93927
    ],
    "gripper_open": 0.3681,
    "tcp_xyz": [
      0.57805,
      0.14087,
      0.9968
    ],
    "tcp_roll_pitch_yaw": [
      1.33973,
      0.01148,
      -1.07643
    ],
    "tcp_rotation_matrix": [
      [
        0.47824,
        -0.17388,
        0.86084
      ],
      [
        -0.86853,
        -0.23889,
        0.43426
      ],
      [
        0.13013,
        -0.95535,
        -0.26527
      ]
    ],
    "simulated_seconds_remaining": 17.754,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 6.005259924568236,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.46,
                    "gripper": 0
                  },
                  "note": "The fingers stopped partly open around the handle, indicating contact. I am pulling backward to slide the drawer outward."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.21361,
      -0.72434,
      0.13898,
      -2.71068,
      2.33447,
      2.90808,
      -0.8629
    ],
    "gripper_open": 0.0001,
    "tcp_xyz": [
      0.46136,
      0.14092,
      0.99686
    ],
    "tcp_roll_pitch_yaw": [
      1.33982,
      0.01142,
      -1.07635
    ],
    "tcp_rotation_matrix": [
      [
        0.4783,
        -0.17377,
        0.86083
      ],
      [
        -0.86849,
        -0.23891,
        0.43433
      ],
      [
        0.13019,
        -0.95537,
        -0.26519
      ]
    ],
    "simulated_seconds_remaining": 16.698,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 7.206011696718633,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.6,
                    "gripper": 1
                  },
                  "note": "The gripper closed fully during the pull and the drawer stayed shut, so the handle slipped. I am reopening and approaching slightly deeper for a firmer grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 19,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.10237,
      -0.28057,
      0.13927,
      -2.34422,
      2.31908,
      2.8898,
      -0.93765
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.59166,
      0.13033,
      0.98705
    ],
    "tcp_roll_pitch_yaw": [
      1.28413,
      -0.00306,
      -1.12182
    ],
    "tcp_rotation_matrix": [
      [
        0.44455,
        -0.22593,
        0.8668
      ],
      [
        -0.88414,
        -0.26603,
        0.3841
      ],
      [
        0.14382,
        -0.93711,
        -0.31802
      ]
    ],
    "simulated_seconds_remaining": 15.444,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 14.010841055773199,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.57,
                    "y": 0.09,
                    "z": 1.015,
                    "roll": 1.57,
                    "pitch": 0,
                    "yaw": -1.35
                  },
                  "note": "The current approach is oblique and pushing against the front. I am straightening the wrist and centering the jaws on the handle before trying again."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 20,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.10237,
      -0.28057,
      0.13927,
      -2.34422,
      2.31908,
      2.8898,
      -0.93765
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.59166,
      0.13033,
      0.98705
    ],
    "tcp_roll_pitch_yaw": [
      1.28413,
      -0.00306,
      -1.12182
    ],
    "tcp_rotation_matrix": [
      [
        0.44455,
        -0.22593,
        0.8668
      ],
      [
        -0.88414,
        -0.26603,
        0.3841
      ],
      [
        0.14382,
        -0.93711,
        -0.31802
      ]
    ],
    "simulated_seconds_remaining": 15.444,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 6.207049209624529,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.615,
                    "z": 1.02
                  },
                  "note": "The wrist turn remains unreachable. I am keeping the reachable orientation and lifting slightly while placing the open jaws farther around the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 21,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.14405,
      -0.24592,
      0.11641,
      -2.2601,
      2.16804,
      2.96238,
      -0.77778
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.61014,
      0.12912,
      1.01167
    ],
    "tcp_roll_pitch_yaw": [
      1.26402,
      -0.00025,
      -1.13565
    ],
    "tcp_rotation_matrix": [
      [
        0.43501,
        -0.24773,
        0.86568
      ],
      [
        -0.88937,
        -0.26841,
        0.3701
      ],
      [
        0.14067,
        -0.9309,
        -0.33709
      ]
    ],
    "simulated_seconds_remaining": 14.85,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 5.404933486133814,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.045
                  },
                  "note": "The bar is still near the right inner finger. I am raising the grasp point a little to center it before closing."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 8,
    "motion_seconds": 0.528,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 22,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.19853,
      -0.26975,
      0.08904,
      -2.25261,
      1.98088,
      3.00573,
      -0.57978
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.60842,
      0.13141,
      1.03419
    ],
    "tcp_roll_pitch_yaw": [
      1.24924,
      0.00502,
      -1.13297
    ],
    "tcp_rotation_matrix": [
      [
        0.43958,
        -0.26151,
        0.85929
      ],
      [
        -0.88798,
        -0.27048,
        0.37193
      ],
      [
        0.13516,
        -0.92653,
        -0.35111
      ]
    ],
    "simulated_seconds_remaining": 14.322,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 4.403813924640417,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The bar is centered between the fingers after the height correction. I am closing for a second grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 23,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.1995,
      -0.26647,
      0.09007,
      -2.26234,
      1.98446,
      3.00729,
      -0.57835
    ],
    "gripper_open": 0.5775,
    "tcp_xyz": [
      0.60649,
      0.13163,
      1.02581
    ],
    "tcp_roll_pitch_yaw": [
      1.23625,
      0.01106,
      -1.13462
    ],
    "tcp_rotation_matrix": [
      [
        0.4401,
        -0.27518,
        0.85475
      ],
      [
        -0.88865,
        -0.27009,
        0.3706
      ],
      [
        0.12888,
        -0.92268,
        -0.3634
      ]
    ],
    "simulated_seconds_remaining": 13.398,
    "calls_remaining_including_this": 35
  },
  "api_seconds": 6.805298495106399,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.55,
                    "y": 0.105,
                    "z": 1.045,
                    "gripper": 0
                  },
                  "note": "The gripper is holding contact. I am making a short pull back along the approach direction to check whether the drawer follows."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 24,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.25496,
      -0.47352,
      0.04071,
      -2.45849,
      1.768,
      2.9979,
      -0.36834
    ],
    "gripper_open": 0.1354,
    "tcp_xyz": [
      0.54888,
      0.11612,
      1.03522
    ],
    "tcp_roll_pitch_yaw": [
      1.22345,
      0.01779,
      -1.11075
    ],
    "tcp_rotation_matrix": [
      [
        0.46316,
        -0.2819,
        0.84025
      ],
      [
        -0.87785,
        -0.27631,
        0.39119
      ],
      [
        0.12189,
        -0.9188,
        -0.37544
      ]
    ],
    "simulated_seconds_remaining": 12.474,
    "calls_remaining_including_this": 34
  },
  "api_seconds": 7.005981204099953,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "z": 1.035,
                    "gripper": 0
                  },
                  "note": "The fingers remain slightly separated around the bar after the short pull. I am continuing backward to extend the drawer."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 25,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.18596,
      -1.08787,
      0.22706,
      -2.94182,
      1.28132,
      2.92681,
      0.29944
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.40128,
      0.11615,
      1.03513
    ],
    "tcp_roll_pitch_yaw": [
      1.22376,
      0.01755,
      -1.1105
    ],
    "tcp_rotation_matrix": [
      [
        0.46333,
        -0.28148,
        0.8403
      ],
      [
        -0.87773,
        -0.27645,
        0.39136
      ],
      [
        0.12213,
        -0.91888,
        -0.37515
      ]
    ],
    "simulated_seconds_remaining": 11.154,
    "calls_remaining_including_this": 33
  },
  "api_seconds": 14.210370721295476,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.58,
                    "y": 0.15,
                    "z": 1.15,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 1.57,
                    "gripper": 1
                  },
                  "note": "The oblique grip slipped again. I am switching to a downward approach with the jaws across the handle so the bar can sit deeper between the fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 61,
    "motion_seconds": 4.026,
    "status": "executing; next observation shows actual arrival"
  }
}

========================================================================
GPT-Astra / Open / Episode 026

Completed scored attempt. Images are available in the paired videos.

Opaque provider signatures, image payloads, and local paths are omitted.


RESULT
{
  "benchmark_index": 26,
  "source_episode_index": 639,
  "house_index": 321,
  "status": "completed",
  "success": true,
  "oracle_success": true,
  "action_decisions": 5,
  "wall_seconds": 75.38,
  "usage": {
    "input_tokens": 103950,
    "cached_input_tokens": 92928,
    "cache_write_input_tokens": 0,
    "output_tokens": 1000,
    "reasoning_output_tokens": 240
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task.
You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose.
Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion.
move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up.
roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial.
Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5).
The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y.
The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics.
Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration.
Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target.
You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time.
Each move must include a short note describing what you observe and why you chose that motion.
Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done.
Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available.



AGENT TRANSCRIPT (visible messages and completed tool calls)

I’ll observe the cabinet and gripper, then use the camera feedback to guide the opening motion.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"open the table.\", \"joint_positions\": [0.01873, -0.77983, -0.05784, -2.39418, 0.04383, 1.45091, 0.00953], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.26809, 0.00277, 0.98903], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.98628, -0.03368, -0.16158], [-0.01973, -0.996, 0.08717], [-0.16387, -0.08279, -0.983]], \"simulated_seconds_remaining\": 30.03, \"calls_remaining_including_this\": 57}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "x": 0.38,
    "y": 0,
    "z": 0.85,
    "note": "The black table is ahead under the laptop. I lower the open gripper to inspect the front edge and locate its drawer handle."
  },
  "result": null,
  "error": {
    "message": "tool call error: tool call failed for `robot/move_to`\n\nCaused by:\n    Mcp error: -32602: Unexpected argument"
  },
  "status": "failed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.38,
      "y": 0,
      "z": 0.85
    },
    "note": "The black table is ahead under the laptop. I lower the open gripper to inspect the front edge and locate its drawer handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"open the table.\", \"joint_positions\": [0.03374, -0.53598, -0.07045, -2.44827, 0.0573, 1.89724, -0.0326], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.38338, 0.00231, 0.91304], \"tcp_roll_pitch_yaw\": [0.00346, -0.15037, 0.00702], \"tcp_rotation_matrix\": [[0.99982, -0.01339, -0.01318], [-0.01214, -0.99582, 0.09048], [-0.01434, -0.0903, -0.99581]], \"simulated_seconds_remaining\": 28.512, \"calls_remaining_including_this\": 56}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 23, \"motion_seconds\": 1.518, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.4,
      "z": 0.78,
      "pitch": -1.3
    },
    "note": "The tabletop is above the wrist view and the front apron is ahead. I turn the fingers forward and lower toward the drawer front."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"open the table.\", \"joint_positions\": [0.03374, -0.53598, -0.07045, -2.44827, 0.0573, 1.89724, -0.0326], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.38338, 0.00231, 0.91304], \"tcp_roll_pitch_yaw\": [0.00346, -0.15037, 0.00702], \"tcp_rotation_matrix\": [[0.99982, -0.01339, -0.01318], [-0.01214, -0.99582, 0.09048], [-0.01434, -0.0903, -0.99581]], \"simulated_seconds_remaining\": 28.512, \"calls_remaining_including_this\": 55}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.42,
      "z": 0.81,
      "pitch": -0.7
    },
    "note": "The full forward-facing pose was unreachable. I use a smaller tilt while moving toward the visible table apron."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"open the table.\", \"joint_positions\": [0.11346, -0.59696, -0.14071, -2.99235, 0.13595, 2.93249, -0.16298], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.42085, 0.00231, 0.81253], \"tcp_roll_pitch_yaw\": [0.00354, -0.70061, 0.0071], \"tcp_rotation_matrix\": [[0.85977, 0.03696, 0.50934], [-0.01305, -0.99546, 0.09427], [0.51052, -0.0877, -0.85538]], \"simulated_seconds_remaining\": 27.456, \"calls_remaining_including_this\": 54}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 16, \"motion_seconds\": 1.056, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.42,
      "y": 0.2,
      "z": 0.86,
      "pitch": 0
    },
    "note": "The exterior view places the gripper to the right of the table. I shift left and lift slightly to align with its front."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"open the table.\", \"joint_positions\": [0.17687, -0.30904, 0.1314, -2.2187, -0.09951, 1.00149, 0.30548], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.21737, 0.04247, 0.96034], \"tcp_roll_pitch_yaw\": [-0.52795, 0.66086, -0.12162], \"tcp_rotation_matrix\": [[0.68061, 0.1263, -0.72168], [-0.18352, -0.92424, -0.33482], [-0.70929, 0.36033, -0.60587]], \"simulated_seconds_remaining\": 25.806, \"calls_remaining_including_this\": 53}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 25, \"motion_seconds\": 1.6500000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.35,
      "y": 0.18,
      "z": 1.04,
      "roll": 0,
      "pitch": 0,
      "yaw": 0
    },
    "note": "The previous motion deflected near the table. I lift to a clear overhead pose to restore orientation and inspect alignment."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "Episode ended. Do not call more tools. Return a brief final response."
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

I couldn’t complete opening the table before the episode ended.

TURN USAGE
{
  "input_tokens": 103950,
  "cached_input_tokens": 92928,
  "cache_write_input_tokens": 0,
  "output_tokens": 1000,
  "reasoning_output_tokens": 240
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.01873,
      -0.77983,
      -0.05784,
      -2.39418,
      0.04383,
      1.45091,
      0.00953
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.26809,
      0.00277,
      0.98903
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.98628,
        -0.03368,
        -0.16158
      ],
      [
        -0.01973,
        -0.996,
        0.08717
      ],
      [
        -0.16387,
        -0.08279,
        -0.983
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 24.021158861927688,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.38,
                    "y": 0,
                    "z": 0.85
                  },
                  "note": "The black table is ahead under the laptop. I lower the open gripper to inspect the front edge and locate its drawer handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.03374,
      -0.53598,
      -0.07045,
      -2.44827,
      0.0573,
      1.89724,
      -0.0326
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.38338,
      0.00231,
      0.91304
    ],
    "tcp_roll_pitch_yaw": [
      0.00346,
      -0.15037,
      0.00702
    ],
    "tcp_rotation_matrix": [
      [
        0.99982,
        -0.01339,
        -0.01318
      ],
      [
        -0.01214,
        -0.99582,
        0.09048
      ],
      [
        -0.01434,
        -0.0903,
        -0.99581
      ]
    ],
    "simulated_seconds_remaining": 28.512,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 7.806585285812616,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "z": 0.78,
                    "pitch": -1.3
                  },
                  "note": "The tabletop is above the wrist view and the front apron is ahead. I turn the fingers forward and lower toward the drawer front."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 3,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.03374,
      -0.53598,
      -0.07045,
      -2.44827,
      0.0573,
      1.89724,
      -0.0326
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.38338,
      0.00231,
      0.91304
    ],
    "tcp_roll_pitch_yaw": [
      0.00346,
      -0.15037,
      0.00702
    ],
    "tcp_rotation_matrix": [
      [
        0.99982,
        -0.01339,
        -0.01318
      ],
      [
        -0.01214,
        -0.99582,
        0.09048
      ],
      [
        -0.01434,
        -0.0903,
        -0.99581
      ]
    ],
    "simulated_seconds_remaining": 28.512,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 4.40458754170686,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.42,
                    "z": 0.81,
                    "pitch": -0.7
                  },
                  "note": "The full forward-facing pose was unreachable. I use a smaller tilt while moving toward the visible table apron."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.11346,
      -0.59696,
      -0.14071,
      -2.99235,
      0.13595,
      2.93249,
      -0.16298
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.42085,
      0.00231,
      0.81253
    ],
    "tcp_roll_pitch_yaw": [
      0.00354,
      -0.70061,
      0.0071
    ],
    "tcp_rotation_matrix": [
      [
        0.85977,
        0.03696,
        0.50934
      ],
      [
        -0.01305,
        -0.99546,
        0.09427
      ],
      [
        0.51052,
        -0.0877,
        -0.85538
      ]
    ],
    "simulated_seconds_remaining": 27.456,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 9.007612776942551,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.42,
                    "y": 0.2,
                    "z": 0.86,
                    "pitch": 0
                  },
                  "note": "The exterior view places the gripper to the right of the table. I shift left and lift slightly to align with its front."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 25,
    "motion_seconds": 1.6500000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.17687,
      -0.30904,
      0.1314,
      -2.2187,
      -0.09951,
      1.00149,
      0.30548
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.21737,
      0.04247,
      0.96034
    ],
    "tcp_roll_pitch_yaw": [
      -0.52795,
      0.66086,
      -0.12162
    ],
    "tcp_rotation_matrix": [
      [
        0.68061,
        0.1263,
        -0.72168
      ],
      [
        -0.18352,
        -0.92424,
        -0.33482
      ],
      [
        -0.70929,
        0.36033,
        -0.60587
      ]
    ],
    "simulated_seconds_remaining": 25.806,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 5.604804689064622,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.35,
                    "y": 0.18,
                    "z": 1.04,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 0
                  },
                  "note": "The previous motion deflected near the table. I lift to a clear overhead pose to restore orientation and inspect alignment."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 25,
    "motion_seconds": 1.6500000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

========================================================================
GPT-Astra / Open / Episode 027

Completed scored attempt. Images are available in the paired videos.

Opaque provider signatures, image payloads, and local paths are omitted.


RESULT
{
  "benchmark_index": 27,
  "source_episode_index": 675,
  "house_index": 322,
  "status": "completed",
  "success": true,
  "oracle_success": true,
  "action_decisions": 18,
  "wall_seconds": 190.57,
  "usage": {
    "input_tokens": 325928,
    "cached_input_tokens": 299136,
    "cache_write_input_tokens": 0,
    "output_tokens": 3343,
    "reasoning_output_tokens": 1178
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task.
You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose.
Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion.
move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up.
roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial.
Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5).
The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y.
The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics.
Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration.
Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target.
You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time.
Each move must include a short note describing what you observe and why you chose that motion.
Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done.
Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available.



AGENT TRANSCRIPT (visible messages and completed tool calls)

I’ll observe the scene, then use the camera feedback to grasp and open the object.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.01812, -0.7669, -0.03851, -2.33247, -0.08804, 1.52527, 0.06972], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.29959, -0.03993, 1.01722], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.99235, -0.11559, -0.04344], [-0.11806, -0.99124, -0.05928], [-0.03621, 0.06396, -0.9973]], \"simulated_seconds_remaining\": 30.03, \"calls_remaining_including_this\": 57}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "x": 0.47,
    "y": 0,
    "z": 0.83,
    "pitch": -1.45,
    "gripper": 1,
    "note": "The dresser has two curved handles on its front. I am turning the fingers toward the front and approaching at handle height."
  },
  "result": null,
  "error": {
    "message": "tool call error: tool call failed for `robot/move_to`\n\nCaused by:\n    Mcp error: -32602: Unexpected argument"
  },
  "status": "failed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.47,
      "y": 0,
      "z": 0.83,
      "pitch": -1.45,
      "gripper": 1
    },
    "note": "The dresser has two curved handles on its front. I am turning the fingers toward the front and approaching at handle height."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.01812, -0.7669, -0.03851, -2.33247, -0.08804, 1.52527, 0.06972], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.29959, -0.03993, 1.01722], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.99235, -0.11559, -0.04344], [-0.11806, -0.99124, -0.05928], [-0.03621, 0.06396, -0.9973]], \"simulated_seconds_remaining\": 30.03, \"calls_remaining_including_this\": 56}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.4,
      "y": 0,
      "z": 0.8,
      "pitch": -0.7,
      "gripper": 1
    },
    "note": "The first orientation was unreachable. I will lower the hand and rotate partway toward the dresser."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.01812, -0.7669, -0.03851, -2.33247, -0.08804, 1.52527, 0.06972], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.29959, -0.03993, 1.01722], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.99235, -0.11559, -0.04344], [-0.11806, -0.99124, -0.05928], [-0.03621, 0.06396, -0.9973]], \"simulated_seconds_remaining\": 30.03, \"calls_remaining_including_this\": 55}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "z": 0.82
    },
    "note": "The wrist rotation remains unreachable; I will first lower the hand with its original orientation to gain clearance."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.02667, -0.73716, -0.05992, -2.81871, -0.11499, 2.04007, 0.1012], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.29952, -0.03993, 0.82129], \"tcp_roll_pitch_yaw\": [0.0, 0.00035, -0.0], \"tcp_rotation_matrix\": [[0.99233, -0.11557, -0.04379], [-0.11806, -0.99124, -0.05928], [-0.03656, 0.064, -0.99728]], \"simulated_seconds_remaining\": 28.446, \"calls_remaining_including_this\": 54}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 24, \"motion_seconds\": 1.584, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.43,
      "z": 0.8,
      "pitch": 0.6
    },
    "note": "The hand is now below its starting height. I will test a reachable wrist rotation while moving closer to the visible handles."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.00105, 0.08587, -0.04615, -1.94397, -0.0773, 1.39549, 0.0742], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.40472, -0.04039, 0.86214], \"tcp_roll_pitch_yaw\": [0.00096, 0.59296, -0.01174], \"tcp_rotation_matrix\": [[0.8012, -0.07229, -0.59401], [-0.12744, -0.99052, -0.05135], [-0.58467, 0.11684, -0.80281]], \"simulated_seconds_remaining\": 27.258, \"calls_remaining_including_this\": 53}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 18, \"motion_seconds\": 1.1880000000000002, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.42,
      "z": 0.74,
      "pitch": 1.3,
      "yaw": 2.8
    },
    "note": "The handle lies ahead of the hand. I will turn the wrist around so the fingers face the dresser without bending the wrist backward."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.00105, 0.08587, -0.04615, -1.94397, -0.0773, 1.39549, 0.0742], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.40472, -0.04039, 0.86214], \"tcp_roll_pitch_yaw\": [0.00096, 0.59296, -0.01174], \"tcp_rotation_matrix\": [[0.8012, -0.07229, -0.59401], [-0.12744, -0.99052, -0.05135], [-0.58467, 0.11684, -0.80281]], \"simulated_seconds_remaining\": 27.258, \"calls_remaining_including_this\": 52}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.55,
      "z": 0.65,
      "pitch": 0
    },
    "note": "I will move down and forward with a neutral wrist to place the hand nearer the dresser front before rotating again."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.00763, 0.0682, -0.04687, -2.19743, -0.04753, 2.18002, 0.13377], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.5158, -0.03636, 0.7718], \"tcp_roll_pitch_yaw\": [0.01811, 0.04209, -0.04343], \"tcp_rotation_matrix\": [[0.98382, -0.15653, -0.08712], [-0.16025, -0.98637, -0.03747], [-0.08006, 0.05082, -0.99549]], \"simulated_seconds_remaining\": 25.278, \"calls_remaining_including_this\": 51}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 30, \"motion_seconds\": 1.98, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.36,
      "z": 0.72,
      "pitch": -0.8
    },
    "note": "The hand stopped short, suggesting contact with the dresser. I will retract slightly and angle the fingers toward its face."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.00763, 0.0682, -0.04687, -2.19743, -0.04753, 2.18002, 0.13377], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.5158, -0.03636, 0.7718], \"tcp_roll_pitch_yaw\": [0.01811, 0.04209, -0.04343], \"tcp_rotation_matrix\": [[0.98382, -0.15653, -0.08712], [-0.16025, -0.98637, -0.03747], [-0.08006, 0.05082, -0.99549]], \"simulated_seconds_remaining\": 25.278, \"calls_remaining_including_this\": 50}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

The hand is close to the handles, but the wrist has limited room to turn. I’m adjusting the approach orientation before gripping.


{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.38,
      "z": 0.9,
      "roll": 1.5,
      "pitch": 0
    },
    "note": "The fingers are near the dresser but pointing down. I will back away and roll the wrist to find a reachable forward-facing approach."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.32757, 0.09031, -0.3936, -2.27496, 0.94657, 1.17628, -0.85775], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.38038, -0.03639, 0.89947], \"tcp_roll_pitch_yaw\": [1.49539, 0.00047, -0.04346], \"tcp_rotation_matrix\": [[0.99253, -0.12196, -0.00045], [-0.01592, -0.13328, 0.99095], [-0.12092, -0.98355, -0.13422]], \"simulated_seconds_remaining\": 23.034, \"calls_remaining_including_this\": 49}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 34, \"motion_seconds\": 2.244, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "roll": 1.57,
      "yaw": -1.57,
      "x": 0.39,
      "z": 0.86
    },
    "note": "The rolled wrist is reachable. I will yaw toward the dark dresser so the camera and fingers face its handles."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.32757, 0.09031, -0.3936, -2.27496, 0.94657, 1.17628, -0.85775], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.38038, -0.03639, 0.89947], \"tcp_roll_pitch_yaw\": [1.49539, 0.00047, -0.04346], \"tcp_rotation_matrix\": [[0.99253, -0.12196, -0.00045], [-0.01592, -0.13328, 0.99095], [-0.12092, -0.98355, -0.13422]], \"simulated_seconds_remaining\": 23.034, \"calls_remaining_including_this\": 48}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "roll": 2.9,
      "pitch": 1.3,
      "yaw": 0,
      "x": 0.4,
      "z": 0.85
    },
    "note": "The yaw approach exceeds the arm reach. I will instead complete the wrist roll and pitch so the fingers face forward."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 11, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.32757, 0.09031, -0.3936, -2.27496, 0.94657, 1.17628, -0.85775], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.38038, -0.03639, 0.89947], \"tcp_roll_pitch_yaw\": [1.49539, 0.00047, -0.04346], \"tcp_rotation_matrix\": [[0.99253, -0.12196, -0.00045], [-0.01592, -0.13328, 0.99095], [-0.12092, -0.98355, -0.13422]], \"simulated_seconds_remaining\": 23.034, \"calls_remaining_including_this\": 47}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "yaw": -0.8,
      "z": 0.82,
      "x": 0.45
    },
    "note": "I will turn halfway toward the dresser in a smaller reachable step and use the wrist view to refine alignment."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 12, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.2898, -0.07074, -0.36103, -2.72267, 1.58587, 1.75905, -0.95923], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.4496, -0.03622, 0.82044], \"tcp_roll_pitch_yaw\": [1.49555, 0.00044, -0.79529], \"tcp_rotation_matrix\": [[0.71413, -0.17998, 0.67648], [-0.6895, -0.01396, 0.72415], [-0.12089, -0.98357, -0.13407]], \"simulated_seconds_remaining\": 21.714, \"calls_remaining_including_this\": 46}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 20, \"motion_seconds\": 1.32, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "yaw": -1.4,
      "x": 0.52,
      "z": 0.84,
      "roll": 1.57
    },
    "note": "The dark dresser is now visible in the wrist camera. I will finish turning toward its front while moving slightly forward."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 13, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.10633, -0.20086, -0.16006, -2.84115, 2.58474, 2.08169, -1.22424], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.51958, -0.03601, 0.8399], \"tcp_roll_pitch_yaw\": [1.56964, -0.00014, -1.39492], \"tcp_rotation_matrix\": [[0.20915, -0.0843, 0.97424], [-0.97074, 0.10228, 0.21725], [-0.11796, -0.99118, -0.06044]], \"simulated_seconds_remaining\": 20.592, \"calls_remaining_including_this\": 45}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 17, \"motion_seconds\": 1.122, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.57,
      "z": 0.97,
      "yaw": -1.5
    },
    "note": "The exterior view shows the hand below and short of the handles. I will raise it and approach until a handle is centered between the fingers."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 14, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.05993, -0.38011, -0.06152, -2.60461, 2.74089, 2.51583, -1.15932], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.56958, -0.036, 0.96891], \"tcp_roll_pitch_yaw\": [1.56991, -0.00022, -1.49897], \"tcp_rotation_matrix\": [[0.10723, -0.07294, 0.99155], [-0.98722, 0.11042, 0.11489], [-0.11787, -0.9912, -0.06017]], \"simulated_seconds_remaining\": 19.338, \"calls_remaining_including_this\": 44}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 19, \"motion_seconds\": 1.254, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.63,
      "z": 1.01
    },
    "note": "A curved handle is clearly visible just above the fingertips. I will move forward and slightly upward to bring it into the open gripper."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 15, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.0448, -0.26659, -0.04559, -2.38471, 2.72366, 2.66201, -1.11269], \"gripper_open\": 1.0, \"tcp_xyz\": [0.61963, -0.03878, 1.0014], \"tcp_roll_pitch_yaw\": [1.52993, -0.00623, -1.51218], \"tcp_rotation_matrix\": [[0.08948, -0.11063, 0.98983], [-0.98953, 0.10313, 0.10098], [-0.11326, -0.9885, -0.10024]], \"simulated_seconds_remaining\": 18.546, \"calls_remaining_including_this\": 43}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 12, \"motion_seconds\": 0.792, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.55,
      "roll": 0,
      "pitch": -1.45,
      "yaw": 0,
      "z": 1.01
    },
    "note": "The handle runs across the finger opening in this wrist orientation. I will retract and rotate so the jaws pinch across the handle's narrow dimension."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 16, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.60252, -0.56528, 0.55749, -2.54139, 2.80816, 2.92382, -1.39742], \"gripper_open\": 0.9998, \"tcp_xyz\": [0.53071, -0.05397, 0.9768], \"tcp_roll_pitch_yaw\": [1.33025, -0.53738, -1.57815], \"tcp_rotation_matrix\": [[0.00031, -0.30109, 0.9536], [-0.91562, -0.38348, -0.12079], [0.40206, -0.87309, -0.2758]], \"simulated_seconds_remaining\": 16.17, \"calls_remaining_including_this\": 42}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 36, \"motion_seconds\": 2.3760000000000003, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.52,
      "z": 0.97,
      "roll": 3.14,
      "pitch": 1.45,
      "yaw": 0
    },
    "note": "The wrist reached its bend limit before aligning. I will use the equivalent forward-facing orientation with the wrist flipped to keep the jaws across the handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 17, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.60252, -0.56528, 0.55749, -2.54139, 2.80816, 2.92382, -1.39742], \"gripper_open\": 0.9998, \"tcp_xyz\": [0.53071, -0.05397, 0.9768], \"tcp_roll_pitch_yaw\": [1.33025, -0.53738, -1.57815], \"tcp_rotation_matrix\": [[0.00031, -0.30109, 0.9536], [-0.91562, -0.38348, -0.12079], [0.40206, -0.87309, -0.2758]], \"simulated_seconds_remaining\": 16.17, \"calls_remaining_including_this\": 41}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "roll": 1.57,
      "pitch": 0.9,
      "yaw": -1.57,
      "x": 0.54,
      "z": 1
    },
    "note": "I will rotate the jaws about the forward approach direction using a smaller wrist change, keeping the handle in view."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 18, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.07742, -0.51744, -0.0746, -2.67707, 2.7381, 2.53696, -0.92798], \"gripper_open\": 1.0, \"tcp_xyz\": [0.53895, -0.04989, 0.99522], \"tcp_roll_pitch_yaw\": [1.60448, 0.22944, -1.53539], \"tcp_rotation_matrix\": [[0.0734, -0.04249, 0.9964], [-0.93777, 0.33707, 0.08346], [-0.3394, -0.94052, -0.01511]], \"simulated_seconds_remaining\": 13.926, \"calls_remaining_including_this\": 40}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 34, \"motion_seconds\": 2.244, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "pitch": 1.25,
      "roll": 1.57,
      "yaw": -1.57,
      "x": 0.48
    },
    "note": "The handle is still diagonal in the wrist view. I will withdraw a little farther to clear the arm and finish rotating the jaws."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "Episode ended. Do not call more tools. Return a brief final response."
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

I couldn’t complete the opening before the episode ended. The wrist could not align for a secure grasp.

TURN USAGE
{
  "input_tokens": 325928,
  "cached_input_tokens": 299136,
  "cache_write_input_tokens": 0,
  "output_tokens": 3343,
  "reasoning_output_tokens": 1178
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.01812,
      -0.7669,
      -0.03851,
      -2.33247,
      -0.08804,
      1.52527,
      0.06972
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.29959,
      -0.03993,
      1.01722
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99235,
        -0.11559,
        -0.04344
      ],
      [
        -0.11806,
        -0.99124,
        -0.05928
      ],
      [
        -0.03621,
        0.06396,
        -0.9973
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 24.020852936431766,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.47,
                    "y": 0,
                    "z": 0.83,
                    "pitch": -1.45,
                    "gripper": 1
                  },
                  "note": "The dresser has two curved handles on its front. I am turning the fingers toward the front and approaching at handle height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 2,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.01812,
      -0.7669,
      -0.03851,
      -2.33247,
      -0.08804,
      1.52527,
      0.06972
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.29959,
      -0.03993,
      1.01722
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99235,
        -0.11559,
        -0.04344
      ],
      [
        -0.11806,
        -0.99124,
        -0.05928
      ],
      [
        -0.03621,
        0.06396,
        -0.9973
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 4.804322679527104,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "y": 0,
                    "z": 0.8,
                    "pitch": -0.7,
                    "gripper": 1
                  },
                  "note": "The first orientation was unreachable. I will lower the hand and rotate partway toward the dresser."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 3,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.01812,
      -0.7669,
      -0.03851,
      -2.33247,
      -0.08804,
      1.52527,
      0.06972
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.29959,
      -0.03993,
      1.01722
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99235,
        -0.11559,
        -0.04344
      ],
      [
        -0.11806,
        -0.99124,
        -0.05928
      ],
      [
        -0.03621,
        0.06396,
        -0.9973
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 5.40555958263576,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.82
                  },
                  "note": "The wrist rotation remains unreachable; I will first lower the hand with its original orientation to gain clearance."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 24,
    "motion_seconds": 1.584,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.02667,
      -0.73716,
      -0.05992,
      -2.81871,
      -0.11499,
      2.04007,
      0.1012
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.29952,
      -0.03993,
      0.82129
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.00035,
      -0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99233,
        -0.11557,
        -0.04379
      ],
      [
        -0.11806,
        -0.99124,
        -0.05928
      ],
      [
        -0.03656,
        0.064,
        -0.99728
      ]
    ],
    "simulated_seconds_remaining": 28.446,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 4.404414113610983,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.43,
                    "z": 0.8,
                    "pitch": 0.6
                  },
                  "note": "The hand is now below its starting height. I will test a reachable wrist rotation while moving closer to the visible handles."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.00105,
      0.08587,
      -0.04615,
      -1.94397,
      -0.0773,
      1.39549,
      0.0742
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.40472,
      -0.04039,
      0.86214
    ],
    "tcp_roll_pitch_yaw": [
      0.00096,
      0.59296,
      -0.01174
    ],
    "tcp_rotation_matrix": [
      [
        0.8012,
        -0.07229,
        -0.59401
      ],
      [
        -0.12744,
        -0.99052,
        -0.05135
      ],
      [
        -0.58467,
        0.11684,
        -0.80281
      ]
    ],
    "simulated_seconds_remaining": 27.258,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 9.608236010186374,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.42,
                    "z": 0.74,
                    "pitch": 1.3,
                    "yaw": 2.8
                  },
                  "note": "The handle lies ahead of the hand. I will turn the wrist around so the fingers face the dresser without bending the wrist backward."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 6,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.00105,
      0.08587,
      -0.04615,
      -1.94397,
      -0.0773,
      1.39549,
      0.0742
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.40472,
      -0.04039,
      0.86214
    ],
    "tcp_roll_pitch_yaw": [
      0.00096,
      0.59296,
      -0.01174
    ],
    "tcp_rotation_matrix": [
      [
        0.8012,
        -0.07229,
        -0.59401
      ],
      [
        -0.12744,
        -0.99052,
        -0.05135
      ],
      [
        -0.58467,
        0.11684,
        -0.80281
      ]
    ],
    "simulated_seconds_remaining": 27.258,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 6.406090226024389,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.55,
                    "z": 0.65,
                    "pitch": 0
                  },
                  "note": "I will move down and forward with a neutral wrist to place the hand nearer the dresser front before rotating again."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 30,
    "motion_seconds": 1.98,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.00763,
      0.0682,
      -0.04687,
      -2.19743,
      -0.04753,
      2.18002,
      0.13377
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.5158,
      -0.03636,
      0.7718
    ],
    "tcp_roll_pitch_yaw": [
      0.01811,
      0.04209,
      -0.04343
    ],
    "tcp_rotation_matrix": [
      [
        0.98382,
        -0.15653,
        -0.08712
      ],
      [
        -0.16025,
        -0.98637,
        -0.03747
      ],
      [
        -0.08006,
        0.05082,
        -0.99549
      ]
    ],
    "simulated_seconds_remaining": 25.278,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 6.406193885020912,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.36,
                    "z": 0.72,
                    "pitch": -0.8
                  },
                  "note": "The hand stopped short, suggesting contact with the dresser. I will retract slightly and angle the fingers toward its face."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 8,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.00763,
      0.0682,
      -0.04687,
      -2.19743,
      -0.04753,
      2.18002,
      0.13377
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.5158,
      -0.03636,
      0.7718
    ],
    "tcp_roll_pitch_yaw": [
      0.01811,
      0.04209,
      -0.04343
    ],
    "tcp_rotation_matrix": [
      [
        0.98382,
        -0.15653,
        -0.08712
      ],
      [
        -0.16025,
        -0.98637,
        -0.03747
      ],
      [
        -0.08006,
        0.05082,
        -0.99549
      ]
    ],
    "simulated_seconds_remaining": 25.278,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 10.209360163658857,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.38,
                    "z": 0.9,
                    "roll": 1.5,
                    "pitch": 0
                  },
                  "note": "The fingers are near the dresser but pointing down. I will back away and roll the wrist to find a reachable forward-facing approach."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 34,
    "motion_seconds": 2.244,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.32757,
      0.09031,
      -0.3936,
      -2.27496,
      0.94657,
      1.17628,
      -0.85775
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.38038,
      -0.03639,
      0.89947
    ],
    "tcp_roll_pitch_yaw": [
      1.49539,
      0.00047,
      -0.04346
    ],
    "tcp_rotation_matrix": [
      [
        0.99253,
        -0.12196,
        -0.00045
      ],
      [
        -0.01592,
        -0.13328,
        0.99095
      ],
      [
        -0.12092,
        -0.98355,
        -0.13422
      ]
    ],
    "simulated_seconds_remaining": 23.034,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 6.810147089883685,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "roll": 1.57,
                    "yaw": -1.57,
                    "x": 0.39,
                    "z": 0.86
                  },
                  "note": "The rolled wrist is reachable. I will yaw toward the dark dresser so the camera and fingers face its handles."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 10,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.32757,
      0.09031,
      -0.3936,
      -2.27496,
      0.94657,
      1.17628,
      -0.85775
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.38038,
      -0.03639,
      0.89947
    ],
    "tcp_roll_pitch_yaw": [
      1.49539,
      0.00047,
      -0.04346
    ],
    "tcp_rotation_matrix": [
      [
        0.99253,
        -0.12196,
        -0.00045
      ],
      [
        -0.01592,
        -0.13328,
        0.99095
      ],
      [
        -0.12092,
        -0.98355,
        -0.13422
      ]
    ],
    "simulated_seconds_remaining": 23.034,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 5.20462747476995,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "roll": 2.9,
                    "pitch": 1.3,
                    "yaw": 0,
                    "x": 0.4,
                    "z": 0.85
                  },
                  "note": "The yaw approach exceeds the arm reach. I will instead complete the wrist roll and pitch so the fingers face forward."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 11,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.32757,
      0.09031,
      -0.3936,
      -2.27496,
      0.94657,
      1.17628,
      -0.85775
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.38038,
      -0.03639,
      0.89947
    ],
    "tcp_roll_pitch_yaw": [
      1.49539,
      0.00047,
      -0.04346
    ],
    "tcp_rotation_matrix": [
      [
        0.99253,
        -0.12196,
        -0.00045
      ],
      [
        -0.01592,
        -0.13328,
        0.99095
      ],
      [
        -0.12092,
        -0.98355,
        -0.13422
      ]
    ],
    "simulated_seconds_remaining": 23.034,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 4.804632629267871,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "yaw": -0.8,
                    "z": 0.82,
                    "x": 0.45
                  },
                  "note": "I will turn halfway toward the dresser in a smaller reachable step and use the wrist view to refine alignment."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.2898,
      -0.07074,
      -0.36103,
      -2.72267,
      1.58587,
      1.75905,
      -0.95923
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.4496,
      -0.03622,
      0.82044
    ],
    "tcp_roll_pitch_yaw": [
      1.49555,
      0.00044,
      -0.79529
    ],
    "tcp_rotation_matrix": [
      [
        0.71413,
        -0.17998,
        0.67648
      ],
      [
        -0.6895,
        -0.01396,
        0.72415
      ],
      [
        -0.12089,
        -0.98357,
        -0.13407
      ]
    ],
    "simulated_seconds_remaining": 21.714,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 5.605449764057994,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "yaw": -1.4,
                    "x": 0.52,
                    "z": 0.84,
                    "roll": 1.57
                  },
                  "note": "The dark dresser is now visible in the wrist camera. I will finish turning toward its front while moving slightly forward."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.10633,
      -0.20086,
      -0.16006,
      -2.84115,
      2.58474,
      2.08169,
      -1.22424
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.51958,
      -0.03601,
      0.8399
    ],
    "tcp_roll_pitch_yaw": [
      1.56964,
      -0.00014,
      -1.39492
    ],
    "tcp_rotation_matrix": [
      [
        0.20915,
        -0.0843,
        0.97424
      ],
      [
        -0.97074,
        0.10228,
        0.21725
      ],
      [
        -0.11796,
        -0.99118,
        -0.06044
      ]
    ],
    "simulated_seconds_remaining": 20.592,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 22.018948753364384,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.57,
                    "z": 0.97,
                    "yaw": -1.5
                  },
                  "note": "The exterior view shows the hand below and short of the handles. I will raise it and approach until a handle is centered between the fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.05993,
      -0.38011,
      -0.06152,
      -2.60461,
      2.74089,
      2.51583,
      -1.15932
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.56958,
      -0.036,
      0.96891
    ],
    "tcp_roll_pitch_yaw": [
      1.56991,
      -0.00022,
      -1.49897
    ],
    "tcp_rotation_matrix": [
      [
        0.10723,
        -0.07294,
        0.99155
      ],
      [
        -0.98722,
        0.11042,
        0.11489
      ],
      [
        -0.11787,
        -0.9912,
        -0.06017
      ]
    ],
    "simulated_seconds_remaining": 19.338,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 10.409393748268485,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.63,
                    "z": 1.01
                  },
                  "note": "A curved handle is clearly visible just above the fingertips. I will move forward and slightly upward to bring it into the open gripper."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.0448,
      -0.26659,
      -0.04559,
      -2.38471,
      2.72366,
      2.66201,
      -1.11269
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.61963,
      -0.03878,
      1.0014
    ],
    "tcp_roll_pitch_yaw": [
      1.52993,
      -0.00623,
      -1.51218
    ],
    "tcp_rotation_matrix": [
      [
        0.08948,
        -0.11063,
        0.98983
      ],
      [
        -0.98953,
        0.10313,
        0.10098
      ],
      [
        -0.11326,
        -0.9885,
        -0.10024
      ]
    ],
    "simulated_seconds_remaining": 18.546,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 9.008485025726259,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.55,
                    "roll": 0,
                    "pitch": -1.45,
                    "yaw": 0,
                    "z": 1.01
                  },
                  "note": "The handle runs across the finger opening in this wrist orientation. I will retract and rotate so the jaws pinch across the handle's narrow dimension."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 36,
    "motion_seconds": 2.3760000000000003,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.60252,
      -0.56528,
      0.55749,
      -2.54139,
      2.80816,
      2.92382,
      -1.39742
    ],
    "gripper_open": 0.9998,
    "tcp_xyz": [
      0.53071,
      -0.05397,
      0.9768
    ],
    "tcp_roll_pitch_yaw": [
      1.33025,
      -0.53738,
      -1.57815
    ],
    "tcp_rotation_matrix": [
      [
        0.00031,
        -0.30109,
        0.9536
      ],
      [
        -0.91562,
        -0.38348,
        -0.12079
      ],
      [
        0.40206,
        -0.87309,
        -0.2758
      ]
    ],
    "simulated_seconds_remaining": 16.17,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 7.407223718240857,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.52,
                    "z": 0.97,
                    "roll": 3.14,
                    "pitch": 1.45,
                    "yaw": 0
                  },
                  "note": "The wrist reached its bend limit before aligning. I will use the equivalent forward-facing orientation with the wrist flipped to keep the jaws across the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 17,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.60252,
      -0.56528,
      0.55749,
      -2.54139,
      2.80816,
      2.92382,
      -1.39742
    ],
    "gripper_open": 0.9998,
    "tcp_xyz": [
      0.53071,
      -0.05397,
      0.9768
    ],
    "tcp_roll_pitch_yaw": [
      1.33025,
      -0.53738,
      -1.57815
    ],
    "tcp_rotation_matrix": [
      [
        0.00031,
        -0.30109,
        0.9536
      ],
      [
        -0.91562,
        -0.38348,
        -0.12079
      ],
      [
        0.40206,
        -0.87309,
        -0.2758
      ]
    ],
    "simulated_seconds_remaining": 16.17,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 7.8069332698360085,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "roll": 1.57,
                    "pitch": 0.9,
                    "yaw": -1.57,
                    "x": 0.54,
                    "z": 1
                  },
                  "note": "I will rotate the jaws about the forward approach direction using a smaller wrist change, keeping the handle in view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 34,
    "motion_seconds": 2.244,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.07742,
      -0.51744,
      -0.0746,
      -2.67707,
      2.7381,
      2.53696,
      -0.92798
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.53895,
      -0.04989,
      0.99522
    ],
    "tcp_roll_pitch_yaw": [
      1.60448,
      0.22944,
      -1.53539
    ],
    "tcp_rotation_matrix": [
      [
        0.0734,
        -0.04249,
        0.9964
      ],
      [
        -0.93777,
        0.33707,
        0.08346
      ],
      [
        -0.3394,
        -0.94052,
        -0.01511
      ]
    ],
    "simulated_seconds_remaining": 13.926,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 6.605485015548766,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": 1.25,
                    "roll": 1.57,
                    "yaw": -1.57,
                    "x": 0.48
                  },
                  "note": "The handle is still diagonal in the wrist view. I will withdraw a little farther to clear the arm and finish rotating the jaws."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 25,
    "motion_seconds": 1.6500000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

========================================================================
GPT-Astra / Open / Episode 028

Completed scored attempt. Images are available in the paired videos.

Opaque provider signatures, image payloads, and local paths are omitted.


RESULT
{
  "benchmark_index": 28,
  "source_episode_index": 698,
  "house_index": 323,
  "status": "completed",
  "success": true,
  "oracle_success": true,
  "action_decisions": 17,
  "wall_seconds": 205.29,
  "usage": {
    "input_tokens": 315101,
    "cached_input_tokens": 285056,
    "cache_write_input_tokens": 0,
    "output_tokens": 3776,
    "reasoning_output_tokens": 1785
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task.
You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose.
Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion.
move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up.
roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial.
Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5).
The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y.
The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics.
Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration.
Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target.
You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time.
Each move must include a short note describing what you observe and why you chose that motion.
Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done.
Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available.



AGENT TRANSCRIPT (visible messages and completed tool calls)

I’ll inspect the scene, locate the handle, and guide the gripper to open it.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"open the table.\", \"joint_positions\": [0.02363, -0.79756, 0.05212, -2.36527, 0.12321, 1.58753, -0.08738], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.30575, 0.05435, 1.01673], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.98904, 0.14696, 0.01394], [0.14522, -0.98558, 0.0868], [0.02649, -0.08382, -0.99613]], \"simulated_seconds_remaining\": 30.03, \"calls_remaining_including_this\": 57}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "x": 0.48,
    "y": 0.1,
    "z": 0.85,
    "gripper": 1,
    "note": "The table has drawers with small horizontal handles. I move down and forward to view the upper drawer handle more clearly."
  },
  "result": null,
  "error": {
    "message": "tool call error: tool call failed for `robot/move_to`\n\nCaused by:\n    Mcp error: -32602: Unexpected argument"
  },
  "status": "failed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.48,
      "y": 0.1,
      "z": 0.85,
      "gripper": 1
    },
    "note": "The table has drawers with small horizontal handles. I move down and forward to view the upper drawer handle more clearly."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"open the table.\", \"joint_positions\": [0.02726, -0.18723, 0.13788, -2.30211, 0.12964, 2.14049, -0.05247], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.47898, 0.09973, 0.85084], \"tcp_roll_pitch_yaw\": [-3e-05, 0.00029, 0.0], \"tcp_rotation_matrix\": [[0.98905, 0.14694, 0.01365], [0.14523, -0.98559, 0.08676], [0.0262, -0.08383, -0.99614]], \"simulated_seconds_remaining\": 28.116, \"calls_remaining_including_this\": 56}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 29, \"motion_seconds\": 1.9140000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.48,
      "y": 0.1,
      "z": 0.85,
      "pitch": -1.57
    },
    "note": "The drawer handle is ahead and below the gripper. I turn the fingers forward so they can approach the drawer face horizontally."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"open the table.\", \"joint_positions\": [0.02726, -0.18723, 0.13788, -2.30211, 0.12964, 2.14049, -0.05247], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.47898, 0.09973, 0.85084], \"tcp_roll_pitch_yaw\": [-3e-05, 0.00029, 0.0], \"tcp_rotation_matrix\": [[0.98905, 0.14694, 0.01365], [0.14523, -0.98559, 0.08676], [0.0262, -0.08383, -0.99614]], \"simulated_seconds_remaining\": 28.116, \"calls_remaining_including_this\": 55}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "pitch": -0.8,
      "x": 0.43,
      "z": 0.9
    },
    "note": "The full forward rotation was unreachable. I retract slightly and rotate partway to obtain a reachable approach posture."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"open the table.\", \"joint_positions\": [0.08549, -0.76326, 0.23964, -3.01704, 0.17348, 3.06983, -0.02111], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.43023, 0.09976, 0.89959], \"tcp_roll_pitch_yaw\": [-0.00022, -0.7953, 0.00015], \"tcp_rotation_matrix\": [[0.67348, 0.16273, 0.72107], [0.14533, -0.98558, 0.08669], [0.72478, 0.04641, -0.68742]], \"simulated_seconds_remaining\": 26.73, \"calls_remaining_including_this\": 54}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 21, \"motion_seconds\": 1.3860000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.55,
      "y": 0.2,
      "z": 0.85,
      "pitch": -1.25
    },
    "note": "The wrist view shows a drawer pull left of the fingers. I shift toward its center and continue rotating toward the drawer."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"open the table.\", \"joint_positions\": [0.08549, -0.76326, 0.23964, -3.01704, 0.17348, 3.06983, -0.02111], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.43023, 0.09976, 0.89959], \"tcp_roll_pitch_yaw\": [-0.00022, -0.7953, 0.00015], \"tcp_rotation_matrix\": [[0.67348, 0.16273, 0.72107], [0.14533, -0.98558, 0.08669], [0.72478, 0.04641, -0.68742]], \"simulated_seconds_remaining\": 26.73, \"calls_remaining_including_this\": 53}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK requires a large joint jump; split the motion or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.55,
      "y": 0.2,
      "z": 0.85
    },
    "note": "The attempted combined motion required a joint jump. I first translate toward the visible handle while keeping the current reachable orientation."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"open the table.\", \"joint_positions\": [-0.77411, -0.2833, 1.18982, -2.63096, 0.10933, 3.29624, 0.2102], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.54901, 0.19918, 0.85045], \"tcp_roll_pitch_yaw\": [-0.00054, -0.79539, 0.00044], \"tcp_rotation_matrix\": [[0.67341, 0.16278, 0.72112], [0.14553, -0.98556, 0.08657], [0.7248, 0.04665, -0.68738]], \"simulated_seconds_remaining\": 25.344, \"calls_remaining_including_this\": 52}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 21, \"motion_seconds\": 1.3860000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "y": -0.05
    },
    "note": "The handle moved farther left in the wrist image, so I correct the lateral alignment in the opposite direction."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"open the table.\", \"joint_positions\": [0.7042, -0.28802, -0.97746, -2.70168, -0.59103, 3.3135, 0.09062], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.54904, -0.04877, 0.85059], \"tcp_roll_pitch_yaw\": [-0.00046, -0.79559, 9e-05], \"tcp_rotation_matrix\": [[0.6733, 0.16248, 0.72129], [0.14529, -0.98561, 0.0864], [0.72495, 0.04663, -0.68722]], \"simulated_seconds_remaining\": 23.364, \"calls_remaining_including_this\": 51}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 30, \"motion_seconds\": 1.98, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "y": -0.13,
      "z": 0.82,
      "x": 0.58
    },
    "note": "The silver pull is visible just left of the finger gap. I lower and shift the grasp point to center the fingers around it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"open the table.\", \"joint_positions\": [1.26785, -0.37571, -1.6691, -2.58046, -0.63744, 3.35563, -0.13579], \"gripper_open\": 1.0, \"tcp_xyz\": [0.57727, -0.1135, 0.82471], \"tcp_roll_pitch_yaw\": [-0.04857, -0.83148, 0.09719], \"tcp_rotation_matrix\": [[0.63478, 0.22086, 0.74046], [0.20892, -0.97165, 0.11071], [0.74391, 0.08442, -0.66292]], \"simulated_seconds_remaining\": 22.44, \"calls_remaining_including_this\": 50}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The silver drawer pull is now between the fingertips. I close the gripper to secure it before pulling."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"open the table.\", \"joint_positions\": [1.26191, -0.37576, -1.6688, -2.59112, -0.64061, 3.37337, -0.13457], \"gripper_open\": 0.9999, \"tcp_xyz\": [0.57489, -0.11255, 0.82456], \"tcp_roll_pitch_yaw\": [-0.04187, -0.84076, 0.09198], \"tcp_rotation_matrix\": [[0.62825, 0.21989, 0.74629], [0.20478, -0.97214, 0.11405], [0.75058, 0.08117, -0.65577]], \"simulated_seconds_remaining\": 21.516, \"calls_remaining_including_this\": 49}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.47,
      "gripper": 0
    },
    "note": "The fingers are held apart by contact at the pull. I make a short outward pull to check whether the drawer is engaged."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"open the table.\", \"joint_positions\": [0.58343, -0.49223, -1.20203, -2.87099, -0.8368, 3.35983, -0.10539], \"gripper_open\": 0.0, \"tcp_xyz\": [0.47132, -0.11257, 0.82453], \"tcp_roll_pitch_yaw\": [-0.0415, -0.84074, 0.09166], \"tcp_rotation_matrix\": [[0.62828, 0.21984, 0.74628], [0.20456, -0.97217, 0.11417], [0.75061, 0.08093, -0.65577]], \"simulated_seconds_remaining\": 20.526, \"calls_remaining_including_this\": 48}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 15, \"motion_seconds\": 0.99, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

The first pull slipped free. I’m repositioning to grasp the horizontal bar from above and below.


{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.45,
      "z": 0.94,
      "roll": 1.57,
      "pitch": 0,
      "yaw": -1.57,
      "gripper": 1
    },
    "note": "The horizontal bar is higher than the first contact. I raise the hand and orient the jaw opening vertically to pinch the bar."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 11, \"instruction\": \"open the table.\", \"joint_positions\": [0.58343, -0.49223, -1.20203, -2.87099, -0.8368, 3.35983, -0.10539], \"gripper_open\": 0.0, \"tcp_xyz\": [0.47132, -0.11257, 0.82453], \"tcp_roll_pitch_yaw\": [-0.0415, -0.84074, 0.09166], \"tcp_rotation_matrix\": [[0.62828, 0.21984, 0.74628], [0.20456, -0.97217, 0.11417], [0.75061, 0.08093, -0.65577]], \"simulated_seconds_remaining\": 20.526, \"calls_remaining_including_this\": 47}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.45,
      "z": 0.94,
      "roll": -1.57,
      "pitch": 0,
      "yaw": 1.57,
      "gripper": 1
    },
    "note": "The first vertical-jaw orientation was unreachable. I try the equivalent opposite wrist orientation while staying clear of the drawer."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 12, \"instruction\": \"open the table.\", \"joint_positions\": [0.58343, -0.49223, -1.20203, -2.87099, -0.8368, 3.35983, -0.10539], \"gripper_open\": 0.0, \"tcp_xyz\": [0.47132, -0.11257, 0.82453], \"tcp_roll_pitch_yaw\": [-0.0415, -0.84074, 0.09166], \"tcp_rotation_matrix\": [[0.62828, 0.21984, 0.74628], [0.20456, -0.97217, 0.11417], [0.75061, 0.08093, -0.65577]], \"simulated_seconds_remaining\": 20.526, \"calls_remaining_including_this\": 46}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.48,
      "z": 0.94,
      "roll": -1,
      "pitch": 0,
      "yaw": 1.57,
      "gripper": 1
    },
    "note": "I use a downward-angled approach to keep the wrist within reach while placing the fingers above and below the bar."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 13, \"instruction\": \"open the table.\", \"joint_positions\": [0.54082, -0.8861, -0.98975, -2.73893, -1.27854, 2.87643, -1.13528], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.47999, -0.11257, 0.9397], \"tcp_roll_pitch_yaw\": [-0.99964, -0.00378, 1.56725], \"tcp_rotation_matrix\": [[-0.09729, 0.60383, 0.79115], [0.9898, 0.14186, 0.01345], [-0.10411, 0.78439, -0.61147]], \"simulated_seconds_remaining\": 18.216, \"calls_remaining_including_this\": 45}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 35, \"motion_seconds\": 2.31, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.58,
      "y": -0.025,
      "z": 1
    },
    "note": "The rotated wrist view clearly separates the dark bar from the silver plate. I move toward the bar’s center, higher and slightly left in world coordinates."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 14, \"instruction\": \"open the table.\", \"joint_positions\": [0.81491, -0.58813, -0.89459, -2.45118, -1.13769, 2.85043, -0.94782], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.57908, -0.02575, 0.99944], \"tcp_roll_pitch_yaw\": [-0.99965, -0.00366, 1.56742], \"tcp_rotation_matrix\": [[-0.09745, 0.6038, 0.79115], [0.98977, 0.14205, 0.0135], [-0.10423, 0.78437, -0.61147]], \"simulated_seconds_remaining\": 16.962, \"calls_remaining_including_this\": 44}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 19, \"motion_seconds\": 1.254, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.63,
      "y": 0.065,
      "z": 0.975
    },
    "note": "The bar is now near the finger gap but its center remains beyond the fingertips. I advance slightly and align along the bar."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 15, \"instruction\": \"open the table.\", \"joint_positions\": [0.88453, -0.28793, -0.86961, -2.31545, -1.13615, 2.96205, -0.70398], \"gripper_open\": 1.0, \"tcp_xyz\": [0.63145, 0.04403, 0.98259], \"tcp_roll_pitch_yaw\": [-1.00824, -0.02066, 1.53361], \"tcp_rotation_matrix\": [[-0.06295, 0.60101, 0.79676], [0.99411, 0.10836, -0.0032], [-0.08826, 0.79186, -0.60429]], \"simulated_seconds_remaining\": 15.972, \"calls_remaining_including_this\": 43}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 15, \"motion_seconds\": 0.99, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.575,
      "y": -0.1,
      "z": 0.975
    },
    "note": "The bar moved above the fingertips and contact limited the lateral motion. I back away and shift the other way to recenter the bar."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 16, \"instruction\": \"open the table.\", \"joint_positions\": [0.79909, -0.59677, -1.04205, -2.47046, -1.16255, 3.01149, -1.03841], \"gripper_open\": 1.0, \"tcp_xyz\": [0.57828, -0.07741, 0.98892], \"tcp_roll_pitch_yaw\": [-1.05832, -0.03782, 1.5865], \"tcp_rotation_matrix\": [[-0.10987, 0.55443, 0.82495], [0.99103, 0.12466, 0.04822], [-0.0761, 0.82284, -0.56315]], \"simulated_seconds_remaining\": 14.652, \"calls_remaining_including_this\": 42}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 20, \"motion_seconds\": 1.32, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The dark bar crosses the open finger gap near its lower end. I close the jaws around the bar at this alignment."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 17, \"instruction\": \"open the table.\", \"joint_positions\": [0.79959, -0.60064, -1.03793, -2.46332, -1.16131, 3.02867, -1.03774], \"gripper_open\": 0.166, \"tcp_xyz\": [0.58036, -0.07504, 0.99907], \"tcp_roll_pitch_yaw\": [-1.08239, -0.04558, 1.59526], \"tcp_rotation_matrix\": [[-0.11581, 0.53365, 0.83774], [0.99076, 0.12203, 0.05923], [-0.07063, 0.83685, -0.54285]], \"simulated_seconds_remaining\": 13.728, \"calls_remaining_including_this\": 41}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.46,
      "gripper": 0
    },
    "note": "The jaws closed partially around the bar, indicating a grasp. I pull outward while maintaining the grasp height."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "Episode ended. Do not call more tools. Return a brief final response."
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

I grasped the table’s drawer handle and pulled outward. The episode ended before I could confirm the final opening.

TURN USAGE
{
  "input_tokens": 315101,
  "cached_input_tokens": 285056,
  "cache_write_input_tokens": 0,
  "output_tokens": 3776,
  "reasoning_output_tokens": 1785
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.02363,
      -0.79756,
      0.05212,
      -2.36527,
      0.12321,
      1.58753,
      -0.08738
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.30575,
      0.05435,
      1.01673
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.98904,
        0.14696,
        0.01394
      ],
      [
        0.14522,
        -0.98558,
        0.0868
      ],
      [
        0.02649,
        -0.08382,
        -0.99613
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 23.220396228134632,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48,
                    "y": 0.1,
                    "z": 0.85,
                    "gripper": 1
                  },
                  "note": "The table has drawers with small horizontal handles. I move down and forward to view the upper drawer handle more clearly."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 29,
    "motion_seconds": 1.9140000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.02726,
      -0.18723,
      0.13788,
      -2.30211,
      0.12964,
      2.14049,
      -0.05247
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.47898,
      0.09973,
      0.85084
    ],
    "tcp_roll_pitch_yaw": [
      -3e-05,
      0.00029,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.98905,
        0.14694,
        0.01365
      ],
      [
        0.14523,
        -0.98559,
        0.08676
      ],
      [
        0.0262,
        -0.08383,
        -0.99614
      ]
    ],
    "simulated_seconds_remaining": 28.116,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 7.212642206810415,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48,
                    "y": 0.1,
                    "z": 0.85,
                    "pitch": -1.57
                  },
                  "note": "The drawer handle is ahead and below the gripper. I turn the fingers forward so they can approach the drawer face horizontally."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 3,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.02726,
      -0.18723,
      0.13788,
      -2.30211,
      0.12964,
      2.14049,
      -0.05247
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.47898,
      0.09973,
      0.85084
    ],
    "tcp_roll_pitch_yaw": [
      -3e-05,
      0.00029,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.98905,
        0.14694,
        0.01365
      ],
      [
        0.14523,
        -0.98559,
        0.08676
      ],
      [
        0.0262,
        -0.08383,
        -0.99614
      ]
    ],
    "simulated_seconds_remaining": 28.116,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 5.20620515011251,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.8,
                    "x": 0.43,
                    "z": 0.9
                  },
                  "note": "The full forward rotation was unreachable. I retract slightly and rotate partway to obtain a reachable approach posture."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.08549,
      -0.76326,
      0.23964,
      -3.01704,
      0.17348,
      3.06983,
      -0.02111
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.43023,
      0.09976,
      0.89959
    ],
    "tcp_roll_pitch_yaw": [
      -0.00022,
      -0.7953,
      0.00015
    ],
    "tcp_rotation_matrix": [
      [
        0.67348,
        0.16273,
        0.72107
      ],
      [
        0.14533,
        -0.98558,
        0.08669
      ],
      [
        0.72478,
        0.04641,
        -0.68742
      ]
    ],
    "simulated_seconds_remaining": 26.73,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 12.411561023443937,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.55,
                    "y": 0.2,
                    "z": 0.85,
                    "pitch": -1.25
                  },
                  "note": "The wrist view shows a drawer pull left of the fingers. I shift toward its center and continue rotating toward the drawer."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 5,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.08549,
      -0.76326,
      0.23964,
      -3.01704,
      0.17348,
      3.06983,
      -0.02111
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.43023,
      0.09976,
      0.89959
    ],
    "tcp_roll_pitch_yaw": [
      -0.00022,
      -0.7953,
      0.00015
    ],
    "tcp_rotation_matrix": [
      [
        0.67348,
        0.16273,
        0.72107
      ],
      [
        0.14533,
        -0.98558,
        0.08669
      ],
      [
        0.72478,
        0.04641,
        -0.68742
      ]
    ],
    "simulated_seconds_remaining": 26.73,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 5.004727333784103,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.55,
                    "y": 0.2,
                    "z": 0.85
                  },
                  "note": "The attempted combined motion required a joint jump. I first translate toward the visible handle while keeping the current reachable orientation."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.77411,
      -0.2833,
      1.18982,
      -2.63096,
      0.10933,
      3.29624,
      0.2102
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.54901,
      0.19918,
      0.85045
    ],
    "tcp_roll_pitch_yaw": [
      -0.00054,
      -0.79539,
      0.00044
    ],
    "tcp_rotation_matrix": [
      [
        0.67341,
        0.16278,
        0.72112
      ],
      [
        0.14553,
        -0.98556,
        0.08657
      ],
      [
        0.7248,
        0.04665,
        -0.68738
      ]
    ],
    "simulated_seconds_remaining": 25.344,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 7.606824685819447,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": -0.05
                  },
                  "note": "The handle moved farther left in the wrist image, so I correct the lateral alignment in the opposite direction."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 30,
    "motion_seconds": 1.98,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.7042,
      -0.28802,
      -0.97746,
      -2.70168,
      -0.59103,
      3.3135,
      0.09062
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.54904,
      -0.04877,
      0.85059
    ],
    "tcp_roll_pitch_yaw": [
      -0.00046,
      -0.79559,
      9e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.6733,
        0.16248,
        0.72129
      ],
      [
        0.14529,
        -0.98561,
        0.0864
      ],
      [
        0.72495,
        0.04663,
        -0.68722
      ]
    ],
    "simulated_seconds_remaining": 23.364,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 19.215438204817474,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": -0.13,
                    "z": 0.82,
                    "x": 0.58
                  },
                  "note": "The silver pull is visible just left of the finger gap. I lower and shift the grasp point to center the fingers around it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      1.26785,
      -0.37571,
      -1.6691,
      -2.58046,
      -0.63744,
      3.35563,
      -0.13579
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.57727,
      -0.1135,
      0.82471
    ],
    "tcp_roll_pitch_yaw": [
      -0.04857,
      -0.83148,
      0.09719
    ],
    "tcp_rotation_matrix": [
      [
        0.63478,
        0.22086,
        0.74046
      ],
      [
        0.20892,
        -0.97165,
        0.11071
      ],
      [
        0.74391,
        0.08442,
        -0.66292
      ]
    ],
    "simulated_seconds_remaining": 22.44,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 4.803906012326479,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The silver drawer pull is now between the fingertips. I close the gripper to secure it before pulling."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      1.26191,
      -0.37576,
      -1.6688,
      -2.59112,
      -0.64061,
      3.37337,
      -0.13457
    ],
    "gripper_open": 0.9999,
    "tcp_xyz": [
      0.57489,
      -0.11255,
      0.82456
    ],
    "tcp_roll_pitch_yaw": [
      -0.04187,
      -0.84076,
      0.09198
    ],
    "tcp_rotation_matrix": [
      [
        0.62825,
        0.21989,
        0.74629
      ],
      [
        0.20478,
        -0.97214,
        0.11405
      ],
      [
        0.75058,
        0.08117,
        -0.65577
      ]
    ],
    "simulated_seconds_remaining": 21.516,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 5.404879353009164,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.47,
                    "gripper": 0
                  },
                  "note": "The fingers are held apart by contact at the pull. I make a short outward pull to check whether the drawer is engaged."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.58343,
      -0.49223,
      -1.20203,
      -2.87099,
      -0.8368,
      3.35983,
      -0.10539
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.47132,
      -0.11257,
      0.82453
    ],
    "tcp_roll_pitch_yaw": [
      -0.0415,
      -0.84074,
      0.09166
    ],
    "tcp_rotation_matrix": [
      [
        0.62828,
        0.21984,
        0.74628
      ],
      [
        0.20456,
        -0.97217,
        0.11417
      ],
      [
        0.75061,
        0.08093,
        -0.65577
      ]
    ],
    "simulated_seconds_remaining": 20.526,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 16.21320150885731,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.45,
                    "z": 0.94,
                    "roll": 1.57,
                    "pitch": 0,
                    "yaw": -1.57,
                    "gripper": 1
                  },
                  "note": "The horizontal bar is higher than the first contact. I raise the hand and orient the jaw opening vertically to pinch the bar."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 11,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.58343,
      -0.49223,
      -1.20203,
      -2.87099,
      -0.8368,
      3.35983,
      -0.10539
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.47132,
      -0.11257,
      0.82453
    ],
    "tcp_roll_pitch_yaw": [
      -0.0415,
      -0.84074,
      0.09166
    ],
    "tcp_rotation_matrix": [
      [
        0.62828,
        0.21984,
        0.74628
      ],
      [
        0.20456,
        -0.97217,
        0.11417
      ],
      [
        0.75061,
        0.08093,
        -0.65577
      ]
    ],
    "simulated_seconds_remaining": 20.526,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 6.204928781837225,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.45,
                    "z": 0.94,
                    "roll": -1.57,
                    "pitch": 0,
                    "yaw": 1.57,
                    "gripper": 1
                  },
                  "note": "The first vertical-jaw orientation was unreachable. I try the equivalent opposite wrist orientation while staying clear of the drawer."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 12,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.58343,
      -0.49223,
      -1.20203,
      -2.87099,
      -0.8368,
      3.35983,
      -0.10539
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.47132,
      -0.11257,
      0.82453
    ],
    "tcp_roll_pitch_yaw": [
      -0.0415,
      -0.84074,
      0.09166
    ],
    "tcp_rotation_matrix": [
      [
        0.62828,
        0.21984,
        0.74628
      ],
      [
        0.20456,
        -0.97217,
        0.11417
      ],
      [
        0.75061,
        0.08093,
        -0.65577
      ]
    ],
    "simulated_seconds_remaining": 20.526,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 6.806314370594919,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48,
                    "z": 0.94,
                    "roll": -1,
                    "pitch": 0,
                    "yaw": 1.57,
                    "gripper": 1
                  },
                  "note": "I use a downward-angled approach to keep the wrist within reach while placing the fingers above and below the bar."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 35,
    "motion_seconds": 2.31,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.54082,
      -0.8861,
      -0.98975,
      -2.73893,
      -1.27854,
      2.87643,
      -1.13528
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.47999,
      -0.11257,
      0.9397
    ],
    "tcp_roll_pitch_yaw": [
      -0.99964,
      -0.00378,
      1.56725
    ],
    "tcp_rotation_matrix": [
      [
        -0.09729,
        0.60383,
        0.79115
      ],
      [
        0.9898,
        0.14186,
        0.01345
      ],
      [
        -0.10411,
        0.78439,
        -0.61147
      ]
    ],
    "simulated_seconds_remaining": 18.216,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 15.611899252049625,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.58,
                    "y": -0.025,
                    "z": 1
                  },
                  "note": "The rotated wrist view clearly separates the dark bar from the silver plate. I move toward the bar’s center, higher and slightly left in world coordinates."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.81491,
      -0.58813,
      -0.89459,
      -2.45118,
      -1.13769,
      2.85043,
      -0.94782
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.57908,
      -0.02575,
      0.99944
    ],
    "tcp_roll_pitch_yaw": [
      -0.99965,
      -0.00366,
      1.56742
    ],
    "tcp_rotation_matrix": [
      [
        -0.09745,
        0.6038,
        0.79115
      ],
      [
        0.98977,
        0.14205,
        0.0135
      ],
      [
        -0.10423,
        0.78437,
        -0.61147
      ]
    ],
    "simulated_seconds_remaining": 16.962,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 8.00648786406964,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.63,
                    "y": 0.065,
                    "z": 0.975
                  },
                  "note": "The bar is now near the finger gap but its center remains beyond the fingertips. I advance slightly and align along the bar."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.88453,
      -0.28793,
      -0.86961,
      -2.31545,
      -1.13615,
      2.96205,
      -0.70398
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.63145,
      0.04403,
      0.98259
    ],
    "tcp_roll_pitch_yaw": [
      -1.00824,
      -0.02066,
      1.53361
    ],
    "tcp_rotation_matrix": [
      [
        -0.06295,
        0.60101,
        0.79676
      ],
      [
        0.99411,
        0.10836,
        -0.0032
      ],
      [
        -0.08826,
        0.79186,
        -0.60429
      ]
    ],
    "simulated_seconds_remaining": 15.972,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 15.816458084620535,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.575,
                    "y": -0.1,
                    "z": 0.975
                  },
                  "note": "The bar moved above the fingertips and contact limited the lateral motion. I back away and shift the other way to recenter the bar."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.79909,
      -0.59677,
      -1.04205,
      -2.47046,
      -1.16255,
      3.01149,
      -1.03841
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.57828,
      -0.07741,
      0.98892
    ],
    "tcp_roll_pitch_yaw": [
      -1.05832,
      -0.03782,
      1.5865
    ],
    "tcp_rotation_matrix": [
      [
        -0.10987,
        0.55443,
        0.82495
      ],
      [
        0.99103,
        0.12466,
        0.04822
      ],
      [
        -0.0761,
        0.82284,
        -0.56315
      ]
    ],
    "simulated_seconds_remaining": 14.652,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 6.4061318654567,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The dark bar crosses the open finger gap near its lower end. I close the jaws around the bar at this alignment."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.79959,
      -0.60064,
      -1.03793,
      -2.46332,
      -1.16131,
      3.02867,
      -1.03774
    ],
    "gripper_open": 0.166,
    "tcp_xyz": [
      0.58036,
      -0.07504,
      0.99907
    ],
    "tcp_roll_pitch_yaw": [
      -1.08239,
      -0.04558,
      1.59526
    ],
    "tcp_rotation_matrix": [
      [
        -0.11581,
        0.53365,
        0.83774
      ],
      [
        0.99076,
        0.12203,
        0.05923
      ],
      [
        -0.07063,
        0.83685,
        -0.54285
      ]
    ],
    "simulated_seconds_remaining": 13.728,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 5.805663496255875,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.46,
                    "gripper": 0
                  },
                  "note": "The jaws closed partially around the bar, indicating a grasp. I pull outward while maintaining the grasp height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

========================================================================
GPT-Astra / Open / Episode 029

Completed scored attempt. Images are available in the paired videos.

Opaque provider signatures, image payloads, and local paths are omitted.


RESULT
{
  "benchmark_index": 29,
  "source_episode_index": 710,
  "house_index": 413,
  "status": "completed",
  "success": false,
  "oracle_success": false,
  "action_decisions": 29,
  "wall_seconds": 302.1,
  "usage": {
    "input_tokens": 598803,
    "cached_input_tokens": 575232,
    "cache_write_input_tokens": 0,
    "output_tokens": 5464,
    "reasoning_output_tokens": 2285
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task.
You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose.
Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion.
move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up.
roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial.
Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5).
The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y.
The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics.
Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration.
Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target.
You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time.
Each move must include a short note describing what you observe and why you chose that motion.
Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done.
Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available.



AGENT TRANSCRIPT (visible messages and completed tool calls)

I’ll inspect the scene and use fresh camera feedback to guide the opening motion.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"open the door.\", \"joint_positions\": [-0.00588, -0.8033, 0.03688, -2.30619, -0.0173, 1.47146, -0.05885], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.28712, 0.00426, 1.03554], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.99653, 0.07729, -0.0309], [0.07588, -0.99613, -0.04434], [-0.03421, 0.04184, -0.99854]], \"simulated_seconds_remaining\": 30.03, \"calls_remaining_including_this\": 57}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "x": 0.55,
    "y": 0.05,
    "z": 1.35,
    "gripper": 1,
    "note": "The glass door has a slim vertical silver handle above the current gripper. I move upward and forward to approach it and improve the wrist view."
  },
  "result": null,
  "error": {
    "message": "tool call error: tool call failed for `robot/move_to`\n\nCaused by:\n    Mcp error: -32602: Unexpected argument"
  },
  "status": "failed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.55,
      "y": 0.05,
      "z": 1.35,
      "gripper": 1
    },
    "note": "The glass door has a slim vertical silver handle above the current gripper. I move upward and forward to approach it and improve the wrist view."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"open the door.\", \"joint_positions\": [-0.00588, -0.8033, 0.03688, -2.30619, -0.0173, 1.47146, -0.05885], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.28712, 0.00426, 1.03554], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.99653, 0.07729, -0.0309], [0.07588, -0.99613, -0.04434], [-0.03421, 0.04184, -0.99854]], \"simulated_seconds_remaining\": 30.03, \"calls_remaining_including_this\": 56}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"Target outside robot workspace bounds (+/-1.2 m)\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.55,
      "y": 0.05,
      "z": 1.18,
      "gripper": 1
    },
    "note": "The first target exceeded the workspace height limit. I approach the visible door handle at a reachable height."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"open the door.\", \"joint_positions\": [-0.00588, -0.8033, 0.03688, -2.30619, -0.0173, 1.47146, -0.05885], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.28712, 0.00426, 1.03554], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.99653, 0.07729, -0.0309], [0.07588, -0.99613, -0.04434], [-0.03421, 0.04184, -0.99854]], \"simulated_seconds_remaining\": 30.03, \"calls_remaining_including_this\": 55}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK requires a large joint jump; split the motion or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.38,
      "y": 0.03,
      "z": 1.12,
      "pitch": 0.5
    },
    "note": "I split the approach into a smaller motion and begin tilting the fingers toward the door instead of pointing down."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"open the door.\", \"joint_positions\": [-0.00298, -0.04802, 0.07965, -1.37309, -0.00421, 0.70427, -0.00968], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.33792, 0.02581, 1.14163], \"tcp_roll_pitch_yaw\": [-0.01241, 0.58753, -0.01107], \"tcp_rotation_matrix\": [[0.81073, 0.08334, -0.57946], [0.06648, -0.99652, -0.05032], [-0.58163, 0.00227, -0.81345]], \"simulated_seconds_remaining\": 28.908, \"calls_remaining_including_this\": 54}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 17, \"motion_seconds\": 1.122, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.4,
      "y": 0.03,
      "z": 1.08,
      "pitch": -0.3
    },
    "note": "The wrist view shows the fingers tilted away from the glass. I reverse that tilt and lower slightly toward the silver handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"open the door.\", \"joint_positions\": [0.00596, -0.67101, 0.08257, -2.19734, -0.02907, 1.78616, 0.02286], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.39959, 0.02998, 1.08025], \"tcp_roll_pitch_yaw\": [-0.01249, -0.29516, -0.01107], \"tcp_rotation_matrix\": [[0.96444, 0.04713, 0.26008], [0.06478, -0.99611, -0.05969], [0.25625, 0.07442, -0.96374]], \"simulated_seconds_remaining\": 27.456, \"calls_remaining_including_this\": 53}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 22, \"motion_seconds\": 1.452, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "pitch": -1.3,
      "z": 1.02
    },
    "note": "The handle is visible beside the glass in the wrist image. I turn the gripper forward to approach its vertical bar horizontally."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"open the door.\", \"joint_positions\": [0.00596, -0.67101, 0.08257, -2.19734, -0.02907, 1.78616, 0.02286], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.39959, 0.02998, 1.08025], \"tcp_roll_pitch_yaw\": [-0.01249, -0.29516, -0.01107], \"tcp_rotation_matrix\": [[0.96444, 0.04713, 0.26008], [0.06478, -0.99611, -0.05969], [0.25625, 0.07442, -0.96374]], \"simulated_seconds_remaining\": 27.456, \"calls_remaining_including_this\": 52}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.45,
      "z": 0.96,
      "pitch": -0.8
    },
    "note": "The full horizontal orientation was unreachable here. I lower and advance with an intermediate tilt toward the handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"open the door.\", \"joint_positions\": [-0.04108, -0.81925, 0.14277, -2.85097, -0.08299, 2.7919, 0.12333], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.44966, 0.02992, 0.96042], \"tcp_roll_pitch_yaw\": [-0.01279, -0.79578, -0.01109], \"tcp_rotation_matrix\": [[0.72322, 0.00405, 0.69061], [0.06742, -0.99562, -0.06477], [0.68732, 0.09341, -0.72032]], \"simulated_seconds_remaining\": 26.268, \"calls_remaining_including_this\": 51}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 18, \"motion_seconds\": 1.1880000000000002, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.51,
      "y": 0.09,
      "z": 1.035,
      "pitch": -0.6
    },
    "note": "The exterior view places the fingers below and slightly right of the vertical pull. I raise and shift toward the pull while keeping the jaws open."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"open the door.\", \"joint_positions\": [-0.04337, -0.53711, 0.23682, -2.34806, -0.06722, 2.37183, 0.18238], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.50952, 0.0895, 1.03442], \"tcp_roll_pitch_yaw\": [-0.01277, -0.60196, -0.01103], \"tcp_rotation_matrix\": [[0.84206, 0.02183, 0.53893], [0.06616, -0.99582, -0.06303], [0.5353, 0.08873, -0.83999]], \"simulated_seconds_remaining\": 25.212, \"calls_remaining_including_this\": 50}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 16, \"motion_seconds\": 1.056, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "y": 0.005,
      "z": 1.055
    },
    "note": "The fingers are now left of the handle in the exterior image. I correct sideways and slightly upward to center on the vertical bar."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"open the door.\", \"joint_positions\": [-0.05607, -0.56268, 0.08028, -2.33468, -0.04668, 2.34154, -0.00044], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.50954, 0.00622, 1.05471], \"tcp_roll_pitch_yaw\": [-0.01264, -0.60202, -0.01135], \"tcp_rotation_matrix\": [[0.84205, 0.02158, 0.53897], [0.0659, -0.99583, -0.06308], [0.53536, 0.08863, -0.83996]], \"simulated_seconds_remaining\": 24.354, \"calls_remaining_including_this\": 49}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 13, \"motion_seconds\": 0.8580000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The exterior view shows the open fingers aligned with the silver pull. I close the jaws to test engagement."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"open the door.\", \"joint_positions\": [-0.05607, -0.56268, 0.08028, -2.33468, -0.04668, 2.34154, -0.00044], \"gripper_open\": 0.0, \"tcp_xyz\": [0.50954, 0.0062, 1.05472], \"tcp_roll_pitch_yaw\": [-0.01264, -0.60201, -0.01134], \"tcp_rotation_matrix\": [[0.84205, 0.02158, 0.53897], [0.0659, -0.99583, -0.06308], [0.53536, 0.08863, -0.83996]], \"simulated_seconds_remaining\": 23.43, \"calls_remaining_including_this\": 48}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.6,
      "gripper": 1
    },
    "note": "The jaws closed fully, suggesting the handle was outside the grasp. I reopen and advance a short distance toward the glass."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 11, \"instruction\": \"open the door.\", \"joint_positions\": [-0.07631, -0.2953, 0.09448, -2.08995, -0.07352, 2.11392, 0.01454], \"gripper_open\": 1.0, \"tcp_xyz\": [0.54581, -0.00268, 1.01352], \"tcp_roll_pitch_yaw\": [-0.03039, -0.35445, -0.03099], \"tcp_rotation_matrix\": [[0.94911, 0.01663, 0.31449], [0.04543, -0.99539, -0.08445], [0.31164, 0.09444, -0.9455]], \"simulated_seconds_remaining\": 22.506, \"calls_remaining_including_this\": 47}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.51,
      "y": -0.08,
      "z": 1.055,
      "pitch": -0.35
    },
    "note": "The advance was obstructed and the fingers remain left of the pull. I shift right along the door to place the handle between the jaws."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 12, \"instruction\": \"open the door.\", \"joint_positions\": [-0.11718, -0.38268, -0.0153, -2.06912, -0.0535, 2.01086, -0.14927], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.5105, -0.07903, 1.0545], \"tcp_roll_pitch_yaw\": [-0.03036, -0.35024, -0.03123], \"tcp_rotation_matrix\": [[0.95043, 0.01679, 0.3105], [0.04515, -0.99541, -0.08437], [0.30766, 0.09421, -0.94682]], \"simulated_seconds_remaining\": 21.582, \"calls_remaining_including_this\": 46}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The fingers now bracket the visible pull in the exterior view. I close them at this corrected position."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 13, \"instruction\": \"open the door.\", \"joint_positions\": [-0.11718, -0.38268, -0.0153, -2.06912, -0.0535, 2.01086, -0.14927], \"gripper_open\": 0.0, \"tcp_xyz\": [0.5105, -0.07903, 1.05451], \"tcp_roll_pitch_yaw\": [-0.03036, -0.35024, -0.03123], \"tcp_rotation_matrix\": [[0.95043, 0.0168, 0.3105], [0.04516, -0.99541, -0.08437], [0.30765, 0.09421, -0.94682]], \"simulated_seconds_remaining\": 20.658, \"calls_remaining_including_this\": 45}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.56,
      "y": -0.08,
      "z": 0.98,
      "gripper": 1
    },
    "note": "The jaws again closed empty. I move lower and slightly deeper so the grasp point reaches the body of the vertical handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 14, \"instruction\": \"open the door.\", \"joint_positions\": [-0.11554, -0.23326, -0.01003, -2.11368, -0.05847, 2.2039, -0.13061], \"gripper_open\": 0.9965, \"tcp_xyz\": [0.55928, -0.07998, 0.98089], \"tcp_roll_pitch_yaw\": [-0.03034, -0.34989, -0.03123], \"tcp_rotation_matrix\": [[0.95053, 0.01684, 0.31017], [0.04515, -0.99541, -0.08434], [0.30733, 0.09417, -0.94693]], \"simulated_seconds_remaining\": 19.734, \"calls_remaining_including_this\": 44}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "y": -0.14,
      "z": 1.015
    },
    "note": "The lower approach puts the fingertips beside the bottom of the pull. I shift right and lift slightly to center the jaws on it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 15, \"instruction\": \"open the door.\", \"joint_positions\": [-0.15076, -0.2071, -0.08175, -2.00147, -0.03182, 2.1221, -0.25291], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.55928, -0.13893, 1.01438], \"tcp_roll_pitch_yaw\": [-0.03032, -0.35003, -0.03151], \"tcp_rotation_matrix\": [[0.9505, 0.01655, 0.31028], [0.04489, -0.99542, -0.08441], [0.30746, 0.09416, -0.94689]], \"simulated_seconds_remaining\": 19.008, \"calls_remaining_including_this\": 43}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 11, \"motion_seconds\": 0.726, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

The projected alignment has produced empty grasps. I’m changing the viewing angle to resolve the handle’s depth before trying again.


{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.45,
      "y": 0,
      "z": 1,
      "roll": 1.25,
      "pitch": 0,
      "yaw": 0
    },
    "note": "The handle depth is still ambiguous and both grasps were empty. I rotate toward the glass for a more direct wrist view."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 16, \"instruction\": \"open the door.\", \"joint_positions\": [-0.14738, -0.05385, -0.37595, -2.06282, 0.95939, 1.28372, -0.69997], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.45034, -0.00045, 0.99985], \"tcp_roll_pitch_yaw\": [1.24565, -0.00054, -0.00081], \"tcp_rotation_matrix\": [[0.99654, 0.0775, -0.02995], [0.05585, -0.35792, 0.93208], [0.06152, -0.93053, -0.36101]], \"simulated_seconds_remaining\": 16.962, \"calls_remaining_including_this\": 42}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 31, \"motion_seconds\": 2.0460000000000003, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.5,
      "y": 0.09,
      "z": 1.055,
      "roll": 1.55
    },
    "note": "The wrist view now reveals the silver handle immediately right of the jaws. I approach the glass and raise the grasp toward that bar."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 17, \"instruction\": \"open the door.\", \"joint_positions\": [-0.07304, 0.01781, -0.30608, -2.04743, 1.31071, 1.24509, -0.62758], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.49954, 0.08932, 1.05445], \"tcp_roll_pitch_yaw\": [1.54721, -0.00047, -0.00053], \"tcp_rotation_matrix\": [[0.99651, 0.07772, -0.03034], [0.03546, -0.06537, 0.99723], [0.07553, -0.99483, -0.06789]], \"simulated_seconds_remaining\": 15.906, \"calls_remaining_including_this\": 41}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 16, \"motion_seconds\": 1.056, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.57,
      "z": 0.98
    },
    "note": "The silver bar lies below and to the right of the grasp center in the wrist image. I lower and move forward along the door to center it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 18, \"instruction\": \"open the door.\", \"joint_positions\": [-0.17227, 0.2468, -0.30821, -1.85767, 1.36829, 0.77584, -0.72022], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.46711, 0.04743, 1.08212], \"tcp_roll_pitch_yaw\": [1.80174, -0.07315, 0.25945], \"tcp_rotation_matrix\": [[0.95074, 0.09563, -0.29486], [0.26884, 0.21915, 0.93792], [0.15431, -0.97099, 0.18265]], \"simulated_seconds_remaining\": 14.916, \"calls_remaining_including_this\": 40}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 15, \"motion_seconds\": 0.99, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.46,
      "y": 0.13,
      "z": 1.09,
      "roll": 1.55,
      "pitch": 0,
      "yaw": 0,
      "gripper": 0
    },
    "note": "Contact deflected the last approach. The exterior view places the pull just ahead of the fingers, so I make a short controlled reach and close around it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 19, \"instruction\": \"open the door.\", \"joint_positions\": [-0.0711, -0.16724, -0.23574, -2.17854, 1.32855, 1.31236, -0.55683], \"gripper_open\": 0.0, \"tcp_xyz\": [0.45996, 0.12942, 1.09011], \"tcp_roll_pitch_yaw\": [1.55242, -0.00062, 0.003], \"tcp_rotation_matrix\": [[0.99637, 0.07809, -0.03385], [0.03858, -0.0599, 0.99746], [0.07586, -0.99515, -0.0627]], \"simulated_seconds_remaining\": 13.992, \"calls_remaining_including_this\": 39}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "z": 1.14,
      "gripper": 1
    },
    "note": "The wrist image shows the handle immediately beside the closed fingertips. I reopen and adjust upward to straddle the bar."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 20, \"instruction\": \"open the door.\", \"joint_positions\": [-0.06914, -0.20128, -0.23452, -2.10882, 1.3511, 1.29573, -0.45161], \"gripper_open\": 0.9965, \"tcp_xyz\": [0.45995, 0.12942, 1.13897], \"tcp_roll_pitch_yaw\": [1.55241, -0.00077, 0.00299], \"tcp_rotation_matrix\": [[0.99636, 0.07823, -0.03383], [0.03857, -0.05991, 0.99746], [0.07601, -0.99513, -0.06271]], \"simulated_seconds_remaining\": 13.068, \"calls_remaining_including_this\": 38}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.5,
      "y": 0.04,
      "z": 1.02
    },
    "note": "The visible pull spans the jaw opening, but the approach is too close to the glass. I back away slightly and align with its middle before advancing."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 21, \"instruction\": \"open the door.\", \"joint_positions\": [-0.15191, 0.12162, -0.32985, -1.99874, 1.26231, 1.15399, -0.71153], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.49968, 0.04073, 1.02093], \"tcp_roll_pitch_yaw\": [1.55243, -0.00049, 0.00284], \"tcp_rotation_matrix\": [[0.99639, 0.07795, -0.0337], [0.03842, -0.05991, 0.99746], [0.07573, -0.99516, -0.06269]], \"simulated_seconds_remaining\": 11.748, \"calls_remaining_including_this\": 37}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 20, \"motion_seconds\": 1.32, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.43,
      "y": 0.15
    },
    "note": "The wrist view places the handle just beyond the fingertip gap. I shift the grasp back along the bar’s depth and advance toward it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 22, \"instruction\": \"open the door.\", \"joint_positions\": [-0.05464, -0.19375, -0.22372, -2.36198, 1.3063, 1.3785, -0.70693], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.43066, 0.14899, 1.02098], \"tcp_roll_pitch_yaw\": [1.55247, -0.00055, 0.00307], \"tcp_rotation_matrix\": [[0.99637, 0.07802, -0.03393], [0.03865, -0.05985, 0.99746], [0.07579, -0.99515, -0.06265]], \"simulated_seconds_remaining\": 10.56, \"calls_remaining_including_this\": 36}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 18, \"motion_seconds\": 1.1880000000000002, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The silver pull now crosses the fingertip gap in the wrist view. I close the jaws around it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 23, \"instruction\": \"open the door.\", \"joint_positions\": [-0.05464, -0.19375, -0.22372, -2.36198, 1.3063, 1.3785, -0.70693], \"gripper_open\": 0.0, \"tcp_xyz\": [0.43065, 0.149, 1.02097], \"tcp_roll_pitch_yaw\": [1.55247, -0.00054, 0.00307], \"tcp_rotation_matrix\": [[0.99637, 0.07802, -0.03392], [0.03865, -0.05986, 0.99746], [0.07579, -0.99515, -0.06265]], \"simulated_seconds_remaining\": 9.636, \"calls_remaining_including_this\": 35}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.43,
      "y": 0.15,
      "z": 1.12,
      "pitch": 1.3,
      "gripper": 1
    },
    "note": "The jaws are closing along the vertical pull rather than across it. I rotate the open jaws across the bar and raise to the visible handle center."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 24, \"instruction\": \"open the door.\", \"joint_positions\": [-0.07142, -0.24783, -0.21062, -2.2429, 1.38754, 1.2715, 0.77239], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.43, 0.14999, 1.1197], \"tcp_roll_pitch_yaw\": [1.55254, 1.29519, 0.0031], \"tcp_rotation_matrix\": [[0.34348, -0.93642, -0.0717], [0.03665, -0.06293, 0.99734], [-0.93845, -0.34519, 0.01271]], \"simulated_seconds_remaining\": 7.59, \"calls_remaining_including_this\": 34}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 31, \"motion_seconds\": 2.0460000000000003, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "y": 0.3
    },
    "note": "The jaws now face across the vertical handle, and the wrist view shows it still ahead. I advance toward the pull with the jaws open."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 25, \"instruction\": \"open the door.\", \"joint_positions\": [0.05728, -0.30504, -0.13614, -2.30364, 1.48866, 1.46685, 0.78403], \"gripper_open\": 1.0, \"tcp_xyz\": [0.43148, 0.2299, 1.11947], \"tcp_roll_pitch_yaw\": [1.54186, 1.29217, -0.02293], \"tcp_rotation_matrix\": [[0.3468, -0.93626, -0.05602], [0.02844, -0.0492, 0.99838], [-0.93751, -0.34783, 0.00957]], \"simulated_seconds_remaining\": 6.27, \"calls_remaining_including_this\": 33}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 20, \"motion_seconds\": 1.32, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.34,
      "y": 0.2,
      "z": 1.04
    },
    "note": "The approach met the door plane. The pull is right and below the jaw center in the wrist view, so I shift along the glass to it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 26, \"instruction\": \"open the door.\", \"joint_positions\": [-0.00585, -0.49869, -0.19121, -2.64559, 1.37581, 1.42339, 0.62901], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.34099, 0.20029, 1.04083], \"tcp_roll_pitch_yaw\": [1.54186, 1.29227, -0.02299], \"tcp_rotation_matrix\": [[0.34671, -0.9363, -0.05595], [0.02843, -0.04914, 0.99839], [-0.93754, -0.34774, 0.00958]], \"simulated_seconds_remaining\": 5.148, \"calls_remaining_including_this\": 32}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 17, \"motion_seconds\": 1.122, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.52,
      "z": 1.12,
      "y": 0.18
    },
    "note": "The handle moved farther from the wrist center after that correction. I reverse the shift and align with the exterior pull."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 27, \"instruction\": \"open the door.\", \"joint_positions\": [0.00969, -0.02725, -0.23855, -2.00151, 1.23187, 1.10695, 0.79492], \"gripper_open\": 0.9915, \"tcp_xyz\": [0.43656, 0.16222, 1.08904], \"tcp_roll_pitch_yaw\": [1.03643, 1.34558, -0.24253], \"tcp_rotation_matrix\": [[0.27768, -0.90472, -0.32306], [0.00144, -0.33589, 0.9419], [-0.96067, -0.26202, -0.09197]], \"simulated_seconds_remaining\": 3.564, \"calls_remaining_including_this\": 31}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 24, \"motion_seconds\": 1.584, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The fingers have contacted the handle region. I close at this contact position before testing a short pull."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 28, \"instruction\": \"open the door.\", \"joint_positions\": [0.00969, -0.02725, -0.23855, -2.00151, 1.23187, 1.10695, 0.79492], \"gripper_open\": 0.0, \"tcp_xyz\": [0.43656, 0.16221, 1.08904], \"tcp_roll_pitch_yaw\": [1.03632, 1.3456, -0.24259], \"tcp_rotation_matrix\": [[0.27767, -0.90471, -0.3231], [0.00143, -0.33594, 0.94188], [-0.96068, -0.26199, -0.09198]], \"simulated_seconds_remaining\": 2.64, \"calls_remaining_including_this\": 30}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "y": -0.05
    },
    "note": "I test the grasp by pulling away from the glass while watching whether the door follows."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 29, \"instruction\": \"open the door.\", \"joint_positions\": [-0.24704, 0.27484, -0.42585, -1.6136, 1.11752, 0.66423, 0.6768], \"gripper_open\": 0.0, \"tcp_xyz\": [0.4366, -0.04875, 1.089], \"tcp_roll_pitch_yaw\": [1.03609, 1.34564, -0.24313], \"tcp_rotation_matrix\": [[0.27762, -0.90483, -0.3228], [0.0013, -0.33566, 0.94198], [-0.96069, -0.26193, -0.092]], \"simulated_seconds_remaining\": 0.924, \"calls_remaining_including_this\": 29}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 26, \"motion_seconds\": 1.7160000000000002, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "give_up",
  "arguments": {
    "note": "I could not establish a secure handle grasp. The door did not follow the test pull, and too little motion time remains to retry."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "Episode ended. Do not call more tools. Return a brief final response."
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

I couldn’t secure the handle, so the door remains closed. The episode has ended.

TURN USAGE
{
  "input_tokens": 598803,
  "cached_input_tokens": 575232,
  "cache_write_input_tokens": 0,
  "output_tokens": 5464,
  "reasoning_output_tokens": 2285
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -0.00588,
      -0.8033,
      0.03688,
      -2.30619,
      -0.0173,
      1.47146,
      -0.05885
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.28712,
      0.00426,
      1.03554
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99653,
        0.07729,
        -0.0309
      ],
      [
        0.07588,
        -0.99613,
        -0.04434
      ],
      [
        -0.03421,
        0.04184,
        -0.99854
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 27.221941513940692,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.55,
                    "y": 0.05,
                    "z": 1.35,
                    "gripper": 1
                  },
                  "note": "The glass door has a slim vertical silver handle above the current gripper. I move upward and forward to approach it and improve the wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "Target outside robot workspace bounds (+/-1.2 m)",
    "movement_executed": false
  }
}

{
  "call": 2,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -0.00588,
      -0.8033,
      0.03688,
      -2.30619,
      -0.0173,
      1.47146,
      -0.05885
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.28712,
      0.00426,
      1.03554
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99653,
        0.07729,
        -0.0309
      ],
      [
        0.07588,
        -0.99613,
        -0.04434
      ],
      [
        -0.03421,
        0.04184,
        -0.99854
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 5.805861700326204,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.55,
                    "y": 0.05,
                    "z": 1.18,
                    "gripper": 1
                  },
                  "note": "The first target exceeded the workspace height limit. I approach the visible door handle at a reachable height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 3,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -0.00588,
      -0.8033,
      0.03688,
      -2.30619,
      -0.0173,
      1.47146,
      -0.05885
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.28712,
      0.00426,
      1.03554
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99653,
        0.07729,
        -0.0309
      ],
      [
        0.07588,
        -0.99613,
        -0.04434
      ],
      [
        -0.03421,
        0.04184,
        -0.99854
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 4.804548659361899,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.38,
                    "y": 0.03,
                    "z": 1.12,
                    "pitch": 0.5
                  },
                  "note": "I split the approach into a smaller motion and begin tilting the fingers toward the door instead of pointing down."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -0.00298,
      -0.04802,
      0.07965,
      -1.37309,
      -0.00421,
      0.70427,
      -0.00968
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.33792,
      0.02581,
      1.14163
    ],
    "tcp_roll_pitch_yaw": [
      -0.01241,
      0.58753,
      -0.01107
    ],
    "tcp_rotation_matrix": [
      [
        0.81073,
        0.08334,
        -0.57946
      ],
      [
        0.06648,
        -0.99652,
        -0.05032
      ],
      [
        -0.58163,
        0.00227,
        -0.81345
      ]
    ],
    "simulated_seconds_remaining": 28.908,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 9.208300182595849,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "y": 0.03,
                    "z": 1.08,
                    "pitch": -0.3
                  },
                  "note": "The wrist view shows the fingers tilted away from the glass. I reverse that tilt and lower slightly toward the silver handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 22,
    "motion_seconds": 1.452,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      0.00596,
      -0.67101,
      0.08257,
      -2.19734,
      -0.02907,
      1.78616,
      0.02286
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.39959,
      0.02998,
      1.08025
    ],
    "tcp_roll_pitch_yaw": [
      -0.01249,
      -0.29516,
      -0.01107
    ],
    "tcp_rotation_matrix": [
      [
        0.96444,
        0.04713,
        0.26008
      ],
      [
        0.06478,
        -0.99611,
        -0.05969
      ],
      [
        0.25625,
        0.07442,
        -0.96374
      ]
    ],
    "simulated_seconds_remaining": 27.456,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 6.005105081945658,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.3,
                    "z": 1.02
                  },
                  "note": "The handle is visible beside the glass in the wrist image. I turn the gripper forward to approach its vertical bar horizontally."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 6,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      0.00596,
      -0.67101,
      0.08257,
      -2.19734,
      -0.02907,
      1.78616,
      0.02286
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.39959,
      0.02998,
      1.08025
    ],
    "tcp_roll_pitch_yaw": [
      -0.01249,
      -0.29516,
      -0.01107
    ],
    "tcp_rotation_matrix": [
      [
        0.96444,
        0.04713,
        0.26008
      ],
      [
        0.06478,
        -0.99611,
        -0.05969
      ],
      [
        0.25625,
        0.07442,
        -0.96374
      ]
    ],
    "simulated_seconds_remaining": 27.456,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 4.6043370347470045,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.45,
                    "z": 0.96,
                    "pitch": -0.8
                  },
                  "note": "The full horizontal orientation was unreachable here. I lower and advance with an intermediate tilt toward the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -0.04108,
      -0.81925,
      0.14277,
      -2.85097,
      -0.08299,
      2.7919,
      0.12333
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44966,
      0.02992,
      0.96042
    ],
    "tcp_roll_pitch_yaw": [
      -0.01279,
      -0.79578,
      -0.01109
    ],
    "tcp_rotation_matrix": [
      [
        0.72322,
        0.00405,
        0.69061
      ],
      [
        0.06742,
        -0.99562,
        -0.06477
      ],
      [
        0.68732,
        0.09341,
        -0.72032
      ]
    ],
    "simulated_seconds_remaining": 26.268,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 8.60751451458782,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.51,
                    "y": 0.09,
                    "z": 1.035,
                    "pitch": -0.6
                  },
                  "note": "The exterior view places the fingers below and slightly right of the vertical pull. I raise and shift toward the pull while keeping the jaws open."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -0.04337,
      -0.53711,
      0.23682,
      -2.34806,
      -0.06722,
      2.37183,
      0.18238
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.50952,
      0.0895,
      1.03442
    ],
    "tcp_roll_pitch_yaw": [
      -0.01277,
      -0.60196,
      -0.01103
    ],
    "tcp_rotation_matrix": [
      [
        0.84206,
        0.02183,
        0.53893
      ],
      [
        0.06616,
        -0.99582,
        -0.06303
      ],
      [
        0.5353,
        0.08873,
        -0.83999
      ]
    ],
    "simulated_seconds_remaining": 25.212,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 10.007956069894135,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.005,
                    "z": 1.055
                  },
                  "note": "The fingers are now left of the handle in the exterior image. I correct sideways and slightly upward to center on the vertical bar."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -0.05607,
      -0.56268,
      0.08028,
      -2.33468,
      -0.04668,
      2.34154,
      -0.00044
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.50954,
      0.00622,
      1.05471
    ],
    "tcp_roll_pitch_yaw": [
      -0.01264,
      -0.60202,
      -0.01135
    ],
    "tcp_rotation_matrix": [
      [
        0.84205,
        0.02158,
        0.53897
      ],
      [
        0.0659,
        -0.99583,
        -0.06308
      ],
      [
        0.53536,
        0.08863,
        -0.83996
      ]
    ],
    "simulated_seconds_remaining": 24.354,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 5.604684273712337,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The exterior view shows the open fingers aligned with the silver pull. I close the jaws to test engagement."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -0.05607,
      -0.56268,
      0.08028,
      -2.33468,
      -0.04668,
      2.34154,
      -0.00044
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.50954,
      0.0062,
      1.05472
    ],
    "tcp_roll_pitch_yaw": [
      -0.01264,
      -0.60201,
      -0.01134
    ],
    "tcp_rotation_matrix": [
      [
        0.84205,
        0.02158,
        0.53897
      ],
      [
        0.0659,
        -0.99583,
        -0.06308
      ],
      [
        0.53536,
        0.08863,
        -0.83996
      ]
    ],
    "simulated_seconds_remaining": 23.43,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 6.005482994019985,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.6,
                    "gripper": 1
                  },
                  "note": "The jaws closed fully, suggesting the handle was outside the grasp. I reopen and advance a short distance toward the glass."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -0.07631,
      -0.2953,
      0.09448,
      -2.08995,
      -0.07352,
      2.11392,
      0.01454
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.54581,
      -0.00268,
      1.01352
    ],
    "tcp_roll_pitch_yaw": [
      -0.03039,
      -0.35445,
      -0.03099
    ],
    "tcp_rotation_matrix": [
      [
        0.94911,
        0.01663,
        0.31449
      ],
      [
        0.04543,
        -0.99539,
        -0.08445
      ],
      [
        0.31164,
        0.09444,
        -0.9455
      ]
    ],
    "simulated_seconds_remaining": 22.506,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 11.008814360946417,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.51,
                    "y": -0.08,
                    "z": 1.055,
                    "pitch": -0.35
                  },
                  "note": "The advance was obstructed and the fingers remain left of the pull. I shift right along the door to place the handle between the jaws."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -0.11718,
      -0.38268,
      -0.0153,
      -2.06912,
      -0.0535,
      2.01086,
      -0.14927
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.5105,
      -0.07903,
      1.0545
    ],
    "tcp_roll_pitch_yaw": [
      -0.03036,
      -0.35024,
      -0.03123
    ],
    "tcp_rotation_matrix": [
      [
        0.95043,
        0.01679,
        0.3105
      ],
      [
        0.04515,
        -0.99541,
        -0.08437
      ],
      [
        0.30766,
        0.09421,
        -0.94682
      ]
    ],
    "simulated_seconds_remaining": 21.582,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 4.60423244535923,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The fingers now bracket the visible pull in the exterior view. I close them at this corrected position."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -0.11718,
      -0.38268,
      -0.0153,
      -2.06912,
      -0.0535,
      2.01086,
      -0.14927
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.5105,
      -0.07903,
      1.05451
    ],
    "tcp_roll_pitch_yaw": [
      -0.03036,
      -0.35024,
      -0.03123
    ],
    "tcp_rotation_matrix": [
      [
        0.95043,
        0.0168,
        0.3105
      ],
      [
        0.04516,
        -0.99541,
        -0.08437
      ],
      [
        0.30765,
        0.09421,
        -0.94682
      ]
    ],
    "simulated_seconds_remaining": 20.658,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 8.407086053863168,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.56,
                    "y": -0.08,
                    "z": 0.98,
                    "gripper": 1
                  },
                  "note": "The jaws again closed empty. I move lower and slightly deeper so the grasp point reaches the body of the vertical handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -0.11554,
      -0.23326,
      -0.01003,
      -2.11368,
      -0.05847,
      2.2039,
      -0.13061
    ],
    "gripper_open": 0.9965,
    "tcp_xyz": [
      0.55928,
      -0.07998,
      0.98089
    ],
    "tcp_roll_pitch_yaw": [
      -0.03034,
      -0.34989,
      -0.03123
    ],
    "tcp_rotation_matrix": [
      [
        0.95053,
        0.01684,
        0.31017
      ],
      [
        0.04515,
        -0.99541,
        -0.08434
      ],
      [
        0.30733,
        0.09417,
        -0.94693
      ]
    ],
    "simulated_seconds_remaining": 19.734,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 7.611650191247463,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": -0.14,
                    "z": 1.015
                  },
                  "note": "The lower approach puts the fingertips beside the bottom of the pull. I shift right and lift slightly to center the jaws on it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -0.15076,
      -0.2071,
      -0.08175,
      -2.00147,
      -0.03182,
      2.1221,
      -0.25291
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.55928,
      -0.13893,
      1.01438
    ],
    "tcp_roll_pitch_yaw": [
      -0.03032,
      -0.35003,
      -0.03151
    ],
    "tcp_rotation_matrix": [
      [
        0.9505,
        0.01655,
        0.31028
      ],
      [
        0.04489,
        -0.99542,
        -0.08441
      ],
      [
        0.30746,
        0.09416,
        -0.94689
      ]
    ],
    "simulated_seconds_remaining": 19.008,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 19.214703804813325,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.45,
                    "y": 0,
                    "z": 1,
                    "roll": 1.25,
                    "pitch": 0,
                    "yaw": 0
                  },
                  "note": "The handle depth is still ambiguous and both grasps were empty. I rotate toward the glass for a more direct wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 31,
    "motion_seconds": 2.0460000000000003,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -0.14738,
      -0.05385,
      -0.37595,
      -2.06282,
      0.95939,
      1.28372,
      -0.69997
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.45034,
      -0.00045,
      0.99985
    ],
    "tcp_roll_pitch_yaw": [
      1.24565,
      -0.00054,
      -0.00081
    ],
    "tcp_rotation_matrix": [
      [
        0.99654,
        0.0775,
        -0.02995
      ],
      [
        0.05585,
        -0.35792,
        0.93208
      ],
      [
        0.06152,
        -0.93053,
        -0.36101
      ]
    ],
    "simulated_seconds_remaining": 16.962,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 12.209373882040381,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.5,
                    "y": 0.09,
                    "z": 1.055,
                    "roll": 1.55
                  },
                  "note": "The wrist view now reveals the silver handle immediately right of the jaws. I approach the glass and raise the grasp toward that bar."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -0.07304,
      0.01781,
      -0.30608,
      -2.04743,
      1.31071,
      1.24509,
      -0.62758
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.49954,
      0.08932,
      1.05445
    ],
    "tcp_roll_pitch_yaw": [
      1.54721,
      -0.00047,
      -0.00053
    ],
    "tcp_rotation_matrix": [
      [
        0.99651,
        0.07772,
        -0.03034
      ],
      [
        0.03546,
        -0.06537,
        0.99723
      ],
      [
        0.07553,
        -0.99483,
        -0.06789
      ]
    ],
    "simulated_seconds_remaining": 15.906,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 10.208328373730183,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.57,
                    "z": 0.98
                  },
                  "note": "The silver bar lies below and to the right of the grasp center in the wrist image. I lower and move forward along the door to center it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -0.17227,
      0.2468,
      -0.30821,
      -1.85767,
      1.36829,
      0.77584,
      -0.72022
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.46711,
      0.04743,
      1.08212
    ],
    "tcp_roll_pitch_yaw": [
      1.80174,
      -0.07315,
      0.25945
    ],
    "tcp_rotation_matrix": [
      [
        0.95074,
        0.09563,
        -0.29486
      ],
      [
        0.26884,
        0.21915,
        0.93792
      ],
      [
        0.15431,
        -0.97099,
        0.18265
      ]
    ],
    "simulated_seconds_remaining": 14.916,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 10.208778608590364,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.46,
                    "y": 0.13,
                    "z": 1.09,
                    "roll": 1.55,
                    "pitch": 0,
                    "yaw": 0,
                    "gripper": 0
                  },
                  "note": "Contact deflected the last approach. The exterior view places the pull just ahead of the fingers, so I make a short controlled reach and close around it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 19,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -0.0711,
      -0.16724,
      -0.23574,
      -2.17854,
      1.32855,
      1.31236,
      -0.55683
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.45996,
      0.12942,
      1.09011
    ],
    "tcp_roll_pitch_yaw": [
      1.55242,
      -0.00062,
      0.003
    ],
    "tcp_rotation_matrix": [
      [
        0.99637,
        0.07809,
        -0.03385
      ],
      [
        0.03858,
        -0.0599,
        0.99746
      ],
      [
        0.07586,
        -0.99515,
        -0.0627
      ]
    ],
    "simulated_seconds_remaining": 13.992,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 17.615344930440187,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.14,
                    "gripper": 1
                  },
                  "note": "The wrist image shows the handle immediately beside the closed fingertips. I reopen and adjust upward to straddle the bar."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 20,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -0.06914,
      -0.20128,
      -0.23452,
      -2.10882,
      1.3511,
      1.29573,
      -0.45161
    ],
    "gripper_open": 0.9965,
    "tcp_xyz": [
      0.45995,
      0.12942,
      1.13897
    ],
    "tcp_roll_pitch_yaw": [
      1.55241,
      -0.00077,
      0.00299
    ],
    "tcp_rotation_matrix": [
      [
        0.99636,
        0.07823,
        -0.03383
      ],
      [
        0.03857,
        -0.05991,
        0.99746
      ],
      [
        0.07601,
        -0.99513,
        -0.06271
      ]
    ],
    "simulated_seconds_remaining": 13.068,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 10.409081931225955,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.5,
                    "y": 0.04,
                    "z": 1.02
                  },
                  "note": "The visible pull spans the jaw opening, but the approach is too close to the glass. I back away slightly and align with its middle before advancing."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 21,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -0.15191,
      0.12162,
      -0.32985,
      -1.99874,
      1.26231,
      1.15399,
      -0.71153
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.49968,
      0.04073,
      1.02093
    ],
    "tcp_roll_pitch_yaw": [
      1.55243,
      -0.00049,
      0.00284
    ],
    "tcp_rotation_matrix": [
      [
        0.99639,
        0.07795,
        -0.0337
      ],
      [
        0.03842,
        -0.05991,
        0.99746
      ],
      [
        0.07573,
        -0.99516,
        -0.06269
      ]
    ],
    "simulated_seconds_remaining": 11.748,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 11.609340121038258,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.43,
                    "y": 0.15
                  },
                  "note": "The wrist view places the handle just beyond the fingertip gap. I shift the grasp back along the bar’s depth and advance toward it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 22,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -0.05464,
      -0.19375,
      -0.22372,
      -2.36198,
      1.3063,
      1.3785,
      -0.70693
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.43066,
      0.14899,
      1.02098
    ],
    "tcp_roll_pitch_yaw": [
      1.55247,
      -0.00055,
      0.00307
    ],
    "tcp_rotation_matrix": [
      [
        0.99637,
        0.07802,
        -0.03393
      ],
      [
        0.03865,
        -0.05985,
        0.99746
      ],
      [
        0.07579,
        -0.99515,
        -0.06265
      ]
    ],
    "simulated_seconds_remaining": 10.56,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 8.006639477796853,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The silver pull now crosses the fingertip gap in the wrist view. I close the jaws around it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 23,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -0.05464,
      -0.19375,
      -0.22372,
      -2.36198,
      1.3063,
      1.3785,
      -0.70693
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.43065,
      0.149,
      1.02097
    ],
    "tcp_roll_pitch_yaw": [
      1.55247,
      -0.00054,
      0.00307
    ],
    "tcp_rotation_matrix": [
      [
        0.99637,
        0.07802,
        -0.03392
      ],
      [
        0.03865,
        -0.05986,
        0.99746
      ],
      [
        0.07579,
        -0.99515,
        -0.06265
      ]
    ],
    "simulated_seconds_remaining": 9.636,
    "calls_remaining_including_this": 35
  },
  "api_seconds": 13.609801623038948,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.43,
                    "y": 0.15,
                    "z": 1.12,
                    "pitch": 1.3,
                    "gripper": 1
                  },
                  "note": "The jaws are closing along the vertical pull rather than across it. I rotate the open jaws across the bar and raise to the visible handle center."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 31,
    "motion_seconds": 2.0460000000000003,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 24,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -0.07142,
      -0.24783,
      -0.21062,
      -2.2429,
      1.38754,
      1.2715,
      0.77239
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.43,
      0.14999,
      1.1197
    ],
    "tcp_roll_pitch_yaw": [
      1.55254,
      1.29519,
      0.0031
    ],
    "tcp_rotation_matrix": [
      [
        0.34348,
        -0.93642,
        -0.0717
      ],
      [
        0.03665,
        -0.06293,
        0.99734
      ],
      [
        -0.93845,
        -0.34519,
        0.01271
      ]
    ],
    "simulated_seconds_remaining": 7.59,
    "calls_remaining_including_this": 34
  },
  "api_seconds": 7.806286490522325,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.3
                  },
                  "note": "The jaws now face across the vertical handle, and the wrist view shows it still ahead. I advance toward the pull with the jaws open."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 25,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      0.05728,
      -0.30504,
      -0.13614,
      -2.30364,
      1.48866,
      1.46685,
      0.78403
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.43148,
      0.2299,
      1.11947
    ],
    "tcp_roll_pitch_yaw": [
      1.54186,
      1.29217,
      -0.02293
    ],
    "tcp_rotation_matrix": [
      [
        0.3468,
        -0.93626,
        -0.05602
      ],
      [
        0.02844,
        -0.0492,
        0.99838
      ],
      [
        -0.93751,
        -0.34783,
        0.00957
      ]
    ],
    "simulated_seconds_remaining": 6.27,
    "calls_remaining_including_this": 33
  },
  "api_seconds": 6.205171629786491,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.34,
                    "y": 0.2,
                    "z": 1.04
                  },
                  "note": "The approach met the door plane. The pull is right and below the jaw center in the wrist view, so I shift along the glass to it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 26,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -0.00585,
      -0.49869,
      -0.19121,
      -2.64559,
      1.37581,
      1.42339,
      0.62901
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.34099,
      0.20029,
      1.04083
    ],
    "tcp_roll_pitch_yaw": [
      1.54186,
      1.29227,
      -0.02299
    ],
    "tcp_rotation_matrix": [
      [
        0.34671,
        -0.9363,
        -0.05595
      ],
      [
        0.02843,
        -0.04914,
        0.99839
      ],
      [
        -0.93754,
        -0.34774,
        0.00958
      ]
    ],
    "simulated_seconds_remaining": 5.148,
    "calls_remaining_including_this": 32
  },
  "api_seconds": 7.405406793579459,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.52,
                    "z": 1.12,
                    "y": 0.18
                  },
                  "note": "The handle moved farther from the wrist center after that correction. I reverse the shift and align with the exterior pull."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 24,
    "motion_seconds": 1.584,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 27,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      0.00969,
      -0.02725,
      -0.23855,
      -2.00151,
      1.23187,
      1.10695,
      0.79492
    ],
    "gripper_open": 0.9915,
    "tcp_xyz": [
      0.43656,
      0.16222,
      1.08904
    ],
    "tcp_roll_pitch_yaw": [
      1.03643,
      1.34558,
      -0.24253
    ],
    "tcp_rotation_matrix": [
      [
        0.27768,
        -0.90472,
        -0.32306
      ],
      [
        0.00144,
        -0.33589,
        0.9419
      ],
      [
        -0.96067,
        -0.26202,
        -0.09197
      ]
    ],
    "simulated_seconds_remaining": 3.564,
    "calls_remaining_including_this": 31
  },
  "api_seconds": 4.603875569067895,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The fingers have contacted the handle region. I close at this contact position before testing a short pull."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 28,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      0.00969,
      -0.02725,
      -0.23855,
      -2.00151,
      1.23187,
      1.10695,
      0.79492
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.43656,
      0.16221,
      1.08904
    ],
    "tcp_roll_pitch_yaw": [
      1.03632,
      1.3456,
      -0.24259
    ],
    "tcp_rotation_matrix": [
      [
        0.27767,
        -0.90471,
        -0.3231
      ],
      [
        0.00143,
        -0.33594,
        0.94188
      ],
      [
        -0.96068,
        -0.26199,
        -0.09198
      ]
    ],
    "simulated_seconds_remaining": 2.64,
    "calls_remaining_including_this": 30
  },
  "api_seconds": 4.4034572169184685,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": -0.05
                  },
                  "note": "I test the grasp by pulling away from the glass while watching whether the door follows."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 26,
    "motion_seconds": 1.7160000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 29,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -0.24704,
      0.27484,
      -0.42585,
      -1.6136,
      1.11752,
      0.66423,
      0.6768
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.4366,
      -0.04875,
      1.089
    ],
    "tcp_roll_pitch_yaw": [
      1.03609,
      1.34564,
      -0.24313
    ],
    "tcp_rotation_matrix": [
      [
        0.27762,
        -0.90483,
        -0.3228
      ],
      [
        0.0013,
        -0.33566,
        0.94198
      ],
      [
        -0.96069,
        -0.26193,
        -0.092
      ]
    ],
    "simulated_seconds_remaining": 0.924,
    "calls_remaining_including_this": 29
  },
  "api_seconds": 5.807836078107357,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "give_up",
                "args": {
                  "note": "I could not establish a secure handle grasp. The door did not follow the test pull, and too little motion time remains to retry."
                }
              }
            }
          ]
        }
      }
    ]
  }
}

========================================================================
GPT-Astra / Open / Episode 030

Completed scored attempt. Images are available in the paired videos.

Opaque provider signatures, image payloads, and local paths are omitted.


RESULT
{
  "benchmark_index": 30,
  "source_episode_index": 732,
  "house_index": 414,
  "status": "completed",
  "success": false,
  "oracle_success": false,
  "action_decisions": 29,
  "wall_seconds": 294.1,
  "usage": {
    "input_tokens": 597289,
    "cached_input_tokens": 557184,
    "cache_write_input_tokens": 0,
    "output_tokens": 5421,
    "reasoning_output_tokens": 2260
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task.
You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose.
Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion.
move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up.
roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial.
Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5).
The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y.
The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics.
Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration.
Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target.
You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time.
Each move must include a short note describing what you observe and why you chose that motion.
Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done.
Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available.



AGENT TRANSCRIPT (visible messages and completed tool calls)

I’ll inspect the scene and use the camera feedback to guide the grasp and opening motion.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"open the drawer.\", \"joint_positions\": [0.01283, -0.74204, 0.064, -2.32672, 0.04765, 1.63058, -0.02998], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.3308, 0.03678, 1.02047], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.99502, 0.08915, 0.04453], [0.08892, -0.99601, 0.00706], [0.04498, -0.00306, -0.99898]], \"simulated_seconds_remaining\": 30.03, \"calls_remaining_including_this\": 57}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "x": 0.48,
    "y": 0.04,
    "z": 0.85,
    "pitch": -1.57,
    "gripper": 1,
    "note": "The wooden drawer cabinet is in front of the robot. I lower and turn the open gripper toward the cabinet to bring the handle into view."
  },
  "result": null,
  "error": {
    "message": "tool call error: tool call failed for `robot/move_to`\n\nCaused by:\n    Mcp error: -32602: Unexpected argument"
  },
  "status": "failed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.48,
      "y": 0.04,
      "z": 0.85,
      "pitch": -1.57,
      "gripper": 1
    },
    "note": "The wooden drawer cabinet is ahead. I lower and turn the open gripper toward it to locate the handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"open the drawer.\", \"joint_positions\": [0.01283, -0.74204, 0.064, -2.32672, 0.04765, 1.63058, -0.02998], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.3308, 0.03678, 1.02047], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.99502, 0.08915, 0.04453], [0.08892, -0.99601, 0.00706], [0.04498, -0.00306, -0.99898]], \"simulated_seconds_remaining\": 30.03, \"calls_remaining_including_this\": 56}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.4,
      "z": 0.9,
      "pitch": -0.7
    },
    "note": "The full turn was unreachable. I use a smaller forward and downward motion with a partial turn to inspect the drawer front."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"open the drawer.\", \"joint_positions\": [0.01283, -0.74204, 0.064, -2.32672, 0.04765, 1.63058, -0.02998], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.3308, 0.03678, 1.02047], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.99502, 0.08915, 0.04453], [0.08892, -0.99601, 0.00706], [0.04498, -0.00306, -0.99898]], \"simulated_seconds_remaining\": 30.03, \"calls_remaining_including_this\": 55}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "z": 0.9
    },
    "note": "The rotated approach is not reachable from here. I first lower the existing downward-facing pose to see the handle more clearly."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"open the drawer.\", \"joint_positions\": [0.0188, -0.76105, 0.07603, -2.64301, 0.05988, 1.92754, -0.0338], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.33075, 0.03678, 0.90121], \"tcp_roll_pitch_yaw\": [-3e-05, 0.00029, 0.0], \"tcp_rotation_matrix\": [[0.99504, 0.08915, 0.04423], [0.08893, -0.99601, 0.00703], [0.04469, -0.00306, -0.999]], \"simulated_seconds_remaining\": 28.908, \"calls_remaining_including_this\": 54}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 17, \"motion_seconds\": 1.122, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.4,
      "pitch": 0.5,
      "z": 0.95
    },
    "note": "The drawer front remains beside the downward view. I tilt the wrist in the reachable direction and shift forward to establish the cabinet alignment."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"open the drawer.\", \"joint_positions\": [-0.00237, -0.12302, 0.06503, -1.93863, 0.04224, 1.36574, -0.0279], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.39951, 0.03677, 0.94954], \"tcp_roll_pitch_yaw\": [1e-05, 0.49579, -5e-05], \"tcp_rotation_matrix\": [[0.89662, 0.0769, -0.43608], [0.08888, -0.99602, 0.00709], [-0.43379, -0.04511, -0.89988]], \"simulated_seconds_remaining\": 27.918, \"calls_remaining_including_this\": 53}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 15, \"motion_seconds\": 0.99, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.55,
      "z": 0.9,
      "pitch": 0
    },
    "note": "Moving forward brought the gripper closer to the cabinet. I advance with the original orientation to place the wrist above the drawer handle area."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"open the drawer.\", \"joint_positions\": [-0.00379, -0.0575, 0.06819, -2.02691, 0.00881, 2.01416, -0.02892], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.5485, 0.03702, 0.90233], \"tcp_roll_pitch_yaw\": [-0.00017, 0.0003, 0.00049], \"tcp_rotation_matrix\": [[0.99499, 0.08963, 0.04422], [0.08941, -0.99597, 0.00691], [0.04466, -0.00292, -0.999]], \"simulated_seconds_remaining\": 26.532, \"calls_remaining_including_this\": 52}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 21, \"motion_seconds\": 1.3860000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.62,
      "z": 0.9,
      "pitch": -0.65
    },
    "note": "A metal drawer pull is now visible between the fingers. I tilt toward the front while approaching it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"open the drawer.\", \"joint_positions\": [-0.03833, -0.15734, 0.09165, -2.42309, -0.10926, 2.97384, 0.06119], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.61573, 0.03687, 0.91304], \"tcp_roll_pitch_yaw\": [-0.00744, -0.66451, 0.00808], \"tcp_rotation_matrix\": [[0.75523, 0.07554, 0.6511], [0.09536, -0.99543, 0.00488], [0.64849, 0.0584, -0.75898]], \"simulated_seconds_remaining\": 25.344, \"calls_remaining_including_this\": 51}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 18, \"motion_seconds\": 1.1880000000000002, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.64,
      "z": 0.82,
      "pitch": -1.2
    },
    "note": "The wrist view shows the metal pulls clearly above the fingertips. I lower and face the gripper toward the pull for a horizontal grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"open the drawer.\", \"joint_positions\": [-0.03833, -0.15734, 0.09165, -2.42309, -0.10926, 2.97384, 0.06119], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.61573, 0.03687, 0.91304], \"tcp_roll_pitch_yaw\": [-0.00744, -0.66451, 0.00808], \"tcp_rotation_matrix\": [[0.75523, 0.07554, 0.6511], [0.09536, -0.99543, 0.00488], [0.64849, 0.0584, -0.75898]], \"simulated_seconds_remaining\": 25.344, \"calls_remaining_including_this\": 50}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK requires a large joint jump; split the motion or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "z": 0.84
    },
    "note": "The steeper turn requires too large a joint change. I keep the current tilt and lower toward the visible handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"open the drawer.\", \"joint_positions\": [-0.16277, -0.02306, 0.16488, -2.4707, -0.41258, 3.16162, 0.31866], \"gripper_open\": 0.9987, \"tcp_xyz\": [0.61617, 0.03839, 0.84269], \"tcp_roll_pitch_yaw\": [-0.00788, -0.66744, 0.01122], \"tcp_rotation_matrix\": [[0.75304, 0.07822, 0.65331], [0.09773, -0.99519, 0.00651], [0.65068, 0.05894, -0.75707]], \"simulated_seconds_remaining\": 24.552, \"calls_remaining_including_this\": 49}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 12, \"motion_seconds\": 0.792, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.48,
      "y": 0.16,
      "z": 0.9,
      "pitch": 0,
      "roll": 0.7
    },
    "note": "The visible pulls belong to the narrow cabinet at the far edge. The broad drawer is under the countertop to the left, so I shift toward it and turn the gripper toward that front."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"open the drawer.\", \"joint_positions\": [-0.16277, -0.02306, 0.16488, -2.4707, -0.41258, 3.16162, 0.31866], \"gripper_open\": 0.9987, \"tcp_xyz\": [0.61617, 0.03839, 0.84269], \"tcp_roll_pitch_yaw\": [-0.00788, -0.66744, 0.01122], \"tcp_rotation_matrix\": [[0.75304, 0.07822, 0.65331], [0.09773, -0.99519, 0.00651], [0.65068, 0.05894, -0.75707]], \"simulated_seconds_remaining\": 24.552, \"calls_remaining_including_this\": 48}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK requires a large joint jump; split the motion or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "pitch": -0.25,
      "z": 0.9
    },
    "note": "I first reduce the wrist tilt and raise slightly to allow a smooth turn toward the broad drawer."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 11, \"instruction\": \"open the drawer.\", \"joint_positions\": [-0.16277, -0.02306, 0.16488, -2.4707, -0.41258, 3.16162, 0.31866], \"gripper_open\": 0.9987, \"tcp_xyz\": [0.61617, 0.03839, 0.84269], \"tcp_roll_pitch_yaw\": [-0.00788, -0.66744, 0.01122], \"tcp_rotation_matrix\": [[0.75304, 0.07822, 0.65331], [0.09773, -0.99519, 0.00651], [0.65068, 0.05894, -0.75707]], \"simulated_seconds_remaining\": 24.552, \"calls_remaining_including_this\": 47}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK requires a large joint jump; split the motion or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "z": 0.92
    },
    "note": "The wrist is near a joint limit. Raising without changing orientation retraces the last reachable approach."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 12, \"instruction\": \"open the drawer.\", \"joint_positions\": [-0.03934, -0.16033, 0.09395, -2.42381, -0.10225, 2.95926, 0.05407], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.61345, 0.03676, 0.91103], \"tcp_roll_pitch_yaw\": [-0.00917, -0.65225, 0.00994], \"tcp_rotation_matrix\": [[0.76303, 0.07706, 0.64175], [0.09692, -0.99528, 0.00427], [0.63905, 0.05894, -0.7669]], \"simulated_seconds_remaining\": 23.76, \"calls_remaining_including_this\": 46}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 12, \"motion_seconds\": 0.792, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.5,
      "y": 0.16,
      "pitch": 0,
      "roll": 0.5
    },
    "note": "With the wrist raised, I shift toward the wide drawer and begin facing its front."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 13, \"instruction\": \"open the drawer.\", \"joint_positions\": [0.19461, -0.18738, -0.09314, -2.20616, -0.01847, 2.08681, -0.23042], \"gripper_open\": 1.0, \"tcp_xyz\": [0.50731, 0.04944, 0.89104], \"tcp_roll_pitch_yaw\": [-0.01586, -0.02247, 0.25202], \"tcp_rotation_matrix\": [[0.94005, 0.33438, 0.06704], [0.33461, -0.94232, 0.00819], [0.06591, 0.01473, -0.99772]], \"simulated_seconds_remaining\": 22.374, \"calls_remaining_including_this\": 45}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 21, \"motion_seconds\": 1.3860000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.3,
      "y": -0.08,
      "z": 1.02,
      "pitch": 0,
      "roll": 0.7,
      "yaw": 0
    },
    "note": "The last motion stopped short against the cabinet. I back away and move toward the broad drawer under the countertop, leaving clearance to turn."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 14, \"instruction\": \"open the drawer.\", \"joint_positions\": [0.01912, -0.67609, -0.55924, -2.28798, 0.32658, 1.45002, -0.46609], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.30081, -0.07963, 1.01956], \"tcp_roll_pitch_yaw\": [0.69731, -0.0006, 0.00052], \"tcp_rotation_matrix\": [[0.99495, 0.08993, 0.04465], [0.0398, -0.7615, 0.64694], [0.09218, -0.64189, -0.76124]], \"simulated_seconds_remaining\": 20.262, \"calls_remaining_including_this\": 44}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 32, \"motion_seconds\": 2.112, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "roll": 1.5,
      "z": 0.9,
      "x": 0.25
    },
    "note": "The cleared wrist view now shows the broad drawer face. I finish turning toward it and lower to the pull height."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 15, \"instruction\": \"open the drawer.\", \"joint_positions\": [0.01912, -0.67609, -0.55924, -2.28798, 0.32658, 1.45002, -0.46609], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.30081, -0.07963, 1.01956], \"tcp_roll_pitch_yaw\": [0.69731, -0.0006, 0.00052], \"tcp_rotation_matrix\": [[0.99495, 0.08993, 0.04465], [0.0398, -0.7615, 0.64694], [0.09218, -0.64189, -0.76124]], \"simulated_seconds_remaining\": 20.262, \"calls_remaining_including_this\": 43}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK requires a large joint jump; split the motion or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "roll": 1.1,
      "z": 0.97
    },
    "note": "I split the turn into a smaller increment to keep the joint motion continuous."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 16, \"instruction\": \"open the drawer.\", \"joint_positions\": [0.1058, -0.51549, -0.85572, -2.36881, 0.5352, 1.38727, -0.68977], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.30078, -0.07962, 0.97037], \"tcp_roll_pitch_yaw\": [1.0961, -0.00015, 0.00066], \"tcp_rotation_matrix\": [[0.99501, 0.08959, 0.04401], [0.0013, -0.45246, 0.89178], [0.0998, -0.88727, -0.45032]], \"simulated_seconds_remaining\": 19.404, \"calls_remaining_including_this\": 42}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 13, \"motion_seconds\": 0.8580000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "roll": 1.55,
      "z": 0.94
    },
    "note": "The drawer pull is still above the gripper in the wrist image. I complete the horizontal facing pose before centering on it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 17, \"instruction\": \"open the drawer.\", \"joint_positions\": [0.1058, -0.51549, -0.85572, -2.36881, 0.5352, 1.38727, -0.68977], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.30078, -0.07962, 0.97037], \"tcp_roll_pitch_yaw\": [1.0961, -0.00015, 0.00066], \"tcp_rotation_matrix\": [[0.99501, 0.08959, 0.04401], [0.0013, -0.45246, 0.89178], [0.0998, -0.88727, -0.45032]], \"simulated_seconds_remaining\": 19.404, \"calls_remaining_including_this\": 41}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK requires a large joint jump; split the motion or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.38,
      "y": 0.32,
      "z": 1,
      "roll": 1.1,
      "yaw": -1.2
    },
    "note": "The wide drawer lies along the cabinet to the left of the narrow pulls. I move laterally toward its center while turning the gripper to face the cabinet."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 18, \"instruction\": \"open the drawer.\", \"joint_positions\": [-0.20027, -1.148, 1.10335, -2.70239, 1.38522, 2.85067, 1.01107], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.37974, 0.31907, 1.00006], \"tcp_roll_pitch_yaw\": [1.1, -0.0009, -1.1964], \"tcp_rotation_matrix\": [[0.36409, -0.38505, 0.84804], [-0.92592, -0.24794, 0.28494], [0.10055, -0.88897, -0.4468]], \"simulated_seconds_remaining\": 16.368, \"calls_remaining_including_this\": 40}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 46, \"motion_seconds\": 3.036, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "y": 0.58,
      "z": 1.08,
      "yaw": -1.57,
      "roll": 1.3
    },
    "note": "The wrist is beside the broad drawer’s right edge. I shift left along its face and raise toward the handle beneath the countertop."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 19, \"instruction\": \"open the drawer.\", \"joint_positions\": [-0.82226, -1.62732, 1.15449, -1.7764, 0.36408, 1.72251, 2.25657], \"gripper_open\": 1.0, \"tcp_xyz\": [0.34453, 0.42347, 1.0522], \"tcp_roll_pitch_yaw\": [1.24951, -0.27278, -2.15062], \"tcp_rotation_matrix\": [[-0.52265, -0.44736, 0.72574], [-0.7714, -0.1143, -0.626], [0.363, -0.88702, -0.28536]], \"simulated_seconds_remaining\": 14.256, \"calls_remaining_including_this\": 39}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 32, \"motion_seconds\": 2.112, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.28,
      "y": 0.53,
      "z": 0.92,
      "roll": 1.3,
      "pitch": 0,
      "yaw": -1.57
    },
    "note": "The gripper contacted the countertop edge. I lower below it and back off slightly to line up with the drawer pull."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 20, \"instruction\": \"open the drawer.\", \"joint_positions\": [-0.39407, -1.7837, 1.4329, -2.18502, 0.74611, 2.33832, 2.40182], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.28024, 0.52963, 0.92035], \"tcp_roll_pitch_yaw\": [1.29854, -0.00088, -1.57228], \"tcp_rotation_matrix\": [[-0.02088, -0.26502, 0.96402], [-0.99491, -0.0896, -0.04619], [0.09862, -0.96007, -0.2618]], \"simulated_seconds_remaining\": 12.738, \"calls_remaining_including_this\": 38}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 23, \"motion_seconds\": 1.518, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.4,
      "y": 0.65,
      "z": 1.1,
      "roll": 1.55
    },
    "note": "The pull is above the current view on the broad upper drawer. I raise and move toward its center with the fingers oriented to pinch the horizontal bar."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 21, \"instruction\": \"open the drawer.\", \"joint_positions\": [-0.89555, -1.66844, 1.16784, -1.52514, 0.57515, 1.59901, 2.45769], \"gripper_open\": 1.0, \"tcp_xyz\": [0.31882, 0.52561, 0.98552], \"tcp_roll_pitch_yaw\": [1.15346, -0.11963, -2.06371], \"tcp_rotation_matrix\": [[-0.46633, -0.44656, 0.76363], [-0.85744, 0.01587, -0.51434], [0.21756, -0.89461, -0.3903]], \"simulated_seconds_remaining\": 10.824, \"calls_remaining_including_this\": 37}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 29, \"motion_seconds\": 1.9140000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.2,
      "y": 0.55,
      "z": 1.12,
      "roll": 1.5,
      "pitch": 0,
      "yaw": -1.57
    },
    "note": "The drawer face blocked the upward approach. I withdraw from the face and raise in free space to reach the handle height."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 22, \"instruction\": \"open the drawer.\", \"joint_positions\": [-0.46765, -1.78369, 1.07678, -1.97101, 0.53163, 2.16584, 2.32773], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.20053, 0.54986, 1.11959], \"tcp_roll_pitch_yaw\": [1.49775, 0.00037, -1.57184], \"tcp_rotation_matrix\": [[-0.03941, -0.06973, 0.99679], [-0.99502, -0.0887, -0.04555], [0.09159, -0.99361, -0.06588]], \"simulated_seconds_remaining\": 9.306, \"calls_remaining_including_this\": 36}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 23, \"motion_seconds\": 1.518, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.29
    },
    "note": "The gripper is now level with the upper drawer area and clear of the front. I approach slowly to put the pull between the fingers."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 23, \"instruction\": \"open the drawer.\", \"joint_positions\": [-0.60332, -1.7201, 1.12597, -1.98183, 0.58682, 2.335, 2.29173], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.28889, 0.54975, 1.11955], \"tcp_roll_pitch_yaw\": [1.49761, 0.00038, -1.57216], \"tcp_rotation_matrix\": [[-0.03972, -0.0699, 0.99676], [-0.995, -0.08868, -0.04587], [0.0916, -0.9936, -0.06603]], \"simulated_seconds_remaining\": 8.382, \"calls_remaining_including_this\": 35}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "y": 0.59,
      "z": 1.075,
      "x": 0.3
    },
    "note": "The exterior view places the pull just below and left of the fingertips. I make a small lowering and lateral adjustment to straddle it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 24, \"instruction\": \"open the drawer.\", \"joint_positions\": [-0.66757, -1.74912, 1.16052, -1.89253, 0.46693, 2.31506, 2.38474], \"gripper_open\": 1.0, \"tcp_xyz\": [0.29855, 0.57169, 1.10519], \"tcp_roll_pitch_yaw\": [1.58119, -0.06943, -1.63533], \"tcp_rotation_matrix\": [[-0.10942, 0.0032, 0.99399], [-0.98148, -0.15856, -0.10754], [0.15727, -0.98734, 0.02049]], \"simulated_seconds_remaining\": 7.656, \"calls_remaining_including_this\": 34}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 11, \"motion_seconds\": 0.726, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The fingertips have made contact at the pull beneath the countertop. I close the jaws to secure it before pulling outward."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 25, \"instruction\": \"open the drawer.\", \"joint_positions\": [-0.66257, -1.74766, 1.1422, -1.89086, 0.46287, 2.33378, 2.38564], \"gripper_open\": 0.6235, \"tcp_xyz\": [0.28988, 0.57588, 1.11994], \"tcp_roll_pitch_yaw\": [1.60373, -0.05722, -1.61333], \"tcp_rotation_matrix\": [[-0.08987, 0.02962, 0.99551], [-0.98547, -0.14732, -0.08458], [0.14415, -0.98865, 0.04243]], \"simulated_seconds_remaining\": 6.732, \"calls_remaining_including_this\": 33}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.08,
      "gripper": 0
    },
    "note": "The jaws remain separated by an object, indicating contact. I pull outward from the cabinet to open the drawer."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 26, \"instruction\": \"open the drawer.\", \"joint_positions\": [-0.37424, -1.7837, 1.0791, -1.76558, 0.30113, 1.93365, 2.4588], \"gripper_open\": 0.0, \"tcp_xyz\": [0.08086, 0.5759, 1.12011], \"tcp_roll_pitch_yaw\": [1.60294, -0.05692, -1.61291], \"tcp_rotation_matrix\": [[-0.08939, 0.02891, 0.99558], [-0.98555, -0.14698, -0.08422], [0.14389, -0.98872, 0.04163]], \"simulated_seconds_remaining\": 5.016, \"calls_remaining_including_this\": 32}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 26, \"motion_seconds\": 1.7160000000000002, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.26,
      "y": 0.68,
      "z": 0.97,
      "gripper": 1
    },
    "note": "The pull slipped free; it is now visible above-left in the wrist view. I lower and shift along the drawer to align with the metal bar itself."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 27, \"instruction\": \"open the drawer.\", \"joint_positions\": [-0.71311, -1.7838, 1.3119, -1.54426, 0.24797, 2.07264, 2.74563], \"gripper_open\": 1.0, \"tcp_xyz\": [0.24047, 0.6666, 0.98858], \"tcp_roll_pitch_yaw\": [1.66015, -0.08321, -1.6716], \"tcp_rotation_matrix\": [[-0.15155, 0.07423, 0.98566], [-0.97425, -0.17966, -0.13626], [0.16696, -0.98092, 0.09955]], \"simulated_seconds_remaining\": 3.036, \"calls_remaining_including_this\": 31}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 30, \"motion_seconds\": 1.98, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "z": 0.91,
      "x": 0.23
    },
    "note": "The metal bar is now clearly visible left of the fingers. I lower the grasp point to center the bar between the jaws."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 28, \"instruction\": \"open the drawer.\", \"joint_positions\": [-0.65871, -1.77834, 1.44142, -1.55025, -0.12426, 2.05423, 2.90429], \"gripper_open\": 0.9961, \"tcp_xyz\": [0.2149, 0.66783, 0.97494], \"tcp_roll_pitch_yaw\": [1.91665, -0.19886, -1.73745], \"tcp_rotation_matrix\": [[-0.23102, 0.29064, 0.92853], [-0.93655, -0.32502, -0.13128], [0.26363, -0.89994, 0.34728]], \"simulated_seconds_remaining\": 2.178, \"calls_remaining_including_this\": 30}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 13, \"motion_seconds\": 0.8580000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The handle bar is centered between the fingers in the wrist view. I close the gripper around it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 29, \"instruction\": \"open the drawer.\", \"joint_positions\": [-0.65654, -1.77897, 1.4419, -1.55139, -0.1245, 2.0514, 2.90338], \"gripper_open\": 0.0, \"tcp_xyz\": [0.21409, 0.66703, 0.97465], \"tcp_roll_pitch_yaw\": [1.91641, -0.19871, -1.73934], \"tcp_rotation_matrix\": [[-0.23278, 0.28982, 0.92834], [-0.93615, -0.32541, -0.13315], [0.26351, -0.90006, 0.34707]], \"simulated_seconds_remaining\": 1.254, \"calls_remaining_including_this\": 29}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.07,
      "gripper": 0
    },
    "note": "The fingers are alongside the handle bar. I pull outward to try to engage the bar and open the drawer."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "Episode ended. Do not call more tools. Return a brief final response."
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

I couldn’t secure the handle and open the drawer before the episode ended.

TURN USAGE
{
  "input_tokens": 597289,
  "cached_input_tokens": 557184,
  "cache_write_input_tokens": 0,
  "output_tokens": 5421,
  "reasoning_output_tokens": 2260
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.01283,
      -0.74204,
      0.064,
      -2.32672,
      0.04765,
      1.63058,
      -0.02998
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.3308,
      0.03678,
      1.02047
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99502,
        0.08915,
        0.04453
      ],
      [
        0.08892,
        -0.99601,
        0.00706
      ],
      [
        0.04498,
        -0.00306,
        -0.99898
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 27.22877472639084,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48,
                    "y": 0.04,
                    "z": 0.85,
                    "pitch": -1.57,
                    "gripper": 1
                  },
                  "note": "The wooden drawer cabinet is ahead. I lower and turn the open gripper toward it to locate the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 2,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.01283,
      -0.74204,
      0.064,
      -2.32672,
      0.04765,
      1.63058,
      -0.02998
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.3308,
      0.03678,
      1.02047
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99502,
        0.08915,
        0.04453
      ],
      [
        0.08892,
        -0.99601,
        0.00706
      ],
      [
        0.04498,
        -0.00306,
        -0.99898
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 4.604132074862719,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "z": 0.9,
                    "pitch": -0.7
                  },
                  "note": "The full turn was unreachable. I use a smaller forward and downward motion with a partial turn to inspect the drawer front."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 3,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.01283,
      -0.74204,
      0.064,
      -2.32672,
      0.04765,
      1.63058,
      -0.02998
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.3308,
      0.03678,
      1.02047
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99502,
        0.08915,
        0.04453
      ],
      [
        0.08892,
        -0.99601,
        0.00706
      ],
      [
        0.04498,
        -0.00306,
        -0.99898
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 5.204604394733906,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.9
                  },
                  "note": "The rotated approach is not reachable from here. I first lower the existing downward-facing pose to see the handle more clearly."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.0188,
      -0.76105,
      0.07603,
      -2.64301,
      0.05988,
      1.92754,
      -0.0338
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.33075,
      0.03678,
      0.90121
    ],
    "tcp_roll_pitch_yaw": [
      -3e-05,
      0.00029,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99504,
        0.08915,
        0.04423
      ],
      [
        0.08893,
        -0.99601,
        0.00703
      ],
      [
        0.04469,
        -0.00306,
        -0.999
      ]
    ],
    "simulated_seconds_remaining": 28.908,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 7.405896961688995,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "pitch": 0.5,
                    "z": 0.95
                  },
                  "note": "The drawer front remains beside the downward view. I tilt the wrist in the reachable direction and shift forward to establish the cabinet alignment."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.00237,
      -0.12302,
      0.06503,
      -1.93863,
      0.04224,
      1.36574,
      -0.0279
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.39951,
      0.03677,
      0.94954
    ],
    "tcp_roll_pitch_yaw": [
      1e-05,
      0.49579,
      -5e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.89662,
        0.0769,
        -0.43608
      ],
      [
        0.08888,
        -0.99602,
        0.00709
      ],
      [
        -0.43379,
        -0.04511,
        -0.89988
      ]
    ],
    "simulated_seconds_remaining": 27.918,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 8.006188686005771,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.55,
                    "z": 0.9,
                    "pitch": 0
                  },
                  "note": "Moving forward brought the gripper closer to the cabinet. I advance with the original orientation to place the wrist above the drawer handle area."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.00379,
      -0.0575,
      0.06819,
      -2.02691,
      0.00881,
      2.01416,
      -0.02892
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.5485,
      0.03702,
      0.90233
    ],
    "tcp_roll_pitch_yaw": [
      -0.00017,
      0.0003,
      0.00049
    ],
    "tcp_rotation_matrix": [
      [
        0.99499,
        0.08963,
        0.04422
      ],
      [
        0.08941,
        -0.99597,
        0.00691
      ],
      [
        0.04466,
        -0.00292,
        -0.999
      ]
    ],
    "simulated_seconds_remaining": 26.532,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 5.204320295713842,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.62,
                    "z": 0.9,
                    "pitch": -0.65
                  },
                  "note": "A metal drawer pull is now visible between the fingers. I tilt toward the front while approaching it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.03833,
      -0.15734,
      0.09165,
      -2.42309,
      -0.10926,
      2.97384,
      0.06119
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.61573,
      0.03687,
      0.91304
    ],
    "tcp_roll_pitch_yaw": [
      -0.00744,
      -0.66451,
      0.00808
    ],
    "tcp_rotation_matrix": [
      [
        0.75523,
        0.07554,
        0.6511
      ],
      [
        0.09536,
        -0.99543,
        0.00488
      ],
      [
        0.64849,
        0.0584,
        -0.75898
      ]
    ],
    "simulated_seconds_remaining": 25.344,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 13.209461432881653,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.64,
                    "z": 0.82,
                    "pitch": -1.2
                  },
                  "note": "The wrist view shows the metal pulls clearly above the fingertips. I lower and face the gripper toward the pull for a horizontal grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 8,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.03833,
      -0.15734,
      0.09165,
      -2.42309,
      -0.10926,
      2.97384,
      0.06119
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.61573,
      0.03687,
      0.91304
    ],
    "tcp_roll_pitch_yaw": [
      -0.00744,
      -0.66451,
      0.00808
    ],
    "tcp_rotation_matrix": [
      [
        0.75523,
        0.07554,
        0.6511
      ],
      [
        0.09536,
        -0.99543,
        0.00488
      ],
      [
        0.64849,
        0.0584,
        -0.75898
      ]
    ],
    "simulated_seconds_remaining": 25.344,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 5.609706733375788,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.84
                  },
                  "note": "The steeper turn requires too large a joint change. I keep the current tilt and lower toward the visible handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.16277,
      -0.02306,
      0.16488,
      -2.4707,
      -0.41258,
      3.16162,
      0.31866
    ],
    "gripper_open": 0.9987,
    "tcp_xyz": [
      0.61617,
      0.03839,
      0.84269
    ],
    "tcp_roll_pitch_yaw": [
      -0.00788,
      -0.66744,
      0.01122
    ],
    "tcp_rotation_matrix": [
      [
        0.75304,
        0.07822,
        0.65331
      ],
      [
        0.09773,
        -0.99519,
        0.00651
      ],
      [
        0.65068,
        0.05894,
        -0.75707
      ]
    ],
    "simulated_seconds_remaining": 24.552,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 20.21371262241155,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48,
                    "y": 0.16,
                    "z": 0.9,
                    "pitch": 0,
                    "roll": 0.7
                  },
                  "note": "The visible pulls belong to the narrow cabinet at the far edge. The broad drawer is under the countertop to the left, so I shift toward it and turn the gripper toward that front."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 10,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.16277,
      -0.02306,
      0.16488,
      -2.4707,
      -0.41258,
      3.16162,
      0.31866
    ],
    "gripper_open": 0.9987,
    "tcp_xyz": [
      0.61617,
      0.03839,
      0.84269
    ],
    "tcp_roll_pitch_yaw": [
      -0.00788,
      -0.66744,
      0.01122
    ],
    "tcp_rotation_matrix": [
      [
        0.75304,
        0.07822,
        0.65331
      ],
      [
        0.09773,
        -0.99519,
        0.00651
      ],
      [
        0.65068,
        0.05894,
        -0.75707
      ]
    ],
    "simulated_seconds_remaining": 24.552,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 4.403508326038718,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.25,
                    "z": 0.9
                  },
                  "note": "I first reduce the wrist tilt and raise slightly to allow a smooth turn toward the broad drawer."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 11,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.16277,
      -0.02306,
      0.16488,
      -2.4707,
      -0.41258,
      3.16162,
      0.31866
    ],
    "gripper_open": 0.9987,
    "tcp_xyz": [
      0.61617,
      0.03839,
      0.84269
    ],
    "tcp_roll_pitch_yaw": [
      -0.00788,
      -0.66744,
      0.01122
    ],
    "tcp_rotation_matrix": [
      [
        0.75304,
        0.07822,
        0.65331
      ],
      [
        0.09773,
        -0.99519,
        0.00651
      ],
      [
        0.65068,
        0.05894,
        -0.75707
      ]
    ],
    "simulated_seconds_remaining": 24.552,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 4.2042752439156175,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.92
                  },
                  "note": "The wrist is near a joint limit. Raising without changing orientation retraces the last reachable approach."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.03934,
      -0.16033,
      0.09395,
      -2.42381,
      -0.10225,
      2.95926,
      0.05407
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.61345,
      0.03676,
      0.91103
    ],
    "tcp_roll_pitch_yaw": [
      -0.00917,
      -0.65225,
      0.00994
    ],
    "tcp_rotation_matrix": [
      [
        0.76303,
        0.07706,
        0.64175
      ],
      [
        0.09692,
        -0.99528,
        0.00427
      ],
      [
        0.63905,
        0.05894,
        -0.7669
      ]
    ],
    "simulated_seconds_remaining": 23.76,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 5.804760239087045,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.5,
                    "y": 0.16,
                    "pitch": 0,
                    "roll": 0.5
                  },
                  "note": "With the wrist raised, I shift toward the wide drawer and begin facing its front."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.19461,
      -0.18738,
      -0.09314,
      -2.20616,
      -0.01847,
      2.08681,
      -0.23042
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.50731,
      0.04944,
      0.89104
    ],
    "tcp_roll_pitch_yaw": [
      -0.01586,
      -0.02247,
      0.25202
    ],
    "tcp_rotation_matrix": [
      [
        0.94005,
        0.33438,
        0.06704
      ],
      [
        0.33461,
        -0.94232,
        0.00819
      ],
      [
        0.06591,
        0.01473,
        -0.99772
      ]
    ],
    "simulated_seconds_remaining": 22.374,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 8.00587664078921,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.3,
                    "y": -0.08,
                    "z": 1.02,
                    "pitch": 0,
                    "roll": 0.7,
                    "yaw": 0
                  },
                  "note": "The last motion stopped short against the cabinet. I back away and move toward the broad drawer under the countertop, leaving clearance to turn."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 32,
    "motion_seconds": 2.112,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.01912,
      -0.67609,
      -0.55924,
      -2.28798,
      0.32658,
      1.45002,
      -0.46609
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.30081,
      -0.07963,
      1.01956
    ],
    "tcp_roll_pitch_yaw": [
      0.69731,
      -0.0006,
      0.00052
    ],
    "tcp_rotation_matrix": [
      [
        0.99495,
        0.08993,
        0.04465
      ],
      [
        0.0398,
        -0.7615,
        0.64694
      ],
      [
        0.09218,
        -0.64189,
        -0.76124
      ]
    ],
    "simulated_seconds_remaining": 20.262,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 7.408256134018302,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "roll": 1.5,
                    "z": 0.9,
                    "x": 0.25
                  },
                  "note": "The cleared wrist view now shows the broad drawer face. I finish turning toward it and lower to the pull height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 15,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.01912,
      -0.67609,
      -0.55924,
      -2.28798,
      0.32658,
      1.45002,
      -0.46609
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.30081,
      -0.07963,
      1.01956
    ],
    "tcp_roll_pitch_yaw": [
      0.69731,
      -0.0006,
      0.00052
    ],
    "tcp_rotation_matrix": [
      [
        0.99495,
        0.08993,
        0.04465
      ],
      [
        0.0398,
        -0.7615,
        0.64694
      ],
      [
        0.09218,
        -0.64189,
        -0.76124
      ]
    ],
    "simulated_seconds_remaining": 20.262,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 5.604619071818888,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "roll": 1.1,
                    "z": 0.97
                  },
                  "note": "I split the turn into a smaller increment to keep the joint motion continuous."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.1058,
      -0.51549,
      -0.85572,
      -2.36881,
      0.5352,
      1.38727,
      -0.68977
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.30078,
      -0.07962,
      0.97037
    ],
    "tcp_roll_pitch_yaw": [
      1.0961,
      -0.00015,
      0.00066
    ],
    "tcp_rotation_matrix": [
      [
        0.99501,
        0.08959,
        0.04401
      ],
      [
        0.0013,
        -0.45246,
        0.89178
      ],
      [
        0.0998,
        -0.88727,
        -0.45032
      ]
    ],
    "simulated_seconds_remaining": 19.404,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 4.603787817060947,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "roll": 1.55,
                    "z": 0.94
                  },
                  "note": "The drawer pull is still above the gripper in the wrist image. I complete the horizontal facing pose before centering on it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 17,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.1058,
      -0.51549,
      -0.85572,
      -2.36881,
      0.5352,
      1.38727,
      -0.68977
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.30078,
      -0.07962,
      0.97037
    ],
    "tcp_roll_pitch_yaw": [
      1.0961,
      -0.00015,
      0.00066
    ],
    "tcp_rotation_matrix": [
      [
        0.99501,
        0.08959,
        0.04401
      ],
      [
        0.0013,
        -0.45246,
        0.89178
      ],
      [
        0.0998,
        -0.88727,
        -0.45032
      ]
    ],
    "simulated_seconds_remaining": 19.404,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 19.215879436582327,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.38,
                    "y": 0.32,
                    "z": 1,
                    "roll": 1.1,
                    "yaw": -1.2
                  },
                  "note": "The wide drawer lies along the cabinet to the left of the narrow pulls. I move laterally toward its center while turning the gripper to face the cabinet."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 46,
    "motion_seconds": 3.036,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.20027,
      -1.148,
      1.10335,
      -2.70239,
      1.38522,
      2.85067,
      1.01107
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.37974,
      0.31907,
      1.00006
    ],
    "tcp_roll_pitch_yaw": [
      1.1,
      -0.0009,
      -1.1964
    ],
    "tcp_rotation_matrix": [
      [
        0.36409,
        -0.38505,
        0.84804
      ],
      [
        -0.92592,
        -0.24794,
        0.28494
      ],
      [
        0.10055,
        -0.88897,
        -0.4468
      ]
    ],
    "simulated_seconds_remaining": 16.368,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 7.806410385295749,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.58,
                    "z": 1.08,
                    "yaw": -1.57,
                    "roll": 1.3
                  },
                  "note": "The wrist is beside the broad drawer’s right edge. I shift left along its face and raise toward the handle beneath the countertop."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 32,
    "motion_seconds": 2.112,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 19,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.82226,
      -1.62732,
      1.15449,
      -1.7764,
      0.36408,
      1.72251,
      2.25657
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.34453,
      0.42347,
      1.0522
    ],
    "tcp_roll_pitch_yaw": [
      1.24951,
      -0.27278,
      -2.15062
    ],
    "tcp_rotation_matrix": [
      [
        -0.52265,
        -0.44736,
        0.72574
      ],
      [
        -0.7714,
        -0.1143,
        -0.626
      ],
      [
        0.363,
        -0.88702,
        -0.28536
      ]
    ],
    "simulated_seconds_remaining": 14.256,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 9.608227298595011,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.28,
                    "y": 0.53,
                    "z": 0.92,
                    "roll": 1.3,
                    "pitch": 0,
                    "yaw": -1.57
                  },
                  "note": "The gripper contacted the countertop edge. I lower below it and back off slightly to line up with the drawer pull."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 20,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.39407,
      -1.7837,
      1.4329,
      -2.18502,
      0.74611,
      2.33832,
      2.40182
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.28024,
      0.52963,
      0.92035
    ],
    "tcp_roll_pitch_yaw": [
      1.29854,
      -0.00088,
      -1.57228
    ],
    "tcp_rotation_matrix": [
      [
        -0.02088,
        -0.26502,
        0.96402
      ],
      [
        -0.99491,
        -0.0896,
        -0.04619
      ],
      [
        0.09862,
        -0.96007,
        -0.2618
      ]
    ],
    "simulated_seconds_remaining": 12.738,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 10.608280966058373,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "y": 0.65,
                    "z": 1.1,
                    "roll": 1.55
                  },
                  "note": "The pull is above the current view on the broad upper drawer. I raise and move toward its center with the fingers oriented to pinch the horizontal bar."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 29,
    "motion_seconds": 1.9140000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 21,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.89555,
      -1.66844,
      1.16784,
      -1.52514,
      0.57515,
      1.59901,
      2.45769
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.31882,
      0.52561,
      0.98552
    ],
    "tcp_roll_pitch_yaw": [
      1.15346,
      -0.11963,
      -2.06371
    ],
    "tcp_rotation_matrix": [
      [
        -0.46633,
        -0.44656,
        0.76363
      ],
      [
        -0.85744,
        0.01587,
        -0.51434
      ],
      [
        0.21756,
        -0.89461,
        -0.3903
      ]
    ],
    "simulated_seconds_remaining": 10.824,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 7.606172954663634,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.2,
                    "y": 0.55,
                    "z": 1.12,
                    "roll": 1.5,
                    "pitch": 0,
                    "yaw": -1.57
                  },
                  "note": "The drawer face blocked the upward approach. I withdraw from the face and raise in free space to reach the handle height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 22,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.46765,
      -1.78369,
      1.07678,
      -1.97101,
      0.53163,
      2.16584,
      2.32773
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.20053,
      0.54986,
      1.11959
    ],
    "tcp_roll_pitch_yaw": [
      1.49775,
      0.00037,
      -1.57184
    ],
    "tcp_rotation_matrix": [
      [
        -0.03941,
        -0.06973,
        0.99679
      ],
      [
        -0.99502,
        -0.0887,
        -0.04555
      ],
      [
        0.09159,
        -0.99361,
        -0.06588
      ]
    ],
    "simulated_seconds_remaining": 9.306,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 13.209553897380829,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.29
                  },
                  "note": "The gripper is now level with the upper drawer area and clear of the front. I approach slowly to put the pull between the fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 23,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.60332,
      -1.7201,
      1.12597,
      -1.98183,
      0.58682,
      2.335,
      2.29173
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.28889,
      0.54975,
      1.11955
    ],
    "tcp_roll_pitch_yaw": [
      1.49761,
      0.00038,
      -1.57216
    ],
    "tcp_rotation_matrix": [
      [
        -0.03972,
        -0.0699,
        0.99676
      ],
      [
        -0.995,
        -0.08868,
        -0.04587
      ],
      [
        0.0916,
        -0.9936,
        -0.06603
      ]
    ],
    "simulated_seconds_remaining": 8.382,
    "calls_remaining_including_this": 35
  },
  "api_seconds": 7.806235617958009,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.59,
                    "z": 1.075,
                    "x": 0.3
                  },
                  "note": "The exterior view places the pull just below and left of the fingertips. I make a small lowering and lateral adjustment to straddle it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 24,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.66757,
      -1.74912,
      1.16052,
      -1.89253,
      0.46693,
      2.31506,
      2.38474
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.29855,
      0.57169,
      1.10519
    ],
    "tcp_roll_pitch_yaw": [
      1.58119,
      -0.06943,
      -1.63533
    ],
    "tcp_rotation_matrix": [
      [
        -0.10942,
        0.0032,
        0.99399
      ],
      [
        -0.98148,
        -0.15856,
        -0.10754
      ],
      [
        0.15727,
        -0.98734,
        0.02049
      ]
    ],
    "simulated_seconds_remaining": 7.656,
    "calls_remaining_including_this": 34
  },
  "api_seconds": 4.804209170863032,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The fingertips have made contact at the pull beneath the countertop. I close the jaws to secure it before pulling outward."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 25,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.66257,
      -1.74766,
      1.1422,
      -1.89086,
      0.46287,
      2.33378,
      2.38564
    ],
    "gripper_open": 0.6235,
    "tcp_xyz": [
      0.28988,
      0.57588,
      1.11994
    ],
    "tcp_roll_pitch_yaw": [
      1.60373,
      -0.05722,
      -1.61333
    ],
    "tcp_rotation_matrix": [
      [
        -0.08987,
        0.02962,
        0.99551
      ],
      [
        -0.98547,
        -0.14732,
        -0.08458
      ],
      [
        0.14415,
        -0.98865,
        0.04243
      ]
    ],
    "simulated_seconds_remaining": 6.732,
    "calls_remaining_including_this": 33
  },
  "api_seconds": 4.603878979571164,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.08,
                    "gripper": 0
                  },
                  "note": "The jaws remain separated by an object, indicating contact. I pull outward from the cabinet to open the drawer."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 26,
    "motion_seconds": 1.7160000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 26,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.37424,
      -1.7837,
      1.0791,
      -1.76558,
      0.30113,
      1.93365,
      2.4588
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.08086,
      0.5759,
      1.12011
    ],
    "tcp_roll_pitch_yaw": [
      1.60294,
      -0.05692,
      -1.61291
    ],
    "tcp_rotation_matrix": [
      [
        -0.08939,
        0.02891,
        0.99558
      ],
      [
        -0.98555,
        -0.14698,
        -0.08422
      ],
      [
        0.14389,
        -0.98872,
        0.04163
      ]
    ],
    "simulated_seconds_remaining": 5.016,
    "calls_remaining_including_this": 32
  },
  "api_seconds": 14.014944086782634,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.26,
                    "y": 0.68,
                    "z": 0.97,
                    "gripper": 1
                  },
                  "note": "The pull slipped free; it is now visible above-left in the wrist view. I lower and shift along the drawer to align with the metal bar itself."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 30,
    "motion_seconds": 1.98,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 27,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.71311,
      -1.7838,
      1.3119,
      -1.54426,
      0.24797,
      2.07264,
      2.74563
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.24047,
      0.6666,
      0.98858
    ],
    "tcp_roll_pitch_yaw": [
      1.66015,
      -0.08321,
      -1.6716
    ],
    "tcp_rotation_matrix": [
      [
        -0.15155,
        0.07423,
        0.98566
      ],
      [
        -0.97425,
        -0.17966,
        -0.13626
      ],
      [
        0.16696,
        -0.98092,
        0.09955
      ]
    ],
    "simulated_seconds_remaining": 3.036,
    "calls_remaining_including_this": 31
  },
  "api_seconds": 8.207552222535014,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.91,
                    "x": 0.23
                  },
                  "note": "The metal bar is now clearly visible left of the fingers. I lower the grasp point to center the bar between the jaws."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 28,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.65871,
      -1.77834,
      1.44142,
      -1.55025,
      -0.12426,
      2.05423,
      2.90429
    ],
    "gripper_open": 0.9961,
    "tcp_xyz": [
      0.2149,
      0.66783,
      0.97494
    ],
    "tcp_roll_pitch_yaw": [
      1.91665,
      -0.19886,
      -1.73745
    ],
    "tcp_rotation_matrix": [
      [
        -0.23102,
        0.29064,
        0.92853
      ],
      [
        -0.93655,
        -0.32502,
        -0.13128
      ],
      [
        0.26363,
        -0.89994,
        0.34728
      ]
    ],
    "simulated_seconds_remaining": 2.178,
    "calls_remaining_including_this": 30
  },
  "api_seconds": 5.00460388045758,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The handle bar is centered between the fingers in the wrist view. I close the gripper around it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 29,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.65654,
      -1.77897,
      1.4419,
      -1.55139,
      -0.1245,
      2.0514,
      2.90338
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.21409,
      0.66703,
      0.97465
    ],
    "tcp_roll_pitch_yaw": [
      1.91641,
      -0.19871,
      -1.73934
    ],
    "tcp_rotation_matrix": [
      [
        -0.23278,
        0.28982,
        0.92834
      ],
      [
        -0.93615,
        -0.32541,
        -0.13315
      ],
      [
        0.26351,
        -0.90006,
        0.34707
      ]
    ],
    "simulated_seconds_remaining": 1.254,
    "calls_remaining_including_this": 29
  },
  "api_seconds": 6.205351029522717,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.07,
                    "gripper": 0
                  },
                  "note": "The fingers are alongside the handle bar. I pull outward to try to engage the bar and open the drawer."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

========================================================================
GPT-Astra / Open / Episode 031

Completed scored attempt. Images are available in the paired videos.

Opaque provider signatures, image payloads, and local paths are omitted.


RESULT
{
  "benchmark_index": 31,
  "source_episode_index": 755,
  "house_index": 415,
  "status": "completed",
  "success": true,
  "oracle_success": true,
  "action_decisions": 13,
  "wall_seconds": 158.64,
  "usage": {
    "input_tokens": 234461,
    "cached_input_tokens": 216064,
    "cache_write_input_tokens": 0,
    "output_tokens": 2808,
    "reasoning_output_tokens": 1225
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task.
You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose.
Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion.
move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up.
roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial.
Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5).
The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y.
The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics.
Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration.
Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target.
You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time.
Each move must include a short note describing what you observe and why you chose that motion.
Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done.
Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available.



AGENT TRANSCRIPT (visible messages and completed tool calls)

{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.01699, -0.76727, -0.01843, -2.30301, 0.04521, 1.48028, -0.1059], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.29443, 0.00178, 1.02756], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.99558, 0.07704, -0.05378], [0.08021, -0.99501, 0.05943], [-0.04893, -0.06348, -0.99678]], \"simulated_seconds_remaining\": 30.03, \"calls_remaining_including_this\": 57}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "x": 0.43,
    "y": 0.18,
    "z": 0.93,
    "pitch": 1.57,
    "gripper": 1,
    "note": "The dresser is to the left in the exterior view. I am approaching its drawer fronts and turning the fingers toward the handles."
  },
  "result": null,
  "error": {
    "message": "tool call error: tool call failed for `robot/move_to`\n\nCaused by:\n    Mcp error: -32602: Unexpected argument"
  },
  "status": "failed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.43,
      "y": 0.18,
      "z": 0.93,
      "pitch": -1.57,
      "gripper": 1
    },
    "note": "The dresser fronts are left of the robot in the exterior view. I approach while turning the gripper forward toward the drawer handles."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.01699, -0.76727, -0.01843, -2.30301, 0.04521, 1.48028, -0.1059], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.29443, 0.00178, 1.02756], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.99558, 0.07704, -0.05378], [0.08021, -0.99501, 0.05943], [-0.04893, -0.06348, -0.99678]], \"simulated_seconds_remaining\": 30.03, \"calls_remaining_including_this\": 56}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.4,
      "y": 0.12,
      "z": 0.78,
      "pitch": -0.8,
      "gripper": 1
    },
    "note": "The high forward-facing pose was unreachable. I lower the wrist and rotate partway toward the visible drawer handles."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.01699, -0.76727, -0.01843, -2.30301, 0.04521, 1.48028, -0.1059], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.29443, 0.00178, 1.02756], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.99558, 0.07704, -0.05378], [0.08021, -0.99501, 0.05943], [-0.04893, -0.06348, -0.99678]], \"simulated_seconds_remaining\": 30.03, \"calls_remaining_including_this\": 55}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.4,
      "y": 0.1,
      "z": 0.8
    },
    "note": "Both attempted rotations failed IK. I first lower the open gripper without rotation to obtain a reachable approach."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.0526, -0.31525, 0.15564, -2.54899, 0.144, 2.19091, 0.03431], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.3994, 0.09951, 0.80105], \"tcp_roll_pitch_yaw\": [-6e-05, 0.00032, 6e-05], \"tcp_rotation_matrix\": [[0.99556, 0.07708, -0.0541], [0.08026, -0.995, 0.05936], [-0.04925, -0.06344, -0.99677]], \"simulated_seconds_remaining\": 27.918, \"calls_remaining_including_this\": 54}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 32, \"motion_seconds\": 2.112, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.48,
      "y": 0.1,
      "z": 0.8
    },
    "note": "The gripper is near the middle drawer height; I advance slightly to bring its handle into the wrist view."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.02806, -0.07808, 0.14837, -2.30485, 0.09717, 2.18235, 0.0393], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.47875, 0.09997, 0.80001], \"tcp_roll_pitch_yaw\": [-4e-05, 0.00036, -0.0], \"tcp_rotation_matrix\": [[0.99556, 0.07702, -0.05413], [0.0802, -0.99501, 0.05938], [-0.04929, -0.06346, -0.99677]], \"simulated_seconds_remaining\": 27.06, \"calls_remaining_including_this\": 53}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 13, \"motion_seconds\": 0.8580000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "pitch": -0.5
    },
    "note": "The middle handle is visible just ahead of the fingers. I tilt the gripper toward the dresser for a frontal grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.03184, -0.3013, 0.19892, -2.73799, 0.06639, 2.8853, 0.08101], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.47866, 0.09996, 0.79981], \"tcp_roll_pitch_yaw\": [-0.00027, -0.49529, 9e-05], \"tcp_rotation_matrix\": [[0.8992, 0.09791, 0.42644], [0.08028, -0.99501, 0.05919], [0.43011, -0.01899, -0.90258]], \"simulated_seconds_remaining\": 26.07, \"calls_remaining_including_this\": 52}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 15, \"motion_seconds\": 0.99, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "pitch": 0,
      "yaw": 1.57,
      "x": 0.51,
      "y": 0.1,
      "z": 0.9
    },
    "note": "The horizontal handle can be pinched from above. I turn the finger opening across the handle and rise for a downward approach."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.27154, -0.06286, -0.05885, -2.0155, -0.04484, 1.88437, -1.41639], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.50995, 0.10005, 0.89974], \"tcp_roll_pitch_yaw\": [-0.0015, -0.00107, 1.56571], \"tcp_rotation_matrix\": [[-0.07507, 0.99548, -0.0582], [0.99602, 0.07205, -0.05241], [-0.04798, -0.0619, -0.99693]], \"simulated_seconds_remaining\": 23.628, \"calls_remaining_including_this\": 51}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 37, \"motion_seconds\": 2.442, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.46,
      "y": -0.05,
      "z": 0.9
    },
    "note": "The wrist view places the handle above and left of the grasp center. I shift across the drawer to center it under the open jaws."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.14753, -0.25085, -0.20779, -2.21494, -0.11315, 1.91164, -1.65583], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.46044, -0.0488, 0.90002], \"tcp_roll_pitch_yaw\": [-0.00154, -0.00109, 1.56543], \"tcp_rotation_matrix\": [[-0.07479, 0.9955, -0.05817], [0.99605, 0.07177, -0.05238], [-0.04797, -0.06186, -0.99693]], \"simulated_seconds_remaining\": 22.308, \"calls_remaining_including_this\": 50}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 20, \"motion_seconds\": 1.32, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.56,
      "y": -0.13,
      "z": 0.9
    },
    "note": "The handle moved downward but farther left in the wrist image. I correct forward and continue centering along its length."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.08639, 0.08702, -0.29513, -1.83959, -0.03935, 1.87759, -1.84405], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.55929, -0.12715, 0.90073], \"tcp_roll_pitch_yaw\": [-0.00251, -0.00161, 1.5697], \"tcp_rotation_matrix\": [[-0.07899, 0.99525, -0.05698], [0.99574, 0.07605, -0.0521], [-0.04752, -0.06085, -0.99701]], \"simulated_seconds_remaining\": 21.186, \"calls_remaining_including_this\": 49}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 17, \"motion_seconds\": 1.122, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.595,
      "y": -0.175,
      "z": 0.87
    },
    "note": "The handle is now close to the space between the fingers. I make a small alignment correction and lower toward it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.03189, 0.23574, -0.317, -1.70759, 0.01288, 1.90574, -2.043], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.5967, -0.16916, 0.87988], \"tcp_roll_pitch_yaw\": [-0.01224, -0.00758, 1.68178], \"tcp_rotation_matrix\": [[-0.18942, 0.98101, -0.04181], [0.98098, 0.18724, -0.05116], [-0.04236, -0.05071, -0.99781]], \"simulated_seconds_remaining\": 20.46, \"calls_remaining_including_this\": 48}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 11, \"motion_seconds\": 0.726, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.61,
      "y": -0.2,
      "z": 0.835,
      "yaw": 1.57
    },
    "note": "The handle lies immediately beside the inner finger tip. I lower a few centimeters to place the jaws around its bar."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 11, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.00808, 0.271, -0.32388, -1.6741, 0.05779, 1.88812, -2.13725], \"gripper_open\": 0.9917, \"tcp_xyz\": [0.59932, -0.17864, 0.873], \"tcp_roll_pitch_yaw\": [-0.00744, -0.04606, 1.73161], \"tcp_rotation_matrix\": [[-0.23842, 0.96987, -0.05009], [0.97116, 0.23791, -0.01603], [-0.00363, -0.05246, -0.99862]], \"simulated_seconds_remaining\": 19.8, \"calls_remaining_including_this\": 47}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 10, \"motion_seconds\": 0.66, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The fingers have contacted the handle region and further lowering is blocked. I close the jaws to capture the bar."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 12, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.00799, 0.2676, -0.32432, -1.67694, 0.05617, 1.88426, -2.13973], \"gripper_open\": 0.0, \"tcp_xyz\": [0.59737, -0.17881, 0.87345], \"tcp_roll_pitch_yaw\": [-0.00413, -0.0473, 1.73362], \"tcp_rotation_matrix\": [[-0.24053, 0.96917, -0.05351], [0.97064, 0.24004, -0.01545], [-0.00213, -0.05566, -0.99845]], \"simulated_seconds_remaining\": 18.876, \"calls_remaining_including_this\": 46}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.45,
      "y": -0.17,
      "z": 0.84,
      "roll": -1.57,
      "pitch": 0,
      "yaw": 1.57,
      "gripper": 1
    },
    "note": "The jaws closed fully without retaining the handle. I withdraw and turn to a frontal grasp with the fingers opening vertically."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 13, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.00799, 0.2676, -0.32432, -1.67694, 0.05617, 1.88426, -2.13973], \"gripper_open\": 0.0, \"tcp_xyz\": [0.59737, -0.17881, 0.87345], \"tcp_roll_pitch_yaw\": [-0.00413, -0.0473, 1.73362], \"tcp_rotation_matrix\": [[-0.24053, 0.96917, -0.05351], [0.97064, 0.24004, -0.01545], [-0.00213, -0.05566, -0.99845]], \"simulated_seconds_remaining\": 18.876, \"calls_remaining_including_this\": 45}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK requires a large joint jump; split the motion or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.45,
      "y": -0.17,
      "z": 0.84,
      "roll": -0.7,
      "pitch": 0,
      "yaw": 1.57,
      "gripper": 1
    },
    "note": "The full rotation required too large a joint change. I withdraw with a smaller rotation toward the frontal approach."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "Episode ended. Do not call more tools. Return a brief final response."
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

I couldn’t secure the drawer handle before the episode ended. The dresser was not opened.

TURN USAGE
{
  "input_tokens": 234461,
  "cached_input_tokens": 216064,
  "cache_write_input_tokens": 0,
  "output_tokens": 2808,
  "reasoning_output_tokens": 1225
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.01699,
      -0.76727,
      -0.01843,
      -2.30301,
      0.04521,
      1.48028,
      -0.1059
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.29443,
      0.00178,
      1.02756
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99558,
        0.07704,
        -0.05378
      ],
      [
        0.08021,
        -0.99501,
        0.05943
      ],
      [
        -0.04893,
        -0.06348,
        -0.99678
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 23.020834079012275,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.43,
                    "y": 0.18,
                    "z": 0.93,
                    "pitch": -1.57,
                    "gripper": 1
                  },
                  "note": "The dresser fronts are left of the robot in the exterior view. I approach while turning the gripper forward toward the drawer handles."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 2,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.01699,
      -0.76727,
      -0.01843,
      -2.30301,
      0.04521,
      1.48028,
      -0.1059
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.29443,
      0.00178,
      1.02756
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99558,
        0.07704,
        -0.05378
      ],
      [
        0.08021,
        -0.99501,
        0.05943
      ],
      [
        -0.04893,
        -0.06348,
        -0.99678
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 5.605424672365189,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "y": 0.12,
                    "z": 0.78,
                    "pitch": -0.8,
                    "gripper": 1
                  },
                  "note": "The high forward-facing pose was unreachable. I lower the wrist and rotate partway toward the visible drawer handles."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 3,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.01699,
      -0.76727,
      -0.01843,
      -2.30301,
      0.04521,
      1.48028,
      -0.1059
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.29443,
      0.00178,
      1.02756
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99558,
        0.07704,
        -0.05378
      ],
      [
        0.08021,
        -0.99501,
        0.05943
      ],
      [
        -0.04893,
        -0.06348,
        -0.99678
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 4.611285459250212,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "y": 0.1,
                    "z": 0.8
                  },
                  "note": "Both attempted rotations failed IK. I first lower the open gripper without rotation to obtain a reachable approach."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 32,
    "motion_seconds": 2.112,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.0526,
      -0.31525,
      0.15564,
      -2.54899,
      0.144,
      2.19091,
      0.03431
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.3994,
      0.09951,
      0.80105
    ],
    "tcp_roll_pitch_yaw": [
      -6e-05,
      0.00032,
      6e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99556,
        0.07708,
        -0.0541
      ],
      [
        0.08026,
        -0.995,
        0.05936
      ],
      [
        -0.04925,
        -0.06344,
        -0.99677
      ]
    ],
    "simulated_seconds_remaining": 27.918,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 11.010431481525302,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48,
                    "y": 0.1,
                    "z": 0.8
                  },
                  "note": "The gripper is near the middle drawer height; I advance slightly to bring its handle into the wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.02806,
      -0.07808,
      0.14837,
      -2.30485,
      0.09717,
      2.18235,
      0.0393
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.47875,
      0.09997,
      0.80001
    ],
    "tcp_roll_pitch_yaw": [
      -4e-05,
      0.00036,
      -0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99556,
        0.07702,
        -0.05413
      ],
      [
        0.0802,
        -0.99501,
        0.05938
      ],
      [
        -0.04929,
        -0.06346,
        -0.99677
      ]
    ],
    "simulated_seconds_remaining": 27.06,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 7.606895367614925,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.5
                  },
                  "note": "The middle handle is visible just ahead of the fingers. I tilt the gripper toward the dresser for a frontal grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.03184,
      -0.3013,
      0.19892,
      -2.73799,
      0.06639,
      2.8853,
      0.08101
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.47866,
      0.09996,
      0.79981
    ],
    "tcp_roll_pitch_yaw": [
      -0.00027,
      -0.49529,
      9e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.8992,
        0.09791,
        0.42644
      ],
      [
        0.08028,
        -0.99501,
        0.05919
      ],
      [
        0.43011,
        -0.01899,
        -0.90258
      ]
    ],
    "simulated_seconds_remaining": 26.07,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 12.21145947650075,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": 0,
                    "yaw": 1.57,
                    "x": 0.51,
                    "y": 0.1,
                    "z": 0.9
                  },
                  "note": "The horizontal handle can be pinched from above. I turn the finger opening across the handle and rise for a downward approach."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 37,
    "motion_seconds": 2.442,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.27154,
      -0.06286,
      -0.05885,
      -2.0155,
      -0.04484,
      1.88437,
      -1.41639
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.50995,
      0.10005,
      0.89974
    ],
    "tcp_roll_pitch_yaw": [
      -0.0015,
      -0.00107,
      1.56571
    ],
    "tcp_rotation_matrix": [
      [
        -0.07507,
        0.99548,
        -0.0582
      ],
      [
        0.99602,
        0.07205,
        -0.05241
      ],
      [
        -0.04798,
        -0.0619,
        -0.99693
      ]
    ],
    "simulated_seconds_remaining": 23.628,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 18.416634743101895,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.46,
                    "y": -0.05,
                    "z": 0.9
                  },
                  "note": "The wrist view places the handle above and left of the grasp center. I shift across the drawer to center it under the open jaws."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.14753,
      -0.25085,
      -0.20779,
      -2.21494,
      -0.11315,
      1.91164,
      -1.65583
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.46044,
      -0.0488,
      0.90002
    ],
    "tcp_roll_pitch_yaw": [
      -0.00154,
      -0.00109,
      1.56543
    ],
    "tcp_rotation_matrix": [
      [
        -0.07479,
        0.9955,
        -0.05817
      ],
      [
        0.99605,
        0.07177,
        -0.05238
      ],
      [
        -0.04797,
        -0.06186,
        -0.99693
      ]
    ],
    "simulated_seconds_remaining": 22.308,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 6.406170803122222,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.56,
                    "y": -0.13,
                    "z": 0.9
                  },
                  "note": "The handle moved downward but farther left in the wrist image. I correct forward and continue centering along its length."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.08639,
      0.08702,
      -0.29513,
      -1.83959,
      -0.03935,
      1.87759,
      -1.84405
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.55929,
      -0.12715,
      0.90073
    ],
    "tcp_roll_pitch_yaw": [
      -0.00251,
      -0.00161,
      1.5697
    ],
    "tcp_rotation_matrix": [
      [
        -0.07899,
        0.99525,
        -0.05698
      ],
      [
        0.99574,
        0.07605,
        -0.0521
      ],
      [
        -0.04752,
        -0.06085,
        -0.99701
      ]
    ],
    "simulated_seconds_remaining": 21.186,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 6.206122161820531,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.595,
                    "y": -0.175,
                    "z": 0.87
                  },
                  "note": "The handle is now close to the space between the fingers. I make a small alignment correction and lower toward it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.03189,
      0.23574,
      -0.317,
      -1.70759,
      0.01288,
      1.90574,
      -2.043
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.5967,
      -0.16916,
      0.87988
    ],
    "tcp_roll_pitch_yaw": [
      -0.01224,
      -0.00758,
      1.68178
    ],
    "tcp_rotation_matrix": [
      [
        -0.18942,
        0.98101,
        -0.04181
      ],
      [
        0.98098,
        0.18724,
        -0.05116
      ],
      [
        -0.04236,
        -0.05071,
        -0.99781
      ]
    ],
    "simulated_seconds_remaining": 20.46,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 7.607329806312919,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.61,
                    "y": -0.2,
                    "z": 0.835,
                    "yaw": 1.57
                  },
                  "note": "The handle lies immediately beside the inner finger tip. I lower a few centimeters to place the jaws around its bar."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.00808,
      0.271,
      -0.32388,
      -1.6741,
      0.05779,
      1.88812,
      -2.13725
    ],
    "gripper_open": 0.9917,
    "tcp_xyz": [
      0.59932,
      -0.17864,
      0.873
    ],
    "tcp_roll_pitch_yaw": [
      -0.00744,
      -0.04606,
      1.73161
    ],
    "tcp_rotation_matrix": [
      [
        -0.23842,
        0.96987,
        -0.05009
      ],
      [
        0.97116,
        0.23791,
        -0.01603
      ],
      [
        -0.00363,
        -0.05246,
        -0.99862
      ]
    ],
    "simulated_seconds_remaining": 19.8,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 4.604114388115704,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The fingers have contacted the handle region and further lowering is blocked. I close the jaws to capture the bar."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.00799,
      0.2676,
      -0.32432,
      -1.67694,
      0.05617,
      1.88426,
      -2.13973
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.59737,
      -0.17881,
      0.87345
    ],
    "tcp_roll_pitch_yaw": [
      -0.00413,
      -0.0473,
      1.73362
    ],
    "tcp_rotation_matrix": [
      [
        -0.24053,
        0.96917,
        -0.05351
      ],
      [
        0.97064,
        0.24004,
        -0.01545
      ],
      [
        -0.00213,
        -0.05566,
        -0.99845
      ]
    ],
    "simulated_seconds_remaining": 18.876,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 17.21486779116094,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.45,
                    "y": -0.17,
                    "z": 0.84,
                    "roll": -1.57,
                    "pitch": 0,
                    "yaw": 1.57,
                    "gripper": 1
                  },
                  "note": "The jaws closed fully without retaining the handle. I withdraw and turn to a frontal grasp with the fingers opening vertically."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 13,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.00799,
      0.2676,
      -0.32432,
      -1.67694,
      0.05617,
      1.88426,
      -2.13973
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.59737,
      -0.17881,
      0.87345
    ],
    "tcp_roll_pitch_yaw": [
      -0.00413,
      -0.0473,
      1.73362
    ],
    "tcp_rotation_matrix": [
      [
        -0.24053,
        0.96917,
        -0.05351
      ],
      [
        0.97064,
        0.24004,
        -0.01545
      ],
      [
        -0.00213,
        -0.05566,
        -0.99845
      ]
    ],
    "simulated_seconds_remaining": 18.876,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 6.40604430437088,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.45,
                    "y": -0.17,
                    "z": 0.84,
                    "roll": -0.7,
                    "pitch": 0,
                    "yaw": 1.57,
                    "gripper": 1
                  },
                  "note": "The full rotation required too large a joint change. I withdraw with a smaller rotation toward the frontal approach."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

========================================================================
GPT-Astra / Open / Episode 032

Completed scored attempt. Images are available in the paired videos.

Opaque provider signatures, image payloads, and local paths are omitted.


RESULT
{
  "benchmark_index": 32,
  "source_episode_index": 779,
  "house_index": 416,
  "status": "completed",
  "success": false,
  "oracle_success": false,
  "action_decisions": 30,
  "wall_seconds": 322.33,
  "usage": {
    "input_tokens": 634477,
    "cached_input_tokens": 593280,
    "cache_write_input_tokens": 0,
    "output_tokens": 5601,
    "reasoning_output_tokens": 2313
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task.
You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose.
Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion.
move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up.
roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial.
Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5).
The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y.
The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics.
Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration.
Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target.
You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time.
Each move must include a short note describing what you observe and why you chose that motion.
Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done.
Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available.



AGENT TRANSCRIPT (visible messages and completed tool calls)

I’ll inspect the scene, locate the handle, and use feedback from each motion to open it.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"open the door.\", \"joint_positions\": [0.00443, -0.77685, -0.02984, -2.29666, -0.0002, 1.68161, 0.03593], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.34559, -0.00882, 1.05364], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.98553, -0.0523, 0.1612], [-0.05587, -0.99828, 0.01773], [0.16, -0.02648, -0.98676]], \"simulated_seconds_remaining\": 30.03, \"calls_remaining_including_this\": 57}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "z": 1.25,
    "x": 0.4,
    "note": "The door panel is ahead and above the gripper; lifting toward the visible dark handle will improve alignment."
  },
  "result": null,
  "error": {
    "message": "tool call error: tool call failed for `robot/move_to`\n\nCaused by:\n    Mcp error: -32602: Unexpected argument"
  },
  "status": "failed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "z": 1.25,
      "x": 0.4
    },
    "note": "The door panel is ahead and above the gripper; lifting toward the visible dark handle will improve alignment."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"open the door.\", \"joint_positions\": [0.00443, -0.77685, -0.02984, -2.29666, -0.0002, 1.68161, 0.03593], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.34559, -0.00882, 1.05364], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.98553, -0.0523, 0.1612], [-0.05587, -0.99828, 0.01773], [0.16, -0.02648, -0.98676]], \"simulated_seconds_remaining\": 30.03, \"calls_remaining_including_this\": 56}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"Target outside robot workspace bounds (+/-1.2 m)\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.4,
      "z": 1.13,
      "pitch": -1.3
    },
    "note": "The handle lies on the upright panel. I am raising slightly and turning the fingers toward the panel to approach its handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"open the door.\", \"joint_positions\": [0.00443, -0.77685, -0.02984, -2.29666, -0.0002, 1.68161, 0.03593], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.34559, -0.00882, 1.05364], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.98553, -0.0523, 0.1612], [-0.05587, -0.99828, 0.01773], [0.16, -0.02648, -0.98676]], \"simulated_seconds_remaining\": 30.03, \"calls_remaining_including_this\": 55}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.43,
      "z": 1.05,
      "pitch": -0.7
    },
    "note": "The full forward-facing pose was unreachable. I am using a smaller turn and a short advance to obtain a clearer handle view."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"open the door.\", \"joint_positions\": [0.01079, -1.04285, -0.04353, -2.76334, 0.0067, 2.51261, 0.01369], \"gripper_open\": 1.0, \"tcp_xyz\": [0.40888, -0.00901, 1.04616], \"tcp_roll_pitch_yaw\": [0.00213, -0.63045, 0.00363], \"tcp_rotation_matrix\": [[0.70203, -0.02175, 0.71182], [-0.05366, -0.99831, 0.02242], [0.71013, -0.05393, -0.70201]], \"simulated_seconds_remaining\": 28.776, \"calls_remaining_including_this\": 54}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 19, \"motion_seconds\": 1.254, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.47,
      "y": 0.12,
      "z": 0.98,
      "pitch": -1.2
    },
    "note": "The silver lever is left of the fingers in the wrist view. I am shifting left and lowering while turning toward the door."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"open the door.\", \"joint_positions\": [0.01079, -1.04285, -0.04353, -2.76334, 0.0067, 2.51261, 0.01369], \"gripper_open\": 1.0, \"tcp_xyz\": [0.40888, -0.00901, 1.04616], \"tcp_roll_pitch_yaw\": [0.00213, -0.63045, 0.00363], \"tcp_rotation_matrix\": [[0.70203, -0.02175, 0.71182], [-0.05366, -0.99831, 0.02242], [0.71013, -0.05393, -0.70201]], \"simulated_seconds_remaining\": 28.776, \"calls_remaining_including_this\": 53}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK requires a large joint jump; split the motion or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "y": 0.09,
      "z": 0.98
    },
    "note": "I am separating the lateral alignment from rotation to avoid the rejected joint jump and center the visible lever."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"open the door.\", \"joint_positions\": [-0.15184, -1.16049, 0.1985, -2.89454, 0.05828, 2.65837, 0.25317], \"gripper_open\": 0.9861, \"tcp_xyz\": [0.3994, -0.00258, 1.04067], \"tcp_roll_pitch_yaw\": [0.03064, -0.76144, -0.23631], \"tcp_rotation_matrix\": [[0.5732, -0.23195, 0.7859], [-0.20051, -0.96965, -0.13993], [0.7945, -0.07737, -0.60231]], \"simulated_seconds_remaining\": 27.654, \"calls_remaining_including_this\": 52}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 17, \"motion_seconds\": 1.122, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.35,
      "y": 0.09,
      "z": 0.94,
      "pitch": -0.65,
      "yaw": 0,
      "roll": 0
    },
    "note": "The arm made little translational progress and the lever remains left. I am backing away slightly and lowering to create room for alignment."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"open the door.\", \"joint_positions\": [-0.15184, -1.16049, 0.1985, -2.89454, 0.05828, 2.65837, 0.25317], \"gripper_open\": 0.9861, \"tcp_xyz\": [0.3994, -0.00258, 1.04067], \"tcp_roll_pitch_yaw\": [0.03064, -0.76144, -0.23631], \"tcp_rotation_matrix\": [[0.5732, -0.23195, 0.7859], [-0.20051, -0.96965, -0.13993], [0.7945, -0.07737, -0.60231]], \"simulated_seconds_remaining\": 27.654, \"calls_remaining_including_this\": 51}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.38,
      "y": 0.07,
      "z": 0.96,
      "pitch": 0,
      "roll": 0,
      "yaw": 0
    },
    "note": "I am returning to the reachable downward grasp orientation while moving toward the lever's lateral position."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"open the door.\", \"joint_positions\": [-0.02009, -0.70992, 0.1663, -2.47873, 0.11231, 1.95401, 0.14327], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.37942, 0.0702, 0.96625], \"tcp_roll_pitch_yaw\": [-1e-05, -0.01682, -0.00541], \"tcp_rotation_matrix\": [[0.98239, -0.05724, 0.17787], [-0.06119, -0.99799, 0.01676], [0.17655, -0.02734, -0.98391]], \"simulated_seconds_remaining\": 26.268, \"calls_remaining_including_this\": 50}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 21, \"motion_seconds\": 1.3860000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.48,
      "z": 0.88,
      "pitch": -0.6
    },
    "note": "With lateral alignment established, I am lowering toward the handle and tilting the wrist to recover a direct view of it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"open the door.\", \"joint_positions\": [-0.06835, -0.83339, 0.29906, -2.87691, 0.11287, 2.66971, 0.17804], \"gripper_open\": 1.0, \"tcp_xyz\": [0.42153, 0.06267, 0.91397], \"tcp_roll_pitch_yaw\": [-0.07135, -0.45879, 0.00346], \"tcp_rotation_matrix\": [[0.81133, -0.06326, 0.58116], [-0.04152, -0.99785, -0.05065], [0.58311, 0.01696, -0.81221]], \"simulated_seconds_remaining\": 25.08, \"calls_remaining_including_this\": 49}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 18, \"motion_seconds\": 1.1880000000000002, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.6,
      "z": 1.02,
      "pitch": -1.1
    },
    "note": "The lever has passed above the wrist view. I am extending the arm and bringing the approach direction closer to horizontal at handle height."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"open the door.\", \"joint_positions\": [-0.6228, -0.92863, 0.82788, -2.61465, 0.21335, 2.15301, 0.28315], \"gripper_open\": 1.0, \"tcp_xyz\": [0.39845, 0.02713, 0.91343], \"tcp_roll_pitch_yaw\": [-0.37324, -0.22154, -0.26737], \"tcp_rotation_matrix\": [[0.89307, -0.36925, 0.25707], [-0.23808, -0.87266, -0.42636], [0.38177, 0.31956, -0.86725]], \"simulated_seconds_remaining\": 23.43, \"calls_remaining_including_this\": 48}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 25, \"motion_seconds\": 1.6500000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

The arm is meeting resistance near the door edge. I’m adjusting sideways to reach the silver lever with a clearer approach.


{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.32,
      "y": 0.22,
      "z": 1.06,
      "pitch": 0,
      "roll": 0,
      "yaw": 0
    },
    "note": "The wrist view is centered on the door edge and brickwork. I am retracting and moving left to bring the handle side of the panel into reach."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 11, \"instruction\": \"open the door.\", \"joint_positions\": [-0.3435, -0.85276, 0.60445, -2.15801, 0.43847, 1.58218, 0.21045], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.32035, 0.21926, 1.05945], \"tcp_roll_pitch_yaw\": [-0.0016, -0.00087, -0.0012], \"tcp_rotation_matrix\": [[0.98533, -0.05347, 0.16208], [-0.0568, -0.99826, 0.01596], [0.16094, -0.02493, -0.98665]], \"simulated_seconds_remaining\": 21.45, \"calls_remaining_including_this\": 47}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 30, \"motion_seconds\": 1.98, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.34,
      "y": -0.16,
      "z": 1.05,
      "pitch": -0.5
    },
    "note": "The sideways move shifted the door farther left in the wrist image, revealing the needed correction is toward negative y. I am moving across to the lever."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 12, \"instruction\": \"open the door.\", \"joint_positions\": [-0.41782, -1.0253, -0.15402, -2.62954, 0.24518, 2.16878, -0.56561], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.33995, -0.15899, 1.05001], \"tcp_roll_pitch_yaw\": [-0.00134, -0.49861, -0.0014], \"tcp_rotation_matrix\": [[0.78892, -0.03531, 0.61348], [-0.05676, -0.99827, 0.01554], [0.61187, -0.04709, -0.78955]], \"simulated_seconds_remaining\": 18.612, \"calls_remaining_including_this\": 46}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 43, \"motion_seconds\": 2.838, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.4,
      "y": -0.18,
      "z": 1.01
    },
    "note": "The silver lever is now between the open fingers in the wrist view. I am making a short forward and downward approach to place the jaws around its free end."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 13, \"instruction\": \"open the door.\", \"joint_positions\": [-0.35882, -0.81176, -0.16553, -2.62263, 0.28901, 2.37833, -0.60969], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.39895, -0.1796, 1.01059], \"tcp_roll_pitch_yaw\": [-0.00117, -0.49834, -0.0014], \"tcp_rotation_matrix\": [[0.78909, -0.03523, 0.61327], [-0.05679, -0.99826, 0.01572], [0.61165, -0.04723, -0.78972]], \"simulated_seconds_remaining\": 17.82, \"calls_remaining_including_this\": 45}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 12, \"motion_seconds\": 0.792, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.43,
      "z": 0.985
    },
    "note": "The lever spans the opening between the fingers. I am advancing a few centimeters so the jaws surround the lever rather than just its upper edge."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 14, \"instruction\": \"open the door.\", \"joint_positions\": [-0.31838, -0.70682, -0.16063, -2.62396, 0.32305, 2.49021, -0.62216], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.42914, -0.17956, 0.9856], \"tcp_roll_pitch_yaw\": [-0.00106, -0.4981, -0.00135], \"tcp_rotation_matrix\": [[0.78924, -0.03515, 0.61308], [-0.05677, -0.99826, 0.01586], [0.61145, -0.04732, -0.78987]], \"simulated_seconds_remaining\": 17.226, \"calls_remaining_including_this\": 44}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 9, \"motion_seconds\": 0.5940000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The handle is seated across the jaw opening. I am closing the fingers to grasp the lever."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 15, \"instruction\": \"open the door.\", \"joint_positions\": [-0.31617, -0.71269, -0.15826, -2.62337, 0.32374, 2.4846, -0.62333], \"gripper_open\": 0.9109, \"tcp_xyz\": [0.42901, -0.17672, 0.98767], \"tcp_roll_pitch_yaw\": [-0.00214, -0.49963, 0.00601], \"tcp_rotation_matrix\": [[0.78867, -0.02825, 0.61417], [-0.05079, -0.99852, 0.0193], [0.61272, -0.04642, -0.78894]], \"simulated_seconds_remaining\": 16.302, \"calls_remaining_including_this\": 43}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.33,
      "z": 0.97
    },
    "note": "The fingers stopped before fully closing, indicating contact. I am pulling gently away from the door with a slight downward motion to engage the lever."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 16, \"instruction\": \"open the door.\", \"joint_positions\": [-0.43548, -1.03865, -0.22105, -2.82318, 0.25319, 2.32918, -0.68288], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.33124, -0.17677, 0.97028], \"tcp_roll_pitch_yaw\": [-0.00216, -0.49977, 0.0059], \"tcp_rotation_matrix\": [[0.78858, -0.02835, 0.61428], [-0.05087, -0.99852, 0.01923], [0.61282, -0.04641, -0.78886]], \"simulated_seconds_remaining\": 15.312, \"calls_remaining_including_this\": 42}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 15, \"motion_seconds\": 0.99, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.435,
      "z": 0.985,
      "gripper": 1
    },
    "note": "The previous pull released contact. I am returning to the visible lever to reseat the grasp before pulling with the close command maintained."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 17, \"instruction\": \"open the door.\", \"joint_positions\": [-0.30935, -0.69611, -0.15834, -2.62028, 0.32811, 2.49918, -0.62432], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.43368, -0.17675, 0.98479], \"tcp_roll_pitch_yaw\": [-0.00216, -0.49964, 0.00598], \"tcp_rotation_matrix\": [[0.78866, -0.02828, 0.61418], [-0.05081, -0.99852, 0.01927], [0.61272, -0.0464, -0.78893]], \"simulated_seconds_remaining\": 14.322, \"calls_remaining_including_this\": 41}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 15, \"motion_seconds\": 0.99, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The lever is again inside the jaw opening. I am closing around it and will keep the gripper commanded closed during the pull."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 18, \"instruction\": \"open the door.\", \"joint_positions\": [-0.30727, -0.70199, -0.15609, -2.61989, 0.32866, 2.49348, -0.62553], \"gripper_open\": 0.9095, \"tcp_xyz\": [0.43345, -0.17395, 0.98673], \"tcp_roll_pitch_yaw\": [-0.00314, -0.50091, 0.01324], \"tcp_rotation_matrix\": [[0.7882, -0.02144, 0.61504], [-0.04494, -0.99873, 0.02277], [0.61377, -0.04559, -0.78817]], \"simulated_seconds_remaining\": 13.398, \"calls_remaining_including_this\": 40}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.33,
      "z": 0.965,
      "gripper": 0
    },
    "note": "I am keeping the jaws closed and pulling the lever outward and slightly down to start opening the door."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 19, \"instruction\": \"open the door.\", \"joint_positions\": [-0.43185, -1.04421, -0.22131, -2.83845, 0.25635, 2.33905, -0.68956], \"gripper_open\": 0.0, \"tcp_xyz\": [0.33129, -0.174, 0.96533], \"tcp_roll_pitch_yaw\": [-0.00315, -0.50104, 0.01313], \"tcp_rotation_matrix\": [[0.78812, -0.02155, 0.61515], [-0.04502, -0.99873, 0.0227], [0.61388, -0.04559, -0.78809]], \"simulated_seconds_remaining\": 12.408, \"calls_remaining_including_this\": 39}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 15, \"motion_seconds\": 0.99, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.435,
      "y": -0.2,
      "z": 1.05,
      "gripper": 1
    },
    "note": "The jaws closed completely during the pull, so the lever slipped outside them. I am approaching higher and slightly farther right to center its free end at the fingertips."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 20, \"instruction\": \"open the door.\", \"joint_positions\": [-0.33148, -0.67337, -0.18554, -2.43885, 0.29433, 2.33219, -0.61702], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.43397, -0.19974, 1.04917], \"tcp_roll_pitch_yaw\": [-0.00319, -0.50104, 0.01317], \"tcp_rotation_matrix\": [[0.78812, -0.02152, 0.61514], [-0.04498, -0.99873, 0.02269], [0.61388, -0.04555, -0.78809]], \"simulated_seconds_remaining\": 11.22, \"calls_remaining_including_this\": 38}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 18, \"motion_seconds\": 1.1880000000000002, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.5,
      "y": -0.235,
      "z": 1.03,
      "gripper": 1
    },
    "note": "The lever's free end is just left of the jaw gap. I am shifting to that end and advancing until it sits between the fingertips."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 21, \"instruction\": \"open the door.\", \"joint_positions\": [-0.27204, -0.43217, -0.23465, -2.29698, 0.35547, 2.42314, -0.68076], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.49885, -0.23437, 1.03024], \"tcp_roll_pitch_yaw\": [-0.00307, -0.50085, 0.01315], \"tcp_rotation_matrix\": [[0.78824, -0.0215, 0.61499], [-0.04502, -0.99873, 0.02279], [0.61372, -0.04565, -0.7882]], \"simulated_seconds_remaining\": 10.428, \"calls_remaining_including_this\": 37}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 12, \"motion_seconds\": 0.792, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.54,
      "z": 1.015,
      "gripper": 1
    },
    "note": "The free end is immediately ahead of the open jaws. I am making a short final insertion around the end of the lever."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 22, \"instruction\": \"open the door.\", \"joint_positions\": [-0.25288, -0.36938, -0.24795, -2.22546, 0.32629, 2.37015, -0.6887], \"gripper_open\": 1.0, \"tcp_xyz\": [0.51131, -0.23724, 1.0269], \"tcp_roll_pitch_yaw\": [-0.01752, -0.45187, 0.05646], \"tcp_rotation_matrix\": [[0.81803, 0.01329, 0.57502], [-0.00691, -0.99943, 0.03294], [0.57513, -0.03092, -0.81748]], \"simulated_seconds_remaining\": 9.834, \"calls_remaining_including_this\": 36}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 9, \"motion_seconds\": 0.5940000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The forward motion stopped at contact with the lever. I am closing the jaws at its free end."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 23, \"instruction\": \"open the door.\", \"joint_positions\": [-0.25288, -0.36938, -0.24795, -2.22546, 0.32629, 2.37015, -0.6887], \"gripper_open\": 0.0, \"tcp_xyz\": [0.51131, -0.23724, 1.0269], \"tcp_roll_pitch_yaw\": [-0.01755, -0.45185, 0.0565], \"tcp_rotation_matrix\": [[0.81805, 0.01332, 0.575], [-0.00687, -0.99943, 0.03293], [0.57511, -0.03089, -0.81749]], \"simulated_seconds_remaining\": 8.91, \"calls_remaining_including_this\": 35}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "z": 0.98,
      "gripper": 1
    },
    "note": "The closed jaws are still below the projected lever end. I am reopening and lowering the grasp point so the end moves into the jaw pocket."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 24, \"instruction\": \"open the door.\", \"joint_positions\": [-0.2362, -0.35028, -0.26373, -2.31786, 0.36992, 2.47963, -0.74583], \"gripper_open\": 1.0, \"tcp_xyz\": [0.51109, -0.23854, 0.98266], \"tcp_roll_pitch_yaw\": [-0.01877, -0.45485, 0.05481], \"tcp_rotation_matrix\": [[0.81626, 0.01119, 0.57757], [-0.00815, -0.99949, 0.03089], [0.57762, -0.02993, -0.81576]], \"simulated_seconds_remaining\": 7.986, \"calls_remaining_including_this\": 34}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The free end now lies inside the jaw pocket. I am closing the fingers around it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 25, \"instruction\": \"open the door.\", \"joint_positions\": [-0.24081, -0.34739, -0.26982, -2.31543, 0.3687, 2.49658, -0.74579], \"gripper_open\": 0.2877, \"tcp_xyz\": [0.51096, -0.24759, 0.98523], \"tcp_roll_pitch_yaw\": [-0.02914, -0.46604, 0.0423], \"tcp_rotation_matrix\": [[0.80928, -0.00562, 0.5874], [-0.01698, -0.99976, 0.01383], [0.58718, -0.02116, -0.80918]], \"simulated_seconds_remaining\": 7.062, \"calls_remaining_including_this\": 33}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.38,
      "z": 0.975,
      "gripper": 0
    },
    "note": "The fingers have stopped at a narrow opening around the lever. I am maintaining the grasp and pulling outward to swing the door."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 26, \"instruction\": \"open the door.\", \"joint_positions\": [-0.37492, -0.70847, -0.31284, -2.59979, 0.27125, 2.39814, -0.81006], \"gripper_open\": 0.0, \"tcp_xyz\": [0.3814, -0.24774, 0.97529], \"tcp_roll_pitch_yaw\": [-0.02965, -0.46663, 0.04221], \"tcp_rotation_matrix\": [[0.80891, -0.00593, 0.5879], [-0.01698, -0.99977, 0.01329], [0.58768, -0.02073, -0.80883]], \"simulated_seconds_remaining\": 5.874, \"calls_remaining_including_this\": 32}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 18, \"motion_seconds\": 1.1880000000000002, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.55,
      "y": -0.27,
      "z": 0.97,
      "gripper": 1
    },
    "note": "The lever slipped during the outward pull. I am moving deeper around its free end for a more secure engagement."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 27, \"instruction\": \"open the door.\", \"joint_positions\": [-0.20793, -0.27137, -0.33511, -2.19362, 0.0463, 2.22177, -0.8238], \"gripper_open\": 1.0, \"tcp_xyz\": [0.47232, -0.27353, 0.95321], \"tcp_roll_pitch_yaw\": [-0.14849, -0.12133, 0.30721], \"tcp_rotation_matrix\": [[0.92283, 0.23625, 0.30426], [0.25964, -0.96495, -0.03823], [0.28457, 0.11428, -0.95182]], \"simulated_seconds_remaining\": 4.422, \"calls_remaining_including_this\": 31}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 22, \"motion_seconds\": 1.452, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.6,
      "z": 1,
      "gripper": 0,
      "pitch": 0,
      "roll": 0,
      "yaw": 0
    },
    "note": "The outward grasp did not move the door. I am engaging near the lever with closed fingers and applying a controlled inward push."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 28, \"instruction\": \"open the door.\", \"joint_positions\": [-0.21313, 0.06515, -0.32836, -1.49205, -0.68701, 1.87419, -0.46439], \"gripper_open\": 0.0001, \"tcp_xyz\": [0.48599, -0.45181, 1.14507], \"tcp_roll_pitch_yaw\": [-0.79789, 0.22749, -0.07544], \"tcp_rotation_matrix\": [[0.99722, 0.0518, -0.0535], [0.00038, -0.72193, -0.69196], [-0.07447, 0.69002, -0.71995]], \"simulated_seconds_remaining\": 3.234, \"calls_remaining_including_this\": 30}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 18, \"motion_seconds\": 1.1880000000000002, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.51,
      "y": -0.25,
      "z": 0.985,
      "pitch": -0.46,
      "roll": 0,
      "yaw": 0,
      "gripper": 1
    },
    "note": "The contact displaced the wrist sideways. I am returning to the lever's last visible location to attempt a pull away from the panel along positive y."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 29, \"instruction\": \"open the door.\", \"joint_positions\": [-0.0268, -0.37359, -0.47217, -2.31203, 0.23416, 2.50435, -0.61832], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.50991, -0.25063, 0.98543], \"tcp_roll_pitch_yaw\": [-0.00293, -0.4575, 0.00103], \"tcp_rotation_matrix\": [[0.8135, -0.03549, 0.58049], [-0.05457, -0.99839, 0.01544], [0.57901, -0.04423, -0.81412]], \"simulated_seconds_remaining\": 1.188, \"calls_remaining_including_this\": 29}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 31, \"motion_seconds\": 2.0460000000000003, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "y": -0.13,
      "gripper": 0
    },
    "note": "The lever end is in the jaw gap. I am closing while pulling toward positive y, away from the door panel."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 30, \"instruction\": \"open the door.\", \"joint_positions\": [-0.08012, -0.49719, -0.36882, -2.47526, 0.13447, 2.69849, -0.33178], \"gripper_open\": 0.7282, \"tcp_xyz\": [0.49972, -0.22725, 0.99895], \"tcp_roll_pitch_yaw\": [0.03365, -0.56624, -0.19752], \"tcp_rotation_matrix\": [[0.7204, -0.2073, 0.66185], [-0.20661, -0.9751, -0.08053], [0.66207, -0.07873, -0.7453]], \"simulated_seconds_remaining\": 0.066, \"calls_remaining_including_this\": 28}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 17, \"motion_seconds\": 1.122, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "give_up",
  "arguments": {},
  "result": null,
  "error": {
    "message": "tool call error: tool call failed for `robot/give_up`\n\nCaused by:\n    Mcp error: -32602: A short note is required"
  },
  "status": "failed"
}

{
  "type": "mcp_tool_call",
  "tool": "give_up",
  "arguments": {
    "note": "I could not establish a secure handle grasp and open the door before the motion time was exhausted."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "Episode ended. Do not call more tools. Return a brief final response."
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

I couldn’t secure the handle and open the door within the motion time limit.

TURN USAGE
{
  "input_tokens": 634477,
  "cached_input_tokens": 593280,
  "cache_write_input_tokens": 0,
  "output_tokens": 5601,
  "reasoning_output_tokens": 2313
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      0.00443,
      -0.77685,
      -0.02984,
      -2.29666,
      -0.0002,
      1.68161,
      0.03593
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.34559,
      -0.00882,
      1.05364
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.98553,
        -0.0523,
        0.1612
      ],
      [
        -0.05587,
        -0.99828,
        0.01773
      ],
      [
        0.16,
        -0.02648,
        -0.98676
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 23.419144771061838,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.25,
                    "x": 0.4
                  },
                  "note": "The door panel is ahead and above the gripper; lifting toward the visible dark handle will improve alignment."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "Target outside robot workspace bounds (+/-1.2 m)",
    "movement_executed": false
  }
}

{
  "call": 2,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      0.00443,
      -0.77685,
      -0.02984,
      -2.29666,
      -0.0002,
      1.68161,
      0.03593
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.34559,
      -0.00882,
      1.05364
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.98553,
        -0.0523,
        0.1612
      ],
      [
        -0.05587,
        -0.99828,
        0.01773
      ],
      [
        0.16,
        -0.02648,
        -0.98676
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 11.814194438047707,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "z": 1.13,
                    "pitch": -1.3
                  },
                  "note": "The handle lies on the upright panel. I am raising slightly and turning the fingers toward the panel to approach its handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 3,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      0.00443,
      -0.77685,
      -0.02984,
      -2.29666,
      -0.0002,
      1.68161,
      0.03593
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.34559,
      -0.00882,
      1.05364
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.98553,
        -0.0523,
        0.1612
      ],
      [
        -0.05587,
        -0.99828,
        0.01773
      ],
      [
        0.16,
        -0.02648,
        -0.98676
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 5.405066884122789,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.43,
                    "z": 1.05,
                    "pitch": -0.7
                  },
                  "note": "The full forward-facing pose was unreachable. I am using a smaller turn and a short advance to obtain a clearer handle view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      0.01079,
      -1.04285,
      -0.04353,
      -2.76334,
      0.0067,
      2.51261,
      0.01369
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.40888,
      -0.00901,
      1.04616
    ],
    "tcp_roll_pitch_yaw": [
      0.00213,
      -0.63045,
      0.00363
    ],
    "tcp_rotation_matrix": [
      [
        0.70203,
        -0.02175,
        0.71182
      ],
      [
        -0.05366,
        -0.99831,
        0.02242
      ],
      [
        0.71013,
        -0.05393,
        -0.70201
      ]
    ],
    "simulated_seconds_remaining": 28.776,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 13.0106788771227,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.47,
                    "y": 0.12,
                    "z": 0.98,
                    "pitch": -1.2
                  },
                  "note": "The silver lever is left of the fingers in the wrist view. I am shifting left and lowering while turning toward the door."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 5,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      0.01079,
      -1.04285,
      -0.04353,
      -2.76334,
      0.0067,
      2.51261,
      0.01369
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.40888,
      -0.00901,
      1.04616
    ],
    "tcp_roll_pitch_yaw": [
      0.00213,
      -0.63045,
      0.00363
    ],
    "tcp_rotation_matrix": [
      [
        0.70203,
        -0.02175,
        0.71182
      ],
      [
        -0.05366,
        -0.99831,
        0.02242
      ],
      [
        0.71013,
        -0.05393,
        -0.70201
      ]
    ],
    "simulated_seconds_remaining": 28.776,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 5.204196373932064,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.09,
                    "z": 0.98
                  },
                  "note": "I am separating the lateral alignment from rotation to avoid the rejected joint jump and center the visible lever."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -0.15184,
      -1.16049,
      0.1985,
      -2.89454,
      0.05828,
      2.65837,
      0.25317
    ],
    "gripper_open": 0.9861,
    "tcp_xyz": [
      0.3994,
      -0.00258,
      1.04067
    ],
    "tcp_roll_pitch_yaw": [
      0.03064,
      -0.76144,
      -0.23631
    ],
    "tcp_rotation_matrix": [
      [
        0.5732,
        -0.23195,
        0.7859
      ],
      [
        -0.20051,
        -0.96965,
        -0.13993
      ],
      [
        0.7945,
        -0.07737,
        -0.60231
      ]
    ],
    "simulated_seconds_remaining": 27.654,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 7.008028051815927,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.35,
                    "y": 0.09,
                    "z": 0.94,
                    "pitch": -0.65,
                    "yaw": 0,
                    "roll": 0
                  },
                  "note": "The arm made little translational progress and the lever remains left. I am backing away slightly and lowering to create room for alignment."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 7,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -0.15184,
      -1.16049,
      0.1985,
      -2.89454,
      0.05828,
      2.65837,
      0.25317
    ],
    "gripper_open": 0.9861,
    "tcp_xyz": [
      0.3994,
      -0.00258,
      1.04067
    ],
    "tcp_roll_pitch_yaw": [
      0.03064,
      -0.76144,
      -0.23631
    ],
    "tcp_rotation_matrix": [
      [
        0.5732,
        -0.23195,
        0.7859
      ],
      [
        -0.20051,
        -0.96965,
        -0.13993
      ],
      [
        0.7945,
        -0.07737,
        -0.60231
      ]
    ],
    "simulated_seconds_remaining": 27.654,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 8.206892469897866,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.38,
                    "y": 0.07,
                    "z": 0.96,
                    "pitch": 0,
                    "roll": 0,
                    "yaw": 0
                  },
                  "note": "I am returning to the reachable downward grasp orientation while moving toward the lever's lateral position."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -0.02009,
      -0.70992,
      0.1663,
      -2.47873,
      0.11231,
      1.95401,
      0.14327
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.37942,
      0.0702,
      0.96625
    ],
    "tcp_roll_pitch_yaw": [
      -1e-05,
      -0.01682,
      -0.00541
    ],
    "tcp_rotation_matrix": [
      [
        0.98239,
        -0.05724,
        0.17787
      ],
      [
        -0.06119,
        -0.99799,
        0.01676
      ],
      [
        0.17655,
        -0.02734,
        -0.98391
      ]
    ],
    "simulated_seconds_remaining": 26.268,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 6.805735174566507,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48,
                    "z": 0.88,
                    "pitch": -0.6
                  },
                  "note": "With lateral alignment established, I am lowering toward the handle and tilting the wrist to recover a direct view of it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -0.06835,
      -0.83339,
      0.29906,
      -2.87691,
      0.11287,
      2.66971,
      0.17804
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.42153,
      0.06267,
      0.91397
    ],
    "tcp_roll_pitch_yaw": [
      -0.07135,
      -0.45879,
      0.00346
    ],
    "tcp_rotation_matrix": [
      [
        0.81133,
        -0.06326,
        0.58116
      ],
      [
        -0.04152,
        -0.99785,
        -0.05065
      ],
      [
        0.58311,
        0.01696,
        -0.81221
      ]
    ],
    "simulated_seconds_remaining": 25.08,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 9.407828413881361,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.6,
                    "z": 1.02,
                    "pitch": -1.1
                  },
                  "note": "The lever has passed above the wrist view. I am extending the arm and bringing the approach direction closer to horizontal at handle height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 25,
    "motion_seconds": 1.6500000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -0.6228,
      -0.92863,
      0.82788,
      -2.61465,
      0.21335,
      2.15301,
      0.28315
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.39845,
      0.02713,
      0.91343
    ],
    "tcp_roll_pitch_yaw": [
      -0.37324,
      -0.22154,
      -0.26737
    ],
    "tcp_rotation_matrix": [
      [
        0.89307,
        -0.36925,
        0.25707
      ],
      [
        -0.23808,
        -0.87266,
        -0.42636
      ],
      [
        0.38177,
        0.31956,
        -0.86725
      ]
    ],
    "simulated_seconds_remaining": 23.43,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 14.010647118091583,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.32,
                    "y": 0.22,
                    "z": 1.06,
                    "pitch": 0,
                    "roll": 0,
                    "yaw": 0
                  },
                  "note": "The wrist view is centered on the door edge and brickwork. I am retracting and moving left to bring the handle side of the panel into reach."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 30,
    "motion_seconds": 1.98,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -0.3435,
      -0.85276,
      0.60445,
      -2.15801,
      0.43847,
      1.58218,
      0.21045
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.32035,
      0.21926,
      1.05945
    ],
    "tcp_roll_pitch_yaw": [
      -0.0016,
      -0.00087,
      -0.0012
    ],
    "tcp_rotation_matrix": [
      [
        0.98533,
        -0.05347,
        0.16208
      ],
      [
        -0.0568,
        -0.99826,
        0.01596
      ],
      [
        0.16094,
        -0.02493,
        -0.98665
      ]
    ],
    "simulated_seconds_remaining": 21.45,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 7.40802990924567,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.34,
                    "y": -0.16,
                    "z": 1.05,
                    "pitch": -0.5
                  },
                  "note": "The sideways move shifted the door farther left in the wrist image, revealing the needed correction is toward negative y. I am moving across to the lever."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 43,
    "motion_seconds": 2.838,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -0.41782,
      -1.0253,
      -0.15402,
      -2.62954,
      0.24518,
      2.16878,
      -0.56561
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.33995,
      -0.15899,
      1.05001
    ],
    "tcp_roll_pitch_yaw": [
      -0.00134,
      -0.49861,
      -0.0014
    ],
    "tcp_rotation_matrix": [
      [
        0.78892,
        -0.03531,
        0.61348
      ],
      [
        -0.05676,
        -0.99827,
        0.01554
      ],
      [
        0.61187,
        -0.04709,
        -0.78955
      ]
    ],
    "simulated_seconds_remaining": 18.612,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 10.808918805792928,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "y": -0.18,
                    "z": 1.01
                  },
                  "note": "The silver lever is now between the open fingers in the wrist view. I am making a short forward and downward approach to place the jaws around its free end."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -0.35882,
      -0.81176,
      -0.16553,
      -2.62263,
      0.28901,
      2.37833,
      -0.60969
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.39895,
      -0.1796,
      1.01059
    ],
    "tcp_roll_pitch_yaw": [
      -0.00117,
      -0.49834,
      -0.0014
    ],
    "tcp_rotation_matrix": [
      [
        0.78909,
        -0.03523,
        0.61327
      ],
      [
        -0.05679,
        -0.99826,
        0.01572
      ],
      [
        0.61165,
        -0.04723,
        -0.78972
      ]
    ],
    "simulated_seconds_remaining": 17.82,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 10.208445511758327,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.43,
                    "z": 0.985
                  },
                  "note": "The lever spans the opening between the fingers. I am advancing a few centimeters so the jaws surround the lever rather than just its upper edge."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -0.31838,
      -0.70682,
      -0.16063,
      -2.62396,
      0.32305,
      2.49021,
      -0.62216
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.42914,
      -0.17956,
      0.9856
    ],
    "tcp_roll_pitch_yaw": [
      -0.00106,
      -0.4981,
      -0.00135
    ],
    "tcp_rotation_matrix": [
      [
        0.78924,
        -0.03515,
        0.61308
      ],
      [
        -0.05677,
        -0.99826,
        0.01586
      ],
      [
        0.61145,
        -0.04732,
        -0.78987
      ]
    ],
    "simulated_seconds_remaining": 17.226,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 4.804411072283983,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The handle is seated across the jaw opening. I am closing the fingers to grasp the lever."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -0.31617,
      -0.71269,
      -0.15826,
      -2.62337,
      0.32374,
      2.4846,
      -0.62333
    ],
    "gripper_open": 0.9109,
    "tcp_xyz": [
      0.42901,
      -0.17672,
      0.98767
    ],
    "tcp_roll_pitch_yaw": [
      -0.00214,
      -0.49963,
      0.00601
    ],
    "tcp_rotation_matrix": [
      [
        0.78867,
        -0.02825,
        0.61417
      ],
      [
        -0.05079,
        -0.99852,
        0.0193
      ],
      [
        0.61272,
        -0.04642,
        -0.78894
      ]
    ],
    "simulated_seconds_remaining": 16.302,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 6.205604161135852,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.33,
                    "z": 0.97
                  },
                  "note": "The fingers stopped before fully closing, indicating contact. I am pulling gently away from the door with a slight downward motion to engage the lever."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -0.43548,
      -1.03865,
      -0.22105,
      -2.82318,
      0.25319,
      2.32918,
      -0.68288
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.33124,
      -0.17677,
      0.97028
    ],
    "tcp_roll_pitch_yaw": [
      -0.00216,
      -0.49977,
      0.0059
    ],
    "tcp_rotation_matrix": [
      [
        0.78858,
        -0.02835,
        0.61428
      ],
      [
        -0.05087,
        -0.99852,
        0.01923
      ],
      [
        0.61282,
        -0.04641,
        -0.78886
      ]
    ],
    "simulated_seconds_remaining": 15.312,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 12.209170313552022,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.435,
                    "z": 0.985,
                    "gripper": 1
                  },
                  "note": "The previous pull released contact. I am returning to the visible lever to reseat the grasp before pulling with the close command maintained."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -0.30935,
      -0.69611,
      -0.15834,
      -2.62028,
      0.32811,
      2.49918,
      -0.62432
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.43368,
      -0.17675,
      0.98479
    ],
    "tcp_roll_pitch_yaw": [
      -0.00216,
      -0.49964,
      0.00598
    ],
    "tcp_rotation_matrix": [
      [
        0.78866,
        -0.02828,
        0.61418
      ],
      [
        -0.05081,
        -0.99852,
        0.01927
      ],
      [
        0.61272,
        -0.0464,
        -0.78893
      ]
    ],
    "simulated_seconds_remaining": 14.322,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 5.404623846523464,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The lever is again inside the jaw opening. I am closing around it and will keep the gripper commanded closed during the pull."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -0.30727,
      -0.70199,
      -0.15609,
      -2.61989,
      0.32866,
      2.49348,
      -0.62553
    ],
    "gripper_open": 0.9095,
    "tcp_xyz": [
      0.43345,
      -0.17395,
      0.98673
    ],
    "tcp_roll_pitch_yaw": [
      -0.00314,
      -0.50091,
      0.01324
    ],
    "tcp_rotation_matrix": [
      [
        0.7882,
        -0.02144,
        0.61504
      ],
      [
        -0.04494,
        -0.99873,
        0.02277
      ],
      [
        0.61377,
        -0.04559,
        -0.78817
      ]
    ],
    "simulated_seconds_remaining": 13.398,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 5.404373288154602,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.33,
                    "z": 0.965,
                    "gripper": 0
                  },
                  "note": "I am keeping the jaws closed and pulling the lever outward and slightly down to start opening the door."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 19,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -0.43185,
      -1.04421,
      -0.22131,
      -2.83845,
      0.25635,
      2.33905,
      -0.68956
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.33129,
      -0.174,
      0.96533
    ],
    "tcp_roll_pitch_yaw": [
      -0.00315,
      -0.50104,
      0.01313
    ],
    "tcp_rotation_matrix": [
      [
        0.78812,
        -0.02155,
        0.61515
      ],
      [
        -0.04502,
        -0.99873,
        0.0227
      ],
      [
        0.61388,
        -0.04559,
        -0.78809
      ]
    ],
    "simulated_seconds_remaining": 12.408,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 18.813938515260816,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.435,
                    "y": -0.2,
                    "z": 1.05,
                    "gripper": 1
                  },
                  "note": "The jaws closed completely during the pull, so the lever slipped outside them. I am approaching higher and slightly farther right to center its free end at the fingertips."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 20,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -0.33148,
      -0.67337,
      -0.18554,
      -2.43885,
      0.29433,
      2.33219,
      -0.61702
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.43397,
      -0.19974,
      1.04917
    ],
    "tcp_roll_pitch_yaw": [
      -0.00319,
      -0.50104,
      0.01317
    ],
    "tcp_rotation_matrix": [
      [
        0.78812,
        -0.02152,
        0.61514
      ],
      [
        -0.04498,
        -0.99873,
        0.02269
      ],
      [
        0.61388,
        -0.04555,
        -0.78809
      ]
    ],
    "simulated_seconds_remaining": 11.22,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 8.406407928094268,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.5,
                    "y": -0.235,
                    "z": 1.03,
                    "gripper": 1
                  },
                  "note": "The lever's free end is just left of the jaw gap. I am shifting to that end and advancing until it sits between the fingertips."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 21,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -0.27204,
      -0.43217,
      -0.23465,
      -2.29698,
      0.35547,
      2.42314,
      -0.68076
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.49885,
      -0.23437,
      1.03024
    ],
    "tcp_roll_pitch_yaw": [
      -0.00307,
      -0.50085,
      0.01315
    ],
    "tcp_rotation_matrix": [
      [
        0.78824,
        -0.0215,
        0.61499
      ],
      [
        -0.04502,
        -0.99873,
        0.02279
      ],
      [
        0.61372,
        -0.04565,
        -0.7882
      ]
    ],
    "simulated_seconds_remaining": 10.428,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 11.007774414494634,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.54,
                    "z": 1.015,
                    "gripper": 1
                  },
                  "note": "The free end is immediately ahead of the open jaws. I am making a short final insertion around the end of the lever."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 22,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -0.25288,
      -0.36938,
      -0.24795,
      -2.22546,
      0.32629,
      2.37015,
      -0.6887
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.51131,
      -0.23724,
      1.0269
    ],
    "tcp_roll_pitch_yaw": [
      -0.01752,
      -0.45187,
      0.05646
    ],
    "tcp_rotation_matrix": [
      [
        0.81803,
        0.01329,
        0.57502
      ],
      [
        -0.00691,
        -0.99943,
        0.03294
      ],
      [
        0.57513,
        -0.03092,
        -0.81748
      ]
    ],
    "simulated_seconds_remaining": 9.834,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 5.4040299309417605,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The forward motion stopped at contact with the lever. I am closing the jaws at its free end."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 23,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -0.25288,
      -0.36938,
      -0.24795,
      -2.22546,
      0.32629,
      2.37015,
      -0.6887
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.51131,
      -0.23724,
      1.0269
    ],
    "tcp_roll_pitch_yaw": [
      -0.01755,
      -0.45185,
      0.0565
    ],
    "tcp_rotation_matrix": [
      [
        0.81805,
        0.01332,
        0.575
      ],
      [
        -0.00687,
        -0.99943,
        0.03293
      ],
      [
        0.57511,
        -0.03089,
        -0.81749
      ]
    ],
    "simulated_seconds_remaining": 8.91,
    "calls_remaining_including_this": 35
  },
  "api_seconds": 10.007095498032868,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.98,
                    "gripper": 1
                  },
                  "note": "The closed jaws are still below the projected lever end. I am reopening and lowering the grasp point so the end moves into the jaw pocket."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 24,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -0.2362,
      -0.35028,
      -0.26373,
      -2.31786,
      0.36992,
      2.47963,
      -0.74583
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.51109,
      -0.23854,
      0.98266
    ],
    "tcp_roll_pitch_yaw": [
      -0.01877,
      -0.45485,
      0.05481
    ],
    "tcp_rotation_matrix": [
      [
        0.81626,
        0.01119,
        0.57757
      ],
      [
        -0.00815,
        -0.99949,
        0.03089
      ],
      [
        0.57762,
        -0.02993,
        -0.81576
      ]
    ],
    "simulated_seconds_remaining": 7.986,
    "calls_remaining_including_this": 34
  },
  "api_seconds": 4.80353541020304,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The free end now lies inside the jaw pocket. I am closing the fingers around it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 25,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -0.24081,
      -0.34739,
      -0.26982,
      -2.31543,
      0.3687,
      2.49658,
      -0.74579
    ],
    "gripper_open": 0.2877,
    "tcp_xyz": [
      0.51096,
      -0.24759,
      0.98523
    ],
    "tcp_roll_pitch_yaw": [
      -0.02914,
      -0.46604,
      0.0423
    ],
    "tcp_rotation_matrix": [
      [
        0.80928,
        -0.00562,
        0.5874
      ],
      [
        -0.01698,
        -0.99976,
        0.01383
      ],
      [
        0.58718,
        -0.02116,
        -0.80918
      ]
    ],
    "simulated_seconds_remaining": 7.062,
    "calls_remaining_including_this": 33
  },
  "api_seconds": 5.605425648391247,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.38,
                    "z": 0.975,
                    "gripper": 0
                  },
                  "note": "The fingers have stopped at a narrow opening around the lever. I am maintaining the grasp and pulling outward to swing the door."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 26,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -0.37492,
      -0.70847,
      -0.31284,
      -2.59979,
      0.27125,
      2.39814,
      -0.81006
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.3814,
      -0.24774,
      0.97529
    ],
    "tcp_roll_pitch_yaw": [
      -0.02965,
      -0.46663,
      0.04221
    ],
    "tcp_rotation_matrix": [
      [
        0.80891,
        -0.00593,
        0.5879
      ],
      [
        -0.01698,
        -0.99977,
        0.01329
      ],
      [
        0.58768,
        -0.02073,
        -0.80883
      ]
    ],
    "simulated_seconds_remaining": 5.874,
    "calls_remaining_including_this": 32
  },
  "api_seconds": 7.005667785182595,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.55,
                    "y": -0.27,
                    "z": 0.97,
                    "gripper": 1
                  },
                  "note": "The lever slipped during the outward pull. I am moving deeper around its free end for a more secure engagement."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 22,
    "motion_seconds": 1.452,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 27,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -0.20793,
      -0.27137,
      -0.33511,
      -2.19362,
      0.0463,
      2.22177,
      -0.8238
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.47232,
      -0.27353,
      0.95321
    ],
    "tcp_roll_pitch_yaw": [
      -0.14849,
      -0.12133,
      0.30721
    ],
    "tcp_rotation_matrix": [
      [
        0.92283,
        0.23625,
        0.30426
      ],
      [
        0.25964,
        -0.96495,
        -0.03823
      ],
      [
        0.28457,
        0.11428,
        -0.95182
      ]
    ],
    "simulated_seconds_remaining": 4.422,
    "calls_remaining_including_this": 31
  },
  "api_seconds": 11.407868422567844,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.6,
                    "z": 1,
                    "gripper": 0,
                    "pitch": 0,
                    "roll": 0,
                    "yaw": 0
                  },
                  "note": "The outward grasp did not move the door. I am engaging near the lever with closed fingers and applying a controlled inward push."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 28,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -0.21313,
      0.06515,
      -0.32836,
      -1.49205,
      -0.68701,
      1.87419,
      -0.46439
    ],
    "gripper_open": 0.0001,
    "tcp_xyz": [
      0.48599,
      -0.45181,
      1.14507
    ],
    "tcp_roll_pitch_yaw": [
      -0.79789,
      0.22749,
      -0.07544
    ],
    "tcp_rotation_matrix": [
      [
        0.99722,
        0.0518,
        -0.0535
      ],
      [
        0.00038,
        -0.72193,
        -0.69196
      ],
      [
        -0.07447,
        0.69002,
        -0.71995
      ]
    ],
    "simulated_seconds_remaining": 3.234,
    "calls_remaining_including_this": 30
  },
  "api_seconds": 18.612889057025313,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.51,
                    "y": -0.25,
                    "z": 0.985,
                    "pitch": -0.46,
                    "roll": 0,
                    "yaw": 0,
                    "gripper": 1
                  },
                  "note": "The contact displaced the wrist sideways. I am returning to the lever's last visible location to attempt a pull away from the panel along positive y."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 31,
    "motion_seconds": 2.0460000000000003,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 29,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -0.0268,
      -0.37359,
      -0.47217,
      -2.31203,
      0.23416,
      2.50435,
      -0.61832
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.50991,
      -0.25063,
      0.98543
    ],
    "tcp_roll_pitch_yaw": [
      -0.00293,
      -0.4575,
      0.00103
    ],
    "tcp_rotation_matrix": [
      [
        0.8135,
        -0.03549,
        0.58049
      ],
      [
        -0.05457,
        -0.99839,
        0.01544
      ],
      [
        0.57901,
        -0.04423,
        -0.81412
      ]
    ],
    "simulated_seconds_remaining": 1.188,
    "calls_remaining_including_this": 29
  },
  "api_seconds": 5.004256512969732,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": -0.13,
                    "gripper": 0
                  },
                  "note": "The lever end is in the jaw gap. I am closing while pulling toward positive y, away from the door panel."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 30,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -0.08012,
      -0.49719,
      -0.36882,
      -2.47526,
      0.13447,
      2.69849,
      -0.33178
    ],
    "gripper_open": 0.7282,
    "tcp_xyz": [
      0.49972,
      -0.22725,
      0.99895
    ],
    "tcp_roll_pitch_yaw": [
      0.03365,
      -0.56624,
      -0.19752
    ],
    "tcp_rotation_matrix": [
      [
        0.7204,
        -0.2073,
        0.66185
      ],
      [
        -0.20661,
        -0.9751,
        -0.08053
      ],
      [
        0.66207,
        -0.07873,
        -0.7453
      ]
    ],
    "simulated_seconds_remaining": 0.066,
    "calls_remaining_including_this": 28
  },
  "api_seconds": 9.60770168993622,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "give_up",
                "args": {
                  "note": "I could not establish a secure handle grasp and open the door before the motion time was exhausted."
                }
              }
            }
          ]
        }
      }
    ]
  }
}

========================================================================
GPT-Astra / Open / Episode 033

Completed scored attempt. Images are available in the paired videos.

Opaque provider signatures, image payloads, and local paths are omitted.


RESULT
{
  "benchmark_index": 33,
  "source_episode_index": 822,
  "house_index": 417,
  "status": "completed",
  "success": false,
  "oracle_success": false,
  "action_decisions": 24,
  "wall_seconds": 220.87,
  "usage": {
    "input_tokens": 455341,
    "cached_input_tokens": 421632,
    "cache_write_input_tokens": 0,
    "output_tokens": 3769,
    "reasoning_output_tokens": 1144
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task.
You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose.
Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion.
move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up.
roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial.
Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5).
The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y.
The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics.
Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration.
Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target.
You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time.
Each move must include a short note describing what you observe and why you chose that motion.
Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done.
Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available.



AGENT TRANSCRIPT (visible messages and completed tool calls)

I’ll inspect the scene and guide the gripper to the handle.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.01505, -0.82402, 0.02857, -2.31321, -0.10935, 1.6275, 0.11387], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.32342, -0.02359, 1.05637], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.98353, -0.11707, 0.13774], [-0.09938, -0.98666, -0.12897], [0.151, 0.11316, -0.98204]], \"simulated_seconds_remaining\": 30.03, \"calls_remaining_including_this\": 57}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "z": 1.3,
    "x": 0.25,
    "note": "Both views are occluded by nearby cabinet surfaces; lifting and backing the open gripper should reveal the handle."
  },
  "result": null,
  "error": {
    "message": "tool call error: tool call failed for `robot/move_to`\n\nCaused by:\n    Mcp error: -32602: Unexpected argument"
  },
  "status": "failed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "z": 1.3,
      "x": 0.25
    },
    "note": "Both images are obscured by cabinet surfaces. Lift and retreat to obtain a useful view."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.01505, -0.82402, 0.02857, -2.31321, -0.10935, 1.6275, 0.11387], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.32342, -0.02359, 1.05637], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.98353, -0.11707, 0.13774], [-0.09938, -0.98666, -0.12897], [0.151, 0.11316, -0.98204]], \"simulated_seconds_remaining\": 30.03, \"calls_remaining_including_this\": 56}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"Target outside robot workspace bounds (+/-1.2 m)\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.18,
      "z": 1.18
    },
    "note": "The prior lift exceeded workspace limits; retreat and lift within the allowed region to improve visibility."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.01777, -1.01195, 0.03217, -2.02407, -0.11184, 1.15399, 0.05804], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.18101, -0.02359, 1.17922], \"tcp_roll_pitch_yaw\": [-1e-05, -0.00032, 1e-05], \"tcp_rotation_matrix\": [[0.98348, -0.11709, 0.13805], [-0.09936, -0.98666, -0.12898], [0.15131, 0.11313, -0.98199]], \"simulated_seconds_remaining\": 28.446, \"calls_remaining_including_this\": 55}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 24, \"motion_seconds\": 1.584, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "pitch": -1.4,
      "z": 1.05
    },
    "note": "The wrist view shows tiled floor and a dark cabinet to the right. Rotate the wrist forward to inspect its face."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.01777, -1.01195, 0.03217, -2.02407, -0.11184, 1.15399, 0.05804], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.18101, -0.02359, 1.17922], \"tcp_roll_pitch_yaw\": [-1e-05, -0.00032, 1e-05], \"tcp_rotation_matrix\": [[0.98348, -0.11709, 0.13805], [-0.09936, -0.98666, -0.12898], [0.15131, 0.11313, -0.98199]], \"simulated_seconds_remaining\": 28.446, \"calls_remaining_including_this\": 54}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.35,
      "z": 1.03,
      "pitch": -0.75
    },
    "note": "The full forward rotation was unreachable. Use a smaller rotation farther from the base to reveal the cabinet."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.03211, -1.37645, 0.0128, -2.97212, -0.16016, 2.47635, 0.2178], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.34936, -0.02364, 1.03032], \"tcp_roll_pitch_yaw\": [-8e-05, -0.74629, -0.00012], \"tcp_rotation_matrix\": [[0.61959, -0.16295, 0.76783], [-0.09944, -0.98663, -0.12914], [0.7786, 0.00366, -0.62751]], \"simulated_seconds_remaining\": 26.664, \"calls_remaining_including_this\": 53}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 27, \"motion_seconds\": 1.782, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.4,
      "z": 0.88,
      "pitch": -1.25
    },
    "note": "A vertical light-colored handle is visible near the wrist image center below the cabinet face. Lower the gripper and point it more directly toward the handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.03211, -1.37645, 0.0128, -2.97212, -0.16016, 2.47635, 0.2178], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.34936, -0.02364, 1.03032], \"tcp_roll_pitch_yaw\": [-8e-05, -0.74629, -0.00012], \"tcp_rotation_matrix\": [[0.61959, -0.16295, 0.76783], [-0.09944, -0.98663, -0.12914], [0.7786, 0.00366, -0.62751]], \"simulated_seconds_remaining\": 26.664, \"calls_remaining_including_this\": 52}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.42,
      "z": 0.9,
      "pitch": -0.75
    },
    "note": "Maintain the reachable wrist angle while lowering toward the visible vertical handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.03211, -1.37645, 0.0128, -2.97212, -0.16016, 2.47635, 0.2178], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.34936, -0.02364, 1.03032], \"tcp_roll_pitch_yaw\": [-8e-05, -0.74629, -0.00012], \"tcp_rotation_matrix\": [[0.61959, -0.16295, 0.76783], [-0.09944, -0.98663, -0.12914], [0.7786, 0.00366, -0.62751]], \"simulated_seconds_remaining\": 26.664, \"calls_remaining_including_this\": 51}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.55,
      "z": 1,
      "pitch": -0.7
    },
    "note": "The lower pose is unreachable from the folded arm. Extend forward at the current height toward the handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.16434, -0.50087, 0.11496, -2.58718, -0.21422, 2.92566, 0.3086], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.54866, -0.02365, 1.00016], \"tcp_roll_pitch_yaw\": [-0.0001, -0.70016, -0.00014], \"tcp_rotation_matrix\": [[0.65482, -0.16264, 0.73807], [-0.09945, -0.98662, -0.12917], [0.74921, 0.01118, -0.66224]], \"simulated_seconds_remaining\": 25.014, \"calls_remaining_including_this\": 50}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 25, \"motion_seconds\": 1.6500000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.6,
      "z": 0.9,
      "pitch": -0.4
    },
    "note": "The handle is still below the gripper center. Lower and advance slightly while easing wrist rotation to stay reachable."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.18804, -0.24682, 0.13692, -2.35587, -0.23555, 2.6811, 0.29788], \"gripper_open\": 1.0, \"tcp_xyz\": [0.58987, -0.04047, 0.94077], \"tcp_roll_pitch_yaw\": [-0.02192, -0.43912, -0.02009], \"tcp_rotation_matrix\": [[0.82301, -0.18299, 0.53774], [-0.1126, -0.98046, -0.1613], [0.55675, 0.0722, -0.82754]], \"simulated_seconds_remaining\": 23.958, \"calls_remaining_including_this\": 49}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 16, \"motion_seconds\": 1.056, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.48,
      "z": 0.88,
      "pitch": 0
    },
    "note": "The gripper stopped short, suggesting contact near the cabinet. Back away and lower with the initial wrist angle to approach the handle from clear space."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.14457, -0.31365, 0.1147, -2.3878, -0.1427, 2.21564, 0.17324], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.4808, -0.04048, 0.88038], \"tcp_roll_pitch_yaw\": [-0.02194, -0.00313, -0.02009], \"tcp_rotation_matrix\": [[0.98091, -0.13723, 0.13775], [-0.11577, -0.98138, -0.15328], [0.15622, 0.13441, -0.97854]], \"simulated_seconds_remaining\": 22.836, \"calls_remaining_including_this\": 48}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 17, \"motion_seconds\": 1.122, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

The wrist view places the cabinet beside the gripper. I’m adjusting the approach to face its handle.


{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.45,
      "y": 0.12,
      "z": 0.95,
      "roll": -1.2,
      "pitch": 0,
      "yaw": 0
    },
    "note": "The cabinet lies on the right of the downward wrist view. Move left for clearance and rotate toward that side to see its handle face-on."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 11, \"instruction\": \"open the cabinet.\", \"joint_positions\": [0.04423, -0.18108, -0.01546, -2.18861, -1.07104, 2.40771, 0.96979], \"gripper_open\": 0.994, \"tcp_xyz\": [0.61703, -0.07902, 0.99569], \"tcp_roll_pitch_yaw\": [-0.49145, -0.56412, 0.0124], \"tcp_rotation_matrix\": [[0.73503, -0.39106, 0.5539], [-0.00724, -0.8214, -0.57031], [0.678, 0.41519, -0.60658]], \"simulated_seconds_remaining\": 20.988, \"calls_remaining_including_this\": 47}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 28, \"motion_seconds\": 1.848, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.4,
      "y": 0.15,
      "z": 1.17
    },
    "note": "The wrist rotation was obstructed and the handle remains right of the fingers. Lift and retreat to clear the cabinet before aligning again."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 12, \"instruction\": \"open the cabinet.\", \"joint_positions\": [0.26976, -0.54618, 0.2014, -2.19606, -0.70925, 0.54189, 0.90452], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.14491, -0.05708, 1.14479], \"tcp_roll_pitch_yaw\": [-1.15177, -0.02736, -0.8885], \"tcp_rotation_matrix\": [[0.693, -0.32148, -0.64529], [-0.69834, -0.07701, -0.71161], [0.17907, 0.94378, -0.27787]], \"simulated_seconds_remaining\": 18.282, \"calls_remaining_including_this\": 46}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 41, \"motion_seconds\": 2.706, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.3,
      "y": 0,
      "z": 1.15,
      "roll": 0,
      "pitch": 0,
      "yaw": 0
    },
    "note": "The measured pose deviated substantially during retreat. Return to the previously reachable upright pose to regain a stable approach."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 13, \"instruction\": \"open the cabinet.\", \"joint_positions\": [0.55197, -0.79272, -0.1922, -2.0051, -0.32454, 1.3097, 0.42462], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.29949, -0.00026, 1.14996], \"tcp_roll_pitch_yaw\": [-0.00331, 0.00162, -0.00263], \"tcp_rotation_matrix\": [[0.98351, -0.11947, 0.1358], [-0.10146, -0.98597, -0.13258], [0.14974, 0.11661, -0.98183]], \"simulated_seconds_remaining\": 16.104, \"calls_remaining_including_this\": 45}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 33, \"motion_seconds\": 2.178, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "y": -0.18
    },
    "note": "The arm is stable again. Shift toward the cabinet side in the wrist view while staying above the handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 14, \"instruction\": \"open the cabinet.\", \"joint_positions\": [0.51568, -0.85953, -0.46952, -1.94557, -0.52479, 1.30506, 0.10568], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.29948, -0.17874, 1.14997], \"tcp_roll_pitch_yaw\": [-0.00319, 0.00156, -0.00282], \"tcp_rotation_matrix\": [[0.98348, -0.11966, 0.13583], [-0.10167, -0.98596, -0.13248], [0.14978, 0.11648, -0.98183]], \"simulated_seconds_remaining\": 14.586, \"calls_remaining_including_this\": 44}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 23, \"motion_seconds\": 1.518, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "y": 0.05,
      "roll": 1.2
    },
    "note": "The cabinet moved farther right after the last shift, so reverse the lateral direction and turn the gripper toward positive y."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 15, \"instruction\": \"open the cabinet.\", \"joint_positions\": [0.60749, -1.14449, -0.65266, -2.36985, 0.40598, 1.74083, 0.3853], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.29946, 0.04922, 1.14987], \"tcp_roll_pitch_yaw\": [1.19549, 0.00153, -0.00255], \"tcp_rotation_matrix\": [[0.98301, -0.11959, 0.13922], [-0.17943, -0.46664, 0.86606], [-0.03861, -0.87632, -0.48017]], \"simulated_seconds_remaining\": 12.672, \"calls_remaining_including_this\": 43}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 29, \"motion_seconds\": 1.9140000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "z": 0.9,
      "roll": 1.45
    },
    "note": "The wrist now faces the cabinet surface. Lower to search the handle height with the jaws directed horizontally toward the door."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 16, \"instruction\": \"open the cabinet.\", \"joint_positions\": [0.51416, -1.17525, -1.22311, -2.87094, 0.2926, 2.01183, -0.12393], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.29946, 0.04923, 0.90132], \"tcp_roll_pitch_yaw\": [1.4487, 0.00171, -0.0025], \"tcp_rotation_matrix\": [[0.98298, -0.1193, 0.13971], [-0.16444, -0.23219, 0.95867], [-0.08193, -0.96533, -0.24785]], \"simulated_seconds_remaining\": 10.692, \"calls_remaining_including_this\": 42}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 30, \"motion_seconds\": 1.98, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.48,
      "y": 0,
      "z": 1.02,
      "roll": 0,
      "pitch": -0.65,
      "yaw": 0
    },
    "note": "The side-facing view does not expose the handle. Return to the forward-tilted view where the light handle was clearly visible."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 17, \"instruction\": \"open the cabinet.\", \"joint_positions\": [0.0455, -0.74983, -0.01971, -2.66924, -0.35939, 2.67977, 0.43925], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.47949, 0.00011, 1.01968], \"tcp_roll_pitch_yaw\": [0.00478, -0.64849, -0.00171], \"tcp_rotation_matrix\": [[0.69278, -0.16049, 0.70306], [-0.10128, -0.98691, -0.12548], [0.714, 0.01572, -0.69997]], \"simulated_seconds_remaining\": 8.316, \"calls_remaining_including_this\": 41}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 36, \"motion_seconds\": 2.3760000000000003, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.55,
      "y": 0.04,
      "z": 0.98
    },
    "note": "The light handle is just left of the open fingers. Advance slightly and shift left to bring it between the jaws."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 18, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.05992, -0.59521, 0.12209, -2.55035, -0.44083, 2.62709, 0.55623], \"gripper_open\": 1.0, \"tcp_xyz\": [0.51242, 0.00528, 1.00742], \"tcp_roll_pitch_yaw\": [-0.10555, -0.58776, -0.00276], \"tcp_rotation_matrix\": [[0.72918, -0.22013, 0.64795], [-0.08493, -0.96864, -0.2335], [0.67903, 0.11524, -0.72501]], \"simulated_seconds_remaining\": 7.392, \"calls_remaining_including_this\": 40}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The handle is adjacent to the inner finger surfaces and forward movement is constrained by contact. Close the jaws to test engagement."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 19, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.05992, -0.59521, 0.12209, -2.55035, -0.44083, 2.62709, 0.55623], \"gripper_open\": 0.0, \"tcp_xyz\": [0.51245, 0.00526, 1.00732], \"tcp_roll_pitch_yaw\": [-0.10479, -0.58778, -0.00393], \"tcp_rotation_matrix\": [[0.7291, -0.22086, 0.64779], [-0.0859, -0.96855, -0.23353], [0.67899, 0.11462, -0.72514]], \"simulated_seconds_remaining\": 6.468, \"calls_remaining_including_this\": 39}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 1,
      "x": 0.52,
      "y": -0.045,
      "z": 0.95,
      "pitch": -0.85
    },
    "note": "The jaws closed fully, so the handle was not captured. Reopen and reposition slightly lower and to the other side of the handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 20, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.05992, -0.59521, 0.12209, -2.55035, -0.44083, 2.62709, 0.55623], \"gripper_open\": 0.0, \"tcp_xyz\": [0.51245, 0.00526, 1.00732], \"tcp_roll_pitch_yaw\": [-0.10479, -0.58778, -0.00393], \"tcp_rotation_matrix\": [[0.7291, -0.22086, 0.64779], [-0.0859, -0.96855, -0.23353], [0.67899, 0.11462, -0.72514]], \"simulated_seconds_remaining\": 6.468, \"calls_remaining_including_this\": 38}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK requires a large joint jump; split the motion or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 1,
      "x": 0.52,
      "y": -0.045,
      "z": 0.95
    },
    "note": "Keep the current reachable wrist angle and shift the open fingers lower beside the handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 21, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.14413, -0.5142, 0.06113, -2.64403, -0.52078, 2.83116, 0.54025], \"gripper_open\": 0.9965, \"tcp_xyz\": [0.51987, -0.04436, 0.95071], \"tcp_roll_pitch_yaw\": [-0.10476, -0.58756, -0.0041], \"tcp_rotation_matrix\": [[0.72924, -0.22098, 0.6476], [-0.08603, -0.96852, -0.23361], [0.67883, 0.11464, -0.72529]], \"simulated_seconds_remaining\": 5.544, \"calls_remaining_including_this\": 37}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.56,
      "y": -0.06,
      "z": 0.92
    },
    "note": "The handle now sits between the visible fingers. Advance a short distance along the gripper direction to seat the jaws around it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 22, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.24529, -0.33498, 0.10904, -2.56602, -0.613, 2.94301, 0.60986], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.55905, -0.05968, 0.92063], \"tcp_roll_pitch_yaw\": [-0.10478, -0.58735, -0.00421], \"tcp_rotation_matrix\": [[0.72937, -0.22108, 0.64742], [-0.08611, -0.96849, -0.2337], [0.67868, 0.1147, -0.72542]], \"simulated_seconds_remaining\": 4.884, \"calls_remaining_including_this\": 36}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 10, \"motion_seconds\": 0.66, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The handle is centered at the finger tips after the short approach. Close the jaws around it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 23, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.24529, -0.33498, 0.10904, -2.56602, -0.613, 2.94301, 0.60986], \"gripper_open\": 0.0, \"tcp_xyz\": [0.55906, -0.05969, 0.92062], \"tcp_roll_pitch_yaw\": [-0.10477, -0.58735, -0.00421], \"tcp_rotation_matrix\": [[0.72937, -0.22108, 0.64742], [-0.08611, -0.96849, -0.2337], [0.67868, 0.1147, -0.72542]], \"simulated_seconds_remaining\": 3.96, \"calls_remaining_including_this\": 35}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.42,
      "y": -0.15,
      "z": 0.97
    },
    "note": "Attempt a short outward pull from the handle position and check whether the cabinet door follows."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 24, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.10131, -0.86078, -0.27603, -2.82436, -0.48211, 2.7145, 0.1773], \"gripper_open\": 0.0, \"tcp_xyz\": [0.42108, -0.14937, 0.96972], \"tcp_roll_pitch_yaw\": [-0.10475, -0.58758, -0.00443], \"tcp_rotation_matrix\": [[0.72919, -0.2213, 0.64754], [-0.08627, -0.96844, -0.23382], [0.67885, 0.11464, -0.72528]], \"simulated_seconds_remaining\": 2.508, \"calls_remaining_including_this\": 34}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 22, \"motion_seconds\": 1.452, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "give_up",
  "arguments": {
    "note": "I could not secure the cabinet handle. The jaws closed fully and the outward pull did not visibly open the door; insufficient motion time remains for another safe attempt."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "Episode ended. Do not call more tools. Return a brief final response."
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

I couldn’t secure the handle, so the cabinet remains closed.

TURN USAGE
{
  "input_tokens": 455341,
  "cached_input_tokens": 421632,
  "cache_write_input_tokens": 0,
  "output_tokens": 3769,
  "reasoning_output_tokens": 1144
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.01505,
      -0.82402,
      0.02857,
      -2.31321,
      -0.10935,
      1.6275,
      0.11387
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.32342,
      -0.02359,
      1.05637
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.98353,
        -0.11707,
        0.13774
      ],
      [
        -0.09938,
        -0.98666,
        -0.12897
      ],
      [
        0.151,
        0.11316,
        -0.98204
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 25.622282780706882,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.3,
                    "x": 0.25
                  },
                  "note": "Both images are obscured by cabinet surfaces. Lift and retreat to obtain a useful view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "Target outside robot workspace bounds (+/-1.2 m)",
    "movement_executed": false
  }
}

{
  "call": 2,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.01505,
      -0.82402,
      0.02857,
      -2.31321,
      -0.10935,
      1.6275,
      0.11387
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.32342,
      -0.02359,
      1.05637
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.98353,
        -0.11707,
        0.13774
      ],
      [
        -0.09938,
        -0.98666,
        -0.12897
      ],
      [
        0.151,
        0.11316,
        -0.98204
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 4.204826265573502,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.18,
                    "z": 1.18
                  },
                  "note": "The prior lift exceeded workspace limits; retreat and lift within the allowed region to improve visibility."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 24,
    "motion_seconds": 1.584,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.01777,
      -1.01195,
      0.03217,
      -2.02407,
      -0.11184,
      1.15399,
      0.05804
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.18101,
      -0.02359,
      1.17922
    ],
    "tcp_roll_pitch_yaw": [
      -1e-05,
      -0.00032,
      1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.98348,
        -0.11709,
        0.13805
      ],
      [
        -0.09936,
        -0.98666,
        -0.12898
      ],
      [
        0.15131,
        0.11313,
        -0.98199
      ]
    ],
    "simulated_seconds_remaining": 28.446,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 6.0057660564780235,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.4,
                    "z": 1.05
                  },
                  "note": "The wrist view shows tiled floor and a dark cabinet to the right. Rotate the wrist forward to inspect its face."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 4,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.01777,
      -1.01195,
      0.03217,
      -2.02407,
      -0.11184,
      1.15399,
      0.05804
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.18101,
      -0.02359,
      1.17922
    ],
    "tcp_roll_pitch_yaw": [
      -1e-05,
      -0.00032,
      1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.98348,
        -0.11709,
        0.13805
      ],
      [
        -0.09936,
        -0.98666,
        -0.12898
      ],
      [
        0.15131,
        0.11313,
        -0.98199
      ]
    ],
    "simulated_seconds_remaining": 28.446,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 4.404466295614839,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.35,
                    "z": 1.03,
                    "pitch": -0.75
                  },
                  "note": "The full forward rotation was unreachable. Use a smaller rotation farther from the base to reveal the cabinet."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 27,
    "motion_seconds": 1.782,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.03211,
      -1.37645,
      0.0128,
      -2.97212,
      -0.16016,
      2.47635,
      0.2178
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.34936,
      -0.02364,
      1.03032
    ],
    "tcp_roll_pitch_yaw": [
      -8e-05,
      -0.74629,
      -0.00012
    ],
    "tcp_rotation_matrix": [
      [
        0.61959,
        -0.16295,
        0.76783
      ],
      [
        -0.09944,
        -0.98663,
        -0.12914
      ],
      [
        0.7786,
        0.00366,
        -0.62751
      ]
    ],
    "simulated_seconds_remaining": 26.664,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 7.006057129241526,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "z": 0.88,
                    "pitch": -1.25
                  },
                  "note": "A vertical light-colored handle is visible near the wrist image center below the cabinet face. Lower the gripper and point it more directly toward the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 6,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.03211,
      -1.37645,
      0.0128,
      -2.97212,
      -0.16016,
      2.47635,
      0.2178
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.34936,
      -0.02364,
      1.03032
    ],
    "tcp_roll_pitch_yaw": [
      -8e-05,
      -0.74629,
      -0.00012
    ],
    "tcp_rotation_matrix": [
      [
        0.61959,
        -0.16295,
        0.76783
      ],
      [
        -0.09944,
        -0.98663,
        -0.12914
      ],
      [
        0.7786,
        0.00366,
        -0.62751
      ]
    ],
    "simulated_seconds_remaining": 26.664,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 5.405033362098038,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.42,
                    "z": 0.9,
                    "pitch": -0.75
                  },
                  "note": "Maintain the reachable wrist angle while lowering toward the visible vertical handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 7,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.03211,
      -1.37645,
      0.0128,
      -2.97212,
      -0.16016,
      2.47635,
      0.2178
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.34936,
      -0.02364,
      1.03032
    ],
    "tcp_roll_pitch_yaw": [
      -8e-05,
      -0.74629,
      -0.00012
    ],
    "tcp_rotation_matrix": [
      [
        0.61959,
        -0.16295,
        0.76783
      ],
      [
        -0.09944,
        -0.98663,
        -0.12914
      ],
      [
        0.7786,
        0.00366,
        -0.62751
      ]
    ],
    "simulated_seconds_remaining": 26.664,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 6.209095763042569,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.55,
                    "z": 1,
                    "pitch": -0.7
                  },
                  "note": "The lower pose is unreachable from the folded arm. Extend forward at the current height toward the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 25,
    "motion_seconds": 1.6500000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.16434,
      -0.50087,
      0.11496,
      -2.58718,
      -0.21422,
      2.92566,
      0.3086
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.54866,
      -0.02365,
      1.00016
    ],
    "tcp_roll_pitch_yaw": [
      -0.0001,
      -0.70016,
      -0.00014
    ],
    "tcp_rotation_matrix": [
      [
        0.65482,
        -0.16264,
        0.73807
      ],
      [
        -0.09945,
        -0.98662,
        -0.12917
      ],
      [
        0.74921,
        0.01118,
        -0.66224
      ]
    ],
    "simulated_seconds_remaining": 25.014,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 6.406036991626024,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.6,
                    "z": 0.9,
                    "pitch": -0.4
                  },
                  "note": "The handle is still below the gripper center. Lower and advance slightly while easing wrist rotation to stay reachable."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.18804,
      -0.24682,
      0.13692,
      -2.35587,
      -0.23555,
      2.6811,
      0.29788
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.58987,
      -0.04047,
      0.94077
    ],
    "tcp_roll_pitch_yaw": [
      -0.02192,
      -0.43912,
      -0.02009
    ],
    "tcp_rotation_matrix": [
      [
        0.82301,
        -0.18299,
        0.53774
      ],
      [
        -0.1126,
        -0.98046,
        -0.1613
      ],
      [
        0.55675,
        0.0722,
        -0.82754
      ]
    ],
    "simulated_seconds_remaining": 23.958,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 7.606757524423301,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48,
                    "z": 0.88,
                    "pitch": 0
                  },
                  "note": "The gripper stopped short, suggesting contact near the cabinet. Back away and lower with the initial wrist angle to approach the handle from clear space."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.14457,
      -0.31365,
      0.1147,
      -2.3878,
      -0.1427,
      2.21564,
      0.17324
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.4808,
      -0.04048,
      0.88038
    ],
    "tcp_roll_pitch_yaw": [
      -0.02194,
      -0.00313,
      -0.02009
    ],
    "tcp_rotation_matrix": [
      [
        0.98091,
        -0.13723,
        0.13775
      ],
      [
        -0.11577,
        -0.98138,
        -0.15328
      ],
      [
        0.15622,
        0.13441,
        -0.97854
      ]
    ],
    "simulated_seconds_remaining": 22.836,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 16.01370069757104,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.45,
                    "y": 0.12,
                    "z": 0.95,
                    "roll": -1.2,
                    "pitch": 0,
                    "yaw": 0
                  },
                  "note": "The cabinet lies on the right of the downward wrist view. Move left for clearance and rotate toward that side to see its handle face-on."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 28,
    "motion_seconds": 1.848,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.04423,
      -0.18108,
      -0.01546,
      -2.18861,
      -1.07104,
      2.40771,
      0.96979
    ],
    "gripper_open": 0.994,
    "tcp_xyz": [
      0.61703,
      -0.07902,
      0.99569
    ],
    "tcp_roll_pitch_yaw": [
      -0.49145,
      -0.56412,
      0.0124
    ],
    "tcp_rotation_matrix": [
      [
        0.73503,
        -0.39106,
        0.5539
      ],
      [
        -0.00724,
        -0.8214,
        -0.57031
      ],
      [
        0.678,
        0.41519,
        -0.60658
      ]
    ],
    "simulated_seconds_remaining": 20.988,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 6.205239444039762,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "y": 0.15,
                    "z": 1.17
                  },
                  "note": "The wrist rotation was obstructed and the handle remains right of the fingers. Lift and retreat to clear the cabinet before aligning again."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 41,
    "motion_seconds": 2.706,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.26976,
      -0.54618,
      0.2014,
      -2.19606,
      -0.70925,
      0.54189,
      0.90452
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.14491,
      -0.05708,
      1.14479
    ],
    "tcp_roll_pitch_yaw": [
      -1.15177,
      -0.02736,
      -0.8885
    ],
    "tcp_rotation_matrix": [
      [
        0.693,
        -0.32148,
        -0.64529
      ],
      [
        -0.69834,
        -0.07701,
        -0.71161
      ],
      [
        0.17907,
        0.94378,
        -0.27787
      ]
    ],
    "simulated_seconds_remaining": 18.282,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 6.406318947672844,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.3,
                    "y": 0,
                    "z": 1.15,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 0
                  },
                  "note": "The measured pose deviated substantially during retreat. Return to the previously reachable upright pose to regain a stable approach."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 33,
    "motion_seconds": 2.178,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.55197,
      -0.79272,
      -0.1922,
      -2.0051,
      -0.32454,
      1.3097,
      0.42462
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.29949,
      -0.00026,
      1.14996
    ],
    "tcp_roll_pitch_yaw": [
      -0.00331,
      0.00162,
      -0.00263
    ],
    "tcp_rotation_matrix": [
      [
        0.98351,
        -0.11947,
        0.1358
      ],
      [
        -0.10146,
        -0.98597,
        -0.13258
      ],
      [
        0.14974,
        0.11661,
        -0.98183
      ]
    ],
    "simulated_seconds_remaining": 16.104,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 5.6049285139888525,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": -0.18
                  },
                  "note": "The arm is stable again. Shift toward the cabinet side in the wrist view while staying above the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.51568,
      -0.85953,
      -0.46952,
      -1.94557,
      -0.52479,
      1.30506,
      0.10568
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.29948,
      -0.17874,
      1.14997
    ],
    "tcp_roll_pitch_yaw": [
      -0.00319,
      0.00156,
      -0.00282
    ],
    "tcp_rotation_matrix": [
      [
        0.98348,
        -0.11966,
        0.13583
      ],
      [
        -0.10167,
        -0.98596,
        -0.13248
      ],
      [
        0.14978,
        0.11648,
        -0.98183
      ]
    ],
    "simulated_seconds_remaining": 14.586,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 7.406122547574341,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.05,
                    "roll": 1.2
                  },
                  "note": "The cabinet moved farther right after the last shift, so reverse the lateral direction and turn the gripper toward positive y."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 29,
    "motion_seconds": 1.9140000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.60749,
      -1.14449,
      -0.65266,
      -2.36985,
      0.40598,
      1.74083,
      0.3853
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.29946,
      0.04922,
      1.14987
    ],
    "tcp_roll_pitch_yaw": [
      1.19549,
      0.00153,
      -0.00255
    ],
    "tcp_rotation_matrix": [
      [
        0.98301,
        -0.11959,
        0.13922
      ],
      [
        -0.17943,
        -0.46664,
        0.86606
      ],
      [
        -0.03861,
        -0.87632,
        -0.48017
      ]
    ],
    "simulated_seconds_remaining": 12.672,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 6.205678538419306,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.9,
                    "roll": 1.45
                  },
                  "note": "The wrist now faces the cabinet surface. Lower to search the handle height with the jaws directed horizontally toward the door."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 30,
    "motion_seconds": 1.98,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.51416,
      -1.17525,
      -1.22311,
      -2.87094,
      0.2926,
      2.01183,
      -0.12393
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.29946,
      0.04923,
      0.90132
    ],
    "tcp_roll_pitch_yaw": [
      1.4487,
      0.00171,
      -0.0025
    ],
    "tcp_rotation_matrix": [
      [
        0.98298,
        -0.1193,
        0.13971
      ],
      [
        -0.16444,
        -0.23219,
        0.95867
      ],
      [
        -0.08193,
        -0.96533,
        -0.24785
      ]
    ],
    "simulated_seconds_remaining": 10.692,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 9.207977218553424,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48,
                    "y": 0,
                    "z": 1.02,
                    "roll": 0,
                    "pitch": -0.65,
                    "yaw": 0
                  },
                  "note": "The side-facing view does not expose the handle. Return to the forward-tilted view where the light handle was clearly visible."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 36,
    "motion_seconds": 2.3760000000000003,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.0455,
      -0.74983,
      -0.01971,
      -2.66924,
      -0.35939,
      2.67977,
      0.43925
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.47949,
      0.00011,
      1.01968
    ],
    "tcp_roll_pitch_yaw": [
      0.00478,
      -0.64849,
      -0.00171
    ],
    "tcp_rotation_matrix": [
      [
        0.69278,
        -0.16049,
        0.70306
      ],
      [
        -0.10128,
        -0.98691,
        -0.12548
      ],
      [
        0.714,
        0.01572,
        -0.69997
      ]
    ],
    "simulated_seconds_remaining": 8.316,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 9.00799856428057,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.55,
                    "y": 0.04,
                    "z": 0.98
                  },
                  "note": "The light handle is just left of the open fingers. Advance slightly and shift left to bring it between the jaws."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.05992,
      -0.59521,
      0.12209,
      -2.55035,
      -0.44083,
      2.62709,
      0.55623
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.51242,
      0.00528,
      1.00742
    ],
    "tcp_roll_pitch_yaw": [
      -0.10555,
      -0.58776,
      -0.00276
    ],
    "tcp_rotation_matrix": [
      [
        0.72918,
        -0.22013,
        0.64795
      ],
      [
        -0.08493,
        -0.96864,
        -0.2335
      ],
      [
        0.67903,
        0.11524,
        -0.72501
      ]
    ],
    "simulated_seconds_remaining": 7.392,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 6.406056631356478,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The handle is adjacent to the inner finger surfaces and forward movement is constrained by contact. Close the jaws to test engagement."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 19,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.05992,
      -0.59521,
      0.12209,
      -2.55035,
      -0.44083,
      2.62709,
      0.55623
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.51245,
      0.00526,
      1.00732
    ],
    "tcp_roll_pitch_yaw": [
      -0.10479,
      -0.58778,
      -0.00393
    ],
    "tcp_rotation_matrix": [
      [
        0.7291,
        -0.22086,
        0.64779
      ],
      [
        -0.0859,
        -0.96855,
        -0.23353
      ],
      [
        0.67899,
        0.11462,
        -0.72514
      ]
    ],
    "simulated_seconds_remaining": 6.468,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 7.810438087210059,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 1,
                    "x": 0.52,
                    "y": -0.045,
                    "z": 0.95,
                    "pitch": -0.85
                  },
                  "note": "The jaws closed fully, so the handle was not captured. Reopen and reposition slightly lower and to the other side of the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 20,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.05992,
      -0.59521,
      0.12209,
      -2.55035,
      -0.44083,
      2.62709,
      0.55623
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.51245,
      0.00526,
      1.00732
    ],
    "tcp_roll_pitch_yaw": [
      -0.10479,
      -0.58778,
      -0.00393
    ],
    "tcp_rotation_matrix": [
      [
        0.7291,
        -0.22086,
        0.64779
      ],
      [
        -0.0859,
        -0.96855,
        -0.23353
      ],
      [
        0.67899,
        0.11462,
        -0.72514
      ]
    ],
    "simulated_seconds_remaining": 6.468,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 5.00538011174649,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 1,
                    "x": 0.52,
                    "y": -0.045,
                    "z": 0.95
                  },
                  "note": "Keep the current reachable wrist angle and shift the open fingers lower beside the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 21,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.14413,
      -0.5142,
      0.06113,
      -2.64403,
      -0.52078,
      2.83116,
      0.54025
    ],
    "gripper_open": 0.9965,
    "tcp_xyz": [
      0.51987,
      -0.04436,
      0.95071
    ],
    "tcp_roll_pitch_yaw": [
      -0.10476,
      -0.58756,
      -0.0041
    ],
    "tcp_rotation_matrix": [
      [
        0.72924,
        -0.22098,
        0.6476
      ],
      [
        -0.08603,
        -0.96852,
        -0.23361
      ],
      [
        0.67883,
        0.11464,
        -0.72529
      ]
    ],
    "simulated_seconds_remaining": 5.544,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 6.4051544442772865,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.56,
                    "y": -0.06,
                    "z": 0.92
                  },
                  "note": "The handle now sits between the visible fingers. Advance a short distance along the gripper direction to seat the jaws around it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 22,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.24529,
      -0.33498,
      0.10904,
      -2.56602,
      -0.613,
      2.94301,
      0.60986
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.55905,
      -0.05968,
      0.92063
    ],
    "tcp_roll_pitch_yaw": [
      -0.10478,
      -0.58735,
      -0.00421
    ],
    "tcp_rotation_matrix": [
      [
        0.72937,
        -0.22108,
        0.64742
      ],
      [
        -0.08611,
        -0.96849,
        -0.2337
      ],
      [
        0.67868,
        0.1147,
        -0.72542
      ]
    ],
    "simulated_seconds_remaining": 4.884,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 5.004151060245931,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The handle is centered at the finger tips after the short approach. Close the jaws around it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 23,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.24529,
      -0.33498,
      0.10904,
      -2.56602,
      -0.613,
      2.94301,
      0.60986
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.55906,
      -0.05969,
      0.92062
    ],
    "tcp_roll_pitch_yaw": [
      -0.10477,
      -0.58735,
      -0.00421
    ],
    "tcp_rotation_matrix": [
      [
        0.72937,
        -0.22108,
        0.64742
      ],
      [
        -0.08611,
        -0.96849,
        -0.2337
      ],
      [
        0.67868,
        0.1147,
        -0.72542
      ]
    ],
    "simulated_seconds_remaining": 3.96,
    "calls_remaining_including_this": 35
  },
  "api_seconds": 6.60548035800457,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.42,
                    "y": -0.15,
                    "z": 0.97
                  },
                  "note": "Attempt a short outward pull from the handle position and check whether the cabinet door follows."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 22,
    "motion_seconds": 1.452,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 24,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.10131,
      -0.86078,
      -0.27603,
      -2.82436,
      -0.48211,
      2.7145,
      0.1773
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.42108,
      -0.14937,
      0.96972
    ],
    "tcp_roll_pitch_yaw": [
      -0.10475,
      -0.58758,
      -0.00443
    ],
    "tcp_rotation_matrix": [
      [
        0.72919,
        -0.2213,
        0.64754
      ],
      [
        -0.08627,
        -0.96844,
        -0.23382
      ],
      [
        0.67885,
        0.11464,
        -0.72528
      ]
    ],
    "simulated_seconds_remaining": 2.508,
    "calls_remaining_including_this": 34
  },
  "api_seconds": 7.005587108433247,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "give_up",
                "args": {
                  "note": "I could not secure the cabinet handle. The jaws closed fully and the outward pull did not visibly open the door; insufficient motion time remains for another safe attempt."
                }
              }
            }
          ]
        }
      }
    ]
  }
}

========================================================================
GPT-Astra / Open / Episode 034

Completed scored attempt. Images are available in the paired videos.

Opaque provider signatures, image payloads, and local paths are omitted.


RESULT
{
  "benchmark_index": 34,
  "source_episode_index": 827,
  "house_index": 418,
  "status": "completed",
  "success": false,
  "oracle_success": false,
  "action_decisions": 26,
  "wall_seconds": 297.76,
  "usage": {
    "input_tokens": 517904,
    "cached_input_tokens": 479744,
    "cache_write_input_tokens": 0,
    "output_tokens": 5223,
    "reasoning_output_tokens": 2402
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task.
You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose.
Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion.
move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up.
roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial.
Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5).
The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y.
The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics.
Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration.
Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target.
You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time.
Each move must include a short note describing what you observe and why you chose that motion.
Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done.
Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available.



AGENT TRANSCRIPT (visible messages and completed tool calls)

I’ll inspect the scene, then use the camera feedback to grasp and open the object.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"open the door.\", \"joint_positions\": [0.01625, -0.78216, 0.00476, -2.2674, -0.00911, 1.59774, 0.14944], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.32818, 0.00457, 1.05988], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.98521, -0.12928, 0.11247], [-0.12895, -0.9916, -0.01023], [0.11285, -0.00442, -0.9936]], \"simulated_seconds_remaining\": 30.03, \"calls_remaining_including_this\": 57}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "z": 1.2,
    "note": "The gray door and its round knob are visible below the gripper. I am lifting to get clearance and a clearer view of the handle."
  },
  "result": null,
  "error": {
    "message": "tool call error: tool call failed for `robot/move_to`\n\nCaused by:\n    Mcp error: -32602: Unexpected argument"
  },
  "status": "failed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "z": 1.2
    },
    "note": "The gray door and round knob are visible below the gripper. Lifting provides clearance and a clearer handle view."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"open the door.\", \"joint_positions\": [0.01492, -0.59372, 0.0055, -1.75646, -0.00978, 1.27544, 0.14617], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.32821, 0.00457, 1.19874], \"tcp_roll_pitch_yaw\": [1e-05, -0.00018, 0.0], \"tcp_rotation_matrix\": [[0.98519, -0.12928, 0.11266], [-0.12895, -0.9916, -0.01022], [0.11303, -0.00446, -0.99358]], \"simulated_seconds_remaining\": 28.776, \"calls_remaining_including_this\": 56}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 19, \"motion_seconds\": 1.254, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.48,
      "z": 1.1,
      "pitch": 1.2
    },
    "note": "The knob is on the gray panel ahead. I am moving forward and turning the fingers toward the panel to prepare a frontal grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"open the door.\", \"joint_positions\": [0.01492, -0.59372, 0.0055, -1.75646, -0.00978, 1.27544, 0.14617], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.32821, 0.00457, 1.19874], \"tcp_roll_pitch_yaw\": [1e-05, -0.00018, 0.0], \"tcp_rotation_matrix\": [[0.98519, -0.12928, 0.11266], [-0.12895, -0.9916, -0.01022], [0.11303, -0.00446, -0.99358]], \"simulated_seconds_remaining\": 28.776, \"calls_remaining_including_this\": 55}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.45,
      "z": 1,
      "pitch": -1.3
    },
    "note": "The previous orientation was unreachable. I am angling the gripper forward toward the visible knob while lowering to door height."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"open the door.\", \"joint_positions\": [0.01492, -0.59372, 0.0055, -1.75646, -0.00978, 1.27544, 0.14617], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.32821, 0.00457, 1.19874], \"tcp_roll_pitch_yaw\": [1e-05, -0.00018, 0.0], \"tcp_rotation_matrix\": [[0.98519, -0.12928, 0.11266], [-0.12895, -0.9916, -0.01022], [0.11303, -0.00446, -0.99358]], \"simulated_seconds_remaining\": 28.776, \"calls_remaining_including_this\": 54}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.43,
      "z": 0.98,
      "pitch": -0.6
    },
    "note": "I am using a smaller forward tilt and lowering toward the round door knob, staying within the arm's reachable range."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"open the door.\", \"joint_positions\": [0.00707, -0.90388, 0.00923, -2.81681, -0.02635, 2.62208, 0.16661], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.42954, 0.00456, 0.98067], \"tcp_roll_pitch_yaw\": [-3e-05, -0.59672, 0.0], \"tcp_rotation_matrix\": [[0.75153, -0.10447, 0.65138], [-0.12894, -0.9916, -0.01026], [0.64698, -0.07628, -0.75869]], \"simulated_seconds_remaining\": 26.862, \"calls_remaining_including_this\": 53}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 29, \"motion_seconds\": 1.9140000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.52,
      "z": 0.82,
      "pitch": -1.15
    },
    "note": "The knob is ahead and above center in the wrist view. I am lowering and extending the gripper to face the door more directly."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"open the door.\", \"joint_positions\": [-0.1164, 0.24379, 0.15148, -2.8862, 0.05325, 4.38787, 0.08706], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.51961, 0.00458, 0.82073], \"tcp_roll_pitch_yaw\": [0.00017, -1.14604, -6e-05], \"tcp_rotation_matrix\": [[0.30319, -0.04915, 0.95166], [-0.12899, -0.99159, -0.01012], [0.94416, -0.11968, -0.30699]], \"simulated_seconds_remaining\": 25.344, \"calls_remaining_including_this\": 52}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 23, \"motion_seconds\": 1.518, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.6,
      "z": 0.98,
      "pitch": 0
    },
    "note": "The exterior view places the round knob farther across the broad gray face. I am returning to a downward approach to center it in the wrist camera."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"open the door.\", \"joint_positions\": [-0.1164, 0.24379, 0.15148, -2.8862, 0.05325, 4.38787, 0.08706], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.51961, 0.00458, 0.82073], \"tcp_roll_pitch_yaw\": [0.00017, -1.14604, -6e-05], \"tcp_rotation_matrix\": [[0.30319, -0.04915, 0.95166], [-0.12899, -0.99159, -0.01012], [0.94416, -0.11968, -0.30699]], \"simulated_seconds_remaining\": 25.344, \"calls_remaining_including_this\": 51}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK requires a large joint jump; split the motion or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.57,
      "z": 0.9,
      "pitch": -0.65
    },
    "note": "I am splitting the orientation change into a smaller step so the wrist can return smoothly toward the visible knob."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"open the door.\", \"joint_positions\": [-0.1164, 0.24379, 0.15148, -2.8862, 0.05325, 4.38787, 0.08706], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.51961, 0.00458, 0.82073], \"tcp_roll_pitch_yaw\": [0.00017, -1.14604, -6e-05], \"tcp_rotation_matrix\": [[0.30319, -0.04915, 0.95166], [-0.12899, -0.99159, -0.01012], [0.94416, -0.11968, -0.30699]], \"simulated_seconds_remaining\": 25.344, \"calls_remaining_including_this\": 50}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK requires a large joint jump; split the motion or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "pitch": -0.95
    },
    "note": "The controller rejected the larger change. I am rotating the wrist back by only 0.2 radians before moving closer."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"open the door.\", \"joint_positions\": [-0.1209, 0.01152, 0.1573, -2.91685, 0.05674, 3.99669, 0.10804], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.51981, 0.00459, 0.82109], \"tcp_roll_pitch_yaw\": [0.00017, -0.95543, 2e-05], \"tcp_rotation_matrix\": [[0.47659, -0.07086, 0.87627], [-0.12896, -0.9916, -0.01005], [0.86962, -0.10821, -0.48172]], \"simulated_seconds_remaining\": 24.816, \"calls_remaining_including_this\": 49}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 8, \"motion_seconds\": 0.528, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "pitch": -0.7
    },
    "note": "I am continuing the small wrist rotation to bring the knob-bearing face back into view."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"open the door.\", \"joint_positions\": [-0.11206, -0.2005, 0.13405, -2.86091, 0.01762, 3.47913, 0.14533], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.52005, 0.00462, 0.82136], \"tcp_roll_pitch_yaw\": [0.00025, -0.7048, 5e-05], \"tcp_rotation_matrix\": [[0.67739, -0.0954, 0.72941], [-0.12894, -0.9916, -0.00995], [0.72424, -0.08731, -0.684]], \"simulated_seconds_remaining\": 24.156, \"calls_remaining_including_this\": 48}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 10, \"motion_seconds\": 0.66, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "pitch": -0.35,
      "x": 0.58
    },
    "note": "The round knob has reappeared near the top of the wrist view. I am tilting downward and moving forward to align over it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 11, \"instruction\": \"open the door.\", \"joint_positions\": [-0.13027, -0.08113, 0.14037, -2.45372, -0.01389, 2.84059, 0.1563], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.57957, 0.00464, 0.82148], \"tcp_roll_pitch_yaw\": [0.00032, -0.35474, 4e-05], \"tcp_rotation_matrix\": [[0.88469, -0.11955, 0.45059], [-0.12895, -0.9916, -0.0099], [0.44799, -0.04935, -0.89267]], \"simulated_seconds_remaining\": 23.364, \"calls_remaining_including_this\": 47}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 12, \"motion_seconds\": 0.792, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "pitch": 0,
      "x": 0.68,
      "y": -0.06,
      "z": 0.72
    },
    "note": "The knob is slightly right and ahead of the fingers in the wrist image. I am centering the open jaws above it with a downward grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 12, \"instruction\": \"open the door.\", \"joint_positions\": [-0.04908, 0.24975, 0.11046, -1.86769, -0.06888, 2.06494, 1.02765], \"gripper_open\": 0.968, \"tcp_xyz\": [0.60305, 0.02502, 0.80437], \"tcp_roll_pitch_yaw\": [-0.04971, 0.11968, -0.81447], \"tcp_rotation_matrix\": [[0.59143, -0.80493, -0.04798], [-0.80636, -0.59033, -0.03598], [0.00063, 0.05997, -0.9982]], \"simulated_seconds_remaining\": 22.044, \"calls_remaining_including_this\": 46}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 20, \"motion_seconds\": 1.32, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.55,
      "y": 0.15,
      "z": 0.92,
      "pitch": 0,
      "yaw": 0,
      "roll": 0
    },
    "note": "The wrist deflected near the panel edge, and the knob remains to the right in view. I am lifting clear and shifting sideways toward the knob."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 13, \"instruction\": \"open the door.\", \"joint_positions\": [0.03683, -0.04913, 0.23975, -1.98821, -0.03277, 2.0454, 0.42399], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.55027, 0.14954, 0.91958], \"tcp_roll_pitch_yaw\": [8e-05, 0.00041, -0.00379], \"tcp_rotation_matrix\": [[0.98476, -0.13304, 0.11203], [-0.13269, -0.9911, -0.01057], [0.11244, -0.00445, -0.99365]], \"simulated_seconds_remaining\": 20.526, \"calls_remaining_including_this\": 45}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 23, \"motion_seconds\": 1.518, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "z": 0.76
    },
    "note": "The round knob is now between the open fingertips in the wrist view. I am lowering carefully toward it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 14, \"instruction\": \"open the door.\", \"joint_positions\": [0.04181, 0.12397, 0.23705, -2.20845, -0.10698, 2.4311, 0.48685], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.55019, 0.1495, 0.76117], \"tcp_roll_pitch_yaw\": [-0.0, 0.00077, -0.00382], \"tcp_rotation_matrix\": [[0.9848, -0.13307, 0.11167], [-0.13271, -0.9911, -0.01066], [0.11209, -0.00432, -0.99369]], \"simulated_seconds_remaining\": 19.14, \"calls_remaining_including_this\": 44}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 21, \"motion_seconds\": 1.3860000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "z": 0.6,
      "y": 0.23
    },
    "note": "The knob remains below the fingertips, with room to descend. I am lowering and shifting slightly toward its center."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 15, \"instruction\": \"open the door.\", \"joint_positions\": [0.22223, 0.51455, 0.1666, -2.12294, -0.32076, 2.71324, 0.78388], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.55007, 0.22944, 0.60107], \"tcp_roll_pitch_yaw\": [-7e-05, 0.00106, -0.00369], \"tcp_rotation_matrix\": [[0.98484, -0.13295, 0.11138], [-0.13258, -0.99111, -0.01071], [0.11182, -0.00422, -0.99372]], \"simulated_seconds_remaining\": 17.622, \"calls_remaining_including_this\": 43}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 23, \"motion_seconds\": 1.518, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "y": 0.4,
      "z": 0.66
    },
    "note": "The exterior image shows the gripper beside the knob at nearly the same height. I am shifting along the door toward the knob and lifting slightly for clearance."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 16, \"instruction\": \"open the door.\", \"joint_positions\": [0.44719, 0.59854, 0.21776, -1.77764, -0.30161, 2.42808, 0.97876], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.55002, 0.39892, 0.65962], \"tcp_roll_pitch_yaw\": [9e-05, 0.00097, -0.00343], \"tcp_rotation_matrix\": [[0.98487, -0.13268, 0.11147], [-0.13233, -0.99115, -0.01053], [0.11188, -0.00439, -0.99371]], \"simulated_seconds_remaining\": 16.104, \"calls_remaining_including_this\": 42}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 23, \"motion_seconds\": 1.518, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.4,
      "z": 0.76
    },
    "note": "The gripper now overlaps the knob in the exterior view. I am backing up and lifting to expose the knob before the final approach."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 17, \"instruction\": \"open the door.\", \"joint_positions\": [0.48887, 0.13712, 0.32442, -2.18914, -0.19136, 2.38005, 1.07673], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.40106, 0.39904, 0.75937], \"tcp_roll_pitch_yaw\": [0.00021, 0.00082, -0.0032], \"tcp_rotation_matrix\": [[0.98488, -0.13246, 0.11162], [-0.13213, -0.99118, -0.01038], [0.11201, -0.00453, -0.9937]], \"simulated_seconds_remaining\": 14.586, \"calls_remaining_including_this\": 41}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 23, \"motion_seconds\": 1.518, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.65,
      "y": 0.3,
      "z": 0.8
    },
    "note": "I am positioning above the round knob using its exterior location, with the jaws open and enough height to see the final alignment."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 18, \"instruction\": \"open the door.\", \"joint_positions\": [0.29286, 0.50172, 0.19317, -1.54428, -0.17839, 2.1274, 0.6793], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.64884, 0.30035, 0.79977], \"tcp_roll_pitch_yaw\": [0.00018, 0.00081, -0.00347], \"tcp_rotation_matrix\": [[0.98485, -0.13272, 0.11164], [-0.13239, -0.99114, -0.01044], [0.11203, -0.0045, -0.99369]], \"simulated_seconds_remaining\": 12.474, \"calls_remaining_including_this\": 40}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 32, \"motion_seconds\": 2.112, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.72,
      "y": 0.18,
      "z": 0.7
    },
    "note": "The knob is visible just left of the open jaws. I am shifting toward it and descending to place it between the fingers."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 19, \"instruction\": \"open the door.\", \"joint_positions\": [0.25335, 0.61762, 0.16436, -1.4865, -0.17124, 2.27855, 0.84335], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.70454, 0.27716, 0.76092], \"tcp_roll_pitch_yaw\": [0.08882, -0.06052, -0.23221], \"tcp_rotation_matrix\": [[0.91921, -0.34735, 0.18549], [-0.35964, -0.93239, 0.03622], [0.16037, -0.10001, -0.98198]], \"simulated_seconds_remaining\": 11.022, \"calls_remaining_including_this\": 39}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 22, \"motion_seconds\": 1.452, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.5,
      "y": 0.48,
      "z": 0.62,
      "roll": -1.3,
      "pitch": 0,
      "yaw": 0
    },
    "note": "The approach was blocked by the door face. I am moving clear and turning the gripper sideways toward the knob for a face-on grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 20, \"instruction\": \"open the door.\", \"joint_positions\": [0.25335, 0.61762, 0.16436, -1.4865, -0.17124, 2.27855, 0.84335], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.70454, 0.27716, 0.76092], \"tcp_roll_pitch_yaw\": [0.08882, -0.06052, -0.23221], \"tcp_rotation_matrix\": [[0.91921, -0.34735, 0.18549], [-0.35964, -0.93239, 0.03622], [0.16037, -0.10001, -0.98198]], \"simulated_seconds_remaining\": 11.022, \"calls_remaining_including_this\": 38}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK requires a large joint jump; split the motion or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.53,
      "y": 0.48,
      "z": 0.65,
      "roll": -0.6,
      "pitch": 0,
      "yaw": 0
    },
    "note": "I am splitting the sideways approach into a smaller rotation while moving into clear space beside the knob."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 21, \"instruction\": \"open the door.\", \"joint_positions\": [0.25335, 0.61762, 0.16436, -1.4865, -0.17124, 2.27855, 0.84335], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.70454, 0.27716, 0.76092], \"tcp_roll_pitch_yaw\": [0.08882, -0.06052, -0.23221], \"tcp_rotation_matrix\": [[0.91921, -0.34735, 0.18549], [-0.35964, -0.93239, 0.03622], [0.16037, -0.10001, -0.98198]], \"simulated_seconds_remaining\": 11.022, \"calls_remaining_including_this\": 37}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK requires a large joint jump; split the motion or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.53,
      "y": 0.48,
      "z": 0.65,
      "roll": 0,
      "pitch": 0,
      "yaw": 0
    },
    "note": "I am first moving clear of the obstruction without changing wrist orientation, so the next alignment can be made freely."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 22, \"instruction\": \"open the door.\", \"joint_positions\": [0.30001, 0.59016, 0.18921, -1.58696, -0.31601, 2.29971, 1.07865], \"gripper_open\": 0.9747, \"tcp_xyz\": [0.66705, 0.30159, 0.73747], \"tcp_roll_pitch_yaw\": [0.02043, -0.08784, -0.30225], \"tcp_rotation_matrix\": [[0.88863, -0.41596, 0.19317], [-0.41454, -0.90867, -0.04969], [0.1962, -0.03592, -0.97991]], \"simulated_seconds_remaining\": 8.778, \"calls_remaining_including_this\": 36}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 34, \"motion_seconds\": 2.244, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "z": 0.94
    },
    "note": "The measured pose shows contact is preventing lateral movement. I am lifting away from the door edge to release that contact."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 23, \"instruction\": \"open the door.\", \"joint_positions\": [0.30164, 0.46497, 0.22341, -1.26956, -0.24699, 1.86209, 0.98382], \"gripper_open\": 0.9879, \"tcp_xyz\": [0.66709, 0.30017, 0.93701], \"tcp_roll_pitch_yaw\": [0.01722, -0.08584, -0.3035], \"tcp_rotation_matrix\": [[0.88856, -0.41744, 0.19028], [-0.41541, -0.90812, -0.05238], [0.19467, -0.0325, -0.98033]], \"simulated_seconds_remaining\": 7.128, \"calls_remaining_including_this\": 35}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 25, \"motion_seconds\": 1.6500000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.45,
      "y": 0.43,
      "z": 0.5,
      "roll": 0,
      "pitch": 0,
      "yaw": 0
    },
    "note": "With the wrist clear, I am approaching the knob lower and farther back, following its location on the exterior camera."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 24, \"instruction\": \"open the door.\", \"joint_positions\": [0.58804, 0.81787, 0.16372, -1.89546, -0.5277, 2.7373, 1.31015], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.45043, 0.42964, 0.50104], \"tcp_roll_pitch_yaw\": [-0.00016, 3e-05, -0.00069], \"tcp_rotation_matrix\": [[0.98512, -0.12996, 0.11244], [-0.12961, -0.99151, -0.01047], [0.11284, -0.00426, -0.9936]], \"simulated_seconds_remaining\": 3.432, \"calls_remaining_including_this\": 34}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 56, \"motion_seconds\": 3.696, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.65,
      "y": 0.43,
      "z": 0.62
    },
    "note": "The exterior view shows the knob above and ahead of the fingertips. I am moving directly to that position for the grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 25, \"instruction\": \"open the door.\", \"joint_positions\": [0.43571, 0.9902, 0.27672, -1.22359, -0.36853, 2.22965, 1.05208], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.63172, 0.44055, 0.60983], \"tcp_roll_pitch_yaw\": [0.00761, 0.02508, -0.11662], \"tcp_rotation_matrix\": [[0.96589, -0.24403, 0.08661], [-0.24385, -0.96973, -0.01283], [0.08712, -0.00873, -0.99616]], \"simulated_seconds_remaining\": 1.584, \"calls_remaining_including_this\": 33}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 28, \"motion_seconds\": 1.848, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "y": 0.34,
      "gripper": 0
    },
    "note": "The fingers are beside the knob. I am shifting onto it and closing the jaws to secure a grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 26, \"instruction\": \"open the door.\", \"joint_positions\": [0.27497, 0.81221, 0.27754, -1.55719, -0.37083, 2.38871, 0.97563], \"gripper_open\": 0.0, \"tcp_xyz\": [0.63184, 0.34109, 0.60983], \"tcp_roll_pitch_yaw\": [0.00751, 0.02503, -0.1169], \"tcp_rotation_matrix\": [[0.96582, -0.2443, 0.08665], [-0.2441, -0.96966, -0.01297], [0.08718, -0.00863, -0.99615]], \"simulated_seconds_remaining\": 0.594, \"calls_remaining_including_this\": 32}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 15, \"motion_seconds\": 0.99, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "give_up",
  "arguments": {
    "note": "I could not secure the door knob, and the remaining motion time is insufficient to complete the opening."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "Episode ended. Do not call more tools. Return a brief final response."
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

I couldn’t secure the knob before motion time ran out. The door remains closed.

TURN USAGE
{
  "input_tokens": 517904,
  "cached_input_tokens": 479744,
  "cache_write_input_tokens": 0,
  "output_tokens": 5223,
  "reasoning_output_tokens": 2402
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      0.01625,
      -0.78216,
      0.00476,
      -2.2674,
      -0.00911,
      1.59774,
      0.14944
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.32818,
      0.00457,
      1.05988
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.98521,
        -0.12928,
        0.11247
      ],
      [
        -0.12895,
        -0.9916,
        -0.01023
      ],
      [
        0.11285,
        -0.00442,
        -0.9936
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 28.823007102124393,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.2
                  },
                  "note": "The gray door and round knob are visible below the gripper. Lifting provides clearance and a clearer handle view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      0.01492,
      -0.59372,
      0.0055,
      -1.75646,
      -0.00978,
      1.27544,
      0.14617
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.32821,
      0.00457,
      1.19874
    ],
    "tcp_roll_pitch_yaw": [
      1e-05,
      -0.00018,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.98519,
        -0.12928,
        0.11266
      ],
      [
        -0.12895,
        -0.9916,
        -0.01022
      ],
      [
        0.11303,
        -0.00446,
        -0.99358
      ]
    ],
    "simulated_seconds_remaining": 28.776,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 8.807504024356604,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48,
                    "z": 1.1,
                    "pitch": 1.2
                  },
                  "note": "The knob is on the gray panel ahead. I am moving forward and turning the fingers toward the panel to prepare a frontal grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 3,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      0.01492,
      -0.59372,
      0.0055,
      -1.75646,
      -0.00978,
      1.27544,
      0.14617
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.32821,
      0.00457,
      1.19874
    ],
    "tcp_roll_pitch_yaw": [
      1e-05,
      -0.00018,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.98519,
        -0.12928,
        0.11266
      ],
      [
        -0.12895,
        -0.9916,
        -0.01022
      ],
      [
        0.11303,
        -0.00446,
        -0.99358
      ]
    ],
    "simulated_seconds_remaining": 28.776,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 6.006583786569536,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.45,
                    "z": 1,
                    "pitch": -1.3
                  },
                  "note": "The previous orientation was unreachable. I am angling the gripper forward toward the visible knob while lowering to door height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 4,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      0.01492,
      -0.59372,
      0.0055,
      -1.75646,
      -0.00978,
      1.27544,
      0.14617
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.32821,
      0.00457,
      1.19874
    ],
    "tcp_roll_pitch_yaw": [
      1e-05,
      -0.00018,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.98519,
        -0.12928,
        0.11266
      ],
      [
        -0.12895,
        -0.9916,
        -0.01022
      ],
      [
        0.11303,
        -0.00446,
        -0.99358
      ]
    ],
    "simulated_seconds_remaining": 28.776,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 5.404435490258038,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.43,
                    "z": 0.98,
                    "pitch": -0.6
                  },
                  "note": "I am using a smaller forward tilt and lowering toward the round door knob, staying within the arm's reachable range."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 29,
    "motion_seconds": 1.9140000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      0.00707,
      -0.90388,
      0.00923,
      -2.81681,
      -0.02635,
      2.62208,
      0.16661
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.42954,
      0.00456,
      0.98067
    ],
    "tcp_roll_pitch_yaw": [
      -3e-05,
      -0.59672,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.75153,
        -0.10447,
        0.65138
      ],
      [
        -0.12894,
        -0.9916,
        -0.01026
      ],
      [
        0.64698,
        -0.07628,
        -0.75869
      ]
    ],
    "simulated_seconds_remaining": 26.862,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 11.008626440539956,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.52,
                    "z": 0.82,
                    "pitch": -1.15
                  },
                  "note": "The knob is ahead and above center in the wrist view. I am lowering and extending the gripper to face the door more directly."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -0.1164,
      0.24379,
      0.15148,
      -2.8862,
      0.05325,
      4.38787,
      0.08706
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.51961,
      0.00458,
      0.82073
    ],
    "tcp_roll_pitch_yaw": [
      0.00017,
      -1.14604,
      -6e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.30319,
        -0.04915,
        0.95166
      ],
      [
        -0.12899,
        -0.99159,
        -0.01012
      ],
      [
        0.94416,
        -0.11968,
        -0.30699
      ]
    ],
    "simulated_seconds_remaining": 25.344,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 14.411562838591635,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.6,
                    "z": 0.98,
                    "pitch": 0
                  },
                  "note": "The exterior view places the round knob farther across the broad gray face. I am returning to a downward approach to center it in the wrist camera."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 7,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -0.1164,
      0.24379,
      0.15148,
      -2.8862,
      0.05325,
      4.38787,
      0.08706
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.51961,
      0.00458,
      0.82073
    ],
    "tcp_roll_pitch_yaw": [
      0.00017,
      -1.14604,
      -6e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.30319,
        -0.04915,
        0.95166
      ],
      [
        -0.12899,
        -0.99159,
        -0.01012
      ],
      [
        0.94416,
        -0.11968,
        -0.30699
      ]
    ],
    "simulated_seconds_remaining": 25.344,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 4.805038369260728,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.57,
                    "z": 0.9,
                    "pitch": -0.65
                  },
                  "note": "I am splitting the orientation change into a smaller step so the wrist can return smoothly toward the visible knob."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 8,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -0.1164,
      0.24379,
      0.15148,
      -2.8862,
      0.05325,
      4.38787,
      0.08706
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.51961,
      0.00458,
      0.82073
    ],
    "tcp_roll_pitch_yaw": [
      0.00017,
      -1.14604,
      -6e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.30319,
        -0.04915,
        0.95166
      ],
      [
        -0.12899,
        -0.99159,
        -0.01012
      ],
      [
        0.94416,
        -0.11968,
        -0.30699
      ]
    ],
    "simulated_seconds_remaining": 25.344,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 6.0077361250296235,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.95
                  },
                  "note": "The controller rejected the larger change. I am rotating the wrist back by only 0.2 radians before moving closer."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 8,
    "motion_seconds": 0.528,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -0.1209,
      0.01152,
      0.1573,
      -2.91685,
      0.05674,
      3.99669,
      0.10804
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.51981,
      0.00459,
      0.82109
    ],
    "tcp_roll_pitch_yaw": [
      0.00017,
      -0.95543,
      2e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.47659,
        -0.07086,
        0.87627
      ],
      [
        -0.12896,
        -0.9916,
        -0.01005
      ],
      [
        0.86962,
        -0.10821,
        -0.48172
      ]
    ],
    "simulated_seconds_remaining": 24.816,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 4.003237108699977,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.7
                  },
                  "note": "I am continuing the small wrist rotation to bring the knob-bearing face back into view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -0.11206,
      -0.2005,
      0.13405,
      -2.86091,
      0.01762,
      3.47913,
      0.14533
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.52005,
      0.00462,
      0.82136
    ],
    "tcp_roll_pitch_yaw": [
      0.00025,
      -0.7048,
      5e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.67739,
        -0.0954,
        0.72941
      ],
      [
        -0.12894,
        -0.9916,
        -0.00995
      ],
      [
        0.72424,
        -0.08731,
        -0.684
      ]
    ],
    "simulated_seconds_remaining": 24.156,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 4.403948406688869,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.35,
                    "x": 0.58
                  },
                  "note": "The round knob has reappeared near the top of the wrist view. I am tilting downward and moving forward to align over it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -0.13027,
      -0.08113,
      0.14037,
      -2.45372,
      -0.01389,
      2.84059,
      0.1563
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.57957,
      0.00464,
      0.82148
    ],
    "tcp_roll_pitch_yaw": [
      0.00032,
      -0.35474,
      4e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.88469,
        -0.11955,
        0.45059
      ],
      [
        -0.12895,
        -0.9916,
        -0.0099
      ],
      [
        0.44799,
        -0.04935,
        -0.89267
      ]
    ],
    "simulated_seconds_remaining": 23.364,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 9.807362500578165,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": 0,
                    "x": 0.68,
                    "y": -0.06,
                    "z": 0.72
                  },
                  "note": "The knob is slightly right and ahead of the fingers in the wrist image. I am centering the open jaws above it with a downward grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -0.04908,
      0.24975,
      0.11046,
      -1.86769,
      -0.06888,
      2.06494,
      1.02765
    ],
    "gripper_open": 0.968,
    "tcp_xyz": [
      0.60305,
      0.02502,
      0.80437
    ],
    "tcp_roll_pitch_yaw": [
      -0.04971,
      0.11968,
      -0.81447
    ],
    "tcp_rotation_matrix": [
      [
        0.59143,
        -0.80493,
        -0.04798
      ],
      [
        -0.80636,
        -0.59033,
        -0.03598
      ],
      [
        0.00063,
        0.05997,
        -0.9982
      ]
    ],
    "simulated_seconds_remaining": 22.044,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 13.811045807786286,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.55,
                    "y": 0.15,
                    "z": 0.92,
                    "pitch": 0,
                    "yaw": 0,
                    "roll": 0
                  },
                  "note": "The wrist deflected near the panel edge, and the knob remains to the right in view. I am lifting clear and shifting sideways toward the knob."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      0.03683,
      -0.04913,
      0.23975,
      -1.98821,
      -0.03277,
      2.0454,
      0.42399
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.55027,
      0.14954,
      0.91958
    ],
    "tcp_roll_pitch_yaw": [
      8e-05,
      0.00041,
      -0.00379
    ],
    "tcp_rotation_matrix": [
      [
        0.98476,
        -0.13304,
        0.11203
      ],
      [
        -0.13269,
        -0.9911,
        -0.01057
      ],
      [
        0.11244,
        -0.00445,
        -0.99365
      ]
    ],
    "simulated_seconds_remaining": 20.526,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 9.807991582900286,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.76
                  },
                  "note": "The round knob is now between the open fingertips in the wrist view. I am lowering carefully toward it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      0.04181,
      0.12397,
      0.23705,
      -2.20845,
      -0.10698,
      2.4311,
      0.48685
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.55019,
      0.1495,
      0.76117
    ],
    "tcp_roll_pitch_yaw": [
      -0.0,
      0.00077,
      -0.00382
    ],
    "tcp_rotation_matrix": [
      [
        0.9848,
        -0.13307,
        0.11167
      ],
      [
        -0.13271,
        -0.9911,
        -0.01066
      ],
      [
        0.11209,
        -0.00432,
        -0.99369
      ]
    ],
    "simulated_seconds_remaining": 19.14,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 10.808986368589103,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.6,
                    "y": 0.23
                  },
                  "note": "The knob remains below the fingertips, with room to descend. I am lowering and shifting slightly toward its center."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      0.22223,
      0.51455,
      0.1666,
      -2.12294,
      -0.32076,
      2.71324,
      0.78388
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.55007,
      0.22944,
      0.60107
    ],
    "tcp_roll_pitch_yaw": [
      -7e-05,
      0.00106,
      -0.00369
    ],
    "tcp_rotation_matrix": [
      [
        0.98484,
        -0.13295,
        0.11138
      ],
      [
        -0.13258,
        -0.99111,
        -0.01071
      ],
      [
        0.11182,
        -0.00422,
        -0.99372
      ]
    ],
    "simulated_seconds_remaining": 17.622,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 10.6080711921677,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.4,
                    "z": 0.66
                  },
                  "note": "The exterior image shows the gripper beside the knob at nearly the same height. I am shifting along the door toward the knob and lifting slightly for clearance."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      0.44719,
      0.59854,
      0.21776,
      -1.77764,
      -0.30161,
      2.42808,
      0.97876
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.55002,
      0.39892,
      0.65962
    ],
    "tcp_roll_pitch_yaw": [
      9e-05,
      0.00097,
      -0.00343
    ],
    "tcp_rotation_matrix": [
      [
        0.98487,
        -0.13268,
        0.11147
      ],
      [
        -0.13233,
        -0.99115,
        -0.01053
      ],
      [
        0.11188,
        -0.00439,
        -0.99371
      ]
    ],
    "simulated_seconds_remaining": 16.104,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 10.607794096693397,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "z": 0.76
                  },
                  "note": "The gripper now overlaps the knob in the exterior view. I am backing up and lifting to expose the knob before the final approach."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      0.48887,
      0.13712,
      0.32442,
      -2.18914,
      -0.19136,
      2.38005,
      1.07673
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.40106,
      0.39904,
      0.75937
    ],
    "tcp_roll_pitch_yaw": [
      0.00021,
      0.00082,
      -0.0032
    ],
    "tcp_rotation_matrix": [
      [
        0.98488,
        -0.13246,
        0.11162
      ],
      [
        -0.13213,
        -0.99118,
        -0.01038
      ],
      [
        0.11201,
        -0.00453,
        -0.9937
      ]
    ],
    "simulated_seconds_remaining": 14.586,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 19.01451945118606,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.65,
                    "y": 0.3,
                    "z": 0.8
                  },
                  "note": "I am positioning above the round knob using its exterior location, with the jaws open and enough height to see the final alignment."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 32,
    "motion_seconds": 2.112,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      0.29286,
      0.50172,
      0.19317,
      -1.54428,
      -0.17839,
      2.1274,
      0.6793
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.64884,
      0.30035,
      0.79977
    ],
    "tcp_roll_pitch_yaw": [
      0.00018,
      0.00081,
      -0.00347
    ],
    "tcp_rotation_matrix": [
      [
        0.98485,
        -0.13272,
        0.11164
      ],
      [
        -0.13239,
        -0.99114,
        -0.01044
      ],
      [
        0.11203,
        -0.0045,
        -0.99369
      ]
    ],
    "simulated_seconds_remaining": 12.474,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 11.209139824844897,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.72,
                    "y": 0.18,
                    "z": 0.7
                  },
                  "note": "The knob is visible just left of the open jaws. I am shifting toward it and descending to place it between the fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 22,
    "motion_seconds": 1.452,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 19,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      0.25335,
      0.61762,
      0.16436,
      -1.4865,
      -0.17124,
      2.27855,
      0.84335
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.70454,
      0.27716,
      0.76092
    ],
    "tcp_roll_pitch_yaw": [
      0.08882,
      -0.06052,
      -0.23221
    ],
    "tcp_rotation_matrix": [
      [
        0.91921,
        -0.34735,
        0.18549
      ],
      [
        -0.35964,
        -0.93239,
        0.03622
      ],
      [
        0.16037,
        -0.10001,
        -0.98198
      ]
    ],
    "simulated_seconds_remaining": 11.022,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 16.213621922768652,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.5,
                    "y": 0.48,
                    "z": 0.62,
                    "roll": -1.3,
                    "pitch": 0,
                    "yaw": 0
                  },
                  "note": "The approach was blocked by the door face. I am moving clear and turning the gripper sideways toward the knob for a face-on grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 20,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      0.25335,
      0.61762,
      0.16436,
      -1.4865,
      -0.17124,
      2.27855,
      0.84335
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.70454,
      0.27716,
      0.76092
    ],
    "tcp_roll_pitch_yaw": [
      0.08882,
      -0.06052,
      -0.23221
    ],
    "tcp_rotation_matrix": [
      [
        0.91921,
        -0.34735,
        0.18549
      ],
      [
        -0.35964,
        -0.93239,
        0.03622
      ],
      [
        0.16037,
        -0.10001,
        -0.98198
      ]
    ],
    "simulated_seconds_remaining": 11.022,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 5.407097043469548,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.53,
                    "y": 0.48,
                    "z": 0.65,
                    "roll": -0.6,
                    "pitch": 0,
                    "yaw": 0
                  },
                  "note": "I am splitting the sideways approach into a smaller rotation while moving into clear space beside the knob."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 21,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      0.25335,
      0.61762,
      0.16436,
      -1.4865,
      -0.17124,
      2.27855,
      0.84335
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.70454,
      0.27716,
      0.76092
    ],
    "tcp_roll_pitch_yaw": [
      0.08882,
      -0.06052,
      -0.23221
    ],
    "tcp_rotation_matrix": [
      [
        0.91921,
        -0.34735,
        0.18549
      ],
      [
        -0.35964,
        -0.93239,
        0.03622
      ],
      [
        0.16037,
        -0.10001,
        -0.98198
      ]
    ],
    "simulated_seconds_remaining": 11.022,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 6.805524223484099,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.53,
                    "y": 0.48,
                    "z": 0.65,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 0
                  },
                  "note": "I am first moving clear of the obstruction without changing wrist orientation, so the next alignment can be made freely."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 34,
    "motion_seconds": 2.244,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 22,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      0.30001,
      0.59016,
      0.18921,
      -1.58696,
      -0.31601,
      2.29971,
      1.07865
    ],
    "gripper_open": 0.9747,
    "tcp_xyz": [
      0.66705,
      0.30159,
      0.73747
    ],
    "tcp_roll_pitch_yaw": [
      0.02043,
      -0.08784,
      -0.30225
    ],
    "tcp_rotation_matrix": [
      [
        0.88863,
        -0.41596,
        0.19317
      ],
      [
        -0.41454,
        -0.90867,
        -0.04969
      ],
      [
        0.1962,
        -0.03592,
        -0.97991
      ]
    ],
    "simulated_seconds_remaining": 8.778,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 9.007342824712396,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.94
                  },
                  "note": "The measured pose shows contact is preventing lateral movement. I am lifting away from the door edge to release that contact."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 25,
    "motion_seconds": 1.6500000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 23,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      0.30164,
      0.46497,
      0.22341,
      -1.26956,
      -0.24699,
      1.86209,
      0.98382
    ],
    "gripper_open": 0.9879,
    "tcp_xyz": [
      0.66709,
      0.30017,
      0.93701
    ],
    "tcp_roll_pitch_yaw": [
      0.01722,
      -0.08584,
      -0.3035
    ],
    "tcp_rotation_matrix": [
      [
        0.88856,
        -0.41744,
        0.19028
      ],
      [
        -0.41541,
        -0.90812,
        -0.05238
      ],
      [
        0.19467,
        -0.0325,
        -0.98033
      ]
    ],
    "simulated_seconds_remaining": 7.128,
    "calls_remaining_including_this": 35
  },
  "api_seconds": 8.80610816925764,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.45,
                    "y": 0.43,
                    "z": 0.5,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 0
                  },
                  "note": "With the wrist clear, I am approaching the knob lower and farther back, following its location on the exterior camera."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 56,
    "motion_seconds": 3.696,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 24,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      0.58804,
      0.81787,
      0.16372,
      -1.89546,
      -0.5277,
      2.7373,
      1.31015
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.45043,
      0.42964,
      0.50104
    ],
    "tcp_roll_pitch_yaw": [
      -0.00016,
      3e-05,
      -0.00069
    ],
    "tcp_rotation_matrix": [
      [
        0.98512,
        -0.12996,
        0.11244
      ],
      [
        -0.12961,
        -0.99151,
        -0.01047
      ],
      [
        0.11284,
        -0.00426,
        -0.9936
      ]
    ],
    "simulated_seconds_remaining": 3.432,
    "calls_remaining_including_this": 34
  },
  "api_seconds": 9.806970772333443,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.65,
                    "y": 0.43,
                    "z": 0.62
                  },
                  "note": "The exterior view shows the knob above and ahead of the fingertips. I am moving directly to that position for the grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 28,
    "motion_seconds": 1.848,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 25,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      0.43571,
      0.9902,
      0.27672,
      -1.22359,
      -0.36853,
      2.22965,
      1.05208
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.63172,
      0.44055,
      0.60983
    ],
    "tcp_roll_pitch_yaw": [
      0.00761,
      0.02508,
      -0.11662
    ],
    "tcp_rotation_matrix": [
      [
        0.96589,
        -0.24403,
        0.08661
      ],
      [
        -0.24385,
        -0.96973,
        -0.01283
      ],
      [
        0.08712,
        -0.00873,
        -0.99616
      ]
    ],
    "simulated_seconds_remaining": 1.584,
    "calls_remaining_including_this": 33
  },
  "api_seconds": 6.6050227442756295,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.34,
                    "gripper": 0
                  },
                  "note": "The fingers are beside the knob. I am shifting onto it and closing the jaws to secure a grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 26,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      0.27497,
      0.81221,
      0.27754,
      -1.55719,
      -0.37083,
      2.38871,
      0.97563
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.63184,
      0.34109,
      0.60983
    ],
    "tcp_roll_pitch_yaw": [
      0.00751,
      0.02503,
      -0.1169
    ],
    "tcp_rotation_matrix": [
      [
        0.96582,
        -0.2443,
        0.08665
      ],
      [
        -0.2441,
        -0.96966,
        -0.01297
      ],
      [
        0.08718,
        -0.00863,
        -0.99615
      ]
    ],
    "simulated_seconds_remaining": 0.594,
    "calls_remaining_including_this": 32
  },
  "api_seconds": 5.004267616197467,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "give_up",
                "args": {
                  "note": "I could not secure the door knob, and the remaining motion time is insufficient to complete the opening."
                }
              }
            }
          ]
        }
      }
    ]
  }
}

========================================================================
GPT-Astra / Open / Episode 035

Completed scored attempt. Images are available in the paired videos.

Opaque provider signatures, image payloads, and local paths are omitted.


RESULT
{
  "benchmark_index": 35,
  "source_episode_index": 850,
  "house_index": 419,
  "status": "completed",
  "success": false,
  "oracle_success": false,
  "action_decisions": 23,
  "wall_seconds": 352.68,
  "usage": {
    "input_tokens": 478847,
    "cached_input_tokens": 442880,
    "cache_write_input_tokens": 0,
    "output_tokens": 6164,
    "reasoning_output_tokens": 3657
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task.
You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose.
Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion.
move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up.
roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial.
Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5).
The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y.
The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics.
Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration.
Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target.
You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time.
Each move must include a short note describing what you observe and why you chose that motion.
Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done.
Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available.



AGENT TRANSCRIPT (visible messages and completed tool calls)

I’ll inspect the scene and use the camera feedback to guide the grasp and opening motion.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"open the table.\", \"joint_positions\": [0.01954, -0.7817, -0.02124, -2.41402, -0.09468, 1.71074, -0.08371], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.33272, -0.02319, 1.00053], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.99248, 0.09359, 0.07886], [0.09977, -0.99192, -0.07841], [0.07088, 0.08568, -0.9938]], \"simulated_seconds_remaining\": 30.03, \"calls_remaining_including_this\": 57}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "x": 0.48,
    "y": 0.12,
    "z": 0.88,
    "gripper": 1,
    "note": "The small table has two front drawers with horizontal handles. I am moving closer above the upper handle to judge its position."
  },
  "result": null,
  "error": {
    "message": "tool call error: tool call failed for `robot/move_to`\n\nCaused by:\n    Mcp error: -32602: Unexpected argument"
  },
  "status": "failed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.48,
      "y": 0.12,
      "z": 0.88,
      "gripper": 1
    },
    "note": "The table has two front drawers with horizontal handles. I am approaching above the upper handle to localize it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"open the table.\", \"joint_positions\": [0.08606, -0.2215, 0.18873, -2.26481, -0.06448, 2.10118, 0.2053], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.47914, 0.11921, 0.8806], \"tcp_roll_pitch_yaw\": [-7e-05, 0.00021, 9e-05], \"tcp_rotation_matrix\": [[0.99249, 0.0937, 0.07866], [0.09986, -0.9919, -0.07847], [0.07067, 0.08574, -0.99381]], \"simulated_seconds_remaining\": 28.116, \"calls_remaining_including_this\": 56}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 29, \"motion_seconds\": 1.9140000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.43,
      "y": 0.12,
      "z": 1.02,
      "roll": 1.57,
      "yaw": -1.57
    },
    "note": "The upper drawer handle is above the current gripper. I am raising to it and turning the fingers to close vertically around the horizontal pull."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"open the table.\", \"joint_positions\": [0.20959, -0.453, 0.5863, -2.95195, 1.01451, 4.08945, 1.14087], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.4302, 0.12009, 1.01965], \"tcp_roll_pitch_yaw\": [1.5671, -0.00244, -1.56721], \"tcp_rotation_matrix\": [[-0.06696, -0.089, 0.99378], [-0.99248, -0.09633, -0.0755], [0.10245, -0.99136, -0.08188]], \"simulated_seconds_remaining\": 25.014, \"calls_remaining_including_this\": 55}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 47, \"motion_seconds\": 3.1020000000000003, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.49,
      "y": 0.2,
      "z": 1.055
    },
    "note": "The upper pull sits left and slightly above the fingertips in the exterior view. I am centering the open jaws on it while approaching."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"open the table.\", \"joint_positions\": [0.13915, -0.19308, 0.7061, -2.569, 1.15526, 4.14513, 0.88512], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.48925, 0.19902, 1.05457], \"tcp_roll_pitch_yaw\": [1.56716, -0.00236, -1.56713], \"tcp_rotation_matrix\": [[-0.06689, -0.08894, 0.99379], [-0.9925, -0.09626, -0.07541], [0.10237, -0.99138, -0.08183]], \"simulated_seconds_remaining\": 24.024, \"calls_remaining_including_this\": 54}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 15, \"motion_seconds\": 0.99, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.55,
      "y": 0.18,
      "z": 1.045
    },
    "note": "The wrist view places the upper handle between the open fingers. I am advancing a short distance to surround the pull."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"open the table.\", \"joint_positions\": [0.06285, -0.06151, 0.64006, -2.49373, 0.9718, 4.14392, 0.93164], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.54884, 0.18026, 1.04513], \"tcp_roll_pitch_yaw\": [1.567, -0.0023, -1.5674], \"tcp_rotation_matrix\": [[-0.06714, -0.08913, 0.99376], [-0.99248, -0.09618, -0.07568], [0.10232, -0.99137, -0.082]], \"simulated_seconds_remaining\": 23.298, \"calls_remaining_including_this\": 53}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 11, \"motion_seconds\": 0.726, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.64
    },
    "note": "The handle remains just ahead of the fingertips in the wrist view. I am advancing along the gripper axis to reach the pull."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"open the table.\", \"joint_positions\": [0.02642, 0.17048, 0.58818, -2.22802, 0.86753, 4.12457, 0.8342], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.63876, 0.18019, 1.04509], \"tcp_roll_pitch_yaw\": [1.56689, -0.00225, -1.56754], \"tcp_rotation_matrix\": [[-0.06726, -0.08924, 0.99374], [-0.99248, -0.09611, -0.07581], [0.10228, -0.99136, -0.0821]], \"simulated_seconds_remaining\": 22.374, \"calls_remaining_including_this\": 52}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The handle is partially occluded by the fingertips. I am closing the jaws to test whether the pull is seated."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"open the table.\", \"joint_positions\": [0.02642, 0.17048, 0.58818, -2.22802, 0.86753, 4.12457, 0.8342], \"gripper_open\": 0.0, \"tcp_xyz\": [0.63877, 0.18019, 1.04509], \"tcp_roll_pitch_yaw\": [1.5669, -0.00225, -1.56754], \"tcp_rotation_matrix\": [[-0.06726, -0.08924, 0.99374], [-0.99248, -0.09611, -0.07581], [0.10228, -0.99136, -0.0821]], \"simulated_seconds_remaining\": 21.45, \"calls_remaining_including_this\": 51}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.48,
      "y": 0,
      "z": 1,
      "gripper": 1
    },
    "note": "The jaws closed completely, so the pull was not captured. I am backing away and shifting toward the visible handle for a clearer alignment."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"open the table.\", \"joint_positions\": [-0.12702, -0.37128, 0.23542, -3.02791, 0.19103, 4.14768, 1.4644], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.48089, 0.00088, 1.00025], \"tcp_roll_pitch_yaw\": [1.5669, -0.00229, -1.56783], \"tcp_rotation_matrix\": [[-0.06755, -0.08927, 0.99371], [-0.99246, -0.09612, -0.0761], [0.10231, -0.99136, -0.0821]], \"simulated_seconds_remaining\": 19.536, \"calls_remaining_including_this\": 50}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 29, \"motion_seconds\": 1.9140000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.56,
      "y": 0.045,
      "z": 0.965
    },
    "note": "The wrist view shows the upper pull left of the grasp center. I am lowering and shifting the jaws to center the handle before closing."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"open the table.\", \"joint_positions\": [-0.09839, 0.01209, 0.3547, -2.75916, 0.36653, 4.28235, 1.33322], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.55891, 0.04441, 0.96548], \"tcp_roll_pitch_yaw\": [1.56682, -0.00228, -1.56772], \"tcp_rotation_matrix\": [[-0.06744, -0.08933, 0.99372], [-0.99246, -0.09612, -0.07599], [0.10231, -0.99135, -0.08217]], \"simulated_seconds_remaining\": 18.612, \"calls_remaining_including_this\": 49}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "z": 1.04
    },
    "note": "The exterior view shows the jaws below the upper handle. I am raising them to the handle height while keeping the horizontal position fixed."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"open the table.\", \"joint_positions\": [-0.09262, -0.22738, 0.34931, -2.7384, 0.41312, 4.02666, 1.3057], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.55893, 0.04442, 1.03885], \"tcp_roll_pitch_yaw\": [1.5672, -0.0023, -1.56773], \"tcp_rotation_matrix\": [[-0.06749, -0.08896, 0.99375], [-0.99246, -0.09614, -0.07601], [0.1023, -0.99138, -0.0818]], \"simulated_seconds_remaining\": 17.82, \"calls_remaining_including_this\": 48}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 12, \"motion_seconds\": 0.792, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The exterior view now shows the open fingers straddling the upper pull. I am closing to establish the grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 11, \"instruction\": \"open the table.\", \"joint_positions\": [-0.09262, -0.22738, 0.34931, -2.7384, 0.41312, 4.02666, 1.3057], \"gripper_open\": 0.0, \"tcp_xyz\": [0.55893, 0.04442, 1.03886], \"tcp_roll_pitch_yaw\": [1.56719, -0.0023, -1.56773], \"tcp_rotation_matrix\": [[-0.06749, -0.08897, 0.99375], [-0.99246, -0.09614, -0.07601], [0.1023, -0.99138, -0.08181]], \"simulated_seconds_remaining\": 16.896, \"calls_remaining_including_this\": 47}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 1,
      "x": 0.66,
      "y": 0.08,
      "z": 0.99
    },
    "note": "The fingers again closed without resistance. The wrist image shows the pull offset from the jaw tips, so I am reopening and correcting the depth and height."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 12, \"instruction\": \"open the table.\", \"joint_positions\": [-0.0667, 0.19692, 0.38914, -2.39385, 0.47546, 4.14377, 1.15119], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.65884, 0.07959, 0.99051], \"tcp_roll_pitch_yaw\": [1.56704, -0.00226, -1.56769], \"tcp_rotation_matrix\": [[-0.06743, -0.08911, 0.99374], [-0.99247, -0.09611, -0.07596], [0.10228, -0.99137, -0.08196]], \"simulated_seconds_remaining\": 15.84, \"calls_remaining_including_this\": 46}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 16, \"motion_seconds\": 1.056, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.61,
      "z": 1.04
    },
    "note": "The latest wrist view places the handle below and right of the finger gap. I am making a small correction back and upward to seat it between the jaws."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 13, \"instruction\": \"open the table.\", \"joint_positions\": [-0.06016, -0.04489, 0.40854, -2.53028, 0.54931, 4.04078, 1.1604], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.61085, 0.07965, 1.03927], \"tcp_roll_pitch_yaw\": [1.56728, -0.00228, -1.5676], \"tcp_rotation_matrix\": [[-0.06737, -0.08887, 0.99376], [-0.99247, -0.09614, -0.07587], [0.10228, -0.99139, -0.08172]], \"simulated_seconds_remaining\": 15.048, \"calls_remaining_including_this\": 45}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 12, \"motion_seconds\": 0.792, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The pull is now occluded inside the finger gap. I am closing the gripper at this corrected position."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 14, \"instruction\": \"open the table.\", \"joint_positions\": [-0.06016, -0.04489, 0.40854, -2.53028, 0.54931, 4.04078, 1.1604], \"gripper_open\": 0.0, \"tcp_xyz\": [0.61084, 0.07965, 1.03928], \"tcp_roll_pitch_yaw\": [1.56728, -0.00228, -1.5676], \"tcp_rotation_matrix\": [[-0.06737, -0.08887, 0.99376], [-0.99247, -0.09614, -0.07588], [0.10228, -0.99139, -0.08172]], \"simulated_seconds_remaining\": 14.124, \"calls_remaining_including_this\": 44}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.56,
      "y": 0.045,
      "z": 0.965,
      "gripper": 1
    },
    "note": "The grasp remains empty. I am returning to the position where the wrist image showed the pull directly beside the jaw tips, then will test that alignment."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 15, \"instruction\": \"open the table.\", \"joint_positions\": [-0.10123, 0.01564, 0.36014, -2.75263, 0.36992, 4.2803, 1.32967], \"gripper_open\": 0.9965, \"tcp_xyz\": [0.56072, 0.04542, 0.96591], \"tcp_roll_pitch_yaw\": [1.56699, -0.00235, -1.56774], \"tcp_rotation_matrix\": [[-0.06748, -0.08917, 0.99373], [-0.99246, -0.09619, -0.07602], [0.10237, -0.99136, -0.082]], \"simulated_seconds_remaining\": 13.2, \"calls_remaining_including_this\": 43}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The handle is centered laterally between the fingers in the wrist image. I am closing here to check contact."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 16, \"instruction\": \"open the table.\", \"joint_positions\": [-0.10123, 0.01564, 0.36014, -2.75263, 0.36992, 4.2803, 1.32967], \"gripper_open\": 0.0, \"tcp_xyz\": [0.56071, 0.04541, 0.9659], \"tcp_roll_pitch_yaw\": [1.56699, -0.00235, -1.56774], \"tcp_rotation_matrix\": [[-0.06747, -0.08916, 0.99373], [-0.99246, -0.09619, -0.07602], [0.10237, -0.99136, -0.082]], \"simulated_seconds_remaining\": 12.276, \"calls_remaining_including_this\": 42}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.56,
      "y": 0.25,
      "z": 0.965,
      "yaw": 0,
      "gripper": 1
    },
    "note": "The repeated empty grasps indicate the approach direction is offset from the drawer front. I am turning toward the table and approaching along the leftward axis."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 17, \"instruction\": \"open the table.\", \"joint_positions\": [-0.23443, 0.6733, 0.2603, -1.60549, -1.72535, 4.5159, 2.36039], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.56021, 0.24976, 0.96492], \"tcp_roll_pitch_yaw\": [1.56686, -0.0024, -0.00415], \"tcp_rotation_matrix\": [[0.99194, 0.0956, 0.08318], [-0.07461, -0.08998, 0.99314], [0.10243, -0.99134, -0.08212]], \"simulated_seconds_remaining\": 9.9, \"calls_remaining_including_this\": 41}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 36, \"motion_seconds\": 2.3760000000000003, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.76,
      "y": -0.1,
      "z": 0.98,
      "yaw": -1.57
    },
    "note": "The side view shows the table lies farther forward and to the right of the current approach. I am repositioning toward its front handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 18, \"instruction\": \"open the table.\", \"joint_positions\": [-0.23133, 0.40605, 0.08575, -2.0967, -0.21612, 3.98745, 1.51008], \"gripper_open\": 1.0, \"tcp_xyz\": [0.75871, -0.06355, 0.97608], \"tcp_roll_pitch_yaw\": [1.55508, -0.05463, -1.47395], \"tcp_rotation_matrix\": [[0.02631, -0.08652, 0.9959], [-0.98758, -0.15664, 0.01248], [0.15491, -0.98386, -0.08957]], \"simulated_seconds_remaining\": 6.93, \"calls_remaining_including_this\": 40}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 45, \"motion_seconds\": 2.97, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "z": 1.005,
      "gripper": 0
    },
    "note": "The upper drawer now fills the wrist view and its pull is between the jaw tips. I am raising slightly and closing around it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 19, \"instruction\": \"open the table.\", \"joint_positions\": [-0.23248, 0.35739, 0.09785, -2.10118, -0.24124, 3.92833, 1.53273], \"gripper_open\": 0.0187, \"tcp_xyz\": [0.75846, -0.0505, 0.99414], \"tcp_roll_pitch_yaw\": [1.53811, -0.05384, -1.45151], \"tcp_rotation_matrix\": [[0.05018, -0.09976, 0.99375], [-0.98659, -0.15966, 0.03379], [0.15529, -0.98212, -0.10643]], \"simulated_seconds_remaining\": 6.006, \"calls_remaining_including_this\": 39}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.58
    },
    "note": "The gripper reports a small remaining opening, suggesting contact. I am pulling outward to test and open the drawer."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 20, \"instruction\": \"open the table.\", \"joint_positions\": [-0.28738, -0.05725, 0.05698, -2.69945, -0.31747, 4.12738, 1.56799], \"gripper_open\": 0.0, \"tcp_xyz\": [0.58131, -0.05052, 0.99416], \"tcp_roll_pitch_yaw\": [1.53813, -0.05387, -1.45153], \"tcp_rotation_matrix\": [[0.05015, -0.09974, 0.99375], [-0.98659, -0.15969, 0.03376], [0.15532, -0.98212, -0.10641]], \"simulated_seconds_remaining\": 4.488, \"calls_remaining_including_this\": 38}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 23, \"motion_seconds\": 1.518, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.69,
      "z": 0.985,
      "gripper": 1
    },
    "note": "The drawer did not follow the pull. The handle is visible just above the closed tips, so I am making one final short approach with the jaws open."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 21, \"instruction\": \"open the table.\", \"joint_positions\": [-0.25038, 0.21539, 0.08777, -2.35463, -0.25021, 4.04297, 1.53082], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.68874, -0.05051, 0.98508], \"tcp_roll_pitch_yaw\": [1.53808, -0.05385, -1.45151], \"tcp_rotation_matrix\": [[0.05018, -0.09979, 0.99374], [-0.98659, -0.15968, 0.03379], [0.15531, -0.98211, -0.10646]], \"simulated_seconds_remaining\": 3.432, \"calls_remaining_including_this\": 37}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 16, \"motion_seconds\": 1.056, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The pull is centered between the open jaws in the wrist view. I am closing before the final opening pull."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 22, \"instruction\": \"open the table.\", \"joint_positions\": [-0.25038, 0.21539, 0.08777, -2.35463, -0.25021, 4.04297, 1.53082], \"gripper_open\": 0.0, \"tcp_xyz\": [0.68876, -0.05051, 0.98508], \"tcp_roll_pitch_yaw\": [1.53808, -0.05385, -1.45151], \"tcp_rotation_matrix\": [[0.05018, -0.09979, 0.99374], [-0.98659, -0.15968, 0.03379], [0.15531, -0.98211, -0.10646]], \"simulated_seconds_remaining\": 2.508, \"calls_remaining_including_this\": 36}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.48
    },
    "note": "I am pulling back from the handle position and checking whether the drawer moves with the gripper."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 23, \"instruction\": \"open the table.\", \"joint_positions\": [-0.33371, -0.29447, -0.00701, -2.99689, -0.43012, 4.19971, 1.59132], \"gripper_open\": 0.0, \"tcp_xyz\": [0.48131, -0.05054, 0.9851], \"tcp_roll_pitch_yaw\": [1.5381, -0.05387, -1.45156], \"tcp_rotation_matrix\": [[0.05013, -0.09978, 0.99375], [-0.98659, -0.15969, 0.03373], [0.15533, -0.98211, -0.10645]], \"simulated_seconds_remaining\": 0.792, \"calls_remaining_including_this\": 35}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 26, \"motion_seconds\": 1.7160000000000002, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "give_up",
  "arguments": {
    "note": "I could not establish a secure grasp on the drawer handle, and the table remains closed. There is insufficient simulated motion time for another approach."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "Episode ended. Do not call more tools. Return a brief final response."
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

I couldn’t secure the handle before motion time ran out. The table remains closed.

TURN USAGE
{
  "input_tokens": 478847,
  "cached_input_tokens": 442880,
  "cache_write_input_tokens": 0,
  "output_tokens": 6164,
  "reasoning_output_tokens": 3657
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.01954,
      -0.7817,
      -0.02124,
      -2.41402,
      -0.09468,
      1.71074,
      -0.08371
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.33272,
      -0.02319,
      1.00053
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99248,
        0.09359,
        0.07886
      ],
      [
        0.09977,
        -0.99192,
        -0.07841
      ],
      [
        0.07088,
        0.08568,
        -0.9938
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 26.82372728921473,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48,
                    "y": 0.12,
                    "z": 0.88,
                    "gripper": 1
                  },
                  "note": "The table has two front drawers with horizontal handles. I am approaching above the upper handle to localize it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 29,
    "motion_seconds": 1.9140000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.08606,
      -0.2215,
      0.18873,
      -2.26481,
      -0.06448,
      2.10118,
      0.2053
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.47914,
      0.11921,
      0.8806
    ],
    "tcp_roll_pitch_yaw": [
      -7e-05,
      0.00021,
      9e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99249,
        0.0937,
        0.07866
      ],
      [
        0.09986,
        -0.9919,
        -0.07847
      ],
      [
        0.07067,
        0.08574,
        -0.99381
      ]
    ],
    "simulated_seconds_remaining": 28.116,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 23.220218130387366,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.43,
                    "y": 0.12,
                    "z": 1.02,
                    "roll": 1.57,
                    "yaw": -1.57
                  },
                  "note": "The upper drawer handle is above the current gripper. I am raising to it and turning the fingers to close vertically around the horizontal pull."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 47,
    "motion_seconds": 3.1020000000000003,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.20959,
      -0.453,
      0.5863,
      -2.95195,
      1.01451,
      4.08945,
      1.14087
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.4302,
      0.12009,
      1.01965
    ],
    "tcp_roll_pitch_yaw": [
      1.5671,
      -0.00244,
      -1.56721
    ],
    "tcp_rotation_matrix": [
      [
        -0.06696,
        -0.089,
        0.99378
      ],
      [
        -0.99248,
        -0.09633,
        -0.0755
      ],
      [
        0.10245,
        -0.99136,
        -0.08188
      ]
    ],
    "simulated_seconds_remaining": 25.014,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 13.21179452072829,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.49,
                    "y": 0.2,
                    "z": 1.055
                  },
                  "note": "The upper pull sits left and slightly above the fingertips in the exterior view. I am centering the open jaws on it while approaching."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.13915,
      -0.19308,
      0.7061,
      -2.569,
      1.15526,
      4.14513,
      0.88512
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.48925,
      0.19902,
      1.05457
    ],
    "tcp_roll_pitch_yaw": [
      1.56716,
      -0.00236,
      -1.56713
    ],
    "tcp_rotation_matrix": [
      [
        -0.06689,
        -0.08894,
        0.99379
      ],
      [
        -0.9925,
        -0.09626,
        -0.07541
      ],
      [
        0.10237,
        -0.99138,
        -0.08183
      ]
    ],
    "simulated_seconds_remaining": 24.024,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 20.220213799737394,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.55,
                    "y": 0.18,
                    "z": 1.045
                  },
                  "note": "The wrist view places the upper handle between the open fingers. I am advancing a short distance to surround the pull."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.06285,
      -0.06151,
      0.64006,
      -2.49373,
      0.9718,
      4.14392,
      0.93164
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.54884,
      0.18026,
      1.04513
    ],
    "tcp_roll_pitch_yaw": [
      1.567,
      -0.0023,
      -1.5674
    ],
    "tcp_rotation_matrix": [
      [
        -0.06714,
        -0.08913,
        0.99376
      ],
      [
        -0.99248,
        -0.09618,
        -0.07568
      ],
      [
        0.10232,
        -0.99137,
        -0.082
      ]
    ],
    "simulated_seconds_remaining": 23.298,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 15.613175438717008,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.64
                  },
                  "note": "The handle remains just ahead of the fingertips in the wrist view. I am advancing along the gripper axis to reach the pull."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.02642,
      0.17048,
      0.58818,
      -2.22802,
      0.86753,
      4.12457,
      0.8342
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.63876,
      0.18019,
      1.04509
    ],
    "tcp_roll_pitch_yaw": [
      1.56689,
      -0.00225,
      -1.56754
    ],
    "tcp_rotation_matrix": [
      [
        -0.06726,
        -0.08924,
        0.99374
      ],
      [
        -0.99248,
        -0.09611,
        -0.07581
      ],
      [
        0.10228,
        -0.99136,
        -0.0821
      ]
    ],
    "simulated_seconds_remaining": 22.374,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 19.01600629556924,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The handle is partially occluded by the fingertips. I am closing the jaws to test whether the pull is seated."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.02642,
      0.17048,
      0.58818,
      -2.22802,
      0.86753,
      4.12457,
      0.8342
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.63877,
      0.18019,
      1.04509
    ],
    "tcp_roll_pitch_yaw": [
      1.5669,
      -0.00225,
      -1.56754
    ],
    "tcp_rotation_matrix": [
      [
        -0.06726,
        -0.08924,
        0.99374
      ],
      [
        -0.99248,
        -0.09611,
        -0.07581
      ],
      [
        0.10228,
        -0.99136,
        -0.0821
      ]
    ],
    "simulated_seconds_remaining": 21.45,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 8.206944353878498,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48,
                    "y": 0,
                    "z": 1,
                    "gripper": 1
                  },
                  "note": "The jaws closed completely, so the pull was not captured. I am backing away and shifting toward the visible handle for a clearer alignment."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 29,
    "motion_seconds": 1.9140000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.12702,
      -0.37128,
      0.23542,
      -3.02791,
      0.19103,
      4.14768,
      1.4644
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.48089,
      0.00088,
      1.00025
    ],
    "tcp_roll_pitch_yaw": [
      1.5669,
      -0.00229,
      -1.56783
    ],
    "tcp_rotation_matrix": [
      [
        -0.06755,
        -0.08927,
        0.99371
      ],
      [
        -0.99246,
        -0.09612,
        -0.0761
      ],
      [
        0.10231,
        -0.99136,
        -0.0821
      ]
    ],
    "simulated_seconds_remaining": 19.536,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 18.015985474921763,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.56,
                    "y": 0.045,
                    "z": 0.965
                  },
                  "note": "The wrist view shows the upper pull left of the grasp center. I am lowering and shifting the jaws to center the handle before closing."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.09839,
      0.01209,
      0.3547,
      -2.75916,
      0.36653,
      4.28235,
      1.33322
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.55891,
      0.04441,
      0.96548
    ],
    "tcp_roll_pitch_yaw": [
      1.56682,
      -0.00228,
      -1.56772
    ],
    "tcp_rotation_matrix": [
      [
        -0.06744,
        -0.08933,
        0.99372
      ],
      [
        -0.99246,
        -0.09612,
        -0.07599
      ],
      [
        0.10231,
        -0.99135,
        -0.08217
      ]
    ],
    "simulated_seconds_remaining": 18.612,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 22.018187646754086,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.04
                  },
                  "note": "The exterior view shows the jaws below the upper handle. I am raising them to the handle height while keeping the horizontal position fixed."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.09262,
      -0.22738,
      0.34931,
      -2.7384,
      0.41312,
      4.02666,
      1.3057
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.55893,
      0.04442,
      1.03885
    ],
    "tcp_roll_pitch_yaw": [
      1.5672,
      -0.0023,
      -1.56773
    ],
    "tcp_rotation_matrix": [
      [
        -0.06749,
        -0.08896,
        0.99375
      ],
      [
        -0.99246,
        -0.09614,
        -0.07601
      ],
      [
        0.1023,
        -0.99138,
        -0.0818
      ]
    ],
    "simulated_seconds_remaining": 17.82,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 10.208606507629156,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The exterior view now shows the open fingers straddling the upper pull. I am closing to establish the grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.09262,
      -0.22738,
      0.34931,
      -2.7384,
      0.41312,
      4.02666,
      1.3057
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.55893,
      0.04442,
      1.03886
    ],
    "tcp_roll_pitch_yaw": [
      1.56719,
      -0.0023,
      -1.56773
    ],
    "tcp_rotation_matrix": [
      [
        -0.06749,
        -0.08897,
        0.99375
      ],
      [
        -0.99246,
        -0.09614,
        -0.07601
      ],
      [
        0.1023,
        -0.99138,
        -0.08181
      ]
    ],
    "simulated_seconds_remaining": 16.896,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 28.23020818363875,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 1,
                    "x": 0.66,
                    "y": 0.08,
                    "z": 0.99
                  },
                  "note": "The fingers again closed without resistance. The wrist image shows the pull offset from the jaw tips, so I am reopening and correcting the depth and height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.0667,
      0.19692,
      0.38914,
      -2.39385,
      0.47546,
      4.14377,
      1.15119
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.65884,
      0.07959,
      0.99051
    ],
    "tcp_roll_pitch_yaw": [
      1.56704,
      -0.00226,
      -1.56769
    ],
    "tcp_rotation_matrix": [
      [
        -0.06743,
        -0.08911,
        0.99374
      ],
      [
        -0.99247,
        -0.09611,
        -0.07596
      ],
      [
        0.10228,
        -0.99137,
        -0.08196
      ]
    ],
    "simulated_seconds_remaining": 15.84,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 12.013701235875487,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.61,
                    "z": 1.04
                  },
                  "note": "The latest wrist view places the handle below and right of the finger gap. I am making a small correction back and upward to seat it between the jaws."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.06016,
      -0.04489,
      0.40854,
      -2.53028,
      0.54931,
      4.04078,
      1.1604
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.61085,
      0.07965,
      1.03927
    ],
    "tcp_roll_pitch_yaw": [
      1.56728,
      -0.00228,
      -1.5676
    ],
    "tcp_rotation_matrix": [
      [
        -0.06737,
        -0.08887,
        0.99376
      ],
      [
        -0.99247,
        -0.09614,
        -0.07587
      ],
      [
        0.10228,
        -0.99139,
        -0.08172
      ]
    ],
    "simulated_seconds_remaining": 15.048,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 4.804142387583852,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The pull is now occluded inside the finger gap. I am closing the gripper at this corrected position."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.06016,
      -0.04489,
      0.40854,
      -2.53028,
      0.54931,
      4.04078,
      1.1604
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.61084,
      0.07965,
      1.03928
    ],
    "tcp_roll_pitch_yaw": [
      1.56728,
      -0.00228,
      -1.5676
    ],
    "tcp_rotation_matrix": [
      [
        -0.06737,
        -0.08887,
        0.99376
      ],
      [
        -0.99247,
        -0.09614,
        -0.07588
      ],
      [
        0.10228,
        -0.99139,
        -0.08172
      ]
    ],
    "simulated_seconds_remaining": 14.124,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 10.810277585871518,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.56,
                    "y": 0.045,
                    "z": 0.965,
                    "gripper": 1
                  },
                  "note": "The grasp remains empty. I am returning to the position where the wrist image showed the pull directly beside the jaw tips, then will test that alignment."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.10123,
      0.01564,
      0.36014,
      -2.75263,
      0.36992,
      4.2803,
      1.32967
    ],
    "gripper_open": 0.9965,
    "tcp_xyz": [
      0.56072,
      0.04542,
      0.96591
    ],
    "tcp_roll_pitch_yaw": [
      1.56699,
      -0.00235,
      -1.56774
    ],
    "tcp_rotation_matrix": [
      [
        -0.06748,
        -0.08917,
        0.99373
      ],
      [
        -0.99246,
        -0.09619,
        -0.07602
      ],
      [
        0.10237,
        -0.99136,
        -0.082
      ]
    ],
    "simulated_seconds_remaining": 13.2,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 7.205565090291202,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The handle is centered laterally between the fingers in the wrist image. I am closing here to check contact."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.10123,
      0.01564,
      0.36014,
      -2.75263,
      0.36992,
      4.2803,
      1.32967
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.56071,
      0.04541,
      0.9659
    ],
    "tcp_roll_pitch_yaw": [
      1.56699,
      -0.00235,
      -1.56774
    ],
    "tcp_rotation_matrix": [
      [
        -0.06747,
        -0.08916,
        0.99373
      ],
      [
        -0.99246,
        -0.09619,
        -0.07602
      ],
      [
        0.10237,
        -0.99136,
        -0.082
      ]
    ],
    "simulated_seconds_remaining": 12.276,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 15.013294102624059,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.56,
                    "y": 0.25,
                    "z": 0.965,
                    "yaw": 0,
                    "gripper": 1
                  },
                  "note": "The repeated empty grasps indicate the approach direction is offset from the drawer front. I am turning toward the table and approaching along the leftward axis."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 36,
    "motion_seconds": 2.3760000000000003,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.23443,
      0.6733,
      0.2603,
      -1.60549,
      -1.72535,
      4.5159,
      2.36039
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.56021,
      0.24976,
      0.96492
    ],
    "tcp_roll_pitch_yaw": [
      1.56686,
      -0.0024,
      -0.00415
    ],
    "tcp_rotation_matrix": [
      [
        0.99194,
        0.0956,
        0.08318
      ],
      [
        -0.07461,
        -0.08998,
        0.99314
      ],
      [
        0.10243,
        -0.99134,
        -0.08212
      ]
    ],
    "simulated_seconds_remaining": 9.9,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 13.412441592663527,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.76,
                    "y": -0.1,
                    "z": 0.98,
                    "yaw": -1.57
                  },
                  "note": "The side view shows the table lies farther forward and to the right of the current approach. I am repositioning toward its front handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 45,
    "motion_seconds": 2.97,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.23133,
      0.40605,
      0.08575,
      -2.0967,
      -0.21612,
      3.98745,
      1.51008
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.75871,
      -0.06355,
      0.97608
    ],
    "tcp_roll_pitch_yaw": [
      1.55508,
      -0.05463,
      -1.47395
    ],
    "tcp_rotation_matrix": [
      [
        0.02631,
        -0.08652,
        0.9959
      ],
      [
        -0.98758,
        -0.15664,
        0.01248
      ],
      [
        0.15491,
        -0.98386,
        -0.08957
      ]
    ],
    "simulated_seconds_remaining": 6.93,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 8.407309482805431,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.005,
                    "gripper": 0
                  },
                  "note": "The upper drawer now fills the wrist view and its pull is between the jaw tips. I am raising slightly and closing around it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 19,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.23248,
      0.35739,
      0.09785,
      -2.10118,
      -0.24124,
      3.92833,
      1.53273
    ],
    "gripper_open": 0.0187,
    "tcp_xyz": [
      0.75846,
      -0.0505,
      0.99414
    ],
    "tcp_roll_pitch_yaw": [
      1.53811,
      -0.05384,
      -1.45151
    ],
    "tcp_rotation_matrix": [
      [
        0.05018,
        -0.09976,
        0.99375
      ],
      [
        -0.98659,
        -0.15966,
        0.03379
      ],
      [
        0.15529,
        -0.98212,
        -0.10643
      ]
    ],
    "simulated_seconds_remaining": 6.006,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 5.6051756693050265,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.58
                  },
                  "note": "The gripper reports a small remaining opening, suggesting contact. I am pulling outward to test and open the drawer."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 20,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.28738,
      -0.05725,
      0.05698,
      -2.69945,
      -0.31747,
      4.12738,
      1.56799
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.58131,
      -0.05052,
      0.99416
    ],
    "tcp_roll_pitch_yaw": [
      1.53813,
      -0.05387,
      -1.45153
    ],
    "tcp_rotation_matrix": [
      [
        0.05015,
        -0.09974,
        0.99375
      ],
      [
        -0.98659,
        -0.15969,
        0.03376
      ],
      [
        0.15532,
        -0.98212,
        -0.10641
      ]
    ],
    "simulated_seconds_remaining": 4.488,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 9.809272115118802,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.69,
                    "z": 0.985,
                    "gripper": 1
                  },
                  "note": "The drawer did not follow the pull. The handle is visible just above the closed tips, so I am making one final short approach with the jaws open."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 21,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.25038,
      0.21539,
      0.08777,
      -2.35463,
      -0.25021,
      4.04297,
      1.53082
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.68874,
      -0.05051,
      0.98508
    ],
    "tcp_roll_pitch_yaw": [
      1.53808,
      -0.05385,
      -1.45151
    ],
    "tcp_rotation_matrix": [
      [
        0.05018,
        -0.09979,
        0.99374
      ],
      [
        -0.98659,
        -0.15968,
        0.03379
      ],
      [
        0.15531,
        -0.98211,
        -0.10646
      ]
    ],
    "simulated_seconds_remaining": 3.432,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 5.604741032235324,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The pull is centered between the open jaws in the wrist view. I am closing before the final opening pull."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 22,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.25038,
      0.21539,
      0.08777,
      -2.35463,
      -0.25021,
      4.04297,
      1.53082
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.68876,
      -0.05051,
      0.98508
    ],
    "tcp_roll_pitch_yaw": [
      1.53808,
      -0.05385,
      -1.45151
    ],
    "tcp_rotation_matrix": [
      [
        0.05018,
        -0.09979,
        0.99374
      ],
      [
        -0.98659,
        -0.15968,
        0.03379
      ],
      [
        0.15531,
        -0.98211,
        -0.10646
      ]
    ],
    "simulated_seconds_remaining": 2.508,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 9.812039802782238,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48
                  },
                  "note": "I am pulling back from the handle position and checking whether the drawer moves with the gripper."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 26,
    "motion_seconds": 1.7160000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 23,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.33371,
      -0.29447,
      -0.00701,
      -2.99689,
      -0.43012,
      4.19971,
      1.59132
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.48131,
      -0.05054,
      0.9851
    ],
    "tcp_roll_pitch_yaw": [
      1.5381,
      -0.05387,
      -1.45156
    ],
    "tcp_rotation_matrix": [
      [
        0.05013,
        -0.09978,
        0.99375
      ],
      [
        -0.98659,
        -0.15969,
        0.03373
      ],
      [
        0.15533,
        -0.98211,
        -0.10645
      ]
    ],
    "simulated_seconds_remaining": 0.792,
    "calls_remaining_including_this": 35
  },
  "api_seconds": 6.606354122981429,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "give_up",
                "args": {
                  "note": "I could not establish a secure grasp on the drawer handle, and the table remains closed. There is insufficient simulated motion time for another approach."
                }
              }
            }
          ]
        }
      }
    ]
  }
}

========================================================================
GPT-Astra / Open / Episode 036

Completed scored attempt. Images are available in the paired videos.

Opaque provider signatures, image payloads, and local paths are omitted.


RESULT
{
  "benchmark_index": 36,
  "source_episode_index": 872,
  "house_index": 420,
  "status": "completed",
  "success": true,
  "oracle_success": true,
  "action_decisions": 22,
  "wall_seconds": 240.01,
  "usage": {
    "input_tokens": 442516,
    "cached_input_tokens": 423552,
    "cache_write_input_tokens": 0,
    "output_tokens": 4280,
    "reasoning_output_tokens": 1779
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task.
You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose.
Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion.
move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up.
roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial.
Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5).
The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y.
The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics.
Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration.
Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target.
You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time.
Each move must include a short note describing what you observe and why you chose that motion.
Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done.
Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available.



AGENT TRANSCRIPT (visible messages and completed tool calls)

I’ll inspect the scene and use visual feedback to open the object.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"open the table.\", \"joint_positions\": [-0.008, -0.83384, 0.0498, -2.41322, -0.03862, 1.70889, -0.10786], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.32734, 0.00264, 1.01748], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.98259, 0.13231, 0.1304], [0.14242, -0.98723, -0.07144], [0.11928, 0.08877, -0.98888]], \"simulated_seconds_remaining\": 30.03, \"calls_remaining_including_this\": 57}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "x": 0.48,
    "y": 0,
    "z": 0.88,
    "gripper": 1,
    "note": "The black table is ahead, with a small light handle on its front. I lower and advance the open gripper to inspect the drawer face."
  },
  "result": null,
  "error": {
    "message": "tool call error: tool call failed for `robot/move_to`\n\nCaused by:\n    Mcp error: -32602: Unexpected argument"
  },
  "status": "failed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.48,
      "y": 0,
      "z": 0.88,
      "gripper": 1
    },
    "note": "The black table is ahead, with a small light handle on its front. I lower and advance the open gripper to inspect the drawer face."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"open the table.\", \"joint_positions\": [-0.03109, -0.53311, 0.06362, -2.36587, -0.07079, 1.92641, -0.07064], \"gripper_open\": 1.0, \"tcp_xyz\": [0.41523, -0.004, 0.95531], \"tcp_roll_pitch_yaw\": [-0.02262, 0.0329, -0.02416], \"tcp_rotation_matrix\": [[0.9891, 0.11206, 0.09557], [0.12121, -0.98796, -0.09613], [0.08365, 0.10667, -0.99077]], \"simulated_seconds_remaining\": 28.38, \"calls_remaining_including_this\": 56}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 25, \"motion_seconds\": 1.6500000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.55,
      "y": 0,
      "z": 0.87,
      "pitch": -1.45
    },
    "note": "The drawer front faces the robot. I rotate the fingers to approach it horizontally and move toward the visible knob."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"open the table.\", \"joint_positions\": [-0.03109, -0.53311, 0.06362, -2.36587, -0.07079, 1.92641, -0.07064], \"gripper_open\": 1.0, \"tcp_xyz\": [0.41523, -0.004, 0.95531], \"tcp_roll_pitch_yaw\": [-0.02262, 0.0329, -0.02416], \"tcp_rotation_matrix\": [[0.9891, 0.11206, 0.09557], [0.12121, -0.98796, -0.09613], [0.08365, 0.10667, -0.99077]], \"simulated_seconds_remaining\": 28.38, \"calls_remaining_including_this\": 55}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK requires a large joint jump; split the motion or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.48,
      "z": 0.9,
      "pitch": -0.55
    },
    "note": "The larger wrist rotation was rejected. I use a smaller rotation while approaching the drawer."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"open the table.\", \"joint_positions\": [-0.11101, -0.86107, 0.1497, -2.80514, -0.07997, 2.56672, 0.08298], \"gripper_open\": 1.0, \"tcp_xyz\": [0.42626, -0.00629, 0.95495], \"tcp_roll_pitch_yaw\": [0.00302, -0.50277, -0.12692], \"tcp_rotation_matrix\": [[0.81483, -0.051, 0.57745], [0.03923, -0.98899, -0.1427], [0.57837, 0.13893, -0.80386]], \"simulated_seconds_remaining\": 27.324, \"calls_remaining_including_this\": 54}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 16, \"motion_seconds\": 1.056, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.48,
      "z": 0.88,
      "pitch": -1.05
    },
    "note": "The wrist now tilts toward the front panel. I continue the rotation in a small step and lower toward handle height."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"open the table.\", \"joint_positions\": [-0.11101, -0.86107, 0.1497, -2.80514, -0.07997, 2.56672, 0.08298], \"gripper_open\": 1.0, \"tcp_xyz\": [0.42626, -0.00629, 0.95495], \"tcp_roll_pitch_yaw\": [0.00302, -0.50277, -0.12692], \"tcp_rotation_matrix\": [[0.81483, -0.051, 0.57745], [0.03923, -0.98899, -0.1427], [0.57837, 0.13893, -0.80386]], \"simulated_seconds_remaining\": 27.324, \"calls_remaining_including_this\": 53}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.62,
      "z": 0.82,
      "pitch": -0.7
    },
    "note": "The knob remains ahead and below the gripper. I extend farther forward and down with a moderate wrist tilt to maintain reachability."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"open the table.\", \"joint_positions\": [-0.11101, -0.86107, 0.1497, -2.80514, -0.07997, 2.56672, 0.08298], \"gripper_open\": 1.0, \"tcp_xyz\": [0.42626, -0.00629, 0.95495], \"tcp_roll_pitch_yaw\": [0.00302, -0.50277, -0.12692], \"tcp_rotation_matrix\": [[0.81483, -0.051, 0.57745], [0.03923, -0.98899, -0.1427], [0.57837, 0.13893, -0.80386]], \"simulated_seconds_remaining\": 27.324, \"calls_remaining_including_this\": 52}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK requires a large joint jump; split the motion or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.5,
      "z": 0.92
    },
    "note": "The combined extension was too large for the inverse kinematics. I advance a short distance with the current orientation."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"open the table.\", \"joint_positions\": [-0.18256, -0.76814, 0.22901, -2.67623, -0.06884, 2.40899, 0.14003], \"gripper_open\": 1.0, \"tcp_xyz\": [0.43306, -0.00791, 0.956], \"tcp_roll_pitch_yaw\": [-0.0257, -0.38885, -0.19792], \"tcp_rotation_matrix\": [[0.87712, -0.11597, 0.46606], [-0.02757, -0.98096, -0.19222], [0.47948, 0.15575, -0.86362]], \"simulated_seconds_remaining\": 26.466, \"calls_remaining_including_this\": 51}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 13, \"motion_seconds\": 0.8580000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"open the table.\", \"joint_positions\": [-0.18256, -0.76814, 0.22901, -2.67623, -0.06884, 2.40899, 0.14003], \"gripper_open\": 1.0, \"tcp_xyz\": [0.43306, -0.00791, 0.956], \"tcp_roll_pitch_yaw\": [-0.0257, -0.38885, -0.19792], \"tcp_rotation_matrix\": [[0.87712, -0.11597, 0.46606], [-0.02757, -0.98096, -0.19222], [0.47948, 0.15575, -0.86362]], \"simulated_seconds_remaining\": 26.466, \"calls_remaining_including_this\": 51}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "y": 0.18,
      "z": 1.02,
      "pitch": 0
    },
    "note": "The gripper is beside the table’s right edge, while the knob is left of it. I raise slightly and shift left to align with the drawer center."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"open the table.\", \"joint_positions\": [-0.12487, -0.38141, 0.49316, -2.02057, 0.02578, 1.74548, 0.39753], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.4331, 0.17912, 1.01968], \"tcp_roll_pitch_yaw\": [-0.02564, -0.00207, -0.19778], \"tcp_rotation_matrix\": [[0.99178, -0.06397, 0.11085], [-0.05043, -0.99138, -0.12091], [0.11763, 0.11433, -0.98645]], \"simulated_seconds_remaining\": 24.816, \"calls_remaining_including_this\": 50}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 25, \"motion_seconds\": 1.6500000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.36,
      "y": 0.3,
      "z": 1.02,
      "pitch": -0.6,
      "yaw": 0
    },
    "note": "The knob is still left of the gripper. I center on it and back away slightly to leave room to rotate the fingers toward the drawer face."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"open the table.\", \"joint_positions\": [0.02434, -0.83321, 0.73296, -2.45138, -0.01755, 2.2957, 0.6119], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.36035, 0.29939, 1.02], \"tcp_roll_pitch_yaw\": [-0.02558, -0.59649, -0.00099], \"tcp_rotation_matrix\": [[0.74812, 0.04445, 0.66207], [0.14468, -0.98468, -0.09737], [0.6476, 0.16863, -0.74309]], \"simulated_seconds_remaining\": 23.562, \"calls_remaining_including_this\": 49}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 19, \"motion_seconds\": 1.254, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "pitch": -1.15,
      "z": 1.08
    },
    "note": "The tilted fingertips sit below the knob. I raise the grasp point and continue rotating toward a straight approach."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"open the table.\", \"joint_positions\": [-0.10513, -1.2001, 0.8963, -2.66358, -0.14355, 2.71094, 0.84851], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.36036, 0.29937, 1.07955], \"tcp_roll_pitch_yaw\": [-0.0258, -1.14589, -0.00097], \"tcp_rotation_matrix\": [[0.29991, -0.05046, 0.95263], [0.14516, -0.98456, -0.09785], [0.94286, 0.16763, -0.28795]], \"simulated_seconds_remaining\": 22.506, \"calls_remaining_including_this\": 48}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 16, \"motion_seconds\": 1.056, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.43,
      "y": 0.33,
      "z": 1.14,
      "pitch": -1.4
    },
    "note": "The wrist camera now clearly shows the round drawer knob above and left of the finger gap. I lift and shift toward it while completing the horizontal approach."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 11, \"instruction\": \"open the table.\", \"joint_positions\": [-0.48137, -1.24392, 1.02606, -2.52145, -0.17977, 2.98935, 0.97482], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.42929, 0.32962, 1.13937], \"tcp_roll_pitch_yaw\": [-0.02558, -1.39732, -0.00141], \"tcp_rotation_matrix\": [[0.05595, -0.09083, 0.99429], [0.14534, -0.9845, -0.09812], [0.9878, 0.15, -0.04188]], \"simulated_seconds_remaining\": 21.582, \"calls_remaining_including_this\": 47}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.43,
      "y": 0.305,
      "z": 1.09
    },
    "note": "The exterior view places the fingers just above the knob. I lower the grasp point and make a small lateral correction."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 12, \"instruction\": \"open the table.\", \"joint_positions\": [-0.47772, -1.30169, 1.08161, -2.65433, -0.16459, 3.09091, 1.0335], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.43001, 0.30553, 1.09107], \"tcp_roll_pitch_yaw\": [-0.02621, -1.39721, -0.00092], \"tcp_rotation_matrix\": [[0.05607, -0.09094, 0.99428], [0.14544, -0.98448, -0.09824], [0.98778, 0.15012, -0.04197]], \"simulated_seconds_remaining\": 20.922, \"calls_remaining_including_this\": 46}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 10, \"motion_seconds\": 0.66, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "y": 0.27,
      "z": 1.01,
      "pitch": -1.25
    },
    "note": "The knob remains above the center of the wrist view. I adjust the grasp point downward and slightly right to bring it between the open fingers."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 13, \"instruction\": \"open the table.\", \"joint_positions\": [-0.41177, -1.21743, 1.11318, -2.79316, -0.16665, 3.13594, 1.03039], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.43004, 0.27036, 1.01091], \"tcp_roll_pitch_yaw\": [-0.02626, -1.25165, -0.00097], \"tcp_rotation_matrix\": [[0.19877, -0.06831, 0.97766], [0.14531, -0.98449, -0.09833], [0.96922, 0.16161, -0.18576]], \"simulated_seconds_remaining\": 20.064, \"calls_remaining_including_this\": 45}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 13, \"motion_seconds\": 0.8580000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.53,
      "y": 0.25,
      "z": 1
    },
    "note": "The knob is now close to the finger gap in the wrist view. I advance toward it with a small rightward correction."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 14, \"instruction\": \"open the table.\", \"joint_positions\": [-0.82502, -1.0959, 1.24883, -2.63934, -0.18531, 3.381, 1.03308], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.52875, 0.25018, 1.00013], \"tcp_roll_pitch_yaw\": [-0.02626, -1.2516, -0.0012], \"tcp_rotation_matrix\": [[0.19885, -0.06853, 0.97763], [0.14526, -0.98447, -0.09856], [0.9692, 0.16161, -0.18581]], \"simulated_seconds_remaining\": 19.074, \"calls_remaining_including_this\": 44}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 15, \"motion_seconds\": 0.99, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "y": 0.2
    },
    "note": "The knob is touching the left side of the open finger gap. I shift right to center it before closing."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 15, \"instruction\": \"open the table.\", \"joint_positions\": [-0.85525, -1.06176, 1.19128, -2.7235, -0.21763, 3.50149, 0.98895], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.52878, 0.20104, 1.00012], \"tcp_roll_pitch_yaw\": [-0.02605, -1.25154, -0.00164], \"tcp_rotation_matrix\": [[0.19894, -0.06876, 0.9776], [0.14515, -0.98447, -0.09878], [0.9692, 0.16155, -0.18587]], \"simulated_seconds_remaining\": 18.414, \"calls_remaining_including_this\": 43}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 10, \"motion_seconds\": 0.66, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.56,
      "gripper": 0
    },
    "note": "The round knob is centered between the fingertips. I advance slightly and close the jaws around it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 16, \"instruction\": \"open the table.\", \"joint_positions\": [-0.97493, -1.03118, 1.24798, -2.64405, -0.2157, 3.53117, 0.98939], \"gripper_open\": 0.0024, \"tcp_xyz\": [0.55869, 0.20049, 1.00117], \"tcp_roll_pitch_yaw\": [-0.02199, -1.25362, -0.00624], \"tcp_rotation_matrix\": [[0.19703, -0.06983, 0.97791], [0.14378, -0.98462, -0.09927], [0.9698, 0.16016, -0.18396]], \"simulated_seconds_remaining\": 17.49, \"calls_remaining_including_this\": 42}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.43
    },
    "note": "The jaws have closed at the knob. I pull outward to check whether the drawer is engaged."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 17, \"instruction\": \"open the table.\", \"joint_positions\": [-0.42204, -1.21661, 1.01418, -2.9525, -0.21798, 3.30684, 0.98534], \"gripper_open\": 0.0001, \"tcp_xyz\": [0.43136, 0.20058, 1.00121], \"tcp_roll_pitch_yaw\": [-0.02236, -1.25374, -0.00573], \"tcp_rotation_matrix\": [[0.19688, -0.06969, 0.97795], [0.14392, -0.98461, -0.09914], [0.96981, 0.16027, -0.18382]], \"simulated_seconds_remaining\": 16.368, \"calls_remaining_including_this\": 41}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 17, \"motion_seconds\": 1.122, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 1,
      "x": 0.61,
      "z": 1.03
    },
    "note": "The drawer did not follow the pull, so the knob was not securely grasped. I reopen, raise slightly, and approach farther to place it deeper between the fingers."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 18, \"instruction\": \"open the table.\", \"joint_positions\": [-0.99818, -0.94454, 1.27491, -2.55169, -0.10818, 3.50463, 0.95083], \"gripper_open\": 1.0, \"tcp_xyz\": [0.57882, 0.22149, 1.02465], \"tcp_roll_pitch_yaw\": [0.3479, -1.2494, -0.34557], \"tcp_rotation_matrix\": [[0.18017, -0.05935, 0.98184], [0.03421, -0.9972, -0.06655], [0.98304, 0.04558, -0.17764]], \"simulated_seconds_remaining\": 14.85, \"calls_remaining_including_this\": 40}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 23, \"motion_seconds\": 1.518, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "y": 0.19,
      "x": 0.61,
      "roll": 0,
      "pitch": -1.25,
      "yaw": 0
    },
    "note": "The knob is visible between the jaws but left of center. I shift right and straighten the gripper while advancing gently."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 19, \"instruction\": \"open the table.\", \"joint_positions\": [-1.03805, -0.89095, 1.30085, -2.5366, -0.20057, 3.64089, 0.86799], \"gripper_open\": 1.0, \"tcp_xyz\": [0.57963, 0.25026, 1.01875], \"tcp_roll_pitch_yaw\": [0.01138, -1.26455, 0.12437], \"tcp_rotation_matrix\": [[0.16207, 0.08881, 0.98277], [0.16241, -0.98476, 0.0622], [0.97332, 0.14953, -0.17403]], \"simulated_seconds_remaining\": 14.256, \"calls_remaining_including_this\": 39}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 9, \"motion_seconds\": 0.5940000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.52,
      "y": 0.18,
      "z": 1.04
    },
    "note": "Contact with the drawer face is deflecting the wrist. I back off and move right to align the knob without pressure on the panel."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 20, \"instruction\": \"open the table.\", \"joint_positions\": [-0.77722, -0.86148, 0.97456, -2.76168, -0.33896, 3.69593, 0.79842], \"gripper_open\": 0.9803, \"tcp_xyz\": [0.51982, 0.18657, 1.03953], \"tcp_roll_pitch_yaw\": [-0.00285, -1.2648, 0.14946], \"tcp_rotation_matrix\": [[0.15936, 0.10002, 0.98214], [0.16836, -0.98303, 0.07279], [0.97276, 0.15375, -0.17349]], \"simulated_seconds_remaining\": 13.332, \"calls_remaining_including_this\": 38}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "y": 0.203,
      "z": 1.027,
      "x": 0.565
    },
    "note": "The knob is now slightly right and above the fingertip gap. I make a small centering adjustment and approach to grasp depth."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 21, \"instruction\": \"open the table.\", \"joint_positions\": [-0.97762, -0.82759, 1.17515, -2.65279, -0.27096, 3.83752, 0.80235], \"gripper_open\": 1.0, \"tcp_xyz\": [0.55048, 0.22377, 1.03785], \"tcp_roll_pitch_yaw\": [0.02177, -1.31764, 0.21274], \"tcp_rotation_matrix\": [[0.09526, 0.17755, 0.97949], [0.16359, -0.97338, 0.16053], [0.98192, 0.14494, -0.12177]], \"simulated_seconds_remaining\": 12.672, \"calls_remaining_including_this\": 37}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 10, \"motion_seconds\": 0.66, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The knob is centered at the fingertips. I close the jaws while holding this pose."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 22, \"instruction\": \"open the table.\", \"joint_positions\": [-0.97345, -0.83021, 1.17342, -2.65689, -0.27049, 3.84219, 0.80238], \"gripper_open\": 0.98, \"tcp_xyz\": [0.54873, 0.2248, 1.03794], \"tcp_roll_pitch_yaw\": [0.01865, -1.31981, 0.21955], \"tcp_rotation_matrix\": [[0.09238, 0.18089, 0.97915], [0.16423, -0.97266, 0.1642], [0.98209, 0.14564, -0.11957]], \"simulated_seconds_remaining\": 11.748, \"calls_remaining_including_this\": 36}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.4,
      "gripper": 0
    },
    "note": "The jaws are blocked from closing, indicating contact with the drawer assembly. I pull outward to test whether this contact opens it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "Episode ended. Do not call more tools. Return a brief final response."
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

The episode ended after the pull attempt; I couldn’t confirm that the table opened.

TURN USAGE
{
  "input_tokens": 442516,
  "cached_input_tokens": 423552,
  "cache_write_input_tokens": 0,
  "output_tokens": 4280,
  "reasoning_output_tokens": 1779
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.008,
      -0.83384,
      0.0498,
      -2.41322,
      -0.03862,
      1.70889,
      -0.10786
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.32734,
      0.00264,
      1.01748
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.98259,
        0.13231,
        0.1304
      ],
      [
        0.14242,
        -0.98723,
        -0.07144
      ],
      [
        0.11928,
        0.08877,
        -0.98888
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 23.219332140870392,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48,
                    "y": 0,
                    "z": 0.88,
                    "gripper": 1
                  },
                  "note": "The black table is ahead, with a small light handle on its front. I lower and advance the open gripper to inspect the drawer face."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 25,
    "motion_seconds": 1.6500000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.03109,
      -0.53311,
      0.06362,
      -2.36587,
      -0.07079,
      1.92641,
      -0.07064
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.41523,
      -0.004,
      0.95531
    ],
    "tcp_roll_pitch_yaw": [
      -0.02262,
      0.0329,
      -0.02416
    ],
    "tcp_rotation_matrix": [
      [
        0.9891,
        0.11206,
        0.09557
      ],
      [
        0.12121,
        -0.98796,
        -0.09613
      ],
      [
        0.08365,
        0.10667,
        -0.99077
      ]
    ],
    "simulated_seconds_remaining": 28.38,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 6.805884077213705,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.55,
                    "y": 0,
                    "z": 0.87,
                    "pitch": -1.45
                  },
                  "note": "The drawer front faces the robot. I rotate the fingers to approach it horizontally and move toward the visible knob."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 3,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.03109,
      -0.53311,
      0.06362,
      -2.36587,
      -0.07079,
      1.92641,
      -0.07064
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.41523,
      -0.004,
      0.95531
    ],
    "tcp_roll_pitch_yaw": [
      -0.02262,
      0.0329,
      -0.02416
    ],
    "tcp_rotation_matrix": [
      [
        0.9891,
        0.11206,
        0.09557
      ],
      [
        0.12121,
        -0.98796,
        -0.09613
      ],
      [
        0.08365,
        0.10667,
        -0.99077
      ]
    ],
    "simulated_seconds_remaining": 28.38,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 4.403919159434736,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48,
                    "z": 0.9,
                    "pitch": -0.55
                  },
                  "note": "The larger wrist rotation was rejected. I use a smaller rotation while approaching the drawer."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.11101,
      -0.86107,
      0.1497,
      -2.80514,
      -0.07997,
      2.56672,
      0.08298
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.42626,
      -0.00629,
      0.95495
    ],
    "tcp_roll_pitch_yaw": [
      0.00302,
      -0.50277,
      -0.12692
    ],
    "tcp_rotation_matrix": [
      [
        0.81483,
        -0.051,
        0.57745
      ],
      [
        0.03923,
        -0.98899,
        -0.1427
      ],
      [
        0.57837,
        0.13893,
        -0.80386
      ]
    ],
    "simulated_seconds_remaining": 27.324,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 6.205519761890173,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48,
                    "z": 0.88,
                    "pitch": -1.05
                  },
                  "note": "The wrist now tilts toward the front panel. I continue the rotation in a small step and lower toward handle height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 5,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.11101,
      -0.86107,
      0.1497,
      -2.80514,
      -0.07997,
      2.56672,
      0.08298
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.42626,
      -0.00629,
      0.95495
    ],
    "tcp_roll_pitch_yaw": [
      0.00302,
      -0.50277,
      -0.12692
    ],
    "tcp_rotation_matrix": [
      [
        0.81483,
        -0.051,
        0.57745
      ],
      [
        0.03923,
        -0.98899,
        -0.1427
      ],
      [
        0.57837,
        0.13893,
        -0.80386
      ]
    ],
    "simulated_seconds_remaining": 27.324,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 7.005601890385151,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.62,
                    "z": 0.82,
                    "pitch": -0.7
                  },
                  "note": "The knob remains ahead and below the gripper. I extend farther forward and down with a moderate wrist tilt to maintain reachability."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 6,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.11101,
      -0.86107,
      0.1497,
      -2.80514,
      -0.07997,
      2.56672,
      0.08298
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.42626,
      -0.00629,
      0.95495
    ],
    "tcp_roll_pitch_yaw": [
      0.00302,
      -0.50277,
      -0.12692
    ],
    "tcp_rotation_matrix": [
      [
        0.81483,
        -0.051,
        0.57745
      ],
      [
        0.03923,
        -0.98899,
        -0.1427
      ],
      [
        0.57837,
        0.13893,
        -0.80386
      ]
    ],
    "simulated_seconds_remaining": 27.324,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 4.603932527825236,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.5,
                    "z": 0.92
                  },
                  "note": "The combined extension was too large for the inverse kinematics. I advance a short distance with the current orientation."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.18256,
      -0.76814,
      0.22901,
      -2.67623,
      -0.06884,
      2.40899,
      0.14003
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.43306,
      -0.00791,
      0.956
    ],
    "tcp_roll_pitch_yaw": [
      -0.0257,
      -0.38885,
      -0.19792
    ],
    "tcp_rotation_matrix": [
      [
        0.87712,
        -0.11597,
        0.46606
      ],
      [
        -0.02757,
        -0.98096,
        -0.19222
      ],
      [
        0.47948,
        0.15575,
        -0.86362
      ]
    ],
    "simulated_seconds_remaining": 26.466,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 12.010504772886634,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.18,
                    "z": 1.02,
                    "pitch": 0
                  },
                  "note": "The gripper is beside the table’s right edge, while the knob is left of it. I raise slightly and shift left to align with the drawer center."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 25,
    "motion_seconds": 1.6500000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.12487,
      -0.38141,
      0.49316,
      -2.02057,
      0.02578,
      1.74548,
      0.39753
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.4331,
      0.17912,
      1.01968
    ],
    "tcp_roll_pitch_yaw": [
      -0.02564,
      -0.00207,
      -0.19778
    ],
    "tcp_rotation_matrix": [
      [
        0.99178,
        -0.06397,
        0.11085
      ],
      [
        -0.05043,
        -0.99138,
        -0.12091
      ],
      [
        0.11763,
        0.11433,
        -0.98645
      ]
    ],
    "simulated_seconds_remaining": 24.816,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 10.21077637001872,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.36,
                    "y": 0.3,
                    "z": 1.02,
                    "pitch": -0.6,
                    "yaw": 0
                  },
                  "note": "The knob is still left of the gripper. I center on it and back away slightly to leave room to rotate the fingers toward the drawer face."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.02434,
      -0.83321,
      0.73296,
      -2.45138,
      -0.01755,
      2.2957,
      0.6119
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.36035,
      0.29939,
      1.02
    ],
    "tcp_roll_pitch_yaw": [
      -0.02558,
      -0.59649,
      -0.00099
    ],
    "tcp_rotation_matrix": [
      [
        0.74812,
        0.04445,
        0.66207
      ],
      [
        0.14468,
        -0.98468,
        -0.09737
      ],
      [
        0.6476,
        0.16863,
        -0.74309
      ]
    ],
    "simulated_seconds_remaining": 23.562,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 7.006273692473769,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.15,
                    "z": 1.08
                  },
                  "note": "The tilted fingertips sit below the knob. I raise the grasp point and continue rotating toward a straight approach."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.10513,
      -1.2001,
      0.8963,
      -2.66358,
      -0.14355,
      2.71094,
      0.84851
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.36036,
      0.29937,
      1.07955
    ],
    "tcp_roll_pitch_yaw": [
      -0.0258,
      -1.14589,
      -0.00097
    ],
    "tcp_rotation_matrix": [
      [
        0.29991,
        -0.05046,
        0.95263
      ],
      [
        0.14516,
        -0.98456,
        -0.09785
      ],
      [
        0.94286,
        0.16763,
        -0.28795
      ]
    ],
    "simulated_seconds_remaining": 22.506,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 10.008294803090394,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.43,
                    "y": 0.33,
                    "z": 1.14,
                    "pitch": -1.4
                  },
                  "note": "The wrist camera now clearly shows the round drawer knob above and left of the finger gap. I lift and shift toward it while completing the horizontal approach."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.48137,
      -1.24392,
      1.02606,
      -2.52145,
      -0.17977,
      2.98935,
      0.97482
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.42929,
      0.32962,
      1.13937
    ],
    "tcp_roll_pitch_yaw": [
      -0.02558,
      -1.39732,
      -0.00141
    ],
    "tcp_rotation_matrix": [
      [
        0.05595,
        -0.09083,
        0.99429
      ],
      [
        0.14534,
        -0.9845,
        -0.09812
      ],
      [
        0.9878,
        0.15,
        -0.04188
      ]
    ],
    "simulated_seconds_remaining": 21.582,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 15.211845953017473,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.43,
                    "y": 0.305,
                    "z": 1.09
                  },
                  "note": "The exterior view places the fingers just above the knob. I lower the grasp point and make a small lateral correction."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.47772,
      -1.30169,
      1.08161,
      -2.65433,
      -0.16459,
      3.09091,
      1.0335
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.43001,
      0.30553,
      1.09107
    ],
    "tcp_roll_pitch_yaw": [
      -0.02621,
      -1.39721,
      -0.00092
    ],
    "tcp_rotation_matrix": [
      [
        0.05607,
        -0.09094,
        0.99428
      ],
      [
        0.14544,
        -0.98448,
        -0.09824
      ],
      [
        0.98778,
        0.15012,
        -0.04197
      ]
    ],
    "simulated_seconds_remaining": 20.922,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 16.412093128077686,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.27,
                    "z": 1.01,
                    "pitch": -1.25
                  },
                  "note": "The knob remains above the center of the wrist view. I adjust the grasp point downward and slightly right to bring it between the open fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.41177,
      -1.21743,
      1.11318,
      -2.79316,
      -0.16665,
      3.13594,
      1.03039
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.43004,
      0.27036,
      1.01091
    ],
    "tcp_roll_pitch_yaw": [
      -0.02626,
      -1.25165,
      -0.00097
    ],
    "tcp_rotation_matrix": [
      [
        0.19877,
        -0.06831,
        0.97766
      ],
      [
        0.14531,
        -0.98449,
        -0.09833
      ],
      [
        0.96922,
        0.16161,
        -0.18576
      ]
    ],
    "simulated_seconds_remaining": 20.064,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 10.809687534347177,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.53,
                    "y": 0.25,
                    "z": 1
                  },
                  "note": "The knob is now close to the finger gap in the wrist view. I advance toward it with a small rightward correction."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.82502,
      -1.0959,
      1.24883,
      -2.63934,
      -0.18531,
      3.381,
      1.03308
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.52875,
      0.25018,
      1.00013
    ],
    "tcp_roll_pitch_yaw": [
      -0.02626,
      -1.2516,
      -0.0012
    ],
    "tcp_rotation_matrix": [
      [
        0.19885,
        -0.06853,
        0.97763
      ],
      [
        0.14526,
        -0.98447,
        -0.09856
      ],
      [
        0.9692,
        0.16161,
        -0.18581
      ]
    ],
    "simulated_seconds_remaining": 19.074,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 6.405769628472626,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.2
                  },
                  "note": "The knob is touching the left side of the open finger gap. I shift right to center it before closing."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.85525,
      -1.06176,
      1.19128,
      -2.7235,
      -0.21763,
      3.50149,
      0.98895
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.52878,
      0.20104,
      1.00012
    ],
    "tcp_roll_pitch_yaw": [
      -0.02605,
      -1.25154,
      -0.00164
    ],
    "tcp_rotation_matrix": [
      [
        0.19894,
        -0.06876,
        0.9776
      ],
      [
        0.14515,
        -0.98447,
        -0.09878
      ],
      [
        0.9692,
        0.16155,
        -0.18587
      ]
    ],
    "simulated_seconds_remaining": 18.414,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 5.204674007371068,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.56,
                    "gripper": 0
                  },
                  "note": "The round knob is centered between the fingertips. I advance slightly and close the jaws around it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.97493,
      -1.03118,
      1.24798,
      -2.64405,
      -0.2157,
      3.53117,
      0.98939
    ],
    "gripper_open": 0.0024,
    "tcp_xyz": [
      0.55869,
      0.20049,
      1.00117
    ],
    "tcp_roll_pitch_yaw": [
      -0.02199,
      -1.25362,
      -0.00624
    ],
    "tcp_rotation_matrix": [
      [
        0.19703,
        -0.06983,
        0.97791
      ],
      [
        0.14378,
        -0.98462,
        -0.09927
      ],
      [
        0.9698,
        0.16016,
        -0.18396
      ]
    ],
    "simulated_seconds_remaining": 17.49,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 6.2054143929854035,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.43
                  },
                  "note": "The jaws have closed at the knob. I pull outward to check whether the drawer is engaged."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.42204,
      -1.21661,
      1.01418,
      -2.9525,
      -0.21798,
      3.30684,
      0.98534
    ],
    "gripper_open": 0.0001,
    "tcp_xyz": [
      0.43136,
      0.20058,
      1.00121
    ],
    "tcp_roll_pitch_yaw": [
      -0.02236,
      -1.25374,
      -0.00573
    ],
    "tcp_rotation_matrix": [
      [
        0.19688,
        -0.06969,
        0.97795
      ],
      [
        0.14392,
        -0.98461,
        -0.09914
      ],
      [
        0.96981,
        0.16027,
        -0.18382
      ]
    ],
    "simulated_seconds_remaining": 16.368,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 13.009896946139634,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 1,
                    "x": 0.61,
                    "z": 1.03
                  },
                  "note": "The drawer did not follow the pull, so the knob was not securely grasped. I reopen, raise slightly, and approach farther to place it deeper between the fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.99818,
      -0.94454,
      1.27491,
      -2.55169,
      -0.10818,
      3.50463,
      0.95083
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.57882,
      0.22149,
      1.02465
    ],
    "tcp_roll_pitch_yaw": [
      0.3479,
      -1.2494,
      -0.34557
    ],
    "tcp_rotation_matrix": [
      [
        0.18017,
        -0.05935,
        0.98184
      ],
      [
        0.03421,
        -0.9972,
        -0.06655
      ],
      [
        0.98304,
        0.04558,
        -0.17764
      ]
    ],
    "simulated_seconds_remaining": 14.85,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 7.011991806328297,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.19,
                    "x": 0.61,
                    "roll": 0,
                    "pitch": -1.25,
                    "yaw": 0
                  },
                  "note": "The knob is visible between the jaws but left of center. I shift right and straighten the gripper while advancing gently."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 19,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -1.03805,
      -0.89095,
      1.30085,
      -2.5366,
      -0.20057,
      3.64089,
      0.86799
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.57963,
      0.25026,
      1.01875
    ],
    "tcp_roll_pitch_yaw": [
      0.01138,
      -1.26455,
      0.12437
    ],
    "tcp_rotation_matrix": [
      [
        0.16207,
        0.08881,
        0.98277
      ],
      [
        0.16241,
        -0.98476,
        0.0622
      ],
      [
        0.97332,
        0.14953,
        -0.17403
      ]
    ],
    "simulated_seconds_remaining": 14.256,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 6.405400320887566,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.52,
                    "y": 0.18,
                    "z": 1.04
                  },
                  "note": "Contact with the drawer face is deflecting the wrist. I back off and move right to align the knob without pressure on the panel."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 20,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.77722,
      -0.86148,
      0.97456,
      -2.76168,
      -0.33896,
      3.69593,
      0.79842
    ],
    "gripper_open": 0.9803,
    "tcp_xyz": [
      0.51982,
      0.18657,
      1.03953
    ],
    "tcp_roll_pitch_yaw": [
      -0.00285,
      -1.2648,
      0.14946
    ],
    "tcp_rotation_matrix": [
      [
        0.15936,
        0.10002,
        0.98214
      ],
      [
        0.16836,
        -0.98303,
        0.07279
      ],
      [
        0.97276,
        0.15375,
        -0.17349
      ]
    ],
    "simulated_seconds_remaining": 13.332,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 9.606799902394414,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.203,
                    "z": 1.027,
                    "x": 0.565
                  },
                  "note": "The knob is now slightly right and above the fingertip gap. I make a small centering adjustment and approach to grasp depth."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 21,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.97762,
      -0.82759,
      1.17515,
      -2.65279,
      -0.27096,
      3.83752,
      0.80235
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.55048,
      0.22377,
      1.03785
    ],
    "tcp_roll_pitch_yaw": [
      0.02177,
      -1.31764,
      0.21274
    ],
    "tcp_rotation_matrix": [
      [
        0.09526,
        0.17755,
        0.97949
      ],
      [
        0.16359,
        -0.97338,
        0.16053
      ],
      [
        0.98192,
        0.14494,
        -0.12177
      ]
    ],
    "simulated_seconds_remaining": 12.672,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 4.60401457361877,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The knob is centered at the fingertips. I close the jaws while holding this pose."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 22,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.97345,
      -0.83021,
      1.17342,
      -2.65689,
      -0.27049,
      3.84219,
      0.80238
    ],
    "gripper_open": 0.98,
    "tcp_xyz": [
      0.54873,
      0.2248,
      1.03794
    ],
    "tcp_roll_pitch_yaw": [
      0.01865,
      -1.31981,
      0.21955
    ],
    "tcp_rotation_matrix": [
      [
        0.09238,
        0.18089,
        0.97915
      ],
      [
        0.16423,
        -0.97266,
        0.1642
      ],
      [
        0.98209,
        0.14564,
        -0.11957
      ]
    ],
    "simulated_seconds_remaining": 11.748,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 6.606642349623144,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "gripper": 0
                  },
                  "note": "The jaws are blocked from closing, indicating contact with the drawer assembly. I pull outward to test whether this contact opens it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

========================================================================
GPT-Astra / Open / Episode 037

Completed scored attempt. Images are available in the paired videos.

Opaque provider signatures, image payloads, and local paths are omitted.


RESULT
{
  "benchmark_index": 37,
  "source_episode_index": 909,
  "house_index": 421,
  "status": "completed",
  "success": false,
  "oracle_success": false,
  "action_decisions": 25,
  "wall_seconds": 311.11,
  "usage": {
    "input_tokens": 503592,
    "cached_input_tokens": 455296,
    "cache_write_input_tokens": 0,
    "output_tokens": 5466,
    "reasoning_output_tokens": 2635
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task.
You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose.
Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion.
move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up.
roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial.
Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5).
The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y.
The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics.
Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration.
Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target.
You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time.
Each move must include a short note describing what you observe and why you chose that motion.
Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done.
Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available.



AGENT TRANSCRIPT (visible messages and completed tool calls)

I’ll inspect the scene, then grasp the handle and open the object with feedback after each motion.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"open the drawer.\", \"joint_positions\": [-0.01241, -0.74489, -0.0073, -2.30794, 0.07748, 1.45395, 0.1514], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.28905, 0.01528, 1.0176], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.98011, -0.16685, -0.10745], [-0.15831, -0.98384, 0.0837], [-0.11968, -0.06502, -0.99068]], \"simulated_seconds_remaining\": 30.03, \"calls_remaining_including_this\": 57}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "x": 0.48,
    "y": 0.12,
    "z": 0.87,
    "pitch": -1.45,
    "gripper": 1,
    "note": "The dark cabinet has drawers with silver pulls. I am approaching the upper left pull with the fingers facing the cabinet."
  },
  "result": null,
  "error": {
    "message": "tool call error: tool call failed for `robot/move_to`\n\nCaused by:\n    Mcp error: -32602: Unexpected argument"
  },
  "status": "failed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.48,
      "y": 0.12,
      "z": 0.87,
      "pitch": -1.45,
      "gripper": 1
    },
    "note": "The dark cabinet has silver drawer pulls. I am approaching the upper left pull with the fingers facing the cabinet."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"open the drawer.\", \"joint_positions\": [-0.01241, -0.74489, -0.0073, -2.30794, 0.07748, 1.45395, 0.1514], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.28905, 0.01528, 1.0176], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.98011, -0.16685, -0.10745], [-0.15831, -0.98384, 0.0837], [-0.11968, -0.06502, -0.99068]], \"simulated_seconds_remaining\": 30.03, \"calls_remaining_including_this\": 56}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.4,
      "y": 0.12,
      "z": 0.85,
      "pitch": -0.7,
      "gripper": 1
    },
    "note": "The first orientation was unreachable. I am moving closer with a smaller wrist rotation to obtain a clearer view of the drawer pull."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"open the drawer.\", \"joint_positions\": [0.09865, -0.74383, 0.30605, -2.9912, 0.25229, 2.84695, 0.30291], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.39949, 0.11957, 0.85035], \"tcp_roll_pitch_yaw\": [-0.0004, -0.69634, 0.00022], \"tcp_rotation_matrix\": [[0.82869, -0.08634, 0.553], [-0.15818, -0.98388, 0.08342], [0.53689, -0.1566, -0.82899]], \"simulated_seconds_remaining\": 28.248, \"calls_remaining_including_this\": 55}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 27, \"motion_seconds\": 1.782, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.55,
      "y": 0.22,
      "z": 0.85,
      "pitch": -0.95
    },
    "note": "The gripper is in front of the cabinet but right of the left drawer pull. I am advancing and shifting left while turning toward the drawer face."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"open the drawer.\", \"joint_positions\": [-0.88607, -0.33179, 1.33417, -2.61715, 0.08076, 3.32465, 0.60643], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.54917, 0.21945, 0.85011], \"tcp_roll_pitch_yaw\": [-0.00079, -0.94879, 0.00056], \"tcp_rotation_matrix\": [[0.66833, -0.04446, 0.74254], [-0.15803, -0.98391, 0.08333], [0.72689, -0.17303, -0.6646]], \"simulated_seconds_remaining\": 26.73, \"calls_remaining_including_this\": 54}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 23, \"motion_seconds\": 1.518, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.65,
      "y": 0.28,
      "z": 0.85,
      "pitch": -1
    },
    "note": "The visible pull remains ahead and left in the wrist view. I am bringing the open fingers closer to it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"open the drawer.\", \"joint_positions\": [-1.64808, -0.44241, 2.05222, -2.24694, 0.01975, 3.28881, 0.71769], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.64882, 0.27932, 0.85007], \"tcp_roll_pitch_yaw\": [-0.00103, -0.99954, 0.0008], \"tcp_rotation_matrix\": [[0.6306, -0.03558, 0.77529], [-0.15792, -0.98393, 0.0833], [0.75987, -0.17497, -0.62609]], \"simulated_seconds_remaining\": 25.674, \"calls_remaining_including_this\": 53}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 16, \"motion_seconds\": 1.056, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.62,
      "y": 0.28,
      "z": 0.74,
      "pitch": -1.3
    },
    "note": "The exterior view places the fingers just above the lower left pull. I am lowering to that pull and making the approach more horizontal."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"open the drawer.\", \"joint_positions\": [-1.65798, -0.96706, 2.19026, -2.33178, 0.32204, 3.85053, 0.90932], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.62017, 0.28009, 0.74072], \"tcp_roll_pitch_yaw\": [-0.00237, -1.29685, 0.00217], \"tcp_rotation_matrix\": [[0.38035, 0.01734, 0.92468], [-0.15777, -0.98395, 0.08335], [0.91129, -0.17759, -0.37151]], \"simulated_seconds_remaining\": 24.618, \"calls_remaining_including_this\": 52}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 16, \"motion_seconds\": 1.056, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "y": 0.4,
      "z": 0.78,
      "pitch": -1.45
    },
    "note": "The lower pull is left of the fingers in the wrist image. I am shifting toward it and raising slightly to center the grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"open the drawer.\", \"joint_positions\": [-1.39736, -1.25701, 2.05295, -2.08599, 0.69766, 3.59467, 0.85953], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.62012, 0.39889, 0.77955], \"tcp_roll_pitch_yaw\": [-0.00337, -1.4484, 0.00346], \"tcp_rotation_matrix\": [[0.23846, 0.04428, 0.97014], [-0.15789, -0.9839, 0.08371], [0.95823, -0.17313, -0.22763]], \"simulated_seconds_remaining\": 23.496, \"calls_remaining_including_this\": 51}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 17, \"motion_seconds\": 1.122, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.69,
      "y": 0.26,
      "z": 0.79
    },
    "note": "The exterior view shows the fingers left and below the pull after that adjustment. I am correcting rightward and advancing to align with the silver handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"open the drawer.\", \"joint_positions\": [-1.76857, -1.06781, 2.1499, -2.17146, 0.25864, 3.98327, 0.92889], \"gripper_open\": 1.0, \"tcp_xyz\": [0.67128, 0.2955, 0.78569], \"tcp_roll_pitch_yaw\": [-0.12666, -1.46287, 0.23013], \"tcp_rotation_matrix\": [[0.23763, 0.14913, 0.95984], [-0.12115, -0.97588, 0.18161], [0.96377, -0.15944, -0.21383]], \"simulated_seconds_remaining\": 22.176, \"calls_remaining_including_this\": 50}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 20, \"motion_seconds\": 1.32, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The exterior view places the grasp point on the lower left pull. I am closing the fingers to test engagement before pulling."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"open the drawer.\", \"joint_positions\": [-1.76857, -1.06781, 2.1499, -2.17146, 0.25864, 3.98327, 0.92889], \"gripper_open\": 0.0, \"tcp_xyz\": [0.67128, 0.2955, 0.78569], \"tcp_roll_pitch_yaw\": [-0.12705, -1.46285, 0.2306], \"tcp_rotation_matrix\": [[0.23764, 0.14921, 0.95983], [-0.12109, -0.97587, 0.18168], [0.96378, -0.1594, -0.21384]], \"simulated_seconds_remaining\": 21.252, \"calls_remaining_including_this\": 49}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.51
    },
    "note": "The fingers have closed. I am making a short outward pull to check whether the drawer follows."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"open the drawer.\", \"joint_positions\": [-1.35697, -0.93927, 2.14365, -2.61828, 0.50924, 4.09333, 0.86902], \"gripper_open\": 0.0, \"tcp_xyz\": [0.51127, 0.29561, 0.78563], \"tcp_roll_pitch_yaw\": [-0.12699, -1.46274, 0.23074], \"tcp_rotation_matrix\": [[0.23777, 0.14938, 0.95976], [-0.12102, -0.97585, 0.18187], [0.96375, -0.15939, -0.21395]], \"simulated_seconds_remaining\": 19.866, \"calls_remaining_including_this\": 48}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 21, \"motion_seconds\": 1.3860000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "y": 0.16,
      "z": 0.86,
      "roll": 0,
      "pitch": -1.45,
      "yaw": 0,
      "gripper": 1
    },
    "note": "The drawer did not follow, so the first grasp missed. The wrist view shows the pull above and to the left; I am repositioning the open gripper to center it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 11, \"instruction\": \"open the drawer.\", \"joint_positions\": [-1.35905, -0.64955, 1.8238, -2.86557, 0.2373, 4.18707, 0.78187], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.51131, 0.1611, 0.85942], \"tcp_roll_pitch_yaw\": [-0.00035, -1.45023, 0.00104], \"tcp_rotation_matrix\": [[0.2368, 0.04516, 0.97051], [-0.1581, -0.98381, 0.08436], [0.95861, -0.17342, -0.22583]], \"simulated_seconds_remaining\": 18.546, \"calls_remaining_including_this\": 47}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 20, \"motion_seconds\": 1.32, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "z": 0.64,
      "y": 0.1
    },
    "note": "The pull moved above the wrist frame as I raised the arm. I am lowering substantially and shifting across to bring the pull into the finger opening."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 12, \"instruction\": \"open the drawer.\", \"joint_positions\": [-1.80585, -1.31528, 2.28672, -2.59363, 0.18398, 4.51688, 1.29611], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.51129, 0.16479, 0.64216], \"tcp_roll_pitch_yaw\": [0.2609, -1.28037, -0.10635], \"tcp_rotation_matrix\": [[0.41518, 0.155, 0.89644], [-0.16709, -0.95562, 0.24263], [0.89426, -0.25052, -0.37086]], \"simulated_seconds_remaining\": 16.698, \"calls_remaining_including_this\": 46}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 28, \"motion_seconds\": 1.848, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.65,
      "y": 0.26,
      "z": 0.7,
      "roll": 0,
      "pitch": -1.45,
      "yaw": 0
    },
    "note": "The pull is now near the wrist image’s finger region. I am moving toward the lower left handle at a lower grasp height than the missed attempt."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 13, \"instruction\": \"open the drawer.\", \"joint_positions\": [-1.68642, -1.34712, 2.201, -2.20575, 0.42282, 3.90505, 1.12669], \"gripper_open\": 1.0, \"tcp_xyz\": [0.63873, 0.25013, 0.6607], \"tcp_roll_pitch_yaw\": [-0.14228, -1.36484, 0.10471], \"tcp_rotation_matrix\": [[0.31096, -0.00434, 0.95041], [-0.14195, -0.98898, 0.04193], [0.93976, -0.14796, -0.30815]], \"simulated_seconds_remaining\": 15.246, \"calls_remaining_including_this\": 45}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 22, \"motion_seconds\": 1.452, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.52,
      "z": 0.73,
      "roll": 1.57,
      "pitch": 0,
      "yaw": -1.45
    },
    "note": "The horizontal fingers appear to be contacting the drawer face. I am backing off and rotating the jaws vertically so they can pinch the horizontal pull."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 14, \"instruction\": \"open the drawer.\", \"joint_positions\": [-1.65458, -1.28534, 2.34381, -2.41231, 0.78959, 4.5169, 2.54638], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.53101, 0.24946, 0.76561], \"tcp_roll_pitch_yaw\": [1.61997, 0.02928, -1.46329], \"tcp_rotation_matrix\": [[0.23122, 0.09167, 0.96857], [-0.95594, 0.20648, 0.20866], [-0.18087, -0.97415, 0.13538]], \"simulated_seconds_remaining\": 12.804, \"calls_remaining_including_this\": 44}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 37, \"motion_seconds\": 2.442, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.69,
      "y": 0.29,
      "z": 0.75
    },
    "note": "The jaws are now vertical, suitable for the horizontal lower pull. I am advancing the open fingers around the pull."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 15, \"instruction\": \"open the drawer.\", \"joint_positions\": [-1.9002, -1.47698, 2.23963, -1.83991, 0.72959, 4.2439, 2.44543], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.68872, 0.28961, 0.75017], \"tcp_roll_pitch_yaw\": [1.62006, 0.02929, -1.46337], \"tcp_rotation_matrix\": [[0.23116, 0.09178, 0.96858], [-0.95596, 0.2065, 0.20858], [-0.18086, -0.97413, 0.13547]], \"simulated_seconds_remaining\": 11.418, \"calls_remaining_including_this\": 43}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 21, \"motion_seconds\": 1.3860000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The narrow silver pull is beside the finger gap in the rotated wrist view. I am closing the vertical jaws around it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 16, \"instruction\": \"open the drawer.\", \"joint_positions\": [-1.89686, -1.47515, 2.23866, -1.83788, 0.72953, 4.24819, 2.4453], \"gripper_open\": 0.0071, \"tcp_xyz\": [0.68745, 0.29368, 0.75271], \"tcp_roll_pitch_yaw\": [1.6257, 0.03141, -1.45563], \"tcp_rotation_matrix\": [[0.23936, 0.09543, 0.96623], [-0.95368, 0.20986, 0.21553], [-0.18221, -0.97306, 0.14124]], \"simulated_seconds_remaining\": 10.494, \"calls_remaining_including_this\": 42}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.49
    },
    "note": "The fingers are closed at the pull. I am pulling outward to open the drawer and checking for drawer movement."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 17, \"instruction\": \"open the drawer.\", \"joint_positions\": [-1.56051, -1.27391, 2.39781, -2.40258, 1.24503, 4.48179, 2.44867], \"gripper_open\": 0.0, \"tcp_xyz\": [0.49435, 0.20923, 0.81379], \"tcp_roll_pitch_yaw\": [1.8202, 0.16024, -1.6825], \"tcp_rotation_matrix\": [[0.04844, 0.33897, 0.93955], [-0.95917, 0.27822, -0.05093], [-0.27867, -0.89872, 0.33861]], \"simulated_seconds_remaining\": 8.91, \"calls_remaining_including_this\": 41}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 24, \"motion_seconds\": 1.584, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.64,
      "y": 0.21,
      "z": 0.7,
      "gripper": 1,
      "roll": 1.57,
      "pitch": 0,
      "yaw": -1.45
    },
    "note": "The pull remains outside the closed fingers. In the rotated wrist view it lies to the side of the gap, so I am lowering the open jaws and approaching again."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 18, \"instruction\": \"open the drawer.\", \"joint_positions\": [-1.88111, -1.57897, 2.24023, -2.06812, 0.68104, 4.41037, 2.6633], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.63895, 0.21008, 0.70091], \"tcp_roll_pitch_yaw\": [1.57242, 0.00074, -1.45096], \"tcp_rotation_matrix\": [[0.23624, 0.04611, 0.9706], [-0.95863, 0.17434, 0.22504], [-0.15883, -0.98361, 0.08539]], \"simulated_seconds_remaining\": 7.392, \"calls_remaining_including_this\": 40}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 23, \"motion_seconds\": 1.518, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.71,
      "y": 0.21,
      "z": 0.76
    },
    "note": "The exterior view shows the fingers below and in front of the lower pull. I am lifting and advancing a small amount to straddle the handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 19, \"instruction\": \"open the drawer.\", \"joint_positions\": [-1.96091, -1.52937, 2.15653, -1.98254, 0.52181, 4.51882, 2.69275], \"gripper_open\": 0.9967, \"tcp_xyz\": [0.65937, 0.24466, 0.7537], \"tcp_roll_pitch_yaw\": [1.63847, 0.00402, -1.28672], \"tcp_rotation_matrix\": [[0.39942, 0.07827, 0.91342], [-0.90378, 0.20076, 0.378], [-0.15379, -0.97651, 0.15093]], \"simulated_seconds_remaining\": 6.468, \"calls_remaining_including_this\": 39}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.59,
      "y": 0.18,
      "z": 0.8
    },
    "note": "Contact prevented the last target from being reached. I am adjusting slightly upward and sideways to clear the drawer face and align with the protruding pull."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 20, \"instruction\": \"open the drawer.\", \"joint_positions\": [-1.96091, -1.52937, 2.15653, -1.98254, 0.52181, 4.51882, 2.69275], \"gripper_open\": 0.9967, \"tcp_xyz\": [0.65937, 0.24466, 0.7537], \"tcp_roll_pitch_yaw\": [1.63847, 0.00402, -1.28672], \"tcp_rotation_matrix\": [[0.39942, 0.07827, 0.91342], [-0.90378, 0.20076, 0.378], [-0.15379, -0.97651, 0.15093]], \"simulated_seconds_remaining\": 6.468, \"calls_remaining_including_this\": 38}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "z": 0.8,
      "y": 0.3,
      "roll": 1.57,
      "pitch": 0,
      "yaw": -1.57
    },
    "note": "The previous correction was unreachable. I am using a smaller upward adjustment with a straighter approach to the pull."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 21, \"instruction\": \"open the drawer.\", \"joint_positions\": [-1.68764, -1.35255, 2.1598, -2.04775, 0.77847, 4.08093, 2.39933], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.65933, 0.29983, 0.79974], \"tcp_roll_pitch_yaw\": [1.57154, 0.00039, -1.56612], \"tcp_rotation_matrix\": [[0.12438, 0.06497, 0.99011], [-0.97948, 0.16754, 0.11205], [-0.1586, -0.98372, 0.08447]], \"simulated_seconds_remaining\": 5.676, \"calls_remaining_including_this\": 37}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 12, \"motion_seconds\": 0.792, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "y": 0.36,
      "z": 0.76
    },
    "note": "The handle is above and left of the finger gap in the rotated wrist view. I am making a small correction along the drawer face."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 22, \"instruction\": \"open the drawer.\", \"joint_positions\": [-1.65302, -1.48945, 2.1925, -1.82415, 1.0218, 3.96374, 2.23298], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.65928, 0.3591, 0.76064], \"tcp_roll_pitch_yaw\": [1.57149, 0.00033, -1.56584], \"tcp_rotation_matrix\": [[0.12465, 0.06488, 0.99008], [-0.97945, 0.1675, 0.11233], [-0.15855, -0.98374, 0.08442]], \"simulated_seconds_remaining\": 4.884, \"calls_remaining_including_this\": 36}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 12, \"motion_seconds\": 0.792, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.6,
      "y": 0.24,
      "z": 0.76
    },
    "note": "The exterior view shows the gripper left of the pull. I am shifting back toward the visible handle center while keeping the vertical pinch orientation."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 23, \"instruction\": \"open the drawer.\", \"joint_positions\": [-1.66231, -1.38164, 2.23631, -2.26638, 0.78473, 4.26731, 2.53691], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.60063, 0.24106, 0.75999], \"tcp_roll_pitch_yaw\": [1.5715, 0.00017, -1.5661], \"tcp_rotation_matrix\": [[0.1244, 0.06493, 0.99011], [-0.97951, 0.16732, 0.11209], [-0.15839, -0.98376, 0.08442]], \"simulated_seconds_remaining\": 3.696, \"calls_remaining_including_this\": 35}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 18, \"motion_seconds\": 1.1880000000000002, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The fingers overlap the lower drawer pull in the exterior view. I am closing for the final grasp attempt."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 24, \"instruction\": \"open the drawer.\", \"joint_positions\": [-1.66231, -1.38164, 2.23631, -2.26638, 0.78473, 4.26731, 2.53691], \"gripper_open\": 0.0, \"tcp_xyz\": [0.60062, 0.24105, 0.75999], \"tcp_roll_pitch_yaw\": [1.5715, 0.00017, -1.56609], \"tcp_rotation_matrix\": [[0.1244, 0.06493, 0.99011], [-0.97951, 0.16733, 0.11209], [-0.15839, -0.98376, 0.08441]], \"simulated_seconds_remaining\": 2.772, \"calls_remaining_including_this\": 34}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.36
    },
    "note": "The grasp is closed. I am pulling away from the cabinet to check whether the drawer opens."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 25, \"instruction\": \"open the drawer.\", \"joint_positions\": [-1.24537, -1.12515, 2.59027, -2.74246, 1.66246, 4.42526, 2.44097], \"gripper_open\": 0.0, \"tcp_xyz\": [0.34991, 0.15529, 0.82476], \"tcp_roll_pitch_yaw\": [1.77964, 0.18019, -1.81934], \"tcp_rotation_matrix\": [[-0.08617, 0.34158, 0.93589], [-0.94889, 0.25813, -0.18157], [-0.3036, -0.90371, 0.30188]], \"simulated_seconds_remaining\": 0.858, \"calls_remaining_including_this\": 33}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 29, \"motion_seconds\": 1.9140000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "give_up",
  "arguments": {
    "note": "The drawer did not move during the pull attempts, and insufficient simulated time remains to establish another grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "Episode ended. Do not call more tools. Return a brief final response."
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

I couldn’t secure the handle before time ran out. The drawer remains closed.

TURN USAGE
{
  "input_tokens": 503592,
  "cached_input_tokens": 455296,
  "cache_write_input_tokens": 0,
  "output_tokens": 5466,
  "reasoning_output_tokens": 2635
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.01241,
      -0.74489,
      -0.0073,
      -2.30794,
      0.07748,
      1.45395,
      0.1514
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.28905,
      0.01528,
      1.0176
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.98011,
        -0.16685,
        -0.10745
      ],
      [
        -0.15831,
        -0.98384,
        0.0837
      ],
      [
        -0.11968,
        -0.06502,
        -0.99068
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 30.624036088585854,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48,
                    "y": 0.12,
                    "z": 0.87,
                    "pitch": -1.45,
                    "gripper": 1
                  },
                  "note": "The dark cabinet has silver drawer pulls. I am approaching the upper left pull with the fingers facing the cabinet."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 2,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.01241,
      -0.74489,
      -0.0073,
      -2.30794,
      0.07748,
      1.45395,
      0.1514
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.28905,
      0.01528,
      1.0176
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.98011,
        -0.16685,
        -0.10745
      ],
      [
        -0.15831,
        -0.98384,
        0.0837
      ],
      [
        -0.11968,
        -0.06502,
        -0.99068
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 6.008915793150663,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "y": 0.12,
                    "z": 0.85,
                    "pitch": -0.7,
                    "gripper": 1
                  },
                  "note": "The first orientation was unreachable. I am moving closer with a smaller wrist rotation to obtain a clearer view of the drawer pull."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 27,
    "motion_seconds": 1.782,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.09865,
      -0.74383,
      0.30605,
      -2.9912,
      0.25229,
      2.84695,
      0.30291
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.39949,
      0.11957,
      0.85035
    ],
    "tcp_roll_pitch_yaw": [
      -0.0004,
      -0.69634,
      0.00022
    ],
    "tcp_rotation_matrix": [
      [
        0.82869,
        -0.08634,
        0.553
      ],
      [
        -0.15818,
        -0.98388,
        0.08342
      ],
      [
        0.53689,
        -0.1566,
        -0.82899
      ]
    ],
    "simulated_seconds_remaining": 28.248,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 13.821828513406217,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.55,
                    "y": 0.22,
                    "z": 0.85,
                    "pitch": -0.95
                  },
                  "note": "The gripper is in front of the cabinet but right of the left drawer pull. I am advancing and shifting left while turning toward the drawer face."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.88607,
      -0.33179,
      1.33417,
      -2.61715,
      0.08076,
      3.32465,
      0.60643
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.54917,
      0.21945,
      0.85011
    ],
    "tcp_roll_pitch_yaw": [
      -0.00079,
      -0.94879,
      0.00056
    ],
    "tcp_rotation_matrix": [
      [
        0.66833,
        -0.04446,
        0.74254
      ],
      [
        -0.15803,
        -0.98391,
        0.08333
      ],
      [
        0.72689,
        -0.17303,
        -0.6646
      ]
    ],
    "simulated_seconds_remaining": 26.73,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 11.810213331133127,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.65,
                    "y": 0.28,
                    "z": 0.85,
                    "pitch": -1
                  },
                  "note": "The visible pull remains ahead and left in the wrist view. I am bringing the open fingers closer to it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -1.64808,
      -0.44241,
      2.05222,
      -2.24694,
      0.01975,
      3.28881,
      0.71769
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.64882,
      0.27932,
      0.85007
    ],
    "tcp_roll_pitch_yaw": [
      -0.00103,
      -0.99954,
      0.0008
    ],
    "tcp_rotation_matrix": [
      [
        0.6306,
        -0.03558,
        0.77529
      ],
      [
        -0.15792,
        -0.98393,
        0.0833
      ],
      [
        0.75987,
        -0.17497,
        -0.62609
      ]
    ],
    "simulated_seconds_remaining": 25.674,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 6.605793260037899,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.62,
                    "y": 0.28,
                    "z": 0.74,
                    "pitch": -1.3
                  },
                  "note": "The exterior view places the fingers just above the lower left pull. I am lowering to that pull and making the approach more horizontal."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -1.65798,
      -0.96706,
      2.19026,
      -2.33178,
      0.32204,
      3.85053,
      0.90932
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.62017,
      0.28009,
      0.74072
    ],
    "tcp_roll_pitch_yaw": [
      -0.00237,
      -1.29685,
      0.00217
    ],
    "tcp_rotation_matrix": [
      [
        0.38035,
        0.01734,
        0.92468
      ],
      [
        -0.15777,
        -0.98395,
        0.08335
      ],
      [
        0.91129,
        -0.17759,
        -0.37151
      ]
    ],
    "simulated_seconds_remaining": 24.618,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 9.007132449187338,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.4,
                    "z": 0.78,
                    "pitch": -1.45
                  },
                  "note": "The lower pull is left of the fingers in the wrist image. I am shifting toward it and raising slightly to center the grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -1.39736,
      -1.25701,
      2.05295,
      -2.08599,
      0.69766,
      3.59467,
      0.85953
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.62012,
      0.39889,
      0.77955
    ],
    "tcp_roll_pitch_yaw": [
      -0.00337,
      -1.4484,
      0.00346
    ],
    "tcp_rotation_matrix": [
      [
        0.23846,
        0.04428,
        0.97014
      ],
      [
        -0.15789,
        -0.9839,
        0.08371
      ],
      [
        0.95823,
        -0.17313,
        -0.22763
      ]
    ],
    "simulated_seconds_remaining": 23.496,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 13.811390516348183,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.69,
                    "y": 0.26,
                    "z": 0.79
                  },
                  "note": "The exterior view shows the fingers left and below the pull after that adjustment. I am correcting rightward and advancing to align with the silver handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -1.76857,
      -1.06781,
      2.1499,
      -2.17146,
      0.25864,
      3.98327,
      0.92889
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.67128,
      0.2955,
      0.78569
    ],
    "tcp_roll_pitch_yaw": [
      -0.12666,
      -1.46287,
      0.23013
    ],
    "tcp_rotation_matrix": [
      [
        0.23763,
        0.14913,
        0.95984
      ],
      [
        -0.12115,
        -0.97588,
        0.18161
      ],
      [
        0.96377,
        -0.15944,
        -0.21383
      ]
    ],
    "simulated_seconds_remaining": 22.176,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 12.009376183152199,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The exterior view places the grasp point on the lower left pull. I am closing the fingers to test engagement before pulling."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -1.76857,
      -1.06781,
      2.1499,
      -2.17146,
      0.25864,
      3.98327,
      0.92889
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.67128,
      0.2955,
      0.78569
    ],
    "tcp_roll_pitch_yaw": [
      -0.12705,
      -1.46285,
      0.2306
    ],
    "tcp_rotation_matrix": [
      [
        0.23764,
        0.14921,
        0.95983
      ],
      [
        -0.12109,
        -0.97587,
        0.18168
      ],
      [
        0.96378,
        -0.1594,
        -0.21384
      ]
    ],
    "simulated_seconds_remaining": 21.252,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 4.803986051119864,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.51
                  },
                  "note": "The fingers have closed. I am making a short outward pull to check whether the drawer follows."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -1.35697,
      -0.93927,
      2.14365,
      -2.61828,
      0.50924,
      4.09333,
      0.86902
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.51127,
      0.29561,
      0.78563
    ],
    "tcp_roll_pitch_yaw": [
      -0.12699,
      -1.46274,
      0.23074
    ],
    "tcp_rotation_matrix": [
      [
        0.23777,
        0.14938,
        0.95976
      ],
      [
        -0.12102,
        -0.97585,
        0.18187
      ],
      [
        0.96375,
        -0.15939,
        -0.21395
      ]
    ],
    "simulated_seconds_remaining": 19.866,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 7.606603546999395,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.16,
                    "z": 0.86,
                    "roll": 0,
                    "pitch": -1.45,
                    "yaw": 0,
                    "gripper": 1
                  },
                  "note": "The drawer did not follow, so the first grasp missed. The wrist view shows the pull above and to the left; I am repositioning the open gripper to center it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -1.35905,
      -0.64955,
      1.8238,
      -2.86557,
      0.2373,
      4.18707,
      0.78187
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.51131,
      0.1611,
      0.85942
    ],
    "tcp_roll_pitch_yaw": [
      -0.00035,
      -1.45023,
      0.00104
    ],
    "tcp_rotation_matrix": [
      [
        0.2368,
        0.04516,
        0.97051
      ],
      [
        -0.1581,
        -0.98381,
        0.08436
      ],
      [
        0.95861,
        -0.17342,
        -0.22583
      ]
    ],
    "simulated_seconds_remaining": 18.546,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 12.009525063447654,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.64,
                    "y": 0.1
                  },
                  "note": "The pull moved above the wrist frame as I raised the arm. I am lowering substantially and shifting across to bring the pull into the finger opening."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 28,
    "motion_seconds": 1.848,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -1.80585,
      -1.31528,
      2.28672,
      -2.59363,
      0.18398,
      4.51688,
      1.29611
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.51129,
      0.16479,
      0.64216
    ],
    "tcp_roll_pitch_yaw": [
      0.2609,
      -1.28037,
      -0.10635
    ],
    "tcp_rotation_matrix": [
      [
        0.41518,
        0.155,
        0.89644
      ],
      [
        -0.16709,
        -0.95562,
        0.24263
      ],
      [
        0.89426,
        -0.25052,
        -0.37086
      ]
    ],
    "simulated_seconds_remaining": 16.698,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 11.009001691825688,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.65,
                    "y": 0.26,
                    "z": 0.7,
                    "roll": 0,
                    "pitch": -1.45,
                    "yaw": 0
                  },
                  "note": "The pull is now near the wrist image’s finger region. I am moving toward the lower left handle at a lower grasp height than the missed attempt."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 22,
    "motion_seconds": 1.452,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -1.68642,
      -1.34712,
      2.201,
      -2.20575,
      0.42282,
      3.90505,
      1.12669
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.63873,
      0.25013,
      0.6607
    ],
    "tcp_roll_pitch_yaw": [
      -0.14228,
      -1.36484,
      0.10471
    ],
    "tcp_rotation_matrix": [
      [
        0.31096,
        -0.00434,
        0.95041
      ],
      [
        -0.14195,
        -0.98898,
        0.04193
      ],
      [
        0.93976,
        -0.14796,
        -0.30815
      ]
    ],
    "simulated_seconds_remaining": 15.246,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 16.01236780639738,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.52,
                    "z": 0.73,
                    "roll": 1.57,
                    "pitch": 0,
                    "yaw": -1.45
                  },
                  "note": "The horizontal fingers appear to be contacting the drawer face. I am backing off and rotating the jaws vertically so they can pinch the horizontal pull."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 37,
    "motion_seconds": 2.442,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -1.65458,
      -1.28534,
      2.34381,
      -2.41231,
      0.78959,
      4.5169,
      2.54638
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.53101,
      0.24946,
      0.76561
    ],
    "tcp_roll_pitch_yaw": [
      1.61997,
      0.02928,
      -1.46329
    ],
    "tcp_rotation_matrix": [
      [
        0.23122,
        0.09167,
        0.96857
      ],
      [
        -0.95594,
        0.20648,
        0.20866
      ],
      [
        -0.18087,
        -0.97415,
        0.13538
      ]
    ],
    "simulated_seconds_remaining": 12.804,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 6.405908001586795,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.69,
                    "y": 0.29,
                    "z": 0.75
                  },
                  "note": "The jaws are now vertical, suitable for the horizontal lower pull. I am advancing the open fingers around the pull."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -1.9002,
      -1.47698,
      2.23963,
      -1.83991,
      0.72959,
      4.2439,
      2.44543
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.68872,
      0.28961,
      0.75017
    ],
    "tcp_roll_pitch_yaw": [
      1.62006,
      0.02929,
      -1.46337
    ],
    "tcp_rotation_matrix": [
      [
        0.23116,
        0.09178,
        0.96858
      ],
      [
        -0.95596,
        0.2065,
        0.20858
      ],
      [
        -0.18086,
        -0.97413,
        0.13547
      ]
    ],
    "simulated_seconds_remaining": 11.418,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 21.02072909474373,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The narrow silver pull is beside the finger gap in the rotated wrist view. I am closing the vertical jaws around it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -1.89686,
      -1.47515,
      2.23866,
      -1.83788,
      0.72953,
      4.24819,
      2.4453
    ],
    "gripper_open": 0.0071,
    "tcp_xyz": [
      0.68745,
      0.29368,
      0.75271
    ],
    "tcp_roll_pitch_yaw": [
      1.6257,
      0.03141,
      -1.45563
    ],
    "tcp_rotation_matrix": [
      [
        0.23936,
        0.09543,
        0.96623
      ],
      [
        -0.95368,
        0.20986,
        0.21553
      ],
      [
        -0.18221,
        -0.97306,
        0.14124
      ]
    ],
    "simulated_seconds_remaining": 10.494,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 4.804255234077573,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.49
                  },
                  "note": "The fingers are closed at the pull. I am pulling outward to open the drawer and checking for drawer movement."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 24,
    "motion_seconds": 1.584,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -1.56051,
      -1.27391,
      2.39781,
      -2.40258,
      1.24503,
      4.48179,
      2.44867
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.49435,
      0.20923,
      0.81379
    ],
    "tcp_roll_pitch_yaw": [
      1.8202,
      0.16024,
      -1.6825
    ],
    "tcp_rotation_matrix": [
      [
        0.04844,
        0.33897,
        0.93955
      ],
      [
        -0.95917,
        0.27822,
        -0.05093
      ],
      [
        -0.27867,
        -0.89872,
        0.33861
      ]
    ],
    "simulated_seconds_remaining": 8.91,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 18.814610855653882,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.64,
                    "y": 0.21,
                    "z": 0.7,
                    "gripper": 1,
                    "roll": 1.57,
                    "pitch": 0,
                    "yaw": -1.45
                  },
                  "note": "The pull remains outside the closed fingers. In the rotated wrist view it lies to the side of the gap, so I am lowering the open jaws and approaching again."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -1.88111,
      -1.57897,
      2.24023,
      -2.06812,
      0.68104,
      4.41037,
      2.6633
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.63895,
      0.21008,
      0.70091
    ],
    "tcp_roll_pitch_yaw": [
      1.57242,
      0.00074,
      -1.45096
    ],
    "tcp_rotation_matrix": [
      [
        0.23624,
        0.04611,
        0.9706
      ],
      [
        -0.95863,
        0.17434,
        0.22504
      ],
      [
        -0.15883,
        -0.98361,
        0.08539
      ]
    ],
    "simulated_seconds_remaining": 7.392,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 8.41077269334346,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.71,
                    "y": 0.21,
                    "z": 0.76
                  },
                  "note": "The exterior view shows the fingers below and in front of the lower pull. I am lifting and advancing a small amount to straddle the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 19,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -1.96091,
      -1.52937,
      2.15653,
      -1.98254,
      0.52181,
      4.51882,
      2.69275
    ],
    "gripper_open": 0.9967,
    "tcp_xyz": [
      0.65937,
      0.24466,
      0.7537
    ],
    "tcp_roll_pitch_yaw": [
      1.63847,
      0.00402,
      -1.28672
    ],
    "tcp_rotation_matrix": [
      [
        0.39942,
        0.07827,
        0.91342
      ],
      [
        -0.90378,
        0.20076,
        0.378
      ],
      [
        -0.15379,
        -0.97651,
        0.15093
      ]
    ],
    "simulated_seconds_remaining": 6.468,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 9.807298167608678,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.59,
                    "y": 0.18,
                    "z": 0.8
                  },
                  "note": "Contact prevented the last target from being reached. I am adjusting slightly upward and sideways to clear the drawer face and align with the protruding pull."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 20,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -1.96091,
      -1.52937,
      2.15653,
      -1.98254,
      0.52181,
      4.51882,
      2.69275
    ],
    "gripper_open": 0.9967,
    "tcp_xyz": [
      0.65937,
      0.24466,
      0.7537
    ],
    "tcp_roll_pitch_yaw": [
      1.63847,
      0.00402,
      -1.28672
    ],
    "tcp_rotation_matrix": [
      [
        0.39942,
        0.07827,
        0.91342
      ],
      [
        -0.90378,
        0.20076,
        0.378
      ],
      [
        -0.15379,
        -0.97651,
        0.15093
      ]
    ],
    "simulated_seconds_remaining": 6.468,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 6.405427240766585,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.8,
                    "y": 0.3,
                    "roll": 1.57,
                    "pitch": 0,
                    "yaw": -1.57
                  },
                  "note": "The previous correction was unreachable. I am using a smaller upward adjustment with a straighter approach to the pull."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 21,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -1.68764,
      -1.35255,
      2.1598,
      -2.04775,
      0.77847,
      4.08093,
      2.39933
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.65933,
      0.29983,
      0.79974
    ],
    "tcp_roll_pitch_yaw": [
      1.57154,
      0.00039,
      -1.56612
    ],
    "tcp_rotation_matrix": [
      [
        0.12438,
        0.06497,
        0.99011
      ],
      [
        -0.97948,
        0.16754,
        0.11205
      ],
      [
        -0.1586,
        -0.98372,
        0.08447
      ]
    ],
    "simulated_seconds_remaining": 5.676,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 9.607512518763542,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.36,
                    "z": 0.76
                  },
                  "note": "The handle is above and left of the finger gap in the rotated wrist view. I am making a small correction along the drawer face."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 22,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -1.65302,
      -1.48945,
      2.1925,
      -1.82415,
      1.0218,
      3.96374,
      2.23298
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.65928,
      0.3591,
      0.76064
    ],
    "tcp_roll_pitch_yaw": [
      1.57149,
      0.00033,
      -1.56584
    ],
    "tcp_rotation_matrix": [
      [
        0.12465,
        0.06488,
        0.99008
      ],
      [
        -0.97945,
        0.1675,
        0.11233
      ],
      [
        -0.15855,
        -0.98374,
        0.08442
      ]
    ],
    "simulated_seconds_remaining": 4.884,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 12.61246270686388,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.6,
                    "y": 0.24,
                    "z": 0.76
                  },
                  "note": "The exterior view shows the gripper left of the pull. I am shifting back toward the visible handle center while keeping the vertical pinch orientation."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 23,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -1.66231,
      -1.38164,
      2.23631,
      -2.26638,
      0.78473,
      4.26731,
      2.53691
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.60063,
      0.24106,
      0.75999
    ],
    "tcp_roll_pitch_yaw": [
      1.5715,
      0.00017,
      -1.5661
    ],
    "tcp_rotation_matrix": [
      [
        0.1244,
        0.06493,
        0.99011
      ],
      [
        -0.97951,
        0.16732,
        0.11209
      ],
      [
        -0.15839,
        -0.98376,
        0.08442
      ]
    ],
    "simulated_seconds_remaining": 3.696,
    "calls_remaining_including_this": 35
  },
  "api_seconds": 6.004963992163539,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The fingers overlap the lower drawer pull in the exterior view. I am closing for the final grasp attempt."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 24,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -1.66231,
      -1.38164,
      2.23631,
      -2.26638,
      0.78473,
      4.26731,
      2.53691
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.60062,
      0.24105,
      0.75999
    ],
    "tcp_roll_pitch_yaw": [
      1.5715,
      0.00017,
      -1.56609
    ],
    "tcp_rotation_matrix": [
      [
        0.1244,
        0.06493,
        0.99011
      ],
      [
        -0.97951,
        0.16733,
        0.11209
      ],
      [
        -0.15839,
        -0.98376,
        0.08441
      ]
    ],
    "simulated_seconds_remaining": 2.772,
    "calls_remaining_including_this": 34
  },
  "api_seconds": 5.204923980869353,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.36
                  },
                  "note": "The grasp is closed. I am pulling away from the cabinet to check whether the drawer opens."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 29,
    "motion_seconds": 1.9140000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 25,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -1.24537,
      -1.12515,
      2.59027,
      -2.74246,
      1.66246,
      4.42526,
      2.44097
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.34991,
      0.15529,
      0.82476
    ],
    "tcp_roll_pitch_yaw": [
      1.77964,
      0.18019,
      -1.81934
    ],
    "tcp_rotation_matrix": [
      [
        -0.08617,
        0.34158,
        0.93589
      ],
      [
        -0.94889,
        0.25813,
        -0.18157
      ],
      [
        -0.3036,
        -0.90371,
        0.30188
      ]
    ],
    "simulated_seconds_remaining": 0.858,
    "calls_remaining_including_this": 33
  },
  "api_seconds": 5.404478005133569,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "give_up",
                "args": {
                  "note": "The drawer did not move during the pull attempts, and insufficient simulated time remains to establish another grasp."
                }
              }
            }
          ]
        }
      }
    ]
  }
}

========================================================================
GPT-Astra / Open / Episode 038

Completed scored attempt. Images are available in the paired videos.

Opaque provider signatures, image payloads, and local paths are omitted.


RESULT
{
  "benchmark_index": 38,
  "source_episode_index": 927,
  "house_index": 422,
  "status": "completed",
  "success": true,
  "oracle_success": true,
  "action_decisions": 8,
  "wall_seconds": 103.09,
  "usage": {
    "input_tokens": 147918,
    "cached_input_tokens": 136832,
    "cache_write_input_tokens": 0,
    "output_tokens": 1554,
    "reasoning_output_tokens": 476
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task.
You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose.
Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion.
move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up.
roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial.
Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5).
The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y.
The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics.
Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration.
Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target.
You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time.
Each move must include a short note describing what you observe and why you chose that motion.
Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done.
Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available.



AGENT TRANSCRIPT (visible messages and completed tool calls)

I’ll observe the robot and handle, then use fresh camera feedback for each motion.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.02431, -0.77593, 0.02334, -2.26744, 0.06874, 1.58592, -0.07691], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.32625, 0.01776, 1.05671], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.99276, 0.07429, 0.09434], [0.06963, -0.99623, 0.05171], [0.09783, -0.04477, -0.9942]], \"simulated_seconds_remaining\": 30.03, \"calls_remaining_including_this\": 57}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "x": 0.48,
    "y": 0,
    "z": 1.05,
    "pitch": -1.57,
    "gripper": 1,
    "note": "The brown cabinet has silver handles; I am turning the open gripper toward its front to get a clearer handle view."
  },
  "result": null,
  "error": {
    "message": "tool call error: tool call failed for `robot/move_to`\n\nCaused by:\n    Mcp error: -32602: Unexpected argument"
  },
  "status": "failed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.48,
      "y": 0,
      "z": 1.05,
      "pitch": -1.57,
      "gripper": 1
    },
    "note": "The brown cabinet has silver handles; I am turning the open gripper toward its front to get a clearer handle view."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.02431, -0.77593, 0.02334, -2.26744, 0.06874, 1.58592, -0.07691], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.32625, 0.01776, 1.05671], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.99276, 0.07429, 0.09434], [0.06963, -0.99623, 0.05171], [0.09783, -0.04477, -0.9942]], \"simulated_seconds_remaining\": 30.03, \"calls_remaining_including_this\": 56}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.42,
      "y": 0.03,
      "z": 0.86,
      "pitch": -0.8
    },
    "note": "The cabinet handles are below the current grasp point. I am lowering and rotating partway to approach within reach."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.02431, -0.77593, 0.02334, -2.26744, 0.06874, 1.58592, -0.07691], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.32625, 0.01776, 1.05671], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.99276, 0.07429, 0.09434], [0.06963, -0.99623, 0.05171], [0.09783, -0.04477, -0.9942]], \"simulated_seconds_remaining\": 30.03, \"calls_remaining_including_this\": 55}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "z": 0.93
    },
    "note": "The combined approach was unreachable. I will first lower the gripper slightly while keeping its current orientation."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.02175, -0.83492, 0.03153, -2.62388, 0.07887, 1.88273, -0.09242], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.32621, 0.01776, 0.93128], \"tcp_roll_pitch_yaw\": [-1e-05, 0.00029, 1e-05], \"tcp_rotation_matrix\": [[0.99279, 0.07428, 0.09405], [0.06964, -0.99623, 0.05171], [0.09754, -0.04479, -0.99422]], \"simulated_seconds_remaining\": 28.908, \"calls_remaining_including_this\": 54}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 17, \"motion_seconds\": 1.122, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "pitch": 0.7
    },
    "note": "The wrist camera shows the silver knob to the left. I am tilting the fingers toward that cabinet face in a reachable increment."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.02886, -0.22109, 0.0319, -2.11244, 0.0612, 1.29051, -0.05491], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.32623, 0.01776, 0.93118], \"tcp_roll_pitch_yaw\": [2e-05, 0.69585, -1e-05], \"tcp_rotation_matrix\": [[0.82467, 0.02829, -0.56491], [0.06962, -0.99623, 0.05174], [-0.56132, -0.08199, -0.82353]], \"simulated_seconds_remaining\": 27.654, \"calls_remaining_including_this\": 53}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 19, \"motion_seconds\": 1.254, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "y": 0.19,
      "pitch": 0
    },
    "note": "The handle remains on the left side of the wrist image. I am shifting left toward the cabinet and restoring the downward view to localize it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"open the cabinet.\", \"joint_positions\": [0.13189, -0.70214, 0.32174, -2.51617, 0.23435, 1.93676, 0.2458], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.32616, 0.18922, 0.93117], \"tcp_roll_pitch_yaw\": [-0.00024, 0.00353, 0.00029], \"tcp_rotation_matrix\": [[0.99308, 0.07442, 0.09082], [0.06995, -0.99622, 0.05151], [0.09431, -0.0448, -0.99453]], \"simulated_seconds_remaining\": 26.202, \"calls_remaining_including_this\": 52}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 22, \"motion_seconds\": 1.452, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "y": -0.22,
      "z": 0.86
    },
    "note": "The leftward base motion moved the knob farther from the wrist center. I am moving right across the cabinet face and slightly lower to align with it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.18823, -0.67949, -0.24743, -2.58073, -0.13551, 1.78575, -0.56411], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.28008, -0.14308, 0.88637], \"tcp_roll_pitch_yaw\": [0.03267, 0.19286, 0.16676], \"tcp_rotation_matrix\": [[0.96873, 0.22232, -0.11015], [0.23039, -0.9708, 0.0668], [-0.09208, -0.09009, -0.99167]], \"simulated_seconds_remaining\": 23.166, \"calls_remaining_including_this\": 51}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 46, \"motion_seconds\": 3.036, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.34,
      "y": -0.21,
      "z": 0.89,
      "pitch": -0.6,
      "roll": 0,
      "yaw": 0
    },
    "note": "The knob is now close to the fingers in both views. I am angling toward the cabinet face while moving the grasp point toward the knob."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.18637, -0.95612, -0.5888, -2.9427, -0.02451, 2.52372, -1.01895], \"gripper_open\": 0.9913, \"tcp_xyz\": [0.33387, -0.18502, 0.87275], \"tcp_roll_pitch_yaw\": [-0.12745, -0.52873, 0.31504], \"tcp_rotation_matrix\": [[0.74746, 0.3295, 0.57682], [0.32931, -0.9379, 0.10903], [0.57693, 0.10846, -0.80956]], \"simulated_seconds_remaining\": 21.78, \"calls_remaining_including_this\": 50}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 21, \"motion_seconds\": 1.3860000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.3,
      "y": -0.32,
      "z": 0.87,
      "pitch": -0.65,
      "roll": 0,
      "yaw": 0
    },
    "note": "The silver knob is visible left of the open fingers. I am sliding toward it while keeping clearance from the door."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "Episode ended. Do not call more tools. Return a brief final response."
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

The episode ended before I could grasp the handle or open the cabinet.

TURN USAGE
{
  "input_tokens": 147918,
  "cached_input_tokens": 136832,
  "cache_write_input_tokens": 0,
  "output_tokens": 1554,
  "reasoning_output_tokens": 476
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.02431,
      -0.77593,
      0.02334,
      -2.26744,
      0.06874,
      1.58592,
      -0.07691
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.32625,
      0.01776,
      1.05671
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99276,
        0.07429,
        0.09434
      ],
      [
        0.06963,
        -0.99623,
        0.05171
      ],
      [
        0.09783,
        -0.04477,
        -0.9942
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 26.42169884685427,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48,
                    "y": 0,
                    "z": 1.05,
                    "pitch": -1.57,
                    "gripper": 1
                  },
                  "note": "The brown cabinet has silver handles; I am turning the open gripper toward its front to get a clearer handle view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 2,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.02431,
      -0.77593,
      0.02334,
      -2.26744,
      0.06874,
      1.58592,
      -0.07691
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.32625,
      0.01776,
      1.05671
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99276,
        0.07429,
        0.09434
      ],
      [
        0.06963,
        -0.99623,
        0.05171
      ],
      [
        0.09783,
        -0.04477,
        -0.9942
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 7.608649760484695,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.42,
                    "y": 0.03,
                    "z": 0.86,
                    "pitch": -0.8
                  },
                  "note": "The cabinet handles are below the current grasp point. I am lowering and rotating partway to approach within reach."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 3,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.02431,
      -0.77593,
      0.02334,
      -2.26744,
      0.06874,
      1.58592,
      -0.07691
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.32625,
      0.01776,
      1.05671
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99276,
        0.07429,
        0.09434
      ],
      [
        0.06963,
        -0.99623,
        0.05171
      ],
      [
        0.09783,
        -0.04477,
        -0.9942
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 5.011693002656102,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.93
                  },
                  "note": "The combined approach was unreachable. I will first lower the gripper slightly while keeping its current orientation."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.02175,
      -0.83492,
      0.03153,
      -2.62388,
      0.07887,
      1.88273,
      -0.09242
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.32621,
      0.01776,
      0.93128
    ],
    "tcp_roll_pitch_yaw": [
      -1e-05,
      0.00029,
      1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99279,
        0.07428,
        0.09405
      ],
      [
        0.06964,
        -0.99623,
        0.05171
      ],
      [
        0.09754,
        -0.04479,
        -0.99422
      ]
    ],
    "simulated_seconds_remaining": 28.908,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 5.805195422843099,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": 0.7
                  },
                  "note": "The wrist camera shows the silver knob to the left. I am tilting the fingers toward that cabinet face in a reachable increment."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.02886,
      -0.22109,
      0.0319,
      -2.11244,
      0.0612,
      1.29051,
      -0.05491
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.32623,
      0.01776,
      0.93118
    ],
    "tcp_roll_pitch_yaw": [
      2e-05,
      0.69585,
      -1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.82467,
        0.02829,
        -0.56491
      ],
      [
        0.06962,
        -0.99623,
        0.05174
      ],
      [
        -0.56132,
        -0.08199,
        -0.82353
      ]
    ],
    "simulated_seconds_remaining": 27.654,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 6.205866349861026,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.19,
                    "pitch": 0
                  },
                  "note": "The handle remains on the left side of the wrist image. I am shifting left toward the cabinet and restoring the downward view to localize it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 22,
    "motion_seconds": 1.452,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.13189,
      -0.70214,
      0.32174,
      -2.51617,
      0.23435,
      1.93676,
      0.2458
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.32616,
      0.18922,
      0.93117
    ],
    "tcp_roll_pitch_yaw": [
      -0.00024,
      0.00353,
      0.00029
    ],
    "tcp_rotation_matrix": [
      [
        0.99308,
        0.07442,
        0.09082
      ],
      [
        0.06995,
        -0.99622,
        0.05151
      ],
      [
        0.09431,
        -0.0448,
        -0.99453
      ]
    ],
    "simulated_seconds_remaining": 26.202,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 6.206008712761104,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": -0.22,
                    "z": 0.86
                  },
                  "note": "The leftward base motion moved the knob farther from the wrist center. I am moving right across the cabinet face and slightly lower to align with it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 46,
    "motion_seconds": 3.036,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.18823,
      -0.67949,
      -0.24743,
      -2.58073,
      -0.13551,
      1.78575,
      -0.56411
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.28008,
      -0.14308,
      0.88637
    ],
    "tcp_roll_pitch_yaw": [
      0.03267,
      0.19286,
      0.16676
    ],
    "tcp_rotation_matrix": [
      [
        0.96873,
        0.22232,
        -0.11015
      ],
      [
        0.23039,
        -0.9708,
        0.0668
      ],
      [
        -0.09208,
        -0.09009,
        -0.99167
      ]
    ],
    "simulated_seconds_remaining": 23.166,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 12.210757984779775,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.34,
                    "y": -0.21,
                    "z": 0.89,
                    "pitch": -0.6,
                    "roll": 0,
                    "yaw": 0
                  },
                  "note": "The knob is now close to the fingers in both views. I am angling toward the cabinet face while moving the grasp point toward the knob."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.18637,
      -0.95612,
      -0.5888,
      -2.9427,
      -0.02451,
      2.52372,
      -1.01895
    ],
    "gripper_open": 0.9913,
    "tcp_xyz": [
      0.33387,
      -0.18502,
      0.87275
    ],
    "tcp_roll_pitch_yaw": [
      -0.12745,
      -0.52873,
      0.31504
    ],
    "tcp_rotation_matrix": [
      [
        0.74746,
        0.3295,
        0.57682
      ],
      [
        0.32931,
        -0.9379,
        0.10903
      ],
      [
        0.57693,
        0.10846,
        -0.80956
      ]
    ],
    "simulated_seconds_remaining": 21.78,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 7.606405630707741,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.3,
                    "y": -0.32,
                    "z": 0.87,
                    "pitch": -0.65,
                    "roll": 0,
                    "yaw": 0
                  },
                  "note": "The silver knob is visible left of the open fingers. I am sliding toward it while keeping clearance from the door."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

========================================================================
GPT-Astra / Open / Episode 039

Completed scored attempt. Images are available in the paired videos.

Opaque provider signatures, image payloads, and local paths are omitted.


RESULT
{
  "benchmark_index": 39,
  "source_episode_index": 968,
  "house_index": 423,
  "status": "completed",
  "success": false,
  "oracle_success": false,
  "action_decisions": 31,
  "wall_seconds": 298.75,
  "usage": {
    "input_tokens": 691081,
    "cached_input_tokens": 654080,
    "cache_write_input_tokens": 0,
    "output_tokens": 6539,
    "reasoning_output_tokens": 2875
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task.
You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose.
Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion.
move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up.
roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial.
Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5).
The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y.
The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics.
Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration.
Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target.
You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time.
Each move must include a short note describing what you observe and why you chose that motion.
Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done.
Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available.



AGENT TRANSCRIPT (visible messages and completed tool calls)

I’ll observe the scene, locate the handle, and open the object with deliberate motions.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"open the door.\", \"joint_positions\": [-0.01799, -0.82661, 0.0731, -2.43482, -0.05302, 1.71349, -0.00323], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.32551, 0.00213, 1.005], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.99357, 0.03665, 0.1071], [0.04769, -0.9936, -0.10241], [0.10266, 0.10686, -0.98896]], \"simulated_seconds_remaining\": 30.03, \"calls_remaining_including_this\": 57}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "x": 0.52,
    "y": 0.05,
    "z": 1.12,
    "gripper": 1,
    "note": "The upright gray door has a vertical light handle. I am raising and advancing toward it to get a clearer view before aligning the grasp."
  },
  "result": null,
  "error": {
    "message": "tool call error: tool call failed for `robot/move_to`\n\nCaused by:\n    Mcp error: -32602: Unexpected argument"
  },
  "status": "failed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.52,
      "y": 0.05,
      "z": 1.12,
      "gripper": 1
    },
    "note": "The upright gray door has a vertical light handle. I am raising and advancing toward it to get a clearer view before aligning the grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"open the door.\", \"joint_positions\": [-0.03144, -0.13579, 0.16724, -1.57053, -0.09372, 1.52968, 0.08467], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.51889, 0.04973, 1.11928], \"tcp_roll_pitch_yaw\": [-1e-05, 8e-05, 2e-05], \"tcp_rotation_matrix\": [[0.99358, 0.03668, 0.10702], [0.04771, -0.9936, -0.10242], [0.10258, 0.10687, -0.98897]], \"simulated_seconds_remaining\": 28.182, \"calls_remaining_including_this\": 56}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 28, \"motion_seconds\": 1.848, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.48,
      "y": 0.1,
      "z": 0.98,
      "pitch": -1.45
    },
    "note": "The handle is below and ahead of the gripper. I am turning the fingers toward the door and lowering toward the handle height."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"open the door.\", \"joint_positions\": [-0.96107, -1.03687, 1.32754, -3.01306, 0.17101, 3.97714, 0.84043], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.4802, 0.09996, 0.98049], \"tcp_roll_pitch_yaw\": [-0.00163, -1.44542, 0.0013], \"tcp_rotation_matrix\": [[0.02241, -0.10175, 0.99456], [0.04789, -0.99356, -0.10273], [0.9986, 0.04993, -0.01739]], \"simulated_seconds_remaining\": 25.938, \"calls_remaining_including_this\": 55}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 34, \"motion_seconds\": 2.244, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.58,
      "y": 0.13,
      "z": 1.06
    },
    "note": "The wrist view shows the vertical handle above and slightly left of the finger gap. I am moving closer and raising the grasp point to center on its middle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"open the door.\", \"joint_positions\": [-1.13483, -0.91441, 1.25865, -2.66141, 0.05106, 3.76511, 0.77169], \"gripper_open\": 1.0, \"tcp_xyz\": [0.57938, 0.11448, 1.05328], \"tcp_roll_pitch_yaw\": [0.05521, -1.42785, -0.08896], \"tcp_rotation_matrix\": [[0.04106, -0.13459, 0.99005], [0.03846, -0.98994, -0.13617], [0.99842, 0.04367, -0.03548]], \"simulated_seconds_remaining\": 24.75, \"calls_remaining_including_this\": 54}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 18, \"motion_seconds\": 1.1880000000000002, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "y": 0.075,
      "z": 1.035,
      "x": 0.585
    },
    "note": "The handle’s exposed vertical bar sits left of the finger gap in the wrist view. I am making a small lateral correction and lowering slightly to surround the bar."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"open the door.\", \"joint_positions\": [-1.25326, -0.85604, 1.30145, -2.6822, 0.01637, 3.89592, 0.75999], \"gripper_open\": 0.9978, \"tcp_xyz\": [0.58491, 0.07829, 1.03658], \"tcp_roll_pitch_yaw\": [0.04737, -1.43057, -0.07671], \"tcp_rotation_matrix\": [[0.03827, -0.13027, 0.99074], [0.03996, -0.99047, -0.13178], [0.99847, 0.04463, -0.0327]], \"simulated_seconds_remaining\": 24.156, \"calls_remaining_including_this\": 53}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 9, \"motion_seconds\": 0.5940000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "y": 0.035,
      "x": 0.595
    },
    "note": "The bar has moved toward the finger gap but remains near its left edge. I am shifting a little farther sideways and advancing one centimeter to place it between the fingers."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"open the door.\", \"joint_positions\": [-1.36872, -0.77126, 1.3149, -2.68313, -0.14626, 4.12702, 0.73428], \"gripper_open\": 1.0, \"tcp_xyz\": [0.58118, 0.07983, 1.03549], \"tcp_roll_pitch_yaw\": [-0.37646, -1.44785, 0.49231], \"tcp_rotation_matrix\": [[0.00042, 0.01576, 0.99988], [0.09338, -0.99551, 0.01565], [0.99563, 0.09336, -0.00188]], \"simulated_seconds_remaining\": 23.562, \"calls_remaining_including_this\": 52}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 9, \"motion_seconds\": 0.5940000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.5,
      "y": 0.025,
      "z": 1.035,
      "pitch": -1.45,
      "roll": 0,
      "yaw": 0
    },
    "note": "The commanded lateral motion was blocked, indicating a finger is touching the handle. I am backing away while aligning sideways so the next approach can straddle it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"open the door.\", \"joint_positions\": [-1.11131, -0.867, 1.02189, -2.94555, -0.19329, 4.09299, 0.77951], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.50086, 0.02555, 1.035], \"tcp_roll_pitch_yaw\": [-0.00481, -1.45006, 0.00596], \"tcp_rotation_matrix\": [[0.0177, -0.10048, 0.99478], [0.04829, -0.99369, -0.10123], [0.99868, 0.04983, -0.01274]], \"simulated_seconds_remaining\": 22.638, \"calls_remaining_including_this\": 51}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.595,
      "y": 0.015,
      "z": 1.055
    },
    "note": "The handle is now centered between the open fingers. I am approaching straight toward it with a small height adjustment to grasp the vertical bar."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"open the door.\", \"joint_positions\": [-1.4137, -0.71183, 1.24485, -2.78918, -0.16738, 4.32873, 0.72721], \"gripper_open\": 1.0, \"tcp_xyz\": [0.54186, 0.02469, 1.04765], \"tcp_roll_pitch_yaw\": [0.27965, -1.54707, -0.17204], \"tcp_rotation_matrix\": [[-0.08393, 0.00129, 0.99647], [0.03235, -0.99947, 0.00401], [0.99595, 0.03257, 0.08384]], \"simulated_seconds_remaining\": 21.714, \"calls_remaining_including_this\": 50}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The fingers are positioned around the handle’s lower section and the approach has made contact. I am closing the gripper to secure it before pulling."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"open the door.\", \"joint_positions\": [-1.41396, -0.71272, 1.24068, -2.79881, -0.16436, 4.33874, 0.72685], \"gripper_open\": 0.8885, \"tcp_xyz\": [0.53854, 0.02142, 1.04763], \"tcp_roll_pitch_yaw\": [0.41724, -1.55124, -0.31403], \"tcp_rotation_matrix\": [[-0.08852, -0.0033, 0.99607], [0.03085, -0.99952, -0.00057], [0.9956, 0.03068, 0.08858]], \"simulated_seconds_remaining\": 20.79, \"calls_remaining_including_this\": 49}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.43,
      "gripper": 0
    },
    "note": "The gripper remains partly open under contact. I am making a short outward pull to check whether the handle is securely engaged and begin opening the door."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"open the door.\", \"joint_positions\": [-1.41396, -0.71272, 1.24068, -2.79881, -0.16436, 4.33874, 0.72685], \"gripper_open\": 0.8885, \"tcp_xyz\": [0.53854, 0.02142, 1.04763], \"tcp_roll_pitch_yaw\": [0.41724, -1.55124, -0.31403], \"tcp_rotation_matrix\": [[-0.08852, -0.0033, 0.99607], [0.03085, -0.99952, -0.00057], [0.9956, 0.03068, 0.08858]], \"simulated_seconds_remaining\": 20.79, \"calls_remaining_including_this\": 48}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.46,
      "pitch": -1.45,
      "roll": 0,
      "yaw": 0,
      "gripper": 0
    },
    "note": "The pull pose was rejected near an orientation limit. I am restoring the straight approach orientation and trying a shorter outward pull."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 11, \"instruction\": \"open the door.\", \"joint_positions\": [-1.41396, -0.71272, 1.24068, -2.79881, -0.16436, 4.33874, 0.72685], \"gripper_open\": 0.8885, \"tcp_xyz\": [0.53854, 0.02142, 1.04763], \"tcp_roll_pitch_yaw\": [0.41724, -1.55124, -0.31403], \"tcp_rotation_matrix\": [[-0.08852, -0.0033, 0.99607], [0.03085, -0.99952, -0.00057], [0.9956, 0.03068, 0.08858]], \"simulated_seconds_remaining\": 20.79, \"calls_remaining_including_this\": 47}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.5,
      "pitch": -1.2,
      "roll": 0,
      "yaw": 0,
      "gripper": 0
    },
    "note": "The arm is close to its joint limit. I am reducing the wrist tilt while pulling back four centimeters to recover a reachable pulling posture."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 12, \"instruction\": \"open the door.\", \"joint_positions\": [-0.81336, -0.82903, 0.54801, -2.81774, -0.84769, 3.66861, 1.02799], \"gripper_open\": 0.0, \"tcp_xyz\": [0.50044, 0.02172, 1.04789], \"tcp_roll_pitch_yaw\": [0.0025, -1.20361, -0.00073], \"tcp_rotation_matrix\": [[0.26079, -0.08499, 0.96165], [0.04724, -0.9938, -0.10064], [0.96424, 0.07168, -0.25516]], \"simulated_seconds_remaining\": 19.866, \"calls_remaining_including_this\": 46}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 1,
      "z": 1.005,
      "y": 0,
      "pitch": -1.2
    },
    "note": "The fingers closed fully, so the first grasp slipped off. The handle bar is above the fingertips in the wrist image; I am opening and lowering to align with its middle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 13, \"instruction\": \"open the door.\", \"joint_positions\": [-0.99522, -0.79543, 0.71205, -2.89485, -0.68645, 3.84824, 0.90422], \"gripper_open\": 0.9965, \"tcp_xyz\": [0.50043, 0.00045, 1.00588], \"tcp_roll_pitch_yaw\": [0.0026, -1.19996, -0.00089], \"tcp_rotation_matrix\": [[0.26432, -0.08479, 0.9607], [0.04719, -0.9938, -0.10069], [0.96328, 0.07195, -0.25868]], \"simulated_seconds_remaining\": 18.942, \"calls_remaining_including_this\": 45}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.57,
      "z": 1.005,
      "gripper": 1
    },
    "note": "The vertical bar now lies inside the projected finger gap. I am advancing slowly to bring both fingers alongside it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 14, \"instruction\": \"open the door.\", \"joint_positions\": [-1.21816, -0.64588, 0.96504, -2.83239, -0.48351, 4.1082, 0.81321], \"gripper_open\": 1.0, \"tcp_xyz\": [0.53102, 0.01068, 1.0112], \"tcp_roll_pitch_yaw\": [0.33363, -1.30882, -0.22498], \"tcp_rotation_matrix\": [[0.14736, 0.0033, 0.98908], [-0.02199, -0.99974, 0.00661], [0.98884, -0.02272, -0.14725]], \"simulated_seconds_remaining\": 18.15, \"calls_remaining_including_this\": 44}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 12, \"motion_seconds\": 0.792, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.49,
      "y": -0.025,
      "z": 0.995,
      "pitch": -1.2,
      "roll": 0,
      "yaw": 0,
      "gripper": 1
    },
    "note": "The right finger is contacting the door before the bar is seated. I am backing off and shifting the gap toward the exposed bar for a cleaner approach."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 15, \"instruction\": \"open the door.\", \"joint_positions\": [-1.10789, -0.78377, 0.72971, -2.92063, -0.72488, 3.95802, 0.89321], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.49064, -0.02448, 0.99528], \"tcp_roll_pitch_yaw\": [0.00377, -1.20185, -0.00215], \"tcp_rotation_matrix\": [[0.26249, -0.08509, 0.96117], [0.04674, -0.99381, -0.10075], [0.9638, 0.07137, -0.25689]], \"simulated_seconds_remaining\": 17.49, \"calls_remaining_including_this\": 43}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 10, \"motion_seconds\": 0.66, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.535,
      "gripper": 1
    },
    "note": "The exposed bar is centered in the gap. I am making a short straight approach, stopping before the previous collision depth."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 16, \"instruction\": \"open the door.\", \"joint_positions\": [-1.22191, -0.68603, 0.87279, -2.87649, -0.60398, 4.08235, 0.83284], \"gripper_open\": 1.0, \"tcp_xyz\": [0.51183, -0.01884, 0.99773], \"tcp_roll_pitch_yaw\": [0.15511, -1.25795, -0.09556], \"tcp_rotation_matrix\": [[0.20433, -0.03862, 0.97814], [0.01181, -0.99905, -0.04192], [0.97883, 0.02012, -0.20368]], \"simulated_seconds_remaining\": 16.896, \"calls_remaining_including_this\": 42}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 9, \"motion_seconds\": 0.5940000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The handle bar is between the fingers at this shallower depth. I am closing here to avoid pressing the gripper farther into the door."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 17, \"instruction\": \"open the door.\", \"joint_positions\": [-1.22182, -0.68916, 0.86798, -2.88258, -0.60293, 4.08844, 0.83279], \"gripper_open\": 0.9364, \"tcp_xyz\": [0.50973, -0.02051, 0.99826], \"tcp_roll_pitch_yaw\": [0.16192, -1.26168, -0.10475], \"tcp_rotation_matrix\": [[0.20053, -0.04139, 0.97881], [0.0096, -0.99898, -0.04421], [0.97964, 0.01826, -0.19992]], \"simulated_seconds_remaining\": 15.972, \"calls_remaining_including_this\": 41}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.47,
      "z": 0.94,
      "gripper": 1,
      "pitch": -1.2,
      "roll": 0,
      "yaw": 0
    },
    "note": "The gripper is contacting the broad lower mount rather than closing on the bar. I am retreating and lowering the grasp point so the slender vertical section reaches deeper into the finger gap."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 18, \"instruction\": \"open the door.\", \"joint_positions\": [-1.22182, -0.68916, 0.86798, -2.88258, -0.60293, 4.08844, 0.83279], \"gripper_open\": 0.9364, \"tcp_xyz\": [0.50973, -0.02051, 0.99826], \"tcp_roll_pitch_yaw\": [0.16192, -1.26168, -0.10475], \"tcp_rotation_matrix\": [[0.20053, -0.04139, 0.97881], [0.0096, -0.99898, -0.04421], [0.97964, 0.01826, -0.19992]], \"simulated_seconds_remaining\": 15.972, \"calls_remaining_including_this\": 40}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.49,
      "z": 0.95,
      "gripper": 1,
      "pitch": -0.95,
      "roll": 0,
      "yaw": 0
    },
    "note": "The lower pose requires less wrist tilt to remain reachable. I am opening and backing off slightly with that adjusted tilt."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 19, \"instruction\": \"open the door.\", \"joint_positions\": [-0.9848, -0.69882, 0.57735, -2.79333, -1.2089, 3.69833, 1.19552], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.49043, -0.02023, 0.95079], \"tcp_roll_pitch_yaw\": [0.00288, -0.95431, -0.00135], \"tcp_rotation_matrix\": [[0.49064, -0.065, 0.86893], [0.04673, -0.99382, -0.10072], [0.87011, 0.09003, -0.48457]], \"simulated_seconds_remaining\": 15.246, \"calls_remaining_including_this\": 39}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 11, \"motion_seconds\": 0.726, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.56,
      "z": 0.95,
      "gripper": 1
    },
    "note": "The wrist view now places the vertical section through the finger gap, with the lower mount below it. I am advancing to grasp this narrower section."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 20, \"instruction\": \"open the door.\", \"joint_positions\": [-1.14412, -0.53102, 0.71219, -2.65471, -1.33804, 3.8184, 1.04713], \"gripper_open\": 1.0, \"tcp_xyz\": [0.51354, -0.00162, 0.93263], \"tcp_roll_pitch_yaw\": [-0.13657, -0.86034, 0.35539], \"tcp_rotation_matrix\": [[0.51853, 0.18848, 0.83403], [0.25775, -0.96449, 0.05771], [0.81528, 0.18505, -0.5487]], \"simulated_seconds_remaining\": 14.454, \"calls_remaining_including_this\": 38}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 12, \"motion_seconds\": 0.792, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The handle is at the fingertips and contact has stopped the approach. I am closing to engage the bar at this lower alignment."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 21, \"instruction\": \"open the door.\", \"joint_positions\": [-1.14561, -0.53557, 0.70509, -2.65721, -1.33967, 3.82332, 1.04763], \"gripper_open\": 0.8852, \"tcp_xyz\": [0.51237, -0.00414, 0.93429], \"tcp_roll_pitch_yaw\": [-0.13753, -0.86372, 0.35222], \"tcp_rotation_matrix\": [[0.51677, 0.1841, 0.8361], [0.25526, -0.96532, 0.05478], [0.81719, 0.18511, -0.54584]], \"simulated_seconds_remaining\": 13.53, \"calls_remaining_including_this\": 37}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.45,
      "y": -0.07,
      "gripper": 0,
      "pitch": -0.95,
      "roll": 0,
      "yaw": 0
    },
    "note": "The fingers remain under contact. I am testing a short outward and sideways pull, following the door’s likely swing direction."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 22, \"instruction\": \"open the door.\", \"joint_positions\": [-1.1703, -0.72062, 0.54662, -2.8867, -1.24566, 3.894, 1.07119], \"gripper_open\": 0.0, \"tcp_xyz\": [0.45065, -0.06935, 0.93428], \"tcp_roll_pitch_yaw\": [-0.00182, -0.94917, 0.00398], \"tcp_rotation_matrix\": [[0.49503, -0.06303, 0.86658], [0.04985, -0.99366, -0.10075], [0.86744, 0.09307, -0.48875]], \"simulated_seconds_remaining\": 12.606, \"calls_remaining_including_this\": 36}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.48,
      "y": 0.2,
      "z": 1.12,
      "pitch": -1.2,
      "roll": 0,
      "yaw": 0,
      "gripper": 1
    },
    "note": "The wider view reveals the actual silver door handle on the dark panel to the left; the white frame was an obstruction. I am moving up and left toward the silver handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 23, \"instruction\": \"open the door.\", \"joint_positions\": [-1.08827, -1.26998, 0.75502, -2.22154, -1.83449, 3.87443, 2.56479], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.47988, 0.19897, 1.1193], \"tcp_roll_pitch_yaw\": [-0.00074, -1.19909, 0.00089], \"tcp_rotation_matrix\": [[0.26522, -0.08605, 0.96034], [0.048, -0.9936, -0.10228], [0.96299, 0.07323, -0.25939]], \"simulated_seconds_remaining\": 10.098, \"calls_remaining_including_this\": 35}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 38, \"motion_seconds\": 2.508, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.56,
      "y": 0.16,
      "z": 1.035,
      "gripper": 1
    },
    "note": "The exterior view now aligns the gripper with the door handle. I am lowering to its center and advancing with the fingers open."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 24, \"instruction\": \"open the door.\", \"joint_positions\": [-1.15769, -1.13136, 0.98442, -2.44944, -1.22425, 3.68946, 1.93395], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.55913, 0.16038, 1.03571], \"tcp_roll_pitch_yaw\": [-0.00095, -1.19861, 0.00096], \"tcp_rotation_matrix\": [[0.26568, -0.08613, 0.96021], [0.04804, -0.99358, -0.10242], [0.96286, 0.07334, -0.25984]], \"simulated_seconds_remaining\": 8.976, \"calls_remaining_including_this\": 34}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 17, \"motion_seconds\": 1.122, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "y": 0.105,
      "x": 0.57,
      "z": 1.01,
      "gripper": 1
    },
    "note": "The handle’s vertical bar is just to the side of the near finger. I am making a small sideways and downward adjustment to bring that bar into the grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 25, \"instruction\": \"open the door.\", \"joint_positions\": [-1.33604, -1.20291, 1.03631, -2.54815, -0.88921, 4.0547, 1.71828], \"gripper_open\": 1.0, \"tcp_xyz\": [0.55876, 0.15235, 1.03469], \"tcp_roll_pitch_yaw\": [0.26809, -1.24074, -0.09879], \"tcp_rotation_matrix\": [[0.21721, 0.0653, 0.97394], [-0.00264, -0.99772, 0.06749], [0.97612, -0.01723, -0.21654]], \"simulated_seconds_remaining\": 8.25, \"calls_remaining_including_this\": 33}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 11, \"motion_seconds\": 0.726, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "Contact has stopped the small adjustment with the fingers adjacent to the handle. I am closing to test this engagement."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 26, \"instruction\": \"open the door.\", \"joint_positions\": [-1.33411, -1.20367, 1.03027, -2.55467, -0.89116, 4.05771, 1.71869], \"gripper_open\": 0.9194, \"tcp_xyz\": [0.55687, 0.15003, 1.03551], \"tcp_roll_pitch_yaw\": [0.27798, -1.24147, -0.11066], \"tcp_rotation_matrix\": [[0.21616, 0.06282, 0.97433], [-0.00622, -0.99782, 0.06571], [0.97634, -0.02027, -0.2153]], \"simulated_seconds_remaining\": 7.326, \"calls_remaining_including_this\": 32}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.49,
      "y": 0.27,
      "gripper": 0,
      "pitch": -1.1,
      "roll": 0,
      "yaw": 0
    },
    "note": "I am pulling outward and left from the contact point to follow the door’s swing and check whether the handle is held."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 27, \"instruction\": \"open the door.\", \"joint_positions\": [-1.33411, -1.20367, 1.03027, -2.55467, -0.89116, 4.05771, 1.71869], \"gripper_open\": 0.9194, \"tcp_xyz\": [0.55687, 0.15003, 1.03551], \"tcp_roll_pitch_yaw\": [0.27798, -1.24147, -0.11066], \"tcp_rotation_matrix\": [[0.21616, 0.06282, 0.97433], [-0.00622, -0.99782, 0.06571], [0.97634, -0.02027, -0.2153]], \"simulated_seconds_remaining\": 7.326, \"calls_remaining_including_this\": 31}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK requires a large joint jump; split the motion or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.52,
      "y": 0.2,
      "gripper": 0,
      "pitch": -1.2,
      "roll": 0,
      "yaw": 0
    },
    "note": "The larger pull required an excessive joint change. I am splitting it into a shorter outward motion."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 28, \"instruction\": \"open the door.\", \"joint_positions\": [-1.03163, -1.21652, 0.93878, -2.41709, -1.51106, 3.65501, 2.27311], \"gripper_open\": 0.0, \"tcp_xyz\": [0.52041, 0.19983, 1.03547], \"tcp_roll_pitch_yaw\": [0.00255, -1.20012, -9e-05], \"tcp_rotation_matrix\": [[0.26412, -0.08406, 0.96082], [0.0474, -0.99386, -0.09998], [0.96332, 0.07195, -0.25851]], \"simulated_seconds_remaining\": 6.402, \"calls_remaining_including_this\": 30}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "y": 0.31,
      "x": 0.54,
      "gripper": 1
    },
    "note": "The handle remains to the left of the wrist view. I am moving the open gripper left along the door to bring the exposed bar between the fingers."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 29, \"instruction\": \"open the door.\", \"joint_positions\": [-1.2279, -1.42462, 1.0245, -1.98746, -1.8105, 3.8328, 2.93094], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.53977, 0.30883, 1.0355], \"tcp_roll_pitch_yaw\": [0.00163, -1.20021, 0.00107], \"tcp_rotation_matrix\": [[0.26402, -0.08376, 0.96087], [0.0478, -0.99386, -0.09977], [0.96333, 0.07228, -0.2584]], \"simulated_seconds_remaining\": 5.346, \"calls_remaining_including_this\": 29}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 16, \"motion_seconds\": 1.056, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.65,
      "y": 0.17,
      "z": 1.15,
      "pitch": -1.1,
      "gripper": 1
    },
    "note": "The exterior view shows the handle farther back beyond the cabinet edge. I am raising above that obstruction and reaching toward the handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 30, \"instruction\": \"open the door.\", \"joint_positions\": [-1.68459, -0.98933, 1.07107, -1.57331, -1.82791, 3.96604, 2.67745], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.64933, 0.17071, 1.14932], \"tcp_roll_pitch_yaw\": [0.00197, -1.10071, 0.0005], \"tcp_rotation_matrix\": [[0.35842, -0.07643, 0.93043], [0.04767, -0.99384, -0.1], [0.93234, 0.08019, -0.35257]], \"simulated_seconds_remaining\": 3.63, \"calls_remaining_including_this\": 28}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 26, \"motion_seconds\": 1.7160000000000002, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.65,
      "y": 0.09,
      "z": 0.99,
      "gripper": 1
    },
    "note": "The gripper is now above the handle. I am lowering alongside the bar with a small lateral adjustment."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 31, \"instruction\": \"open the door.\", \"joint_positions\": [-1.56949, -1.00086, 1.22381, -2.26366, -0.49045, 4.09819, 1.72406], \"gripper_open\": 1.0, \"tcp_xyz\": [0.64473, 0.16837, 1.13982], \"tcp_roll_pitch_yaw\": [1.55401, -1.1862, -1.23027], \"tcp_rotation_matrix\": [[0.01321, 0.19517, 0.98068], [-0.34222, -0.92065, 0.18783], [0.93953, -0.33809, 0.05463]], \"simulated_seconds_remaining\": 2.112, \"calls_remaining_including_this\": 27}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 23, \"motion_seconds\": 1.518, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "give_up",
  "arguments": {},
  "result": null,
  "error": {
    "message": "tool call error: tool call failed for `robot/give_up`\n\nCaused by:\n    Mcp error: -32602: A short note is required"
  },
  "status": "failed"
}

{
  "type": "mcp_tool_call",
  "tool": "give_up",
  "arguments": {
    "note": "I could not secure the handle; repeated approaches contacted the surrounding structure, and insufficient motion time remains to recover and open the door."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "Episode ended. Do not call more tools. Return a brief final response."
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

I couldn’t secure the handle or open the door within the available motion time.

TURN USAGE
{
  "input_tokens": 691081,
  "cached_input_tokens": 654080,
  "cache_write_input_tokens": 0,
  "output_tokens": 6539,
  "reasoning_output_tokens": 2875
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -0.01799,
      -0.82661,
      0.0731,
      -2.43482,
      -0.05302,
      1.71349,
      -0.00323
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.32551,
      0.00213,
      1.005
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99357,
        0.03665,
        0.1071
      ],
      [
        0.04769,
        -0.9936,
        -0.10241
      ],
      [
        0.10266,
        0.10686,
        -0.98896
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 24.422180205583572,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.52,
                    "y": 0.05,
                    "z": 1.12,
                    "gripper": 1
                  },
                  "note": "The upright gray door has a vertical light handle. I am raising and advancing toward it to get a clearer view before aligning the grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 28,
    "motion_seconds": 1.848,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -0.03144,
      -0.13579,
      0.16724,
      -1.57053,
      -0.09372,
      1.52968,
      0.08467
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.51889,
      0.04973,
      1.11928
    ],
    "tcp_roll_pitch_yaw": [
      -1e-05,
      8e-05,
      2e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99358,
        0.03668,
        0.10702
      ],
      [
        0.04771,
        -0.9936,
        -0.10242
      ],
      [
        0.10258,
        0.10687,
        -0.98897
      ]
    ],
    "simulated_seconds_remaining": 28.182,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 6.8069127425551414,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48,
                    "y": 0.1,
                    "z": 0.98,
                    "pitch": -1.45
                  },
                  "note": "The handle is below and ahead of the gripper. I am turning the fingers toward the door and lowering toward the handle height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 34,
    "motion_seconds": 2.244,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -0.96107,
      -1.03687,
      1.32754,
      -3.01306,
      0.17101,
      3.97714,
      0.84043
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.4802,
      0.09996,
      0.98049
    ],
    "tcp_roll_pitch_yaw": [
      -0.00163,
      -1.44542,
      0.0013
    ],
    "tcp_rotation_matrix": [
      [
        0.02241,
        -0.10175,
        0.99456
      ],
      [
        0.04789,
        -0.99356,
        -0.10273
      ],
      [
        0.9986,
        0.04993,
        -0.01739
      ]
    ],
    "simulated_seconds_remaining": 25.938,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 10.408292063511908,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.58,
                    "y": 0.13,
                    "z": 1.06
                  },
                  "note": "The wrist view shows the vertical handle above and slightly left of the finger gap. I am moving closer and raising the grasp point to center on its middle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -1.13483,
      -0.91441,
      1.25865,
      -2.66141,
      0.05106,
      3.76511,
      0.77169
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.57938,
      0.11448,
      1.05328
    ],
    "tcp_roll_pitch_yaw": [
      0.05521,
      -1.42785,
      -0.08896
    ],
    "tcp_rotation_matrix": [
      [
        0.04106,
        -0.13459,
        0.99005
      ],
      [
        0.03846,
        -0.98994,
        -0.13617
      ],
      [
        0.99842,
        0.04367,
        -0.03548
      ]
    ],
    "simulated_seconds_remaining": 24.75,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 15.416728866286576,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.075,
                    "z": 1.035,
                    "x": 0.585
                  },
                  "note": "The handle’s exposed vertical bar sits left of the finger gap in the wrist view. I am making a small lateral correction and lowering slightly to surround the bar."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -1.25326,
      -0.85604,
      1.30145,
      -2.6822,
      0.01637,
      3.89592,
      0.75999
    ],
    "gripper_open": 0.9978,
    "tcp_xyz": [
      0.58491,
      0.07829,
      1.03658
    ],
    "tcp_roll_pitch_yaw": [
      0.04737,
      -1.43057,
      -0.07671
    ],
    "tcp_rotation_matrix": [
      [
        0.03827,
        -0.13027,
        0.99074
      ],
      [
        0.03996,
        -0.99047,
        -0.13178
      ],
      [
        0.99847,
        0.04463,
        -0.0327
      ]
    ],
    "simulated_seconds_remaining": 24.156,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 7.2072899136692286,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.035,
                    "x": 0.595
                  },
                  "note": "The bar has moved toward the finger gap but remains near its left edge. I am shifting a little farther sideways and advancing one centimeter to place it between the fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -1.36872,
      -0.77126,
      1.3149,
      -2.68313,
      -0.14626,
      4.12702,
      0.73428
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.58118,
      0.07983,
      1.03549
    ],
    "tcp_roll_pitch_yaw": [
      -0.37646,
      -1.44785,
      0.49231
    ],
    "tcp_rotation_matrix": [
      [
        0.00042,
        0.01576,
        0.99988
      ],
      [
        0.09338,
        -0.99551,
        0.01565
      ],
      [
        0.99563,
        0.09336,
        -0.00188
      ]
    ],
    "simulated_seconds_remaining": 23.562,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 6.80696661863476,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.5,
                    "y": 0.025,
                    "z": 1.035,
                    "pitch": -1.45,
                    "roll": 0,
                    "yaw": 0
                  },
                  "note": "The commanded lateral motion was blocked, indicating a finger is touching the handle. I am backing away while aligning sideways so the next approach can straddle it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -1.11131,
      -0.867,
      1.02189,
      -2.94555,
      -0.19329,
      4.09299,
      0.77951
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.50086,
      0.02555,
      1.035
    ],
    "tcp_roll_pitch_yaw": [
      -0.00481,
      -1.45006,
      0.00596
    ],
    "tcp_rotation_matrix": [
      [
        0.0177,
        -0.10048,
        0.99478
      ],
      [
        0.04829,
        -0.99369,
        -0.10123
      ],
      [
        0.99868,
        0.04983,
        -0.01274
      ]
    ],
    "simulated_seconds_remaining": 22.638,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 9.408441262319684,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.595,
                    "y": 0.015,
                    "z": 1.055
                  },
                  "note": "The handle is now centered between the open fingers. I am approaching straight toward it with a small height adjustment to grasp the vertical bar."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -1.4137,
      -0.71183,
      1.24485,
      -2.78918,
      -0.16738,
      4.32873,
      0.72721
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.54186,
      0.02469,
      1.04765
    ],
    "tcp_roll_pitch_yaw": [
      0.27965,
      -1.54707,
      -0.17204
    ],
    "tcp_rotation_matrix": [
      [
        -0.08393,
        0.00129,
        0.99647
      ],
      [
        0.03235,
        -0.99947,
        0.00401
      ],
      [
        0.99595,
        0.03257,
        0.08384
      ]
    ],
    "simulated_seconds_remaining": 21.714,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 4.804352881386876,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The fingers are positioned around the handle’s lower section and the approach has made contact. I am closing the gripper to secure it before pulling."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -1.41396,
      -0.71272,
      1.24068,
      -2.79881,
      -0.16436,
      4.33874,
      0.72685
    ],
    "gripper_open": 0.8885,
    "tcp_xyz": [
      0.53854,
      0.02142,
      1.04763
    ],
    "tcp_roll_pitch_yaw": [
      0.41724,
      -1.55124,
      -0.31403
    ],
    "tcp_rotation_matrix": [
      [
        -0.08852,
        -0.0033,
        0.99607
      ],
      [
        0.03085,
        -0.99952,
        -0.00057
      ],
      [
        0.9956,
        0.03068,
        0.08858
      ]
    ],
    "simulated_seconds_remaining": 20.79,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 5.605283915065229,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.43,
                    "gripper": 0
                  },
                  "note": "The gripper remains partly open under contact. I am making a short outward pull to check whether the handle is securely engaged and begin opening the door."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 10,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -1.41396,
      -0.71272,
      1.24068,
      -2.79881,
      -0.16436,
      4.33874,
      0.72685
    ],
    "gripper_open": 0.8885,
    "tcp_xyz": [
      0.53854,
      0.02142,
      1.04763
    ],
    "tcp_roll_pitch_yaw": [
      0.41724,
      -1.55124,
      -0.31403
    ],
    "tcp_rotation_matrix": [
      [
        -0.08852,
        -0.0033,
        0.99607
      ],
      [
        0.03085,
        -0.99952,
        -0.00057
      ],
      [
        0.9956,
        0.03068,
        0.08858
      ]
    ],
    "simulated_seconds_remaining": 20.79,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 5.605205782689154,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.46,
                    "pitch": -1.45,
                    "roll": 0,
                    "yaw": 0,
                    "gripper": 0
                  },
                  "note": "The pull pose was rejected near an orientation limit. I am restoring the straight approach orientation and trying a shorter outward pull."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 11,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -1.41396,
      -0.71272,
      1.24068,
      -2.79881,
      -0.16436,
      4.33874,
      0.72685
    ],
    "gripper_open": 0.8885,
    "tcp_xyz": [
      0.53854,
      0.02142,
      1.04763
    ],
    "tcp_roll_pitch_yaw": [
      0.41724,
      -1.55124,
      -0.31403
    ],
    "tcp_rotation_matrix": [
      [
        -0.08852,
        -0.0033,
        0.99607
      ],
      [
        0.03085,
        -0.99952,
        -0.00057
      ],
      [
        0.9956,
        0.03068,
        0.08858
      ]
    ],
    "simulated_seconds_remaining": 20.79,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 5.2105205822736025,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.5,
                    "pitch": -1.2,
                    "roll": 0,
                    "yaw": 0,
                    "gripper": 0
                  },
                  "note": "The arm is close to its joint limit. I am reducing the wrist tilt while pulling back four centimeters to recover a reachable pulling posture."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -0.81336,
      -0.82903,
      0.54801,
      -2.81774,
      -0.84769,
      3.66861,
      1.02799
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.50044,
      0.02172,
      1.04789
    ],
    "tcp_roll_pitch_yaw": [
      0.0025,
      -1.20361,
      -0.00073
    ],
    "tcp_rotation_matrix": [
      [
        0.26079,
        -0.08499,
        0.96165
      ],
      [
        0.04724,
        -0.9938,
        -0.10064
      ],
      [
        0.96424,
        0.07168,
        -0.25516
      ]
    ],
    "simulated_seconds_remaining": 19.866,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 12.810553033836186,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 1,
                    "z": 1.005,
                    "y": 0,
                    "pitch": -1.2
                  },
                  "note": "The fingers closed fully, so the first grasp slipped off. The handle bar is above the fingertips in the wrist image; I am opening and lowering to align with its middle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -0.99522,
      -0.79543,
      0.71205,
      -2.89485,
      -0.68645,
      3.84824,
      0.90422
    ],
    "gripper_open": 0.9965,
    "tcp_xyz": [
      0.50043,
      0.00045,
      1.00588
    ],
    "tcp_roll_pitch_yaw": [
      0.0026,
      -1.19996,
      -0.00089
    ],
    "tcp_rotation_matrix": [
      [
        0.26432,
        -0.08479,
        0.9607
      ],
      [
        0.04719,
        -0.9938,
        -0.10069
      ],
      [
        0.96328,
        0.07195,
        -0.25868
      ]
    ],
    "simulated_seconds_remaining": 18.942,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 6.205243120901287,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.57,
                    "z": 1.005,
                    "gripper": 1
                  },
                  "note": "The vertical bar now lies inside the projected finger gap. I am advancing slowly to bring both fingers alongside it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -1.21816,
      -0.64588,
      0.96504,
      -2.83239,
      -0.48351,
      4.1082,
      0.81321
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.53102,
      0.01068,
      1.0112
    ],
    "tcp_roll_pitch_yaw": [
      0.33363,
      -1.30882,
      -0.22498
    ],
    "tcp_rotation_matrix": [
      [
        0.14736,
        0.0033,
        0.98908
      ],
      [
        -0.02199,
        -0.99974,
        0.00661
      ],
      [
        0.98884,
        -0.02272,
        -0.14725
      ]
    ],
    "simulated_seconds_remaining": 18.15,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 15.213533258065581,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.49,
                    "y": -0.025,
                    "z": 0.995,
                    "pitch": -1.2,
                    "roll": 0,
                    "yaw": 0,
                    "gripper": 1
                  },
                  "note": "The right finger is contacting the door before the bar is seated. I am backing off and shifting the gap toward the exposed bar for a cleaner approach."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -1.10789,
      -0.78377,
      0.72971,
      -2.92063,
      -0.72488,
      3.95802,
      0.89321
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.49064,
      -0.02448,
      0.99528
    ],
    "tcp_roll_pitch_yaw": [
      0.00377,
      -1.20185,
      -0.00215
    ],
    "tcp_rotation_matrix": [
      [
        0.26249,
        -0.08509,
        0.96117
      ],
      [
        0.04674,
        -0.99381,
        -0.10075
      ],
      [
        0.9638,
        0.07137,
        -0.25689
      ]
    ],
    "simulated_seconds_remaining": 17.49,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 5.005157989449799,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.535,
                    "gripper": 1
                  },
                  "note": "The exposed bar is centered in the gap. I am making a short straight approach, stopping before the previous collision depth."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -1.22191,
      -0.68603,
      0.87279,
      -2.87649,
      -0.60398,
      4.08235,
      0.83284
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.51183,
      -0.01884,
      0.99773
    ],
    "tcp_roll_pitch_yaw": [
      0.15511,
      -1.25795,
      -0.09556
    ],
    "tcp_rotation_matrix": [
      [
        0.20433,
        -0.03862,
        0.97814
      ],
      [
        0.01181,
        -0.99905,
        -0.04192
      ],
      [
        0.97883,
        0.02012,
        -0.20368
      ]
    ],
    "simulated_seconds_remaining": 16.896,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 5.605275668203831,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The handle bar is between the fingers at this shallower depth. I am closing here to avoid pressing the gripper farther into the door."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -1.22182,
      -0.68916,
      0.86798,
      -2.88258,
      -0.60293,
      4.08844,
      0.83279
    ],
    "gripper_open": 0.9364,
    "tcp_xyz": [
      0.50973,
      -0.02051,
      0.99826
    ],
    "tcp_roll_pitch_yaw": [
      0.16192,
      -1.26168,
      -0.10475
    ],
    "tcp_rotation_matrix": [
      [
        0.20053,
        -0.04139,
        0.97881
      ],
      [
        0.0096,
        -0.99898,
        -0.04421
      ],
      [
        0.97964,
        0.01826,
        -0.19992
      ]
    ],
    "simulated_seconds_remaining": 15.972,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 9.408337036147714,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.47,
                    "z": 0.94,
                    "gripper": 1,
                    "pitch": -1.2,
                    "roll": 0,
                    "yaw": 0
                  },
                  "note": "The gripper is contacting the broad lower mount rather than closing on the bar. I am retreating and lowering the grasp point so the slender vertical section reaches deeper into the finger gap."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 18,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -1.22182,
      -0.68916,
      0.86798,
      -2.88258,
      -0.60293,
      4.08844,
      0.83279
    ],
    "gripper_open": 0.9364,
    "tcp_xyz": [
      0.50973,
      -0.02051,
      0.99826
    ],
    "tcp_roll_pitch_yaw": [
      0.16192,
      -1.26168,
      -0.10475
    ],
    "tcp_rotation_matrix": [
      [
        0.20053,
        -0.04139,
        0.97881
      ],
      [
        0.0096,
        -0.99898,
        -0.04421
      ],
      [
        0.97964,
        0.01826,
        -0.19992
      ]
    ],
    "simulated_seconds_remaining": 15.972,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 4.8044754872098565,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.49,
                    "z": 0.95,
                    "gripper": 1,
                    "pitch": -0.95,
                    "roll": 0,
                    "yaw": 0
                  },
                  "note": "The lower pose requires less wrist tilt to remain reachable. I am opening and backing off slightly with that adjusted tilt."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 19,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -0.9848,
      -0.69882,
      0.57735,
      -2.79333,
      -1.2089,
      3.69833,
      1.19552
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.49043,
      -0.02023,
      0.95079
    ],
    "tcp_roll_pitch_yaw": [
      0.00288,
      -0.95431,
      -0.00135
    ],
    "tcp_rotation_matrix": [
      [
        0.49064,
        -0.065,
        0.86893
      ],
      [
        0.04673,
        -0.99382,
        -0.10072
      ],
      [
        0.87011,
        0.09003,
        -0.48457
      ]
    ],
    "simulated_seconds_remaining": 15.246,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 6.00579799246043,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.56,
                    "z": 0.95,
                    "gripper": 1
                  },
                  "note": "The wrist view now places the vertical section through the finger gap, with the lower mount below it. I am advancing to grasp this narrower section."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 20,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -1.14412,
      -0.53102,
      0.71219,
      -2.65471,
      -1.33804,
      3.8184,
      1.04713
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.51354,
      -0.00162,
      0.93263
    ],
    "tcp_roll_pitch_yaw": [
      -0.13657,
      -0.86034,
      0.35539
    ],
    "tcp_rotation_matrix": [
      [
        0.51853,
        0.18848,
        0.83403
      ],
      [
        0.25775,
        -0.96449,
        0.05771
      ],
      [
        0.81528,
        0.18505,
        -0.5487
      ]
    ],
    "simulated_seconds_remaining": 14.454,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 5.2050606263801455,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The handle is at the fingertips and contact has stopped the approach. I am closing to engage the bar at this lower alignment."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 21,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -1.14561,
      -0.53557,
      0.70509,
      -2.65721,
      -1.33967,
      3.82332,
      1.04763
    ],
    "gripper_open": 0.8852,
    "tcp_xyz": [
      0.51237,
      -0.00414,
      0.93429
    ],
    "tcp_roll_pitch_yaw": [
      -0.13753,
      -0.86372,
      0.35222
    ],
    "tcp_rotation_matrix": [
      [
        0.51677,
        0.1841,
        0.8361
      ],
      [
        0.25526,
        -0.96532,
        0.05478
      ],
      [
        0.81719,
        0.18511,
        -0.54584
      ]
    ],
    "simulated_seconds_remaining": 13.53,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 8.610123259946704,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.45,
                    "y": -0.07,
                    "gripper": 0,
                    "pitch": -0.95,
                    "roll": 0,
                    "yaw": 0
                  },
                  "note": "The fingers remain under contact. I am testing a short outward and sideways pull, following the door’s likely swing direction."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 22,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -1.1703,
      -0.72062,
      0.54662,
      -2.8867,
      -1.24566,
      3.894,
      1.07119
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.45065,
      -0.06935,
      0.93428
    ],
    "tcp_roll_pitch_yaw": [
      -0.00182,
      -0.94917,
      0.00398
    ],
    "tcp_rotation_matrix": [
      [
        0.49503,
        -0.06303,
        0.86658
      ],
      [
        0.04985,
        -0.99366,
        -0.10075
      ],
      [
        0.86744,
        0.09307,
        -0.48875
      ]
    ],
    "simulated_seconds_remaining": 12.606,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 10.614821095019579,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48,
                    "y": 0.2,
                    "z": 1.12,
                    "pitch": -1.2,
                    "roll": 0,
                    "yaw": 0,
                    "gripper": 1
                  },
                  "note": "The wider view reveals the actual silver door handle on the dark panel to the left; the white frame was an obstruction. I am moving up and left toward the silver handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 38,
    "motion_seconds": 2.508,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 23,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -1.08827,
      -1.26998,
      0.75502,
      -2.22154,
      -1.83449,
      3.87443,
      2.56479
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.47988,
      0.19897,
      1.1193
    ],
    "tcp_roll_pitch_yaw": [
      -0.00074,
      -1.19909,
      0.00089
    ],
    "tcp_rotation_matrix": [
      [
        0.26522,
        -0.08605,
        0.96034
      ],
      [
        0.048,
        -0.9936,
        -0.10228
      ],
      [
        0.96299,
        0.07323,
        -0.25939
      ]
    ],
    "simulated_seconds_remaining": 10.098,
    "calls_remaining_including_this": 35
  },
  "api_seconds": 13.611832239665091,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.56,
                    "y": 0.16,
                    "z": 1.035,
                    "gripper": 1
                  },
                  "note": "The exterior view now aligns the gripper with the door handle. I am lowering to its center and advancing with the fingers open."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 24,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -1.15769,
      -1.13136,
      0.98442,
      -2.44944,
      -1.22425,
      3.68946,
      1.93395
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.55913,
      0.16038,
      1.03571
    ],
    "tcp_roll_pitch_yaw": [
      -0.00095,
      -1.19861,
      0.00096
    ],
    "tcp_rotation_matrix": [
      [
        0.26568,
        -0.08613,
        0.96021
      ],
      [
        0.04804,
        -0.99358,
        -0.10242
      ],
      [
        0.96286,
        0.07334,
        -0.25984
      ]
    ],
    "simulated_seconds_remaining": 8.976,
    "calls_remaining_including_this": 34
  },
  "api_seconds": 10.61013245023787,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.105,
                    "x": 0.57,
                    "z": 1.01,
                    "gripper": 1
                  },
                  "note": "The handle’s vertical bar is just to the side of the near finger. I am making a small sideways and downward adjustment to bring that bar into the grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 25,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -1.33604,
      -1.20291,
      1.03631,
      -2.54815,
      -0.88921,
      4.0547,
      1.71828
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.55876,
      0.15235,
      1.03469
    ],
    "tcp_roll_pitch_yaw": [
      0.26809,
      -1.24074,
      -0.09879
    ],
    "tcp_rotation_matrix": [
      [
        0.21721,
        0.0653,
        0.97394
      ],
      [
        -0.00264,
        -0.99772,
        0.06749
      ],
      [
        0.97612,
        -0.01723,
        -0.21654
      ]
    ],
    "simulated_seconds_remaining": 8.25,
    "calls_remaining_including_this": 33
  },
  "api_seconds": 5.4054900063201785,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "Contact has stopped the small adjustment with the fingers adjacent to the handle. I am closing to test this engagement."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 26,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -1.33411,
      -1.20367,
      1.03027,
      -2.55467,
      -0.89116,
      4.05771,
      1.71869
    ],
    "gripper_open": 0.9194,
    "tcp_xyz": [
      0.55687,
      0.15003,
      1.03551
    ],
    "tcp_roll_pitch_yaw": [
      0.27798,
      -1.24147,
      -0.11066
    ],
    "tcp_rotation_matrix": [
      [
        0.21616,
        0.06282,
        0.97433
      ],
      [
        -0.00622,
        -0.99782,
        0.06571
      ],
      [
        0.97634,
        -0.02027,
        -0.2153
      ]
    ],
    "simulated_seconds_remaining": 7.326,
    "calls_remaining_including_this": 32
  },
  "api_seconds": 8.607512515969574,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.49,
                    "y": 0.27,
                    "gripper": 0,
                    "pitch": -1.1,
                    "roll": 0,
                    "yaw": 0
                  },
                  "note": "I am pulling outward and left from the contact point to follow the door’s swing and check whether the handle is held."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 27,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -1.33411,
      -1.20367,
      1.03027,
      -2.55467,
      -0.89116,
      4.05771,
      1.71869
    ],
    "gripper_open": 0.9194,
    "tcp_xyz": [
      0.55687,
      0.15003,
      1.03551
    ],
    "tcp_roll_pitch_yaw": [
      0.27798,
      -1.24147,
      -0.11066
    ],
    "tcp_rotation_matrix": [
      [
        0.21616,
        0.06282,
        0.97433
      ],
      [
        -0.00622,
        -0.99782,
        0.06571
      ],
      [
        0.97634,
        -0.02027,
        -0.2153
      ]
    ],
    "simulated_seconds_remaining": 7.326,
    "calls_remaining_including_this": 31
  },
  "api_seconds": 4.604454088956118,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.52,
                    "y": 0.2,
                    "gripper": 0,
                    "pitch": -1.2,
                    "roll": 0,
                    "yaw": 0
                  },
                  "note": "The larger pull required an excessive joint change. I am splitting it into a shorter outward motion."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 28,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -1.03163,
      -1.21652,
      0.93878,
      -2.41709,
      -1.51106,
      3.65501,
      2.27311
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.52041,
      0.19983,
      1.03547
    ],
    "tcp_roll_pitch_yaw": [
      0.00255,
      -1.20012,
      -9e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.26412,
        -0.08406,
        0.96082
      ],
      [
        0.0474,
        -0.99386,
        -0.09998
      ],
      [
        0.96332,
        0.07195,
        -0.25851
      ]
    ],
    "simulated_seconds_remaining": 6.402,
    "calls_remaining_including_this": 30
  },
  "api_seconds": 8.607762736268342,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.31,
                    "x": 0.54,
                    "gripper": 1
                  },
                  "note": "The handle remains to the left of the wrist view. I am moving the open gripper left along the door to bring the exposed bar between the fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 29,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -1.2279,
      -1.42462,
      1.0245,
      -1.98746,
      -1.8105,
      3.8328,
      2.93094
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.53977,
      0.30883,
      1.0355
    ],
    "tcp_roll_pitch_yaw": [
      0.00163,
      -1.20021,
      0.00107
    ],
    "tcp_rotation_matrix": [
      [
        0.26402,
        -0.08376,
        0.96087
      ],
      [
        0.0478,
        -0.99386,
        -0.09977
      ],
      [
        0.96333,
        0.07228,
        -0.2584
      ]
    ],
    "simulated_seconds_remaining": 5.346,
    "calls_remaining_including_this": 29
  },
  "api_seconds": 10.609316845424473,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.65,
                    "y": 0.17,
                    "z": 1.15,
                    "pitch": -1.1,
                    "gripper": 1
                  },
                  "note": "The exterior view shows the handle farther back beyond the cabinet edge. I am raising above that obstruction and reaching toward the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 26,
    "motion_seconds": 1.7160000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 30,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -1.68459,
      -0.98933,
      1.07107,
      -1.57331,
      -1.82791,
      3.96604,
      2.67745
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.64933,
      0.17071,
      1.14932
    ],
    "tcp_roll_pitch_yaw": [
      0.00197,
      -1.10071,
      0.0005
    ],
    "tcp_rotation_matrix": [
      [
        0.35842,
        -0.07643,
        0.93043
      ],
      [
        0.04767,
        -0.99384,
        -0.1
      ],
      [
        0.93234,
        0.08019,
        -0.35257
      ]
    ],
    "simulated_seconds_remaining": 3.63,
    "calls_remaining_including_this": 28
  },
  "api_seconds": 6.005608117207885,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.65,
                    "y": 0.09,
                    "z": 0.99,
                    "gripper": 1
                  },
                  "note": "The gripper is now above the handle. I am lowering alongside the bar with a small lateral adjustment."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 31,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -1.56949,
      -1.00086,
      1.22381,
      -2.26366,
      -0.49045,
      4.09819,
      1.72406
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.64473,
      0.16837,
      1.13982
    ],
    "tcp_roll_pitch_yaw": [
      1.55401,
      -1.1862,
      -1.23027
    ],
    "tcp_rotation_matrix": [
      [
        0.01321,
        0.19517,
        0.98068
      ],
      [
        -0.34222,
        -0.92065,
        0.18783
      ],
      [
        0.93953,
        -0.33809,
        0.05463
      ]
    ],
    "simulated_seconds_remaining": 2.112,
    "calls_remaining_including_this": 27
  },
  "api_seconds": 8.608966732397676,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "give_up",
                "args": {
                  "note": "I could not secure the handle; repeated approaches contacted the surrounding structure, and insufficient motion time remains to recover and open the door."
                }
              }
            }
          ]
        }
      }
    ]
  }
}

========================================================================
GPT-Astra / Open / Episode 040

Completed scored attempt. Images are available in the paired videos.

Opaque provider signatures, image payloads, and local paths are omitted.


RESULT
{
  "benchmark_index": 40,
  "source_episode_index": 985,
  "house_index": 424,
  "status": "completed",
  "success": true,
  "oracle_success": true,
  "action_decisions": 20,
  "wall_seconds": 215.91,
  "usage": {
    "input_tokens": 379571,
    "cached_input_tokens": 353408,
    "cache_write_input_tokens": 0,
    "output_tokens": 3961,
    "reasoning_output_tokens": 1473
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task.
You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose.
Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion.
move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up.
roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial.
Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5).
The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y.
The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics.
Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration.
Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target.
You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time.
Each move must include a short note describing what you observe and why you chose that motion.
Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done.
Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available.



AGENT TRANSCRIPT (visible messages and completed tool calls)

I’ll inspect the robot’s view, then engage the handle and open the object.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.00809, -0.79818, -0.01375, -2.3458, 0.04471, 1.42983, 0.0878], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.27004, 0.00638, 1.01387], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.98775, -0.10365, -0.11662], [-0.09764, -0.99364, 0.05609], [-0.12169, -0.04402, -0.99159]], \"simulated_seconds_remaining\": 30.03, \"calls_remaining_including_this\": 57}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "x": 0.43,
    "y": 0,
    "z": 1.17,
    "pitch": -1.57,
    "gripper": 1,
    "note": "The cabinet has a slim vertical handle. I am raising the open gripper and turning it toward the cabinet to approach the handle."
  },
  "result": null,
  "error": {
    "message": "tool call error: tool call failed for `robot/move_to`\n\nCaused by:\n    Mcp error: -32602: Unexpected argument"
  },
  "status": "failed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.43,
      "y": 0,
      "z": 1.17,
      "pitch": -1.57,
      "gripper": 1
    },
    "note": "The cabinet has a slim vertical handle. I am raising the open gripper and turning it toward the cabinet to approach the handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"open the cabinet.\", \"joint_positions\": [0.09768, -1.05364, -0.07107, -2.90071, 0.08567, 3.29707, -0.04034], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.42973, 6e-05, 1.16926], \"tcp_roll_pitch_yaw\": [-0.001, -1.56455, 0.00123], \"tcp_rotation_matrix\": [[0.12788, 0.0436, 0.99083], [-0.09761, -0.99363, 0.05632], [0.98697, -0.10391, -0.12281]], \"simulated_seconds_remaining\": 27.654, \"calls_remaining_including_this\": 56}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 36, \"motion_seconds\": 2.3760000000000003, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.51,
      "y": -0.08,
      "z": 1.08
    },
    "note": "The exterior view places the gripper above the handle, and the wrist view shows the handle to the right. I am lowering and shifting sideways while approaching."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"open the cabinet.\", \"joint_positions\": [0.46549, -0.71096, -0.67098, -2.88728, -0.35445, 3.89688, -0.20902], \"gripper_open\": 1.0, \"tcp_xyz\": [0.48148, -0.04092, 1.13094], \"tcp_roll_pitch_yaw\": [-2.52413, -1.29808, 2.61341], \"tcp_rotation_matrix\": [[-0.10485, 0.13704, 0.985], [0.05057, -0.98844, 0.1429], [0.9932, 0.0648, 0.09671]], \"simulated_seconds_remaining\": 26.4, \"calls_remaining_including_this\": 55}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 19, \"motion_seconds\": 1.254, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.4,
      "y": -0.04,
      "z": 1.03,
      "roll": 0,
      "pitch": -1.4,
      "yaw": 0
    },
    "note": "The gripper stopped near the handle’s upper end and lost alignment. I am backing away slightly and lowering to the middle of the handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"open the cabinet.\", \"joint_positions\": [0.46549, -0.71096, -0.67098, -2.88728, -0.35445, 3.89688, -0.20902], \"gripper_open\": 1.0, \"tcp_xyz\": [0.48148, -0.04092, 1.13094], \"tcp_roll_pitch_yaw\": [-2.52413, -1.29808, 2.61341], \"tcp_rotation_matrix\": [[-0.10485, 0.13704, 0.985], [0.05057, -0.98844, 0.1429], [0.9932, 0.0648, 0.09671]], \"simulated_seconds_remaining\": 26.4, \"calls_remaining_including_this\": 54}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.43,
      "z": 1.1,
      "roll": 0,
      "pitch": -1.57,
      "yaw": 0
    },
    "note": "The lower pose was unreachable. I am making a smaller retreat and downward adjustment to regain a straight approach."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"open the cabinet.\", \"joint_positions\": [0.16452, -1.00952, -0.33274, -3.04084, -0.11359, 3.49968, -0.07776], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.43057, -0.04106, 1.10107], \"tcp_roll_pitch_yaw\": [-2.66118, -1.56738, 2.66213], \"tcp_rotation_matrix\": [[0.11878, 0.04527, 0.99189], [-0.09597, -0.99376, 0.05684], [0.98827, -0.10194, -0.1137]], \"simulated_seconds_remaining\": 25.674, \"calls_remaining_including_this\": 53}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 11, \"motion_seconds\": 0.726, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "y": 0.07,
      "z": 1.05,
      "roll": 0,
      "pitch": -1.57,
      "yaw": 0
    },
    "note": "The wrist view shows the handle farther right after the previous sideways move. I am correcting in the opposite direction and aligning with its lower middle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"open the cabinet.\", \"joint_positions\": [0.16452, -1.00952, -0.33274, -3.04084, -0.11359, 3.49968, -0.07776], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.43057, -0.04106, 1.10107], \"tcp_roll_pitch_yaw\": [-2.66118, -1.56738, 2.66213], \"tcp_rotation_matrix\": [[0.11878, 0.04527, 0.99189], [-0.09597, -0.99376, 0.05684], [0.98827, -0.10194, -0.1137]], \"simulated_seconds_remaining\": 25.674, \"calls_remaining_including_this\": 52}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.48,
      "y": 0.07,
      "z": 1.1,
      "roll": 0,
      "pitch": -1.75,
      "yaw": 0
    },
    "note": "The arm cannot reach the lower alignment from this close position. I am extending slightly and adjusting the wrist angle while centering the handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"open the cabinet.\", \"joint_positions\": [0.09929, -0.5291, 0.15952, -2.95395, 0.59661, 4.15535, 0.01283], \"gripper_open\": 1.0, \"tcp_xyz\": [0.45667, -0.03008, 1.09927], \"tcp_roll_pitch_yaw\": [2.29408, -1.26952, -2.60808], \"tcp_rotation_matrix\": [[-0.16707, -0.2108, 0.96315], [-0.27968, -0.92662, -0.25132], [0.94544, -0.31136, 0.09585]], \"simulated_seconds_remaining\": 24.552, \"calls_remaining_including_this\": 51}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 17, \"motion_seconds\": 1.122, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.35,
      "y": 0.1,
      "z": 1.2,
      "roll": 0,
      "pitch": -1.57,
      "yaw": 0
    },
    "note": "The wrist is being deflected near the cabinet surface. I am withdrawing upward to gain clearance before aligning laterally with the handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.20734, -1.45722, 0.50479, -2.83894, 0.91983, 2.85025, -0.30451], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.35055, 0.09935, 1.19972], \"tcp_roll_pitch_yaw\": [2.33311, -1.56922, -2.33464], \"tcp_rotation_matrix\": [[0.12047, 0.04261, 0.9918], [-0.09895, -0.99359, 0.05471], [0.98777, -0.10473, -0.11548]], \"simulated_seconds_remaining\": 22.968, \"calls_remaining_including_this\": 50}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 24, \"motion_seconds\": 1.584, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.38,
      "y": 0.075,
      "z": 1.12,
      "roll": 3.14,
      "pitch": -1.57,
      "yaw": 0
    },
    "note": "The handle is now visible near the wrist center. I am flipping the gripper about its approach axis to improve arm reach while descending toward the handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.20734, -1.45722, 0.50479, -2.83894, 0.91983, 2.85025, -0.30451], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.35055, 0.09935, 1.19972], \"tcp_roll_pitch_yaw\": [2.33311, -1.56922, -2.33464], \"tcp_rotation_matrix\": [[0.12047, 0.04261, 0.9918], [-0.09895, -0.99359, 0.05471], [0.98777, -0.10473, -0.11548]], \"simulated_seconds_remaining\": 22.968, \"calls_remaining_including_this\": 49}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.38,
      "y": 0.075,
      "z": 1.12,
      "roll": 0,
      "pitch": 1.57,
      "yaw": 3.14
    },
    "note": "The alternate wrist pose was rejected. I am using the equivalent forward-facing orientation with the fingers reversed to reach the handle lower down."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.34852, -1.3705, 0.71254, -2.76335, 2.8065, 3.08835, 1.13804], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.37996, 0.07499, 1.12015], \"tcp_roll_pitch_yaw\": [1.38339, 1.56566, -1.75993], \"tcp_rotation_matrix\": [[0.1209, 0.04582, 0.99161], [0.09245, 0.99407, -0.05721], [-0.98835, 0.09859, 0.11595]], \"simulated_seconds_remaining\": 18.48, \"calls_remaining_including_this\": 48}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 68, \"motion_seconds\": 4.488, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.47,
      "y": 0.075,
      "z": 1.07,
      "roll": 0,
      "pitch": 1.57,
      "yaw": 3.14
    },
    "note": "The forward-facing gripper now has a clear view of the handle between its fingers. I am advancing and lowering slightly to engage the middle of the bar."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 11, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.68012, -1.59374, 1.09684, -2.72609, 2.80529, 3.048, 1.58594], \"gripper_open\": 1.0, \"tcp_xyz\": [0.40773, 0.07805, 1.10527], \"tcp_roll_pitch_yaw\": [2.9312, 1.47201, -0.3654], \"tcp_rotation_matrix\": [[0.22584, 0.1881, 0.95583], [0.04304, 0.9783, -0.20269], [-0.97321, 0.08692, 0.21284]], \"simulated_seconds_remaining\": 17.49, \"calls_remaining_including_this\": 47}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 15, \"motion_seconds\": 0.99, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.39,
      "y": 0.095,
      "z": 1.045,
      "roll": 0,
      "pitch": 1.57,
      "yaw": 3.14
    },
    "note": "The fingertips reached the cabinet before the requested advance completed. I am keeping the grasp point outside the panel and shifting down along the handle to improve engagement."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 12, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.45581, -1.57161, 1.14656, -2.88322, 2.8065, 2.98244, 1.61555], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.39018, 0.09482, 1.04566], \"tcp_roll_pitch_yaw\": [1.56505, 1.56962, -1.57987], \"tcp_rotation_matrix\": [[0.122, 0.04732, 0.9914], [0.09607, 0.99361, -0.05924], [-0.98787, 0.10247, 0.11668]], \"simulated_seconds_remaining\": 16.764, \"calls_remaining_including_this\": 46}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 11, \"motion_seconds\": 0.726, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.415,
      "y": 0.055,
      "z": 1.045
    },
    "note": "The handle is still right of the finger gap in the wrist image. I am shifting the gripper toward it and making a short final approach."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 13, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.5947, -1.55572, 1.1105, -2.92233, 2.8065, 2.80362, 1.5888], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.41432, 0.05598, 1.04498], \"tcp_roll_pitch_yaw\": [1.36495, 1.56902, -1.78036], \"tcp_rotation_matrix\": [[0.12169, 0.04774, 0.99142], [0.09547, 0.99365, -0.05957], [-0.98797, 0.1019, 0.11635]], \"simulated_seconds_remaining\": 16.17, \"calls_remaining_including_this\": 45}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 9, \"motion_seconds\": 0.5940000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The vertical handle is centered in the finger gap and the exterior view shows the fingertips alongside it. I am closing the jaws to grasp it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 14, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.59668, -1.55598, 1.10923, -2.92811, 2.80635, 2.80897, 1.58868], \"gripper_open\": 0.0145, \"tcp_xyz\": [0.413, 0.05025, 1.04361], \"tcp_roll_pitch_yaw\": [-0.40636, 1.5685, 2.71902], \"tcp_rotation_matrix\": [[0.12119, 0.06034, 0.99079], [0.09659, 0.9927, -0.07227], [-0.98792, 0.10445, 0.11448]], \"simulated_seconds_remaining\": 15.246, \"calls_remaining_including_this\": 44}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.33,
      "y": 0.05,
      "z": 1.045
    },
    "note": "The jaws have closed around the handle’s apparent position. I am pulling outward a short distance to check whether the door follows."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 15, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.59668, -1.55598, 1.10923, -2.92811, 2.80635, 2.80897, 1.58868], \"gripper_open\": 0.0145, \"tcp_xyz\": [0.413, 0.05025, 1.04361], \"tcp_roll_pitch_yaw\": [-0.40636, 1.5685, 2.71902], \"tcp_rotation_matrix\": [[0.12119, 0.06034, 0.99079], [0.09659, 0.9927, -0.07227], [-0.98792, 0.10445, 0.11448]], \"simulated_seconds_remaining\": 15.246, \"calls_remaining_including_this\": 43}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.365,
      "z": 1.085,
      "roll": 0,
      "pitch": 1.45,
      "yaw": 3.14
    },
    "note": "A straight pull at this height exceeded the arm’s reach. I am making a smaller outward pull with a slight upward wrist adjustment."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 16, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.24307, -1.39576, 0.76479, -2.90434, 2.33493, 3.11938, 1.65542], \"gripper_open\": 0.0, \"tcp_xyz\": [0.36571, 0.05049, 1.08437], \"tcp_roll_pitch_yaw\": [-0.00628, 1.45182, 3.13408], \"tcp_rotation_matrix\": [[0.00372, 0.05727, 0.99835], [0.09838, 0.99349, -0.05736], [-0.99514, 0.09843, -0.00194]], \"simulated_seconds_remaining\": 14.52, \"calls_remaining_including_this\": 42}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 11, \"motion_seconds\": 0.726, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.46,
      "y": 0.045,
      "z": 1.075,
      "gripper": 1,
      "roll": 0,
      "pitch": 1.45,
      "yaw": 3.14
    },
    "note": "The door did not follow, so the previous grasp was short of the handle. I am reopening and advancing farther with the more reachable wrist angle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 17, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.67229, -1.30793, 0.92949, -2.76115, 2.54441, 2.85265, 1.56895], \"gripper_open\": 1.0, \"tcp_xyz\": [0.44865, 0.04512, 1.07646], \"tcp_roll_pitch_yaw\": [0.06294, 1.45257, -3.10519], \"tcp_rotation_matrix\": [[0.00692, 0.08184, 0.99662], [0.09011, 0.99254, -0.08213], [-0.99591, 0.09037, -0.00051]], \"simulated_seconds_remaining\": 13.596, \"calls_remaining_including_this\": 41}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The gripper is now deeper around the centered handle. I am closing the fingers again before pulling."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 18, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.66791, -1.31109, 0.92917, -2.7634, 2.54402, 2.85454, 1.56867], \"gripper_open\": 0.9803, \"tcp_xyz\": [0.44753, 0.04573, 1.0766], \"tcp_roll_pitch_yaw\": [0.07939, 1.45348, -3.08821], \"tcp_rotation_matrix\": [[0.00785, 0.08111, 0.99667], [0.08823, 0.99276, -0.08149], [-0.99607, 0.08857, 0.00064]], \"simulated_seconds_remaining\": 12.672, \"calls_remaining_including_this\": 40}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.431,
      "gripper": 0
    },
    "note": "The jaws remain almost fully open, indicating contact with the cabinet surface. I am easing back slightly while maintaining closing pressure to catch the protruding handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 19, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.60493, -1.33246, 0.89851, -2.79904, 2.51521, 2.89633, 1.57963], \"gripper_open\": 0.1206, \"tcp_xyz\": [0.43058, 0.03996, 1.07675], \"tcp_roll_pitch_yaw\": [0.05582, 1.45417, -3.12453], \"tcp_rotation_matrix\": [[0.0096, 0.09387, 0.99554], [0.09088, 0.99138, -0.09435], [-0.99582, 0.09138, 0.00098]], \"simulated_seconds_remaining\": 11.748, \"calls_remaining_including_this\": 39}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.37,
      "z": 1.085,
      "gripper": 0,
      "roll": 0,
      "pitch": 1.45,
      "yaw": 3.14
    },
    "note": "The fingers have closed to a small gap around the bar. I am pulling the handle outward to start opening the door."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 20, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.28151, -1.38625, 0.73244, -2.9173, 2.33581, 3.16359, 1.62349], \"gripper_open\": 0.1214, \"tcp_xyz\": [0.36177, 0.01209, 1.07846], \"tcp_roll_pitch_yaw\": [-0.02213, 1.43645, 3.02149], \"tcp_rotation_matrix\": [[-0.00176, 0.15458, 0.98798], [0.10125, 0.98293, -0.15361], [-0.99486, 0.09976, -0.01738]], \"simulated_seconds_remaining\": 11.022, \"calls_remaining_including_this\": 38}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 11, \"motion_seconds\": 0.726, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.28,
      "y": -0.065,
      "z": 1.09,
      "roll": 0,
      "pitch": 1.25,
      "yaw": 2.9,
      "gripper": 0
    },
    "note": "The door has started swinging open and the handle moved sideways with the hinge arc. I am continuing outward and to the right while turning the wrist with the door."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "Episode ended. Do not call more tools. Return a brief final response."
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

Opened the cabinet.

TURN USAGE
{
  "input_tokens": 379571,
  "cached_input_tokens": 353408,
  "cache_write_input_tokens": 0,
  "output_tokens": 3961,
  "reasoning_output_tokens": 1473
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.00809,
      -0.79818,
      -0.01375,
      -2.3458,
      0.04471,
      1.42983,
      0.0878
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.27004,
      0.00638,
      1.01387
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.98775,
        -0.10365,
        -0.11662
      ],
      [
        -0.09764,
        -0.99364,
        0.05609
      ],
      [
        -0.12169,
        -0.04402,
        -0.99159
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 27.218044567853212,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.43,
                    "y": 0,
                    "z": 1.17,
                    "pitch": -1.57,
                    "gripper": 1
                  },
                  "note": "The cabinet has a slim vertical handle. I am raising the open gripper and turning it toward the cabinet to approach the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 36,
    "motion_seconds": 2.3760000000000003,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.09768,
      -1.05364,
      -0.07107,
      -2.90071,
      0.08567,
      3.29707,
      -0.04034
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.42973,
      6e-05,
      1.16926
    ],
    "tcp_roll_pitch_yaw": [
      -0.001,
      -1.56455,
      0.00123
    ],
    "tcp_rotation_matrix": [
      [
        0.12788,
        0.0436,
        0.99083
      ],
      [
        -0.09761,
        -0.99363,
        0.05632
      ],
      [
        0.98697,
        -0.10391,
        -0.12281
      ]
    ],
    "simulated_seconds_remaining": 27.654,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 11.809009398333728,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.51,
                    "y": -0.08,
                    "z": 1.08
                  },
                  "note": "The exterior view places the gripper above the handle, and the wrist view shows the handle to the right. I am lowering and shifting sideways while approaching."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.46549,
      -0.71096,
      -0.67098,
      -2.88728,
      -0.35445,
      3.89688,
      -0.20902
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.48148,
      -0.04092,
      1.13094
    ],
    "tcp_roll_pitch_yaw": [
      -2.52413,
      -1.29808,
      2.61341
    ],
    "tcp_rotation_matrix": [
      [
        -0.10485,
        0.13704,
        0.985
      ],
      [
        0.05057,
        -0.98844,
        0.1429
      ],
      [
        0.9932,
        0.0648,
        0.09671
      ]
    ],
    "simulated_seconds_remaining": 26.4,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 7.4066597037017345,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "y": -0.04,
                    "z": 1.03,
                    "roll": 0,
                    "pitch": -1.4,
                    "yaw": 0
                  },
                  "note": "The gripper stopped near the handle’s upper end and lost alignment. I am backing away slightly and lowering to the middle of the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 4,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.46549,
      -0.71096,
      -0.67098,
      -2.88728,
      -0.35445,
      3.89688,
      -0.20902
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.48148,
      -0.04092,
      1.13094
    ],
    "tcp_roll_pitch_yaw": [
      -2.52413,
      -1.29808,
      2.61341
    ],
    "tcp_rotation_matrix": [
      [
        -0.10485,
        0.13704,
        0.985
      ],
      [
        0.05057,
        -0.98844,
        0.1429
      ],
      [
        0.9932,
        0.0648,
        0.09671
      ]
    ],
    "simulated_seconds_remaining": 26.4,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 7.205488383769989,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.43,
                    "z": 1.1,
                    "roll": 0,
                    "pitch": -1.57,
                    "yaw": 0
                  },
                  "note": "The lower pose was unreachable. I am making a smaller retreat and downward adjustment to regain a straight approach."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.16452,
      -1.00952,
      -0.33274,
      -3.04084,
      -0.11359,
      3.49968,
      -0.07776
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.43057,
      -0.04106,
      1.10107
    ],
    "tcp_roll_pitch_yaw": [
      -2.66118,
      -1.56738,
      2.66213
    ],
    "tcp_rotation_matrix": [
      [
        0.11878,
        0.04527,
        0.99189
      ],
      [
        -0.09597,
        -0.99376,
        0.05684
      ],
      [
        0.98827,
        -0.10194,
        -0.1137
      ]
    ],
    "simulated_seconds_remaining": 25.674,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 6.605189953930676,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.07,
                    "z": 1.05,
                    "roll": 0,
                    "pitch": -1.57,
                    "yaw": 0
                  },
                  "note": "The wrist view shows the handle farther right after the previous sideways move. I am correcting in the opposite direction and aligning with its lower middle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 6,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.16452,
      -1.00952,
      -0.33274,
      -3.04084,
      -0.11359,
      3.49968,
      -0.07776
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.43057,
      -0.04106,
      1.10107
    ],
    "tcp_roll_pitch_yaw": [
      -2.66118,
      -1.56738,
      2.66213
    ],
    "tcp_rotation_matrix": [
      [
        0.11878,
        0.04527,
        0.99189
      ],
      [
        -0.09597,
        -0.99376,
        0.05684
      ],
      [
        0.98827,
        -0.10194,
        -0.1137
      ]
    ],
    "simulated_seconds_remaining": 25.674,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 7.4057749370113015,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48,
                    "y": 0.07,
                    "z": 1.1,
                    "roll": 0,
                    "pitch": -1.75,
                    "yaw": 0
                  },
                  "note": "The arm cannot reach the lower alignment from this close position. I am extending slightly and adjusting the wrist angle while centering the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.09929,
      -0.5291,
      0.15952,
      -2.95395,
      0.59661,
      4.15535,
      0.01283
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.45667,
      -0.03008,
      1.09927
    ],
    "tcp_roll_pitch_yaw": [
      2.29408,
      -1.26952,
      -2.60808
    ],
    "tcp_rotation_matrix": [
      [
        -0.16707,
        -0.2108,
        0.96315
      ],
      [
        -0.27968,
        -0.92662,
        -0.25132
      ],
      [
        0.94544,
        -0.31136,
        0.09585
      ]
    ],
    "simulated_seconds_remaining": 24.552,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 7.405817041173577,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.35,
                    "y": 0.1,
                    "z": 1.2,
                    "roll": 0,
                    "pitch": -1.57,
                    "yaw": 0
                  },
                  "note": "The wrist is being deflected near the cabinet surface. I am withdrawing upward to gain clearance before aligning laterally with the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 24,
    "motion_seconds": 1.584,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.20734,
      -1.45722,
      0.50479,
      -2.83894,
      0.91983,
      2.85025,
      -0.30451
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.35055,
      0.09935,
      1.19972
    ],
    "tcp_roll_pitch_yaw": [
      2.33311,
      -1.56922,
      -2.33464
    ],
    "tcp_rotation_matrix": [
      [
        0.12047,
        0.04261,
        0.9918
      ],
      [
        -0.09895,
        -0.99359,
        0.05471
      ],
      [
        0.98777,
        -0.10473,
        -0.11548
      ]
    ],
    "simulated_seconds_remaining": 22.968,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 12.60956949647516,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.38,
                    "y": 0.075,
                    "z": 1.12,
                    "roll": 3.14,
                    "pitch": -1.57,
                    "yaw": 0
                  },
                  "note": "The handle is now visible near the wrist center. I am flipping the gripper about its approach axis to improve arm reach while descending toward the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 9,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.20734,
      -1.45722,
      0.50479,
      -2.83894,
      0.91983,
      2.85025,
      -0.30451
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.35055,
      0.09935,
      1.19972
    ],
    "tcp_roll_pitch_yaw": [
      2.33311,
      -1.56922,
      -2.33464
    ],
    "tcp_rotation_matrix": [
      [
        0.12047,
        0.04261,
        0.9918
      ],
      [
        -0.09895,
        -0.99359,
        0.05471
      ],
      [
        0.98777,
        -0.10473,
        -0.11548
      ]
    ],
    "simulated_seconds_remaining": 22.968,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 7.205717522650957,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.38,
                    "y": 0.075,
                    "z": 1.12,
                    "roll": 0,
                    "pitch": 1.57,
                    "yaw": 3.14
                  },
                  "note": "The alternate wrist pose was rejected. I am using the equivalent forward-facing orientation with the fingers reversed to reach the handle lower down."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 68,
    "motion_seconds": 4.488,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.34852,
      -1.3705,
      0.71254,
      -2.76335,
      2.8065,
      3.08835,
      1.13804
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.37996,
      0.07499,
      1.12015
    ],
    "tcp_roll_pitch_yaw": [
      1.38339,
      1.56566,
      -1.75993
    ],
    "tcp_rotation_matrix": [
      [
        0.1209,
        0.04582,
        0.99161
      ],
      [
        0.09245,
        0.99407,
        -0.05721
      ],
      [
        -0.98835,
        0.09859,
        0.11595
      ]
    ],
    "simulated_seconds_remaining": 18.48,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 8.806387411430478,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.47,
                    "y": 0.075,
                    "z": 1.07,
                    "roll": 0,
                    "pitch": 1.57,
                    "yaw": 3.14
                  },
                  "note": "The forward-facing gripper now has a clear view of the handle between its fingers. I am advancing and lowering slightly to engage the middle of the bar."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.68012,
      -1.59374,
      1.09684,
      -2.72609,
      2.80529,
      3.048,
      1.58594
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.40773,
      0.07805,
      1.10527
    ],
    "tcp_roll_pitch_yaw": [
      2.9312,
      1.47201,
      -0.3654
    ],
    "tcp_rotation_matrix": [
      [
        0.22584,
        0.1881,
        0.95583
      ],
      [
        0.04304,
        0.9783,
        -0.20269
      ],
      [
        -0.97321,
        0.08692,
        0.21284
      ]
    ],
    "simulated_seconds_remaining": 17.49,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 12.809390881098807,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.39,
                    "y": 0.095,
                    "z": 1.045,
                    "roll": 0,
                    "pitch": 1.57,
                    "yaw": 3.14
                  },
                  "note": "The fingertips reached the cabinet before the requested advance completed. I am keeping the grasp point outside the panel and shifting down along the handle to improve engagement."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.45581,
      -1.57161,
      1.14656,
      -2.88322,
      2.8065,
      2.98244,
      1.61555
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.39018,
      0.09482,
      1.04566
    ],
    "tcp_roll_pitch_yaw": [
      1.56505,
      1.56962,
      -1.57987
    ],
    "tcp_rotation_matrix": [
      [
        0.122,
        0.04732,
        0.9914
      ],
      [
        0.09607,
        0.99361,
        -0.05924
      ],
      [
        -0.98787,
        0.10247,
        0.11668
      ]
    ],
    "simulated_seconds_remaining": 16.764,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 7.809090115129948,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.415,
                    "y": 0.055,
                    "z": 1.045
                  },
                  "note": "The handle is still right of the finger gap in the wrist image. I am shifting the gripper toward it and making a short final approach."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.5947,
      -1.55572,
      1.1105,
      -2.92233,
      2.8065,
      2.80362,
      1.5888
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.41432,
      0.05598,
      1.04498
    ],
    "tcp_roll_pitch_yaw": [
      1.36495,
      1.56902,
      -1.78036
    ],
    "tcp_rotation_matrix": [
      [
        0.12169,
        0.04774,
        0.99142
      ],
      [
        0.09547,
        0.99365,
        -0.05957
      ],
      [
        -0.98797,
        0.1019,
        0.11635
      ]
    ],
    "simulated_seconds_remaining": 16.17,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 6.8055496560409665,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The vertical handle is centered in the finger gap and the exterior view shows the fingertips alongside it. I am closing the jaws to grasp it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.59668,
      -1.55598,
      1.10923,
      -2.92811,
      2.80635,
      2.80897,
      1.58868
    ],
    "gripper_open": 0.0145,
    "tcp_xyz": [
      0.413,
      0.05025,
      1.04361
    ],
    "tcp_roll_pitch_yaw": [
      -0.40636,
      1.5685,
      2.71902
    ],
    "tcp_rotation_matrix": [
      [
        0.12119,
        0.06034,
        0.99079
      ],
      [
        0.09659,
        0.9927,
        -0.07227
      ],
      [
        -0.98792,
        0.10445,
        0.11448
      ]
    ],
    "simulated_seconds_remaining": 15.246,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 6.20510942209512,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.33,
                    "y": 0.05,
                    "z": 1.045
                  },
                  "note": "The jaws have closed around the handle’s apparent position. I am pulling outward a short distance to check whether the door follows."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 15,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.59668,
      -1.55598,
      1.10923,
      -2.92811,
      2.80635,
      2.80897,
      1.58868
    ],
    "gripper_open": 0.0145,
    "tcp_xyz": [
      0.413,
      0.05025,
      1.04361
    ],
    "tcp_roll_pitch_yaw": [
      -0.40636,
      1.5685,
      2.71902
    ],
    "tcp_rotation_matrix": [
      [
        0.12119,
        0.06034,
        0.99079
      ],
      [
        0.09659,
        0.9927,
        -0.07227
      ],
      [
        -0.98792,
        0.10445,
        0.11448
      ]
    ],
    "simulated_seconds_remaining": 15.246,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 6.204795309342444,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.365,
                    "z": 1.085,
                    "roll": 0,
                    "pitch": 1.45,
                    "yaw": 3.14
                  },
                  "note": "A straight pull at this height exceeded the arm’s reach. I am making a smaller outward pull with a slight upward wrist adjustment."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.24307,
      -1.39576,
      0.76479,
      -2.90434,
      2.33493,
      3.11938,
      1.65542
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.36571,
      0.05049,
      1.08437
    ],
    "tcp_roll_pitch_yaw": [
      -0.00628,
      1.45182,
      3.13408
    ],
    "tcp_rotation_matrix": [
      [
        0.00372,
        0.05727,
        0.99835
      ],
      [
        0.09838,
        0.99349,
        -0.05736
      ],
      [
        -0.99514,
        0.09843,
        -0.00194
      ]
    ],
    "simulated_seconds_remaining": 14.52,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 8.81013564299792,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.46,
                    "y": 0.045,
                    "z": 1.075,
                    "gripper": 1,
                    "roll": 0,
                    "pitch": 1.45,
                    "yaw": 3.14
                  },
                  "note": "The door did not follow, so the previous grasp was short of the handle. I am reopening and advancing farther with the more reachable wrist angle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.67229,
      -1.30793,
      0.92949,
      -2.76115,
      2.54441,
      2.85265,
      1.56895
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.44865,
      0.04512,
      1.07646
    ],
    "tcp_roll_pitch_yaw": [
      0.06294,
      1.45257,
      -3.10519
    ],
    "tcp_rotation_matrix": [
      [
        0.00692,
        0.08184,
        0.99662
      ],
      [
        0.09011,
        0.99254,
        -0.08213
      ],
      [
        -0.99591,
        0.09037,
        -0.00051
      ]
    ],
    "simulated_seconds_remaining": 13.596,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 7.6059929290786386,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The gripper is now deeper around the centered handle. I am closing the fingers again before pulling."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.66791,
      -1.31109,
      0.92917,
      -2.7634,
      2.54402,
      2.85454,
      1.56867
    ],
    "gripper_open": 0.9803,
    "tcp_xyz": [
      0.44753,
      0.04573,
      1.0766
    ],
    "tcp_roll_pitch_yaw": [
      0.07939,
      1.45348,
      -3.08821
    ],
    "tcp_rotation_matrix": [
      [
        0.00785,
        0.08111,
        0.99667
      ],
      [
        0.08823,
        0.99276,
        -0.08149
      ],
      [
        -0.99607,
        0.08857,
        0.00064
      ]
    ],
    "simulated_seconds_remaining": 12.672,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 6.205266987904906,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.431,
                    "gripper": 0
                  },
                  "note": "The jaws remain almost fully open, indicating contact with the cabinet surface. I am easing back slightly while maintaining closing pressure to catch the protruding handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 19,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.60493,
      -1.33246,
      0.89851,
      -2.79904,
      2.51521,
      2.89633,
      1.57963
    ],
    "gripper_open": 0.1206,
    "tcp_xyz": [
      0.43058,
      0.03996,
      1.07675
    ],
    "tcp_roll_pitch_yaw": [
      0.05582,
      1.45417,
      -3.12453
    ],
    "tcp_rotation_matrix": [
      [
        0.0096,
        0.09387,
        0.99554
      ],
      [
        0.09088,
        0.99138,
        -0.09435
      ],
      [
        -0.99582,
        0.09138,
        0.00098
      ]
    ],
    "simulated_seconds_remaining": 11.748,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 6.0048812460154295,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.37,
                    "z": 1.085,
                    "gripper": 0,
                    "roll": 0,
                    "pitch": 1.45,
                    "yaw": 3.14
                  },
                  "note": "The fingers have closed to a small gap around the bar. I am pulling the handle outward to start opening the door."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 20,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.28151,
      -1.38625,
      0.73244,
      -2.9173,
      2.33581,
      3.16359,
      1.62349
    ],
    "gripper_open": 0.1214,
    "tcp_xyz": [
      0.36177,
      0.01209,
      1.07846
    ],
    "tcp_roll_pitch_yaw": [
      -0.02213,
      1.43645,
      3.02149
    ],
    "tcp_rotation_matrix": [
      [
        -0.00176,
        0.15458,
        0.98798
      ],
      [
        0.10125,
        0.98293,
        -0.15361
      ],
      [
        -0.99486,
        0.09976,
        -0.01738
      ]
    ],
    "simulated_seconds_remaining": 11.022,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 9.607697401195765,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.28,
                    "y": -0.065,
                    "z": 1.09,
                    "roll": 0,
                    "pitch": 1.25,
                    "yaw": 2.9,
                    "gripper": 0
                  },
                  "note": "The door has started swinging open and the handle moved sideways with the hinge arc. I am continuing outward and to the right while turning the wrist with the door."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

========================================================================
GPT-Astra / Open / Episode 041

Completed scored attempt. Images are available in the paired videos.

Opaque provider signatures, image payloads, and local paths are omitted.


RESULT
{
  "benchmark_index": 41,
  "source_episode_index": 987,
  "house_index": 424,
  "status": "completed",
  "success": true,
  "oracle_success": true,
  "action_decisions": 18,
  "wall_seconds": 206.05,
  "usage": {
    "input_tokens": 323271,
    "cached_input_tokens": 297856,
    "cache_write_input_tokens": 0,
    "output_tokens": 3638,
    "reasoning_output_tokens": 1594
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task.
You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose.
Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion.
move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up.
roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial.
Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5).
The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y.
The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics.
Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration.
Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target.
You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time.
Each move must include a short note describing what you observe and why you chose that motion.
Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done.
Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available.



AGENT TRANSCRIPT (visible messages and completed tool calls)

I’ll inspect the scene, locate the handle, and use fresh visual feedback to guide the opening motion.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"open the cabinet.\", \"joint_positions\": [0.01107, -0.8325, 0.0186, -2.30044, 0.00616, 1.65505, 0.00981], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.33034, 0.01148, 1.06707], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.98243, 0.01458, 0.18606], [0.01541, -0.99988, -0.00299], [0.18599, 0.00581, -0.98253]], \"simulated_seconds_remaining\": 30.03, \"calls_remaining_including_this\": 57}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.48,
      "z": 1.1,
      "pitch": -1.38
    },
    "note": "The cabinet has a vertical handle near the right edge of its front. I turn the open fingers toward the cabinet and approach for a clearer handle view."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.07335, -0.6322, 0.10206, -2.95432, 0.01709, 3.88538, 0.03229], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.47977, 0.01147, 1.09955], \"tcp_roll_pitch_yaw\": [-0.00031, -1.37417, 0.00022], \"tcp_rotation_matrix\": [[0.00953, -0.00293, 0.99995], [0.01546, -0.99988, -0.00307], [0.99984, 0.01549, -0.00948]], \"simulated_seconds_remaining\": 27.918, \"calls_remaining_including_this\": 56}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 32, \"motion_seconds\": 2.112, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.54,
      "y": -0.028,
      "z": 1.145
    },
    "note": "The wrist view shows the vertical pull to the right of the finger gap. I shift toward it and slightly upward while keeping the jaws open."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.02324, -0.48875, -0.08796, -2.72174, -0.15986, 3.7981, 0.06929], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.53907, -0.02743, 1.14434], \"tcp_roll_pitch_yaw\": [0.00035, -1.37424, -0.00051], \"tcp_rotation_matrix\": [[0.00946, -0.00301, 0.99995], [0.01534, -0.99988, -0.00316], [0.99984, 0.01536, -0.00941]], \"simulated_seconds_remaining\": 27.06, \"calls_remaining_including_this\": 55}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 13, \"motion_seconds\": 0.8580000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "y": 0.018,
      "z": 1.075,
      "x": 0.56
    },
    "note": "The handle remains above and to the right of the gap; the lateral shift showed the camera's direction. I correct leftward in the image and lower to the middle of the pull."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.04555, -0.27596, 0.10896, -2.74347, 0.07985, 4.02987, -0.03555], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.55971, 0.01739, 1.07596], \"tcp_roll_pitch_yaw\": [9e-05, -1.37396, -3e-05], \"tcp_rotation_matrix\": [[0.00974, -0.00278, 0.99995], [0.01539, -0.99988, -0.00293], [0.99983, 0.01542, -0.00969]], \"simulated_seconds_remaining\": 26.202, \"calls_remaining_including_this\": 54}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 13, \"motion_seconds\": 0.8580000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.61,
      "y": 0.063
    },
    "note": "The raised vertical bar is just right of the wrist center. I align the open gap with that bar and advance a short distance to surround it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.01578, -0.1129, 0.22294, -2.68216, 0.37089, 4.29901, -0.16566], \"gripper_open\": 1.0, \"tcp_xyz\": [0.56107, 0.01935, 1.07728], \"tcp_roll_pitch_yaw\": [0.39697, -1.50954, -0.52234], \"tcp_rotation_matrix\": [[-0.13019, -0.13062, 0.98285], [0.00837, -0.99139, -0.13065], [0.99145, -0.00879, 0.13016]], \"simulated_seconds_remaining\": 25.476, \"calls_remaining_including_this\": 53}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 11, \"motion_seconds\": 0.726, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.48,
      "y": 0.063,
      "z": 1.045,
      "pitch": -1.38,
      "roll": 0,
      "yaw": 0
    },
    "note": "The attempted advance stopped against the cabinet and tilted the wrist. I back off to restore orientation and align laterally before approaching again."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"open the cabinet.\", \"joint_positions\": [0.06732, -0.41362, 0.25276, -2.96884, 0.36277, 4.13523, -0.11336], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.48084, 0.06261, 1.0454], \"tcp_roll_pitch_yaw\": [0.00075, -1.38154, -0.00196], \"tcp_rotation_matrix\": [[0.00217, -0.00418, 0.99999], [0.01526, -0.99987, -0.00422], [0.99988, 0.01527, -0.00211]], \"simulated_seconds_remaining\": 24.552, \"calls_remaining_including_this\": 52}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.54
    },
    "note": "The vertical handle is now centered in the finger gap. I advance with the jaws open to place the bar between the fingers."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"open the cabinet.\", \"joint_positions\": [0.0295, -0.22578, 0.22757, -2.79921, 0.30209, 4.15541, -0.12571], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.53865, 0.0626, 1.04539], \"tcp_roll_pitch_yaw\": [0.00095, -1.38147, -0.00222], \"tcp_rotation_matrix\": [[0.00224, -0.00424, 0.99999], [0.01522, -0.99987, -0.00428], [0.99988, 0.01523, -0.00218]], \"simulated_seconds_remaining\": 23.892, \"calls_remaining_including_this\": 51}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 10, \"motion_seconds\": 0.66, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The centered handle runs through the open grasp region. I close the jaws around it before testing an outward pull."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"open the cabinet.\", \"joint_positions\": [0.03598, -0.22989, 0.23598, -2.80696, 0.29085, 4.16211, -0.12587], \"gripper_open\": 0.6504, \"tcp_xyz\": [0.53508, 0.07293, 1.04552], \"tcp_roll_pitch_yaw\": [-0.05225, -1.38553, 0.07312], \"tcp_rotation_matrix\": [[-0.00263, 0.01873, 0.99982], [0.02497, -0.99951, 0.01879], [0.99968, 0.02502, 0.00216]], \"simulated_seconds_remaining\": 22.968, \"calls_remaining_including_this\": 50}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.43
    },
    "note": "The jaws remain separated around the handle, indicating contact. I pull outward a short distance to check that the cabinet door follows."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"open the cabinet.\", \"joint_positions\": [0.03598, -0.22989, 0.23598, -2.80696, 0.29085, 4.16211, -0.12587], \"gripper_open\": 0.6504, \"tcp_xyz\": [0.53508, 0.07293, 1.04552], \"tcp_roll_pitch_yaw\": [-0.05225, -1.38553, 0.07312], \"tcp_rotation_matrix\": [[-0.00263, 0.01873, 0.99982], [0.02497, -0.99951, 0.01879], [0.99968, 0.02502, 0.00216]], \"simulated_seconds_remaining\": 22.968, \"calls_remaining_including_this\": 49}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.475,
      "pitch": -1.3,
      "roll": 0,
      "yaw": 0
    },
    "note": "The larger pull was unreachable at the measured wrist angle. I use a shorter outward pull with a slightly relaxed wrist pitch."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"open the cabinet.\", \"joint_positions\": [0.08415, -0.51896, 0.30324, -2.96801, 0.46705, 3.95655, -0.16214], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.47615, 0.07301, 1.04563], \"tcp_roll_pitch_yaw\": [-0.00104, -1.30193, 0.00157], \"tcp_rotation_matrix\": [[0.08166, -0.00115, 0.99666], [0.01573, -0.99987, -0.00245], [0.99654, 0.01587, -0.08163]], \"simulated_seconds_remaining\": 22.242, \"calls_remaining_including_this\": 48}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 11, \"motion_seconds\": 0.726, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.54,
      "pitch": -1.38,
      "gripper": 1
    },
    "note": "The fingers reopened during the retreat, so the door did not follow. I reapproach the centered handle to establish a closed grasp again."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 11, \"instruction\": \"open the cabinet.\", \"joint_positions\": [0.03231, -0.22605, 0.26564, -2.795, 0.34463, 4.15932, -0.14315], \"gripper_open\": 1.0, \"tcp_xyz\": [0.53626, 0.07404, 1.04697], \"tcp_roll_pitch_yaw\": [-0.01213, -1.38562, 0.01442], \"tcp_rotation_matrix\": [[-0.00198, -0.00052, 1.0], [0.01763, -0.99984, -0.00049], [0.99984, 0.01763, 0.00199]], \"simulated_seconds_remaining\": 21.516, \"calls_remaining_including_this\": 47}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 11, \"motion_seconds\": 0.726, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The pull is aligned between the fingers. I close the gripper and will keep the close command active during the pull."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 12, \"instruction\": \"open the cabinet.\", \"joint_positions\": [0.03656, -0.22999, 0.27105, -2.80331, 0.34145, 4.16925, -0.14327], \"gripper_open\": 0.853, \"tcp_xyz\": [0.53262, 0.07907, 1.04737], \"tcp_roll_pitch_yaw\": [-0.04223, -1.39173, 0.0545], \"tcp_rotation_matrix\": [[-0.00849, 0.00982, 0.99992], [0.02282, -0.99969, 0.01001], [0.9997, 0.0229, 0.00826]], \"simulated_seconds_remaining\": 20.592, \"calls_remaining_including_this\": 46}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.48,
      "pitch": -1.3,
      "roll": 0,
      "yaw": 0,
      "gripper": 0
    },
    "note": "The jaws are contacting the pull. I maintain closure and draw the handle outward with a short, reachable motion."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 13, \"instruction\": \"open the cabinet.\", \"joint_positions\": [0.08512, -0.50021, 0.3228, -2.94502, 0.49704, 3.95604, -0.17773], \"gripper_open\": 0.0, \"tcp_xyz\": [0.48072, 0.07911, 1.04744], \"tcp_roll_pitch_yaw\": [-0.00056, -1.30147, 0.0008], \"tcp_rotation_matrix\": [[0.08212, -0.00146, 0.99662], [0.01558, -0.99987, -0.00275], [0.9965, 0.01575, -0.08209]], \"simulated_seconds_remaining\": 19.668, \"calls_remaining_including_this\": 45}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "y": 0,
      "z": 1.08,
      "gripper": 1,
      "pitch": -1.38,
      "roll": 0,
      "yaw": 0
    },
    "note": "The closed fingers slipped free without moving the door. The wrist view now distinguishes the pull by its short lower mounting bracket, left of the seam. I realign with that pull and open the jaws."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 14, \"instruction\": \"open the cabinet.\", \"joint_positions\": [0.10392, -0.56443, -0.05967, -2.97494, 0.07647, 3.98068, -0.09809], \"gripper_open\": 0.9965, \"tcp_xyz\": [0.48074, 0.001, 1.07958], \"tcp_roll_pitch_yaw\": [0.00091, -1.37894, -0.00116], \"tcp_rotation_matrix\": [[0.00476, -0.00319, 0.99998], [0.01523, -0.99988, -0.00327], [0.99987, 0.01525, -0.00471]], \"simulated_seconds_remaining\": 18.744, \"calls_remaining_including_this\": 44}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.55,
      "y": 0,
      "gripper": 1
    },
    "note": "The raised pull with the lower bracket is centered at the finger gap. I advance straight toward it while preserving the lateral alignment."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 15, \"instruction\": \"open the cabinet.\", \"joint_positions\": [0.11566, -0.31758, -0.09248, -2.77557, 0.04031, 4.02656, -0.06948], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.54863, 1e-05, 1.07957], \"tcp_roll_pitch_yaw\": [0.00099, -1.37885, -0.00127], \"tcp_rotation_matrix\": [[0.00485, -0.00322, 0.99998], [0.01521, -0.99988, -0.00329], [0.99987, 0.01523, -0.0048]], \"simulated_seconds_remaining\": 18.018, \"calls_remaining_including_this\": 43}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 11, \"motion_seconds\": 0.726, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The pull is between the fingers at the new alignment. I close around the raised bar."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 16, \"instruction\": \"open the cabinet.\", \"joint_positions\": [0.12151, -0.31801, -0.08472, -2.77733, -0.02659, 4.02713, -0.06898], \"gripper_open\": 0.1103, \"tcp_xyz\": [0.54753, 0.02494, 1.07963], \"tcp_roll_pitch_yaw\": [-0.22717, -1.37493, 0.28783], \"tcp_rotation_matrix\": [[1e-05, 0.06178, 0.99809], [0.05934, -0.99633, 0.06167], [0.99824, 0.05923, -0.00368]], \"simulated_seconds_remaining\": 17.094, \"calls_remaining_including_this\": 42}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.47,
      "gripper": 0,
      "pitch": -1.3,
      "roll": 0,
      "yaw": 0
    },
    "note": "The fingers have closed to a narrow opening around the bar. I pull outward while holding the jaws closed to start the door swing."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 17, \"instruction\": \"open the cabinet.\", \"joint_positions\": [0.0667, -0.6826, 0.08596, -2.98427, 0.28517, 3.79986, -0.13137], \"gripper_open\": 0.1001, \"tcp_xyz\": [0.47074, 0.00697, 1.07961], \"tcp_roll_pitch_yaw\": [0.15674, -1.29717, -0.19647], \"tcp_rotation_matrix\": [[0.08193, -0.04714, 0.99552], [-0.03039, -0.99853, -0.04478], [0.99617, -0.02659, -0.08324]], \"simulated_seconds_remaining\": 16.302, \"calls_remaining_including_this\": 41}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 12, \"motion_seconds\": 0.792, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.39,
      "y": -0.025,
      "yaw": 0.18,
      "roll": 0,
      "pitch": -1.3,
      "gripper": 0
    },
    "note": "The cabinet edge moved with the gripper, confirming the grasp. I continue pulling outward and slightly sideways to follow the hinged door's arc."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 18, \"instruction\": \"open the cabinet.\", \"joint_positions\": [0.0667, -0.6826, 0.08596, -2.98427, 0.28517, 3.79986, -0.13137], \"gripper_open\": 0.1001, \"tcp_xyz\": [0.47074, 0.00697, 1.07961], \"tcp_roll_pitch_yaw\": [0.15674, -1.29717, -0.19647], \"tcp_rotation_matrix\": [[0.08193, -0.04714, 0.99552], [-0.03039, -0.99853, -0.04478], [0.99617, -0.02659, -0.08324]], \"simulated_seconds_remaining\": 16.302, \"calls_remaining_including_this\": 40}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.405,
      "y": -0.012,
      "yaw": 0.12,
      "roll": 0,
      "pitch": -1.05,
      "gripper": 0
    },
    "note": "The next arc pose exceeded the arm's reach at this wrist angle. I relax the pitch and shorten the pull while maintaining the handle grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "Episode ended. Do not call more tools. Return a brief final response."
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

I grasped the handle and began opening the cabinet, but the episode ended before I could confirm it was fully open.

TURN USAGE
{
  "input_tokens": 323271,
  "cached_input_tokens": 297856,
  "cache_write_input_tokens": 0,
  "output_tokens": 3638,
  "reasoning_output_tokens": 1594
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.01107,
      -0.8325,
      0.0186,
      -2.30044,
      0.00616,
      1.65505,
      0.00981
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.33034,
      0.01148,
      1.06707
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.98243,
        0.01458,
        0.18606
      ],
      [
        0.01541,
        -0.99988,
        -0.00299
      ],
      [
        0.18599,
        0.00581,
        -0.98253
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 21.416602136567235,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48,
                    "z": 1.1,
                    "pitch": -1.38
                  },
                  "note": "The cabinet has a vertical handle near the right edge of its front. I turn the open fingers toward the cabinet and approach for a clearer handle view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 32,
    "motion_seconds": 2.112,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.07335,
      -0.6322,
      0.10206,
      -2.95432,
      0.01709,
      3.88538,
      0.03229
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.47977,
      0.01147,
      1.09955
    ],
    "tcp_roll_pitch_yaw": [
      -0.00031,
      -1.37417,
      0.00022
    ],
    "tcp_rotation_matrix": [
      [
        0.00953,
        -0.00293,
        0.99995
      ],
      [
        0.01546,
        -0.99988,
        -0.00307
      ],
      [
        0.99984,
        0.01549,
        -0.00948
      ]
    ],
    "simulated_seconds_remaining": 27.918,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 14.210379567928612,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.54,
                    "y": -0.028,
                    "z": 1.145
                  },
                  "note": "The wrist view shows the vertical pull to the right of the finger gap. I shift toward it and slightly upward while keeping the jaws open."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.02324,
      -0.48875,
      -0.08796,
      -2.72174,
      -0.15986,
      3.7981,
      0.06929
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.53907,
      -0.02743,
      1.14434
    ],
    "tcp_roll_pitch_yaw": [
      0.00035,
      -1.37424,
      -0.00051
    ],
    "tcp_rotation_matrix": [
      [
        0.00946,
        -0.00301,
        0.99995
      ],
      [
        0.01534,
        -0.99988,
        -0.00316
      ],
      [
        0.99984,
        0.01536,
        -0.00941
      ]
    ],
    "simulated_seconds_remaining": 27.06,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 20.615770023316145,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.018,
                    "z": 1.075,
                    "x": 0.56
                  },
                  "note": "The handle remains above and to the right of the gap; the lateral shift showed the camera's direction. I correct leftward in the image and lower to the middle of the pull."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.04555,
      -0.27596,
      0.10896,
      -2.74347,
      0.07985,
      4.02987,
      -0.03555
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.55971,
      0.01739,
      1.07596
    ],
    "tcp_roll_pitch_yaw": [
      9e-05,
      -1.37396,
      -3e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.00974,
        -0.00278,
        0.99995
      ],
      [
        0.01539,
        -0.99988,
        -0.00293
      ],
      [
        0.99983,
        0.01542,
        -0.00969
      ]
    ],
    "simulated_seconds_remaining": 26.202,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 10.207985043525696,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.61,
                    "y": 0.063
                  },
                  "note": "The raised vertical bar is just right of the wrist center. I align the open gap with that bar and advance a short distance to surround it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.01578,
      -0.1129,
      0.22294,
      -2.68216,
      0.37089,
      4.29901,
      -0.16566
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.56107,
      0.01935,
      1.07728
    ],
    "tcp_roll_pitch_yaw": [
      0.39697,
      -1.50954,
      -0.52234
    ],
    "tcp_rotation_matrix": [
      [
        -0.13019,
        -0.13062,
        0.98285
      ],
      [
        0.00837,
        -0.99139,
        -0.13065
      ],
      [
        0.99145,
        -0.00879,
        0.13016
      ]
    ],
    "simulated_seconds_remaining": 25.476,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 6.406741322018206,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48,
                    "y": 0.063,
                    "z": 1.045,
                    "pitch": -1.38,
                    "roll": 0,
                    "yaw": 0
                  },
                  "note": "The attempted advance stopped against the cabinet and tilted the wrist. I back off to restore orientation and align laterally before approaching again."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.06732,
      -0.41362,
      0.25276,
      -2.96884,
      0.36277,
      4.13523,
      -0.11336
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.48084,
      0.06261,
      1.0454
    ],
    "tcp_roll_pitch_yaw": [
      0.00075,
      -1.38154,
      -0.00196
    ],
    "tcp_rotation_matrix": [
      [
        0.00217,
        -0.00418,
        0.99999
      ],
      [
        0.01526,
        -0.99987,
        -0.00422
      ],
      [
        0.99988,
        0.01527,
        -0.00211
      ]
    ],
    "simulated_seconds_remaining": 24.552,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 6.005269832909107,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.54
                  },
                  "note": "The vertical handle is now centered in the finger gap. I advance with the jaws open to place the bar between the fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.0295,
      -0.22578,
      0.22757,
      -2.79921,
      0.30209,
      4.15541,
      -0.12571
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.53865,
      0.0626,
      1.04539
    ],
    "tcp_roll_pitch_yaw": [
      0.00095,
      -1.38147,
      -0.00222
    ],
    "tcp_rotation_matrix": [
      [
        0.00224,
        -0.00424,
        0.99999
      ],
      [
        0.01522,
        -0.99987,
        -0.00428
      ],
      [
        0.99988,
        0.01523,
        -0.00218
      ]
    ],
    "simulated_seconds_remaining": 23.892,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 5.804999345913529,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The centered handle runs through the open grasp region. I close the jaws around it before testing an outward pull."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.03598,
      -0.22989,
      0.23598,
      -2.80696,
      0.29085,
      4.16211,
      -0.12587
    ],
    "gripper_open": 0.6504,
    "tcp_xyz": [
      0.53508,
      0.07293,
      1.04552
    ],
    "tcp_roll_pitch_yaw": [
      -0.05225,
      -1.38553,
      0.07312
    ],
    "tcp_rotation_matrix": [
      [
        -0.00263,
        0.01873,
        0.99982
      ],
      [
        0.02497,
        -0.99951,
        0.01879
      ],
      [
        0.99968,
        0.02502,
        0.00216
      ]
    ],
    "simulated_seconds_remaining": 22.968,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 5.604853205382824,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.43
                  },
                  "note": "The jaws remain separated around the handle, indicating contact. I pull outward a short distance to check that the cabinet door follows."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 9,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.03598,
      -0.22989,
      0.23598,
      -2.80696,
      0.29085,
      4.16211,
      -0.12587
    ],
    "gripper_open": 0.6504,
    "tcp_xyz": [
      0.53508,
      0.07293,
      1.04552
    ],
    "tcp_roll_pitch_yaw": [
      -0.05225,
      -1.38553,
      0.07312
    ],
    "tcp_rotation_matrix": [
      [
        -0.00263,
        0.01873,
        0.99982
      ],
      [
        0.02497,
        -0.99951,
        0.01879
      ],
      [
        0.99968,
        0.02502,
        0.00216
      ]
    ],
    "simulated_seconds_remaining": 22.968,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 5.404620858840644,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.475,
                    "pitch": -1.3,
                    "roll": 0,
                    "yaw": 0
                  },
                  "note": "The larger pull was unreachable at the measured wrist angle. I use a shorter outward pull with a slightly relaxed wrist pitch."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.08415,
      -0.51896,
      0.30324,
      -2.96801,
      0.46705,
      3.95655,
      -0.16214
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.47615,
      0.07301,
      1.04563
    ],
    "tcp_roll_pitch_yaw": [
      -0.00104,
      -1.30193,
      0.00157
    ],
    "tcp_rotation_matrix": [
      [
        0.08166,
        -0.00115,
        0.99666
      ],
      [
        0.01573,
        -0.99987,
        -0.00245
      ],
      [
        0.99654,
        0.01587,
        -0.08163
      ]
    ],
    "simulated_seconds_remaining": 22.242,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 7.805874904617667,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.54,
                    "pitch": -1.38,
                    "gripper": 1
                  },
                  "note": "The fingers reopened during the retreat, so the door did not follow. I reapproach the centered handle to establish a closed grasp again."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.03231,
      -0.22605,
      0.26564,
      -2.795,
      0.34463,
      4.15932,
      -0.14315
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.53626,
      0.07404,
      1.04697
    ],
    "tcp_roll_pitch_yaw": [
      -0.01213,
      -1.38562,
      0.01442
    ],
    "tcp_rotation_matrix": [
      [
        -0.00198,
        -0.00052,
        1.0
      ],
      [
        0.01763,
        -0.99984,
        -0.00049
      ],
      [
        0.99984,
        0.01763,
        0.00199
      ]
    ],
    "simulated_seconds_remaining": 21.516,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 4.604038128629327,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The pull is aligned between the fingers. I close the gripper and will keep the close command active during the pull."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.03656,
      -0.22999,
      0.27105,
      -2.80331,
      0.34145,
      4.16925,
      -0.14327
    ],
    "gripper_open": 0.853,
    "tcp_xyz": [
      0.53262,
      0.07907,
      1.04737
    ],
    "tcp_roll_pitch_yaw": [
      -0.04223,
      -1.39173,
      0.0545
    ],
    "tcp_rotation_matrix": [
      [
        -0.00849,
        0.00982,
        0.99992
      ],
      [
        0.02282,
        -0.99969,
        0.01001
      ],
      [
        0.9997,
        0.0229,
        0.00826
      ]
    ],
    "simulated_seconds_remaining": 20.592,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 5.204256435856223,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48,
                    "pitch": -1.3,
                    "roll": 0,
                    "yaw": 0,
                    "gripper": 0
                  },
                  "note": "The jaws are contacting the pull. I maintain closure and draw the handle outward with a short, reachable motion."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.08512,
      -0.50021,
      0.3228,
      -2.94502,
      0.49704,
      3.95604,
      -0.17773
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.48072,
      0.07911,
      1.04744
    ],
    "tcp_roll_pitch_yaw": [
      -0.00056,
      -1.30147,
      0.0008
    ],
    "tcp_rotation_matrix": [
      [
        0.08212,
        -0.00146,
        0.99662
      ],
      [
        0.01558,
        -0.99987,
        -0.00275
      ],
      [
        0.9965,
        0.01575,
        -0.08209
      ]
    ],
    "simulated_seconds_remaining": 19.668,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 17.014146333560348,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0,
                    "z": 1.08,
                    "gripper": 1,
                    "pitch": -1.38,
                    "roll": 0,
                    "yaw": 0
                  },
                  "note": "The closed fingers slipped free without moving the door. The wrist view now distinguishes the pull by its short lower mounting bracket, left of the seam. I realign with that pull and open the jaws."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.10392,
      -0.56443,
      -0.05967,
      -2.97494,
      0.07647,
      3.98068,
      -0.09809
    ],
    "gripper_open": 0.9965,
    "tcp_xyz": [
      0.48074,
      0.001,
      1.07958
    ],
    "tcp_roll_pitch_yaw": [
      0.00091,
      -1.37894,
      -0.00116
    ],
    "tcp_rotation_matrix": [
      [
        0.00476,
        -0.00319,
        0.99998
      ],
      [
        0.01523,
        -0.99988,
        -0.00327
      ],
      [
        0.99987,
        0.01525,
        -0.00471
      ]
    ],
    "simulated_seconds_remaining": 18.744,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 7.2063129264861345,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.55,
                    "y": 0,
                    "gripper": 1
                  },
                  "note": "The raised pull with the lower bracket is centered at the finger gap. I advance straight toward it while preserving the lateral alignment."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.11566,
      -0.31758,
      -0.09248,
      -2.77557,
      0.04031,
      4.02656,
      -0.06948
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.54863,
      1e-05,
      1.07957
    ],
    "tcp_roll_pitch_yaw": [
      0.00099,
      -1.37885,
      -0.00127
    ],
    "tcp_rotation_matrix": [
      [
        0.00485,
        -0.00322,
        0.99998
      ],
      [
        0.01521,
        -0.99988,
        -0.00329
      ],
      [
        0.99987,
        0.01523,
        -0.0048
      ]
    ],
    "simulated_seconds_remaining": 18.018,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 5.204504328779876,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The pull is between the fingers at the new alignment. I close around the raised bar."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.12151,
      -0.31801,
      -0.08472,
      -2.77733,
      -0.02659,
      4.02713,
      -0.06898
    ],
    "gripper_open": 0.1103,
    "tcp_xyz": [
      0.54753,
      0.02494,
      1.07963
    ],
    "tcp_roll_pitch_yaw": [
      -0.22717,
      -1.37493,
      0.28783
    ],
    "tcp_rotation_matrix": [
      [
        1e-05,
        0.06178,
        0.99809
      ],
      [
        0.05934,
        -0.99633,
        0.06167
      ],
      [
        0.99824,
        0.05923,
        -0.00368
      ]
    ],
    "simulated_seconds_remaining": 17.094,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 8.006140723824501,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.47,
                    "gripper": 0,
                    "pitch": -1.3,
                    "roll": 0,
                    "yaw": 0
                  },
                  "note": "The fingers have closed to a narrow opening around the bar. I pull outward while holding the jaws closed to start the door swing."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.0667,
      -0.6826,
      0.08596,
      -2.98427,
      0.28517,
      3.79986,
      -0.13137
    ],
    "gripper_open": 0.1001,
    "tcp_xyz": [
      0.47074,
      0.00697,
      1.07961
    ],
    "tcp_roll_pitch_yaw": [
      0.15674,
      -1.29717,
      -0.19647
    ],
    "tcp_rotation_matrix": [
      [
        0.08193,
        -0.04714,
        0.99552
      ],
      [
        -0.03039,
        -0.99853,
        -0.04478
      ],
      [
        0.99617,
        -0.02659,
        -0.08324
      ]
    ],
    "simulated_seconds_remaining": 16.302,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 15.612436936236918,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.39,
                    "y": -0.025,
                    "yaw": 0.18,
                    "roll": 0,
                    "pitch": -1.3,
                    "gripper": 0
                  },
                  "note": "The cabinet edge moved with the gripper, confirming the grasp. I continue pulling outward and slightly sideways to follow the hinged door's arc."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 18,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.0667,
      -0.6826,
      0.08596,
      -2.98427,
      0.28517,
      3.79986,
      -0.13137
    ],
    "gripper_open": 0.1001,
    "tcp_xyz": [
      0.47074,
      0.00697,
      1.07961
    ],
    "tcp_roll_pitch_yaw": [
      0.15674,
      -1.29717,
      -0.19647
    ],
    "tcp_rotation_matrix": [
      [
        0.08193,
        -0.04714,
        0.99552
      ],
      [
        -0.03039,
        -0.99853,
        -0.04478
      ],
      [
        0.99617,
        -0.02659,
        -0.08324
      ]
    ],
    "simulated_seconds_remaining": 16.302,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 6.605538804084063,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.405,
                    "y": -0.012,
                    "yaw": 0.12,
                    "roll": 0,
                    "pitch": -1.05,
                    "gripper": 0
                  },
                  "note": "The next arc pose exceeded the arm's reach at this wrist angle. I relax the pitch and shorten the pull while maintaining the handle grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

========================================================================
GPT-Astra / Open / Episode 042

Completed scored attempt. Images are available in the paired videos.

Opaque provider signatures, image payloads, and local paths are omitted.


RESULT
{
  "benchmark_index": 42,
  "source_episode_index": 112,
  "house_index": 17,
  "status": "completed",
  "success": true,
  "oracle_success": true,
  "action_decisions": 32,
  "wall_seconds": 319.1,
  "usage": {
    "input_tokens": 674562,
    "cached_input_tokens": 627072,
    "cache_write_input_tokens": 0,
    "output_tokens": 5416,
    "reasoning_output_tokens": 1880
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task.
You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose.
Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion.
move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up.
roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial.
Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5).
The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y.
The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics.
Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration.
Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target.
You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time.
Each move must include a short note describing what you observe and why you chose that motion.
Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done.
Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available.



AGENT TRANSCRIPT (visible messages and completed tool calls)

I’ll inspect the scene, then use the camera feedback to grasp and open the object.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.00067, -0.79937, 0.0636, -2.34976, 0.09685, 1.42561, 0.14109], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.26639, 0.0425, 1.01155], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.98733, -0.09427, -0.12763], [-0.08918, -0.995, 0.04505], [-0.13124, -0.0331, -0.9908]], \"simulated_seconds_remaining\": 30.03, \"calls_remaining_including_this\": 57}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "x": 0.48,
    "y": 0.08,
    "z": 0.9,
    "pitch": -1.3,
    "gripper": 1,
    "note": "The brown cabinet ahead has a vertical dark handle. I am moving forward and turning the fingers toward its front for a clearer approach."
  },
  "result": null,
  "error": {
    "message": "tool call error: tool call failed for `robot/move_to`\n\nCaused by:\n    Mcp error: -32602: Unexpected argument"
  },
  "status": "failed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.48,
      "y": 0.08,
      "z": 0.9,
      "pitch": -1.3,
      "gripper": 1
    },
    "note": "The brown cabinet ahead has a vertical dark handle. I am moving forward and turning the fingers toward its front for a clearer approach."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.00067, -0.79937, 0.0636, -2.34976, 0.09685, 1.42561, 0.14109], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.26639, 0.0425, 1.01155], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.98733, -0.09427, -0.12763], [-0.08918, -0.995, 0.04505], [-0.13124, -0.0331, -0.9908]], \"simulated_seconds_remaining\": 30.03, \"calls_remaining_including_this\": 56}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.4,
      "y": 0.08,
      "z": 0.92,
      "pitch": -0.65,
      "gripper": 1
    },
    "note": "The first pose was unreachable. I will make a smaller forward motion and partial wrist turn toward the cabinet."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"open the cabinet.\", \"joint_positions\": [0.02651, -0.86569, 0.20201, -2.83342, 0.16515, 2.49227, 0.17115], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.39922, 0.07981, 0.92021], \"tcp_roll_pitch_yaw\": [-0.00016, -0.64571, 0.0001], \"tcp_rotation_matrix\": [[0.86753, -0.05537, 0.49429], [-0.08911, -0.99501, 0.04494], [0.48933, -0.08303, -0.86814]], \"simulated_seconds_remaining\": 28.644, \"calls_remaining_including_this\": 55}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 21, \"motion_seconds\": 1.3860000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.48,
      "y": 0.12,
      "z": 0.83,
      "pitch": -1.25
    },
    "note": "The handle is still left of the gripper in the exterior view. I am lowering and moving toward the cabinet while completing the forward-facing turn."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"open the cabinet.\", \"joint_positions\": [0.02651, -0.86569, 0.20201, -2.83342, 0.16515, 2.49227, 0.17115], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.39922, 0.07981, 0.92021], \"tcp_roll_pitch_yaw\": [-0.00016, -0.64571, 0.0001], \"tcp_rotation_matrix\": [[0.86753, -0.05537, 0.49429], [-0.08911, -0.99501, 0.04494], [0.48933, -0.08303, -0.86814]], \"simulated_seconds_remaining\": 28.644, \"calls_remaining_including_this\": 54}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK requires a large joint jump; split the motion or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.46,
      "y": 0.12,
      "z": 0.85,
      "pitch": -0.9
    },
    "note": "I will split the rejected approach into a smaller rotation and lower the grasp point toward handle height."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.09828, -0.51254, 0.47568, -2.94464, 0.16641, 3.21975, 0.3119], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.45938, 0.11951, 0.85045], \"tcp_roll_pitch_yaw\": [-0.00093, -0.89687, 0.00049], \"tcp_rotation_matrix\": [[0.71868, -0.0332, 0.69454], [-0.08895, -0.99504, 0.04447], [0.68963, -0.09374, -0.71807]], \"simulated_seconds_remaining\": 27.654, \"calls_remaining_including_this\": 53}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 15, \"motion_seconds\": 0.99, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.58,
      "y": 0.16,
      "z": 0.94,
      "pitch": -1.2
    },
    "note": "The exterior image shows the fingers below and right of the handle. I will raise them and advance toward the handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.74538, -0.3627, 1.08819, -2.62954, 0.20418, 3.47567, 0.32692], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.57922, 0.15974, 0.93945], \"tcp_roll_pitch_yaw\": [-0.00107, -1.19805, 0.00063], \"tcp_rotation_matrix\": [[0.48176, -0.00387, 0.8763], [-0.08902, -0.99503, 0.04454], [0.87177, -0.09946, -0.47971]], \"simulated_seconds_remaining\": 26.334, \"calls_remaining_including_this\": 52}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 20, \"motion_seconds\": 1.32, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.63,
      "y": 0.205,
      "z": 0.985,
      "pitch": -1.4
    },
    "note": "The wrist view now shows the handle just left of the finger gap. I will shift left, raise slightly, and align the approach more squarely with the door."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-1.20404, -0.46025, 1.55785, -2.44626, 0.27745, 3.61899, 0.38829], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.62939, 0.20453, 0.98458], \"tcp_roll_pitch_yaw\": [-0.00165, -1.3978, 0.00126], \"tcp_rotation_matrix\": [[0.29921, 0.01602, 0.95405], [-0.08901, -0.99503, 0.04463], [0.95003, -0.09828, -0.2963]], \"simulated_seconds_remaining\": 25.476, \"calls_remaining_including_this\": 51}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 13, \"motion_seconds\": 0.8580000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.67,
      "y": 0.145,
      "z": 1.025,
      "pitch": -1.55
    },
    "note": "Both cabinet handles are visible in the wrist camera; the nearer right handle is left of the grasp center. I will correct sideways and raise the fingers to its middle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-1.51721, -0.39486, 1.70716, -2.37886, 0.12353, 3.81038, 0.40769], \"gripper_open\": 0.9983, \"tcp_xyz\": [0.66832, 0.15074, 1.02221], \"tcp_roll_pitch_yaw\": [-0.06514, -1.5445, 0.07265], \"tcp_rotation_matrix\": [[0.15776, 0.0381, 0.98674], [-0.08631, -0.9949, 0.05222], [0.9837, -0.0934, -0.15367]], \"simulated_seconds_remaining\": 24.618, \"calls_remaining_including_this\": 50}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 13, \"motion_seconds\": 0.8580000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.715
    },
    "note": "The right handle is centered between the open fingers in the wrist image. I will advance a short distance so the jaws straddle it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-1.76813, -0.46446, 1.90343, -2.33191, 0.04209, 4.02578, 0.51268], \"gripper_open\": 1.0, \"tcp_xyz\": [0.67778, 0.15871, 1.02594], \"tcp_roll_pitch_yaw\": [3.04072, -1.46467, -2.96145], \"tcp_rotation_matrix\": [[0.03433, 0.12197, 0.99194], [-0.09737, -0.9874, 0.12478], [0.99466, -0.10086, -0.02202]], \"simulated_seconds_remaining\": 24.024, \"calls_remaining_including_this\": 49}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 9, \"motion_seconds\": 0.5940000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The handle lies between the jaws and forward motion has stopped at the door. I will close the gripper around the handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-1.76492, -0.46384, 1.90498, -2.34288, 0.04486, 4.05235, 0.51308], \"gripper_open\": 0.9998, \"tcp_xyz\": [0.67314, 0.16064, 1.02681], \"tcp_roll_pitch_yaw\": [3.02599, -1.44968, -2.93825], \"tcp_rotation_matrix\": [[0.02086, 0.1319, 0.99104], [-0.1016, -0.98585, 0.13335], [0.99461, -0.10347, -0.00716]], \"simulated_seconds_remaining\": 23.1, \"calls_remaining_including_this\": 48}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.645,
      "pitch": -1.35,
      "roll": 0,
      "yaw": 0,
      "gripper": 1
    },
    "note": "The jaws remained fully open, suggesting they are pressed against the door. I will withdraw slightly and reduce the wrist tilt to clear the surface."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 11, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-1.01911, -0.33099, 1.2743, -2.4032, 0.18849, 3.49345, 0.29018], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.64543, 0.16072, 1.02705], \"tcp_roll_pitch_yaw\": [-0.00013, -1.35467, 0.00106], \"tcp_rotation_matrix\": [[0.34001, 0.01304, 0.94033], [-0.08883, -0.99499, 0.04592], [0.93622, -0.09915, -0.33714]], \"simulated_seconds_remaining\": 22.308, \"calls_remaining_including_this\": 47}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 12, \"motion_seconds\": 0.792, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The handle remains within the finger gap after withdrawing from the panel. I will try closing at this shallower depth."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 12, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-1.02569, -0.33132, 1.26481, -2.40844, 0.19293, 3.49316, 0.2897], \"gripper_open\": 0.117, \"tcp_xyz\": [0.64672, 0.14853, 1.02605], \"tcp_roll_pitch_yaw\": [0.01424, -1.35237, -0.03287], \"tcp_rotation_matrix\": [[0.34025, -0.00699, 0.94031], [-0.09854, -0.99473, 0.02826], [0.93516, -0.10227, -0.33914]], \"simulated_seconds_remaining\": 21.384, \"calls_remaining_including_this\": 46}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.55,
      "gripper": 0
    },
    "note": "The gripper closed to a narrow opening around the handle. I will pull outward to begin opening the cabinet door."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 13, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.48259, -0.53952, 0.80186, -2.68902, 0.18481, 3.47075, 0.36102], \"gripper_open\": 0.0001, \"tcp_xyz\": [0.55134, 0.14862, 1.02605], \"tcp_roll_pitch_yaw\": [0.01291, -1.35242, -0.03145], \"tcp_rotation_matrix\": [[0.34022, -0.00685, 0.94032], [-0.09822, -0.99476, 0.02829], [0.9352, -0.10198, -0.33911]], \"simulated_seconds_remaining\": 20.46, \"calls_remaining_including_this\": 45}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.47,
      "y": 0.12
    },
    "note": "The door edge has shifted outward with the initial pull. I will continue gently outward with a small sideways motion along its swing."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 14, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.17155, -0.79316, 0.52598, -2.92718, 0.16434, 3.39189, 0.35544], \"gripper_open\": 0.0, \"tcp_xyz\": [0.47125, 0.12045, 1.0261], \"tcp_roll_pitch_yaw\": [0.01223, -1.35253, -0.03081], \"tcp_rotation_matrix\": [[0.34012, -0.00687, 0.94036], [-0.09809, -0.99478, 0.02821], [0.93525, -0.10183, -0.33902]], \"simulated_seconds_remaining\": 19.602, \"calls_remaining_including_this\": 44}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 13, \"motion_seconds\": 0.8580000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

The handle slipped out near its lower end. I’ll regrasp higher on the bar and pull again.


{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.63,
      "y": 0.15,
      "z": 1.09,
      "pitch": -1.35,
      "roll": 0,
      "yaw": 0,
      "gripper": 1
    },
    "note": "The wrist view shows the previous grip was at the bottom of the handle. I will approach again with open jaws higher on the vertical bar."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 15, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.64796, -0.37971, 0.86269, -2.38407, 0.1116, 3.33148, 0.30849], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.62878, 0.14975, 1.0895], \"tcp_roll_pitch_yaw\": [2e-05, -1.35001, -0.00022], \"tcp_rotation_matrix\": [[0.34426, 0.01145, 0.9388], [-0.08925, -0.995, 0.04486], [0.93462, -0.09923, -0.34152]], \"simulated_seconds_remaining\": 18.15, \"calls_remaining_including_this\": 43}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 22, \"motion_seconds\": 1.452, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.655,
      "y": 0.18,
      "z": 1.065
    },
    "note": "The handle is visible just right of center, with its lower mounting end clear. I will center the jaws on the bar and advance slightly."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 16, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.98451, -0.3744, 1.2223, -2.31151, 0.12883, 3.36706, 0.36583], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.65424, 0.17925, 1.06571], \"tcp_roll_pitch_yaw\": [-0.00062, -1.35004, 0.00051], \"tcp_rotation_matrix\": [[0.34424, 0.01156, 0.93881], [-0.08908, -0.99501, 0.04492], [0.93465, -0.09909, -0.34149]], \"simulated_seconds_remaining\": 17.556, \"calls_remaining_including_this\": 42}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 9, \"motion_seconds\": 0.5940000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The vertical handle now extends through the finger gap above its lower mount. I will close the jaws on this higher section."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 17, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.99475, -0.37388, 1.20765, -2.31442, 0.13453, 3.36724, 0.36601], \"gripper_open\": 0.592, \"tcp_xyz\": [0.65742, 0.16157, 1.06752], \"tcp_roll_pitch_yaw\": [0.03551, -1.35163, -0.06269], \"tcp_rotation_matrix\": [[0.33981, -0.01604, 0.94036], [-0.10596, -0.99414, 0.02133], [0.93451, -0.10689, -0.33951]], \"simulated_seconds_remaining\": 16.632, \"calls_remaining_including_this\": 41}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.58,
      "gripper": 0
    },
    "note": "The jaws have made contact around the handle. I will pull back a short distance while maintaining closure to check that the door follows."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 18, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.56178, -0.52461, 0.84601, -2.53612, 0.17419, 3.35275, 0.36764], \"gripper_open\": 0.0074, \"tcp_xyz\": [0.58101, 0.16216, 1.06756], \"tcp_roll_pitch_yaw\": [0.03333, -1.35182, -0.05959], \"tcp_rotation_matrix\": [[0.33976, -0.01506, 0.94039], [-0.10518, -0.99421, 0.02208], [0.93461, -0.10641, -0.33938]], \"simulated_seconds_remaining\": 15.708, \"calls_remaining_including_this\": 40}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.7,
      "y": 0.16,
      "z": 1.065,
      "pitch": -1.1,
      "roll": 0,
      "yaw": 0,
      "gripper": 1
    },
    "note": "The second pull also slipped. I will approach deeper with a less extreme wrist angle so the handle can sit farther inside the jaws."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 19, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-1.1101, -0.17108, 1.30273, -2.05347, -0.10142, 2.96448, 0.42169], \"gripper_open\": 1.0, \"tcp_xyz\": [0.69737, 0.16288, 1.06272], \"tcp_roll_pitch_yaw\": [-0.02012, -1.09865, 0.02225], \"tcp_rotation_matrix\": [[0.5662, -0.00908, 0.82422], [-0.07922, -0.99591, 0.04345], [0.82045, -0.0899, -0.56461]], \"simulated_seconds_remaining\": 14.586, \"calls_remaining_including_this\": 39}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 17, \"motion_seconds\": 1.122, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The deeper approach reached the handle with the jaws open. I will close them before pulling outward."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 20, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-1.10725, -0.17531, 1.30188, -2.05504, -0.10226, 2.96383, 0.41973], \"gripper_open\": 1.0, \"tcp_xyz\": [0.69647, 0.1646, 1.06234], \"tcp_roll_pitch_yaw\": [-0.03456, -1.09847, 0.03815], \"tcp_rotation_matrix\": [[0.56642, -0.00604, 0.8241], [-0.0721, -0.9965, 0.04226], [0.82096, -0.08336, -0.56487]], \"simulated_seconds_remaining\": 13.662, \"calls_remaining_including_this\": 38}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.675,
      "gripper": 0
    },
    "note": "The panel blocks jaw closure at this depth. I will ease back slightly while keeping the close command, allowing the fingers to seat behind the handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 21, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.9058, -0.23697, 1.09977, -2.12322, 0.0206, 2.97324, 0.33515], \"gripper_open\": 0.6479, \"tcp_xyz\": [0.67765, 0.15701, 1.06431], \"tcp_roll_pitch_yaw\": [-0.0327, -1.10173, 0.02552], \"tcp_rotation_matrix\": [[0.56294, -0.01671, 0.82633], [-0.07908, -0.9963, 0.03373], [0.82271, -0.08434, -0.56217]], \"simulated_seconds_remaining\": 12.738, \"calls_remaining_including_this\": 37}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.66,
      "gripper": 0
    },
    "note": "The jaws are beginning to close as they clear the door face. I will withdraw another small increment to secure the bar."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 22, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.79309, -0.28494, 0.986, -2.17711, 0.09888, 2.97524, 0.28242], \"gripper_open\": 0.3763, \"tcp_xyz\": [0.66213, 0.14895, 1.06481], \"tcp_roll_pitch_yaw\": [-0.02898, -1.10202, 0.01014], \"tcp_rotation_matrix\": [[0.56172, -0.0287, 0.82683], [-0.08725, -0.99588, 0.02471], [0.82272, -0.08602, -0.56191]], \"simulated_seconds_remaining\": 11.814, \"calls_remaining_including_this\": 36}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.6,
      "y": 0.13,
      "gripper": 0
    },
    "note": "The jaws are now partly closed around the handle. I will pull outward and slightly toward the door’s free-edge swing."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 23, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.48153, -0.44747, 0.69556, -2.36544, 0.29575, 2.96821, 0.11843], \"gripper_open\": 0.0058, \"tcp_xyz\": [0.60129, 0.13094, 1.06487], \"tcp_roll_pitch_yaw\": [-0.02961, -1.10218, 0.01153], \"tcp_rotation_matrix\": [[0.56166, -0.02786, 0.8269], [-0.08655, -0.99593, 0.02523], [0.82283, -0.08574, -0.56178]], \"simulated_seconds_remaining\": 10.89, \"calls_remaining_including_this\": 35}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.665,
      "y": 0.135,
      "z": 1.005,
      "pitch": -1.15,
      "roll": 0,
      "yaw": 0,
      "gripper": 1
    },
    "note": "The exterior view shows the last grasp too high on the handle. I will lower onto the middle of the bar with the jaws reopened."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 24, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.93863, -0.23067, 1.15015, -2.3002, 0.09455, 3.24468, 0.26391], \"gripper_open\": 1.0, \"tcp_xyz\": [0.66442, 0.14712, 1.01733], \"tcp_roll_pitch_yaw\": [-0.01149, -1.18255, 0.02986], \"tcp_rotation_matrix\": [[0.49678, 0.01409, 0.86776], [-0.07588, -0.99533, 0.0596], [0.86456, -0.09546, -0.49339]], \"simulated_seconds_remaining\": 9.966, \"calls_remaining_including_this\": 34}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.648,
      "y": 0.17,
      "z": 1.015,
      "gripper": 0
    },
    "note": "The bar is slightly right of the finger gap. I will shift to center it and close while easing away from the panel."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 25, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.89786, -0.2897, 1.12743, -2.33243, 0.13027, 3.24041, 0.29426], \"gripper_open\": 0.4056, \"tcp_xyz\": [0.65181, 0.15375, 1.01721], \"tcp_roll_pitch_yaw\": [0.00215, -1.1857, -0.0076], \"tcp_rotation_matrix\": [[0.49201, -0.01032, 0.87053], [-0.09264, -0.99487, 0.04056], [0.86565, -0.1006, -0.49044]], \"simulated_seconds_remaining\": 9.042, \"calls_remaining_including_this\": 33}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.56,
      "y": 0.15,
      "z": 0.985,
      "gripper": 0
    },
    "note": "The jaws have contacted the bar. I will pull outward with a slight downward motion to maintain contact under the handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 26, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.43412, -0.455, 0.76256, -2.63909, 0.22457, 3.31846, 0.27404], \"gripper_open\": 0.0, \"tcp_xyz\": [0.56127, 0.15016, 0.98545], \"tcp_roll_pitch_yaw\": [0.00166, -1.18573, -0.00699], \"tcp_rotation_matrix\": [[0.49199, -0.01016, 0.87054], [-0.0924, -0.99489, 0.04061], [0.86568, -0.10042, -0.49042]], \"simulated_seconds_remaining\": 8.118, \"calls_remaining_including_this\": 32}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.647,
      "y": 0.105,
      "z": 1.04,
      "pitch": -1.35,
      "roll": 0,
      "yaw": 0,
      "gripper": 1
    },
    "note": "The previous closes deflected the hand sideways. I will offset the open jaws toward the other side of the bar for a centered grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 27, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.68566, -0.22369, 0.87102, -2.43005, 0.16656, 3.49262, 0.15251], \"gripper_open\": 0.9974, \"tcp_xyz\": [0.6462, 0.10541, 1.03915], \"tcp_roll_pitch_yaw\": [-0.00035, -1.34781, 0.00036], \"tcp_rotation_matrix\": [[0.34634, 0.01145, 0.93804], [-0.0891, -0.995, 0.04504], [0.93387, -0.09918, -0.34359]], \"simulated_seconds_remaining\": 7.062, \"calls_remaining_including_this\": 31}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 16, \"motion_seconds\": 1.056, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "One vertical bar is aligned directly ahead of the hand in the wrist view. I will close and test this corrected lateral position."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 28, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.68886, -0.22879, 0.86527, -2.43504, 0.17047, 3.4954, 0.15293], \"gripper_open\": 0.5906, \"tcp_xyz\": [0.64566, 0.09868, 1.03976], \"tcp_roll_pitch_yaw\": [0.00194, -1.35044, -0.01407], \"tcp_rotation_matrix\": [[0.34276, -0.00043, 0.93942], [-0.09376, -0.99502, 0.03375], [0.93473, -0.09965, -0.3411]], \"simulated_seconds_remaining\": 6.138, \"calls_remaining_including_this\": 30}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "y": 0.065,
      "gripper": 1
    },
    "note": "The two neighboring handles are crowding the jaws. I will shift so a single bar lies inside the gap."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 29, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.52132, -0.20541, 0.63188, -2.45666, -0.03953, 3.50924, 0.23371], \"gripper_open\": 0.9809, \"tcp_xyz\": [0.64289, 0.08709, 1.03787], \"tcp_roll_pitch_yaw\": [-0.13774, -1.34676, 0.16876], \"tcp_rotation_matrix\": [[0.34728, 0.04586, 0.93664], [-0.04871, -0.99657, 0.06685], [0.93649, -0.06884, -0.34386]], \"simulated_seconds_remaining\": 5.214, \"calls_remaining_including_this\": 29}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The selected bar is now centered in the gap. I will close the jaws here."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 30, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.52261, -0.21078, 0.62921, -2.4613, -0.03748, 3.51107, 0.23439], \"gripper_open\": 0.8877, \"tcp_xyz\": [0.64177, 0.08414, 1.03855], \"tcp_roll_pitch_yaw\": [-0.14036, -1.3488, 0.16556], \"tcp_rotation_matrix\": [[0.34502, 0.04025, 0.93773], [-0.05049, -0.99684, 0.06137], [0.93724, -0.06852, -0.3419]], \"simulated_seconds_remaining\": 4.29, \"calls_remaining_including_this\": 28}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.615,
      "gripper": 0
    },
    "note": "The neighboring handle is obstructing full closure. I will pull back slightly with the jaws closing to catch the centered handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 31, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.43047, -0.28723, 0.52001, -2.53978, -0.10105, 3.51393, 0.30544], \"gripper_open\": 0.1131, \"tcp_xyz\": [0.61647, 0.08029, 1.03861], \"tcp_roll_pitch_yaw\": [-0.13467, -1.34877, 0.15359], \"tcp_rotation_matrix\": [[0.3449, 0.03385, 0.93803], [-0.05386, -0.99699, 0.05578], [0.93709, -0.06976, -0.34203]], \"simulated_seconds_remaining\": 3.366, \"calls_remaining_including_this\": 27}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.4,
      "y": 0.08,
      "gripper": 0
    },
    "note": "The fingers are narrowly closed around the centered bar. I will pull outward to swing the door open."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 32, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.43047, -0.28723, 0.52001, -2.53978, -0.10105, 3.51393, 0.30544], \"gripper_open\": 0.1131, \"tcp_xyz\": [0.61647, 0.08029, 1.03861], \"tcp_roll_pitch_yaw\": [-0.13467, -1.34877, 0.15359], \"tcp_rotation_matrix\": [[0.3449, 0.03385, 0.93803], [-0.05386, -0.99699, 0.05578], [0.93709, -0.06976, -0.34203]], \"simulated_seconds_remaining\": 3.366, \"calls_remaining_including_this\": 26}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.49,
      "y": 0.1,
      "pitch": -1.15,
      "roll": 0,
      "yaw": 0,
      "gripper": 0
    },
    "note": "The long pull was unreachable. I will use a shorter outward pull and relax the wrist angle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "Episode ended. Do not call more tools. Return a brief final response."
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

I couldn’t reliably secure the handle or confirm the cabinet opened before the episode ended.

TURN USAGE
{
  "input_tokens": 674562,
  "cached_input_tokens": 627072,
  "cache_write_input_tokens": 0,
  "output_tokens": 5416,
  "reasoning_output_tokens": 1880
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.00067,
      -0.79937,
      0.0636,
      -2.34976,
      0.09685,
      1.42561,
      0.14109
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.26639,
      0.0425,
      1.01155
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.98733,
        -0.09427,
        -0.12763
      ],
      [
        -0.08918,
        -0.995,
        0.04505
      ],
      [
        -0.13124,
        -0.0331,
        -0.9908
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 28.031777390278876,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48,
                    "y": 0.08,
                    "z": 0.9,
                    "pitch": -1.3,
                    "gripper": 1
                  },
                  "note": "The brown cabinet ahead has a vertical dark handle. I am moving forward and turning the fingers toward its front for a clearer approach."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 2,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.00067,
      -0.79937,
      0.0636,
      -2.34976,
      0.09685,
      1.42561,
      0.14109
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.26639,
      0.0425,
      1.01155
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.98733,
        -0.09427,
        -0.12763
      ],
      [
        -0.08918,
        -0.995,
        0.04505
      ],
      [
        -0.13124,
        -0.0331,
        -0.9908
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 5.606842512264848,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "y": 0.08,
                    "z": 0.92,
                    "pitch": -0.65,
                    "gripper": 1
                  },
                  "note": "The first pose was unreachable. I will make a smaller forward motion and partial wrist turn toward the cabinet."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.02651,
      -0.86569,
      0.20201,
      -2.83342,
      0.16515,
      2.49227,
      0.17115
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.39922,
      0.07981,
      0.92021
    ],
    "tcp_roll_pitch_yaw": [
      -0.00016,
      -0.64571,
      0.0001
    ],
    "tcp_rotation_matrix": [
      [
        0.86753,
        -0.05537,
        0.49429
      ],
      [
        -0.08911,
        -0.99501,
        0.04494
      ],
      [
        0.48933,
        -0.08303,
        -0.86814
      ]
    ],
    "simulated_seconds_remaining": 28.644,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 7.606243127025664,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48,
                    "y": 0.12,
                    "z": 0.83,
                    "pitch": -1.25
                  },
                  "note": "The handle is still left of the gripper in the exterior view. I am lowering and moving toward the cabinet while completing the forward-facing turn."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 4,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.02651,
      -0.86569,
      0.20201,
      -2.83342,
      0.16515,
      2.49227,
      0.17115
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.39922,
      0.07981,
      0.92021
    ],
    "tcp_roll_pitch_yaw": [
      -0.00016,
      -0.64571,
      0.0001
    ],
    "tcp_rotation_matrix": [
      [
        0.86753,
        -0.05537,
        0.49429
      ],
      [
        -0.08911,
        -0.99501,
        0.04494
      ],
      [
        0.48933,
        -0.08303,
        -0.86814
      ]
    ],
    "simulated_seconds_remaining": 28.644,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 5.004815140739083,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.46,
                    "y": 0.12,
                    "z": 0.85,
                    "pitch": -0.9
                  },
                  "note": "I will split the rejected approach into a smaller rotation and lower the grasp point toward handle height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.09828,
      -0.51254,
      0.47568,
      -2.94464,
      0.16641,
      3.21975,
      0.3119
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.45938,
      0.11951,
      0.85045
    ],
    "tcp_roll_pitch_yaw": [
      -0.00093,
      -0.89687,
      0.00049
    ],
    "tcp_rotation_matrix": [
      [
        0.71868,
        -0.0332,
        0.69454
      ],
      [
        -0.08895,
        -0.99504,
        0.04447
      ],
      [
        0.68963,
        -0.09374,
        -0.71807
      ]
    ],
    "simulated_seconds_remaining": 27.654,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 8.406448440626264,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.58,
                    "y": 0.16,
                    "z": 0.94,
                    "pitch": -1.2
                  },
                  "note": "The exterior image shows the fingers below and right of the handle. I will raise them and advance toward the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.74538,
      -0.3627,
      1.08819,
      -2.62954,
      0.20418,
      3.47567,
      0.32692
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.57922,
      0.15974,
      0.93945
    ],
    "tcp_roll_pitch_yaw": [
      -0.00107,
      -1.19805,
      0.00063
    ],
    "tcp_rotation_matrix": [
      [
        0.48176,
        -0.00387,
        0.8763
      ],
      [
        -0.08902,
        -0.99503,
        0.04454
      ],
      [
        0.87177,
        -0.09946,
        -0.47971
      ]
    ],
    "simulated_seconds_remaining": 26.334,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 11.008591167628765,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.63,
                    "y": 0.205,
                    "z": 0.985,
                    "pitch": -1.4
                  },
                  "note": "The wrist view now shows the handle just left of the finger gap. I will shift left, raise slightly, and align the approach more squarely with the door."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -1.20404,
      -0.46025,
      1.55785,
      -2.44626,
      0.27745,
      3.61899,
      0.38829
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.62939,
      0.20453,
      0.98458
    ],
    "tcp_roll_pitch_yaw": [
      -0.00165,
      -1.3978,
      0.00126
    ],
    "tcp_rotation_matrix": [
      [
        0.29921,
        0.01602,
        0.95405
      ],
      [
        -0.08901,
        -0.99503,
        0.04463
      ],
      [
        0.95003,
        -0.09828,
        -0.2963
      ]
    ],
    "simulated_seconds_remaining": 25.476,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 9.009377481415868,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.67,
                    "y": 0.145,
                    "z": 1.025,
                    "pitch": -1.55
                  },
                  "note": "Both cabinet handles are visible in the wrist camera; the nearer right handle is left of the grasp center. I will correct sideways and raise the fingers to its middle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -1.51721,
      -0.39486,
      1.70716,
      -2.37886,
      0.12353,
      3.81038,
      0.40769
    ],
    "gripper_open": 0.9983,
    "tcp_xyz": [
      0.66832,
      0.15074,
      1.02221
    ],
    "tcp_roll_pitch_yaw": [
      -0.06514,
      -1.5445,
      0.07265
    ],
    "tcp_rotation_matrix": [
      [
        0.15776,
        0.0381,
        0.98674
      ],
      [
        -0.08631,
        -0.9949,
        0.05222
      ],
      [
        0.9837,
        -0.0934,
        -0.15367
      ]
    ],
    "simulated_seconds_remaining": 24.618,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 7.405741782858968,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.715
                  },
                  "note": "The right handle is centered between the open fingers in the wrist image. I will advance a short distance so the jaws straddle it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -1.76813,
      -0.46446,
      1.90343,
      -2.33191,
      0.04209,
      4.02578,
      0.51268
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.67778,
      0.15871,
      1.02594
    ],
    "tcp_roll_pitch_yaw": [
      3.04072,
      -1.46467,
      -2.96145
    ],
    "tcp_rotation_matrix": [
      [
        0.03433,
        0.12197,
        0.99194
      ],
      [
        -0.09737,
        -0.9874,
        0.12478
      ],
      [
        0.99466,
        -0.10086,
        -0.02202
      ]
    ],
    "simulated_seconds_remaining": 24.024,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 6.405578804202378,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The handle lies between the jaws and forward motion has stopped at the door. I will close the gripper around the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -1.76492,
      -0.46384,
      1.90498,
      -2.34288,
      0.04486,
      4.05235,
      0.51308
    ],
    "gripper_open": 0.9998,
    "tcp_xyz": [
      0.67314,
      0.16064,
      1.02681
    ],
    "tcp_roll_pitch_yaw": [
      3.02599,
      -1.44968,
      -2.93825
    ],
    "tcp_rotation_matrix": [
      [
        0.02086,
        0.1319,
        0.99104
      ],
      [
        -0.1016,
        -0.98585,
        0.13335
      ],
      [
        0.99461,
        -0.10347,
        -0.00716
      ]
    ],
    "simulated_seconds_remaining": 23.1,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 7.005674713291228,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.645,
                    "pitch": -1.35,
                    "roll": 0,
                    "yaw": 0,
                    "gripper": 1
                  },
                  "note": "The jaws remained fully open, suggesting they are pressed against the door. I will withdraw slightly and reduce the wrist tilt to clear the surface."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -1.01911,
      -0.33099,
      1.2743,
      -2.4032,
      0.18849,
      3.49345,
      0.29018
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.64543,
      0.16072,
      1.02705
    ],
    "tcp_roll_pitch_yaw": [
      -0.00013,
      -1.35467,
      0.00106
    ],
    "tcp_rotation_matrix": [
      [
        0.34001,
        0.01304,
        0.94033
      ],
      [
        -0.08883,
        -0.99499,
        0.04592
      ],
      [
        0.93622,
        -0.09915,
        -0.33714
      ]
    ],
    "simulated_seconds_remaining": 22.308,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 5.606317589990795,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The handle remains within the finger gap after withdrawing from the panel. I will try closing at this shallower depth."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -1.02569,
      -0.33132,
      1.26481,
      -2.40844,
      0.19293,
      3.49316,
      0.2897
    ],
    "gripper_open": 0.117,
    "tcp_xyz": [
      0.64672,
      0.14853,
      1.02605
    ],
    "tcp_roll_pitch_yaw": [
      0.01424,
      -1.35237,
      -0.03287
    ],
    "tcp_rotation_matrix": [
      [
        0.34025,
        -0.00699,
        0.94031
      ],
      [
        -0.09854,
        -0.99473,
        0.02826
      ],
      [
        0.93516,
        -0.10227,
        -0.33914
      ]
    ],
    "simulated_seconds_remaining": 21.384,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 4.403816293925047,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.55,
                    "gripper": 0
                  },
                  "note": "The gripper closed to a narrow opening around the handle. I will pull outward to begin opening the cabinet door."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.48259,
      -0.53952,
      0.80186,
      -2.68902,
      0.18481,
      3.47075,
      0.36102
    ],
    "gripper_open": 0.0001,
    "tcp_xyz": [
      0.55134,
      0.14862,
      1.02605
    ],
    "tcp_roll_pitch_yaw": [
      0.01291,
      -1.35242,
      -0.03145
    ],
    "tcp_rotation_matrix": [
      [
        0.34022,
        -0.00685,
        0.94032
      ],
      [
        -0.09822,
        -0.99476,
        0.02829
      ],
      [
        0.9352,
        -0.10198,
        -0.33911
      ]
    ],
    "simulated_seconds_remaining": 20.46,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 7.806372340768576,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.47,
                    "y": 0.12
                  },
                  "note": "The door edge has shifted outward with the initial pull. I will continue gently outward with a small sideways motion along its swing."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.17155,
      -0.79316,
      0.52598,
      -2.92718,
      0.16434,
      3.39189,
      0.35544
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.47125,
      0.12045,
      1.0261
    ],
    "tcp_roll_pitch_yaw": [
      0.01223,
      -1.35253,
      -0.03081
    ],
    "tcp_rotation_matrix": [
      [
        0.34012,
        -0.00687,
        0.94036
      ],
      [
        -0.09809,
        -0.99478,
        0.02821
      ],
      [
        0.93525,
        -0.10183,
        -0.33902
      ]
    ],
    "simulated_seconds_remaining": 19.602,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 9.407614948228002,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.63,
                    "y": 0.15,
                    "z": 1.09,
                    "pitch": -1.35,
                    "roll": 0,
                    "yaw": 0,
                    "gripper": 1
                  },
                  "note": "The wrist view shows the previous grip was at the bottom of the handle. I will approach again with open jaws higher on the vertical bar."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 22,
    "motion_seconds": 1.452,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.64796,
      -0.37971,
      0.86269,
      -2.38407,
      0.1116,
      3.33148,
      0.30849
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.62878,
      0.14975,
      1.0895
    ],
    "tcp_roll_pitch_yaw": [
      2e-05,
      -1.35001,
      -0.00022
    ],
    "tcp_rotation_matrix": [
      [
        0.34426,
        0.01145,
        0.9388
      ],
      [
        -0.08925,
        -0.995,
        0.04486
      ],
      [
        0.93462,
        -0.09923,
        -0.34152
      ]
    ],
    "simulated_seconds_remaining": 18.15,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 11.612845856696367,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.655,
                    "y": 0.18,
                    "z": 1.065
                  },
                  "note": "The handle is visible just right of center, with its lower mounting end clear. I will center the jaws on the bar and advance slightly."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.98451,
      -0.3744,
      1.2223,
      -2.31151,
      0.12883,
      3.36706,
      0.36583
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.65424,
      0.17925,
      1.06571
    ],
    "tcp_roll_pitch_yaw": [
      -0.00062,
      -1.35004,
      0.00051
    ],
    "tcp_rotation_matrix": [
      [
        0.34424,
        0.01156,
        0.93881
      ],
      [
        -0.08908,
        -0.99501,
        0.04492
      ],
      [
        0.93465,
        -0.09909,
        -0.34149
      ]
    ],
    "simulated_seconds_remaining": 17.556,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 5.2045997036620975,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The vertical handle now extends through the finger gap above its lower mount. I will close the jaws on this higher section."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.99475,
      -0.37388,
      1.20765,
      -2.31442,
      0.13453,
      3.36724,
      0.36601
    ],
    "gripper_open": 0.592,
    "tcp_xyz": [
      0.65742,
      0.16157,
      1.06752
    ],
    "tcp_roll_pitch_yaw": [
      0.03551,
      -1.35163,
      -0.06269
    ],
    "tcp_rotation_matrix": [
      [
        0.33981,
        -0.01604,
        0.94036
      ],
      [
        -0.10596,
        -0.99414,
        0.02133
      ],
      [
        0.93451,
        -0.10689,
        -0.33951
      ]
    ],
    "simulated_seconds_remaining": 16.632,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 5.204897468909621,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.58,
                    "gripper": 0
                  },
                  "note": "The jaws have made contact around the handle. I will pull back a short distance while maintaining closure to check that the door follows."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.56178,
      -0.52461,
      0.84601,
      -2.53612,
      0.17419,
      3.35275,
      0.36764
    ],
    "gripper_open": 0.0074,
    "tcp_xyz": [
      0.58101,
      0.16216,
      1.06756
    ],
    "tcp_roll_pitch_yaw": [
      0.03333,
      -1.35182,
      -0.05959
    ],
    "tcp_rotation_matrix": [
      [
        0.33976,
        -0.01506,
        0.94039
      ],
      [
        -0.10518,
        -0.99421,
        0.02208
      ],
      [
        0.93461,
        -0.10641,
        -0.33938
      ]
    ],
    "simulated_seconds_remaining": 15.708,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 13.411201898939908,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.7,
                    "y": 0.16,
                    "z": 1.065,
                    "pitch": -1.1,
                    "roll": 0,
                    "yaw": 0,
                    "gripper": 1
                  },
                  "note": "The second pull also slipped. I will approach deeper with a less extreme wrist angle so the handle can sit farther inside the jaws."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 19,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -1.1101,
      -0.17108,
      1.30273,
      -2.05347,
      -0.10142,
      2.96448,
      0.42169
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.69737,
      0.16288,
      1.06272
    ],
    "tcp_roll_pitch_yaw": [
      -0.02012,
      -1.09865,
      0.02225
    ],
    "tcp_rotation_matrix": [
      [
        0.5662,
        -0.00908,
        0.82422
      ],
      [
        -0.07922,
        -0.99591,
        0.04345
      ],
      [
        0.82045,
        -0.0899,
        -0.56461
      ]
    ],
    "simulated_seconds_remaining": 14.586,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 5.004095365293324,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The deeper approach reached the handle with the jaws open. I will close them before pulling outward."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 20,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -1.10725,
      -0.17531,
      1.30188,
      -2.05504,
      -0.10226,
      2.96383,
      0.41973
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.69647,
      0.1646,
      1.06234
    ],
    "tcp_roll_pitch_yaw": [
      -0.03456,
      -1.09847,
      0.03815
    ],
    "tcp_rotation_matrix": [
      [
        0.56642,
        -0.00604,
        0.8241
      ],
      [
        -0.0721,
        -0.9965,
        0.04226
      ],
      [
        0.82096,
        -0.08336,
        -0.56487
      ]
    ],
    "simulated_seconds_remaining": 13.662,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 5.606882073916495,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.675,
                    "gripper": 0
                  },
                  "note": "The panel blocks jaw closure at this depth. I will ease back slightly while keeping the close command, allowing the fingers to seat behind the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 21,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.9058,
      -0.23697,
      1.09977,
      -2.12322,
      0.0206,
      2.97324,
      0.33515
    ],
    "gripper_open": 0.6479,
    "tcp_xyz": [
      0.67765,
      0.15701,
      1.06431
    ],
    "tcp_roll_pitch_yaw": [
      -0.0327,
      -1.10173,
      0.02552
    ],
    "tcp_rotation_matrix": [
      [
        0.56294,
        -0.01671,
        0.82633
      ],
      [
        -0.07908,
        -0.9963,
        0.03373
      ],
      [
        0.82271,
        -0.08434,
        -0.56217
      ]
    ],
    "simulated_seconds_remaining": 12.738,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 5.005087422206998,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.66,
                    "gripper": 0
                  },
                  "note": "The jaws are beginning to close as they clear the door face. I will withdraw another small increment to secure the bar."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 22,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.79309,
      -0.28494,
      0.986,
      -2.17711,
      0.09888,
      2.97524,
      0.28242
    ],
    "gripper_open": 0.3763,
    "tcp_xyz": [
      0.66213,
      0.14895,
      1.06481
    ],
    "tcp_roll_pitch_yaw": [
      -0.02898,
      -1.10202,
      0.01014
    ],
    "tcp_rotation_matrix": [
      [
        0.56172,
        -0.0287,
        0.82683
      ],
      [
        -0.08725,
        -0.99588,
        0.02471
      ],
      [
        0.82272,
        -0.08602,
        -0.56191
      ]
    ],
    "simulated_seconds_remaining": 11.814,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 6.405056168325245,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.6,
                    "y": 0.13,
                    "gripper": 0
                  },
                  "note": "The jaws are now partly closed around the handle. I will pull outward and slightly toward the door’s free-edge swing."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 23,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.48153,
      -0.44747,
      0.69556,
      -2.36544,
      0.29575,
      2.96821,
      0.11843
    ],
    "gripper_open": 0.0058,
    "tcp_xyz": [
      0.60129,
      0.13094,
      1.06487
    ],
    "tcp_roll_pitch_yaw": [
      -0.02961,
      -1.10218,
      0.01153
    ],
    "tcp_rotation_matrix": [
      [
        0.56166,
        -0.02786,
        0.8269
      ],
      [
        -0.08655,
        -0.99593,
        0.02523
      ],
      [
        0.82283,
        -0.08574,
        -0.56178
      ]
    ],
    "simulated_seconds_remaining": 10.89,
    "calls_remaining_including_this": 35
  },
  "api_seconds": 14.01108574680984,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.665,
                    "y": 0.135,
                    "z": 1.005,
                    "pitch": -1.15,
                    "roll": 0,
                    "yaw": 0,
                    "gripper": 1
                  },
                  "note": "The exterior view shows the last grasp too high on the handle. I will lower onto the middle of the bar with the jaws reopened."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 24,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.93863,
      -0.23067,
      1.15015,
      -2.3002,
      0.09455,
      3.24468,
      0.26391
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.66442,
      0.14712,
      1.01733
    ],
    "tcp_roll_pitch_yaw": [
      -0.01149,
      -1.18255,
      0.02986
    ],
    "tcp_rotation_matrix": [
      [
        0.49678,
        0.01409,
        0.86776
      ],
      [
        -0.07588,
        -0.99533,
        0.0596
      ],
      [
        0.86456,
        -0.09546,
        -0.49339
      ]
    ],
    "simulated_seconds_remaining": 9.966,
    "calls_remaining_including_this": 34
  },
  "api_seconds": 7.205545419827104,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.648,
                    "y": 0.17,
                    "z": 1.015,
                    "gripper": 0
                  },
                  "note": "The bar is slightly right of the finger gap. I will shift to center it and close while easing away from the panel."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 25,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.89786,
      -0.2897,
      1.12743,
      -2.33243,
      0.13027,
      3.24041,
      0.29426
    ],
    "gripper_open": 0.4056,
    "tcp_xyz": [
      0.65181,
      0.15375,
      1.01721
    ],
    "tcp_roll_pitch_yaw": [
      0.00215,
      -1.1857,
      -0.0076
    ],
    "tcp_rotation_matrix": [
      [
        0.49201,
        -0.01032,
        0.87053
      ],
      [
        -0.09264,
        -0.99487,
        0.04056
      ],
      [
        0.86565,
        -0.1006,
        -0.49044
      ]
    ],
    "simulated_seconds_remaining": 9.042,
    "calls_remaining_including_this": 33
  },
  "api_seconds": 8.406616303138435,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.56,
                    "y": 0.15,
                    "z": 0.985,
                    "gripper": 0
                  },
                  "note": "The jaws have contacted the bar. I will pull outward with a slight downward motion to maintain contact under the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 26,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.43412,
      -0.455,
      0.76256,
      -2.63909,
      0.22457,
      3.31846,
      0.27404
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.56127,
      0.15016,
      0.98545
    ],
    "tcp_roll_pitch_yaw": [
      0.00166,
      -1.18573,
      -0.00699
    ],
    "tcp_rotation_matrix": [
      [
        0.49199,
        -0.01016,
        0.87054
      ],
      [
        -0.0924,
        -0.99489,
        0.04061
      ],
      [
        0.86568,
        -0.10042,
        -0.49042
      ]
    ],
    "simulated_seconds_remaining": 8.118,
    "calls_remaining_including_this": 32
  },
  "api_seconds": 13.411065668798983,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.647,
                    "y": 0.105,
                    "z": 1.04,
                    "pitch": -1.35,
                    "roll": 0,
                    "yaw": 0,
                    "gripper": 1
                  },
                  "note": "The previous closes deflected the hand sideways. I will offset the open jaws toward the other side of the bar for a centered grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 27,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.68566,
      -0.22369,
      0.87102,
      -2.43005,
      0.16656,
      3.49262,
      0.15251
    ],
    "gripper_open": 0.9974,
    "tcp_xyz": [
      0.6462,
      0.10541,
      1.03915
    ],
    "tcp_roll_pitch_yaw": [
      -0.00035,
      -1.34781,
      0.00036
    ],
    "tcp_rotation_matrix": [
      [
        0.34634,
        0.01145,
        0.93804
      ],
      [
        -0.0891,
        -0.995,
        0.04504
      ],
      [
        0.93387,
        -0.09918,
        -0.34359
      ]
    ],
    "simulated_seconds_remaining": 7.062,
    "calls_remaining_including_this": 31
  },
  "api_seconds": 9.80991901550442,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "One vertical bar is aligned directly ahead of the hand in the wrist view. I will close and test this corrected lateral position."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 28,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.68886,
      -0.22879,
      0.86527,
      -2.43504,
      0.17047,
      3.4954,
      0.15293
    ],
    "gripper_open": 0.5906,
    "tcp_xyz": [
      0.64566,
      0.09868,
      1.03976
    ],
    "tcp_roll_pitch_yaw": [
      0.00194,
      -1.35044,
      -0.01407
    ],
    "tcp_rotation_matrix": [
      [
        0.34276,
        -0.00043,
        0.93942
      ],
      [
        -0.09376,
        -0.99502,
        0.03375
      ],
      [
        0.93473,
        -0.09965,
        -0.3411
      ]
    ],
    "simulated_seconds_remaining": 6.138,
    "calls_remaining_including_this": 30
  },
  "api_seconds": 9.40804651658982,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.065,
                    "gripper": 1
                  },
                  "note": "The two neighboring handles are crowding the jaws. I will shift so a single bar lies inside the gap."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 29,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.52132,
      -0.20541,
      0.63188,
      -2.45666,
      -0.03953,
      3.50924,
      0.23371
    ],
    "gripper_open": 0.9809,
    "tcp_xyz": [
      0.64289,
      0.08709,
      1.03787
    ],
    "tcp_roll_pitch_yaw": [
      -0.13774,
      -1.34676,
      0.16876
    ],
    "tcp_rotation_matrix": [
      [
        0.34728,
        0.04586,
        0.93664
      ],
      [
        -0.04871,
        -0.99657,
        0.06685
      ],
      [
        0.93649,
        -0.06884,
        -0.34386
      ]
    ],
    "simulated_seconds_remaining": 5.214,
    "calls_remaining_including_this": 29
  },
  "api_seconds": 4.603441806510091,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The selected bar is now centered in the gap. I will close the jaws here."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 30,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.52261,
      -0.21078,
      0.62921,
      -2.4613,
      -0.03748,
      3.51107,
      0.23439
    ],
    "gripper_open": 0.8877,
    "tcp_xyz": [
      0.64177,
      0.08414,
      1.03855
    ],
    "tcp_roll_pitch_yaw": [
      -0.14036,
      -1.3488,
      0.16556
    ],
    "tcp_rotation_matrix": [
      [
        0.34502,
        0.04025,
        0.93773
      ],
      [
        -0.05049,
        -0.99684,
        0.06137
      ],
      [
        0.93724,
        -0.06852,
        -0.3419
      ]
    ],
    "simulated_seconds_remaining": 4.29,
    "calls_remaining_including_this": 28
  },
  "api_seconds": 6.204972484149039,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.615,
                    "gripper": 0
                  },
                  "note": "The neighboring handle is obstructing full closure. I will pull back slightly with the jaws closing to catch the centered handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 31,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.43047,
      -0.28723,
      0.52001,
      -2.53978,
      -0.10105,
      3.51393,
      0.30544
    ],
    "gripper_open": 0.1131,
    "tcp_xyz": [
      0.61647,
      0.08029,
      1.03861
    ],
    "tcp_roll_pitch_yaw": [
      -0.13467,
      -1.34877,
      0.15359
    ],
    "tcp_rotation_matrix": [
      [
        0.3449,
        0.03385,
        0.93803
      ],
      [
        -0.05386,
        -0.99699,
        0.05578
      ],
      [
        0.93709,
        -0.06976,
        -0.34203
      ]
    ],
    "simulated_seconds_remaining": 3.366,
    "calls_remaining_including_this": 27
  },
  "api_seconds": 8.00672998931259,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "y": 0.08,
                    "gripper": 0
                  },
                  "note": "The fingers are narrowly closed around the centered bar. I will pull outward to swing the door open."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 32,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.43047,
      -0.28723,
      0.52001,
      -2.53978,
      -0.10105,
      3.51393,
      0.30544
    ],
    "gripper_open": 0.1131,
    "tcp_xyz": [
      0.61647,
      0.08029,
      1.03861
    ],
    "tcp_roll_pitch_yaw": [
      -0.13467,
      -1.34877,
      0.15359
    ],
    "tcp_rotation_matrix": [
      [
        0.3449,
        0.03385,
        0.93803
      ],
      [
        -0.05386,
        -0.99699,
        0.05578
      ],
      [
        0.93709,
        -0.06976,
        -0.34203
      ]
    ],
    "simulated_seconds_remaining": 3.366,
    "calls_remaining_including_this": 26
  },
  "api_seconds": 5.605082640424371,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.49,
                    "y": 0.1,
                    "pitch": -1.15,
                    "roll": 0,
                    "yaw": 0,
                    "gripper": 0
                  },
                  "note": "The long pull was unreachable. I will use a shorter outward pull and relax the wrist angle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

========================================================================
GPT-Astra / Open / Episode 043

Completed scored attempt. Images are available in the paired videos.

Opaque provider signatures, image payloads, and local paths are omitted.


RESULT
{
  "benchmark_index": 43,
  "source_episode_index": 175,
  "house_index": 19,
  "status": "completed",
  "success": true,
  "oracle_success": true,
  "action_decisions": 10,
  "wall_seconds": 124.46,
  "usage": {
    "input_tokens": 181825,
    "cached_input_tokens": 164736,
    "cache_write_input_tokens": 0,
    "output_tokens": 1944,
    "reasoning_output_tokens": 646
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task.
You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose.
Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion.
move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up.
roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial.
Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5).
The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y.
The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics.
Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration.
Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target.
You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time.
Each move must include a short note describing what you observe and why you chose that motion.
Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done.
Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available.



AGENT TRANSCRIPT (visible messages and completed tool calls)

I’ll inspect the scene and use the camera feedback to guide the opening motion.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"open the refrigerator.\", \"joint_positions\": [0.01698, -0.80185, 0.05322, -2.29624, -0.03671, 1.66009, 0.02056], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.33667, 0.01452, 1.05988], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.98531, 0.03081, 0.16796], [0.0423, -0.99697, -0.06524], [0.16544, 0.07139, -0.98363]], \"simulated_seconds_remaining\": 30.03, \"calls_remaining_including_this\": 57}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "x": 0.44,
    "y": 0.0145,
    "z": 1.06,
    "note": "The refrigerator’s vertical handle is ahead of the open fingers. I move a short distance forward to bring the handle into a clearer wrist view."
  },
  "result": null,
  "error": {
    "message": "tool call error: tool call failed for `robot/move_to`\n\nCaused by:\n    Mcp error: -32602: Unexpected argument"
  },
  "status": "failed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.44,
      "y": 0.0145,
      "z": 1.06
    },
    "note": "The refrigerator’s vertical handle is ahead of the open fingers. I move a short distance forward to bring the handle into a clearer wrist view."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"open the refrigerator.\", \"joint_positions\": [0.00652, -0.58032, 0.06243, -2.08077, -0.04778, 1.49023, 0.02826], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.35825, 0.01359, 1.06923], \"tcp_roll_pitch_yaw\": [-0.01741, 0.17412, -0.01885], \"tcp_rotation_matrix\": [[0.99962, 0.02694, -0.00631], [0.02633, -0.99626, -0.08225], [-0.00851, 0.08206, -0.99659]], \"simulated_seconds_remaining\": 29.04, \"calls_remaining_including_this\": 56}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 15, \"motion_seconds\": 0.99, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"open the refrigerator.\", \"joint_positions\": [0.00652, -0.58032, 0.06243, -2.08077, -0.04778, 1.49023, 0.02826], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.35825, 0.01359, 1.06923], \"tcp_roll_pitch_yaw\": [-0.01741, 0.17412, -0.01885], \"tcp_rotation_matrix\": [[0.99962, 0.02694, -0.00631], [0.02633, -0.99626, -0.08225], [-0.00851, 0.08206, -0.99659]], \"simulated_seconds_remaining\": 29.04, \"calls_remaining_including_this\": 56}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.35,
      "z": 1.04,
      "pitch": -1.2
    },
    "note": "The handle runs vertically on the refrigerator face. I rotate the gripper from downward toward the door so its fingers can straddle the handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"open the refrigerator.\", \"joint_positions\": [0.00652, -0.58032, 0.06243, -2.08077, -0.04778, 1.49023, 0.02826], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.35825, 0.01359, 1.06923], \"tcp_roll_pitch_yaw\": [-0.01741, 0.17412, -0.01885], \"tcp_rotation_matrix\": [[0.99962, 0.02694, -0.00631], [0.02633, -0.99626, -0.08225], [-0.00851, 0.08206, -0.99659]], \"simulated_seconds_remaining\": 29.04, \"calls_remaining_including_this\": 55}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.34,
      "z": 0.95,
      "pitch": -0.6
    },
    "note": "The full horizontal orientation was unreachable. I lower the grasp point toward the handle and use a smaller forward tilt."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"open the refrigerator.\", \"joint_positions\": [0.00652, -0.58032, 0.06243, -2.08077, -0.04778, 1.49023, 0.02826], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.35825, 0.01359, 1.06923], \"tcp_roll_pitch_yaw\": [-0.01741, 0.17412, -0.01885], \"tcp_rotation_matrix\": [[0.99962, 0.02694, -0.00631], [0.02633, -0.99626, -0.08225], [-0.00851, 0.08206, -0.99659]], \"simulated_seconds_remaining\": 29.04, \"calls_remaining_including_this\": 54}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.28,
      "z": 0.99
    },
    "note": "The wrist is close to the door edge. I withdraw slightly and lower it to improve clearance and reveal the handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"open the refrigerator.\", \"joint_positions\": [0.02481, -0.87504, 0.06352, -2.46587, -0.03303, 1.58009, 0.03907], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.28089, 0.01359, 0.99093], \"tcp_roll_pitch_yaw\": [-0.01743, 0.17415, -0.01884], \"tcp_rotation_matrix\": [[0.99962, 0.02697, -0.00635], [0.02635, -0.99626, -0.08228], [-0.00854, 0.08208, -0.99659]], \"simulated_seconds_remaining\": 27.984, \"calls_remaining_including_this\": 53}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 16, \"motion_seconds\": 1.056, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "z": 0.86,
      "pitch": -0.25
    },
    "note": "The handle is visible below the gripper along the refrigerator edge. I descend toward its middle with a modest forward tilt."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"open the refrigerator.\", \"joint_positions\": [0.02481, -0.87504, 0.06352, -2.46587, -0.03303, 1.58009, 0.03907], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.28089, 0.01359, 0.99093], \"tcp_roll_pitch_yaw\": [-0.01743, 0.17415, -0.01884], \"tcp_rotation_matrix\": [[0.99962, 0.02697, -0.00635], [0.02635, -0.99626, -0.08228], [-0.00854, 0.08208, -0.99659]], \"simulated_seconds_remaining\": 27.984, \"calls_remaining_including_this\": 52}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "z": 0.88
    },
    "note": "I keep the reachable wrist orientation and lower alongside the vertical handle to align the fingertips with it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"open the refrigerator.\", \"joint_positions\": [0.03162, -0.89682, 0.07163, -2.75716, -0.02673, 1.84861, 0.0568], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.28084, 0.01359, 0.88122], \"tcp_roll_pitch_yaw\": [-0.01747, 0.17443, -0.01885], \"tcp_rotation_matrix\": [[0.99961, 0.02698, -0.00662], [0.02635, -0.99626, -0.08231], [-0.00882, 0.0821, -0.99658]], \"simulated_seconds_remaining\": 26.928, \"calls_remaining_including_this\": 51}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 16, \"motion_seconds\": 1.056, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.33,
      "y": 0.065
    },
    "note": "The handle is offset to the left of the finger gap in the wrist view. I advance and shift left to center the open gripper around it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"open the refrigerator.\", \"joint_positions\": [0.0636, -0.68503, 0.15955, -2.62847, 0.02231, 1.92769, 0.15167], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.32914, 0.0641, 0.88122], \"tcp_roll_pitch_yaw\": [-0.01753, 0.17448, -0.01879], \"tcp_rotation_matrix\": [[0.99961, 0.02705, -0.00667], [0.02641, -0.99625, -0.08237], [-0.00887, 0.08216, -0.99658]], \"simulated_seconds_remaining\": 26.136, \"calls_remaining_including_this\": 50}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 12, \"motion_seconds\": 0.792, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "y": -0.065
    },
    "note": "The handle moved farther left in the wrist image after the previous shift. I correct in the opposite direction to bring it between the fingers."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"open the refrigerator.\", \"joint_positions\": [-0.05133, -0.71564, 0.05978, -2.65734, -0.12304, 1.92043, -0.09882], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.32552, -0.02976, 0.88179], \"tcp_roll_pitch_yaw\": [-0.08854, 0.20325, 0.07577], \"tcp_rotation_matrix\": [[0.99038, 0.13684, -0.02051], [0.13211, -0.97921, -0.15396], [-0.04116, 0.14977, -0.98786]], \"simulated_seconds_remaining\": 24.948, \"calls_remaining_including_this\": 49}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 18, \"motion_seconds\": 1.1880000000000002, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "y": 0.08,
      "roll": -1,
      "pitch": 0.17,
      "yaw": 0
    },
    "note": "The fingers appear to meet the refrigerator face while moving sideways. I back away from that face and turn the fingers toward it for a side-on handle grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"open the refrigerator.\", \"joint_positions\": [-0.13875, -0.72461, 0.6211, -2.48197, -0.56211, 1.17117, 0.59986], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.21605, -0.04149, 1.02216], \"tcp_roll_pitch_yaw\": [-1.07973, -0.0376, -0.5507], \"tcp_rotation_matrix\": [[0.92452, -0.21608, -0.31395], [-0.37311, -0.34514, -0.8612], [0.07773, 0.91334, -0.39971]], \"simulated_seconds_remaining\": 23.43, \"calls_remaining_including_this\": 48}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 23, \"motion_seconds\": 1.518, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.23,
      "y": 0.18,
      "z": 1,
      "roll": -1.1,
      "pitch": 0,
      "yaw": 0
    },
    "note": "The wrist deflected while turning near the door. I move outward to gain clearance and establish the sideways approach before returning to the handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "Episode ended. Do not call more tools. Return a brief final response."
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

The episode ended before I could grasp the handle and open the refrigerator.

TURN USAGE
{
  "input_tokens": 181825,
  "cached_input_tokens": 164736,
  "cache_write_input_tokens": 0,
  "output_tokens": 1944,
  "reasoning_output_tokens": 646
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "open the refrigerator.",
    "joint_positions": [
      0.01698,
      -0.80185,
      0.05322,
      -2.29624,
      -0.03671,
      1.66009,
      0.02056
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.33667,
      0.01452,
      1.05988
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.98531,
        0.03081,
        0.16796
      ],
      [
        0.0423,
        -0.99697,
        -0.06524
      ],
      [
        0.16544,
        0.07139,
        -0.98363
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 20.617536893114448,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.44,
                    "y": 0.0145,
                    "z": 1.06
                  },
                  "note": "The refrigerator’s vertical handle is ahead of the open fingers. I move a short distance forward to bring the handle into a clearer wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "open the refrigerator.",
    "joint_positions": [
      0.00652,
      -0.58032,
      0.06243,
      -2.08077,
      -0.04778,
      1.49023,
      0.02826
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.35825,
      0.01359,
      1.06923
    ],
    "tcp_roll_pitch_yaw": [
      -0.01741,
      0.17412,
      -0.01885
    ],
    "tcp_rotation_matrix": [
      [
        0.99962,
        0.02694,
        -0.00631
      ],
      [
        0.02633,
        -0.99626,
        -0.08225
      ],
      [
        -0.00851,
        0.08206,
        -0.99659
      ]
    ],
    "simulated_seconds_remaining": 29.04,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 13.012182087637484,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.35,
                    "z": 1.04,
                    "pitch": -1.2
                  },
                  "note": "The handle runs vertically on the refrigerator face. I rotate the gripper from downward toward the door so its fingers can straddle the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 3,
  "state": {
    "instruction": "open the refrigerator.",
    "joint_positions": [
      0.00652,
      -0.58032,
      0.06243,
      -2.08077,
      -0.04778,
      1.49023,
      0.02826
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.35825,
      0.01359,
      1.06923
    ],
    "tcp_roll_pitch_yaw": [
      -0.01741,
      0.17412,
      -0.01885
    ],
    "tcp_rotation_matrix": [
      [
        0.99962,
        0.02694,
        -0.00631
      ],
      [
        0.02633,
        -0.99626,
        -0.08225
      ],
      [
        -0.00851,
        0.08206,
        -0.99659
      ]
    ],
    "simulated_seconds_remaining": 29.04,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 4.604730757884681,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.34,
                    "z": 0.95,
                    "pitch": -0.6
                  },
                  "note": "The full horizontal orientation was unreachable. I lower the grasp point toward the handle and use a smaller forward tilt."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 4,
  "state": {
    "instruction": "open the refrigerator.",
    "joint_positions": [
      0.00652,
      -0.58032,
      0.06243,
      -2.08077,
      -0.04778,
      1.49023,
      0.02826
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.35825,
      0.01359,
      1.06923
    ],
    "tcp_roll_pitch_yaw": [
      -0.01741,
      0.17412,
      -0.01885
    ],
    "tcp_rotation_matrix": [
      [
        0.99962,
        0.02694,
        -0.00631
      ],
      [
        0.02633,
        -0.99626,
        -0.08225
      ],
      [
        -0.00851,
        0.08206,
        -0.99659
      ]
    ],
    "simulated_seconds_remaining": 29.04,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 5.405108988285065,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.28,
                    "z": 0.99
                  },
                  "note": "The wrist is close to the door edge. I withdraw slightly and lower it to improve clearance and reveal the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "open the refrigerator.",
    "joint_positions": [
      0.02481,
      -0.87504,
      0.06352,
      -2.46587,
      -0.03303,
      1.58009,
      0.03907
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.28089,
      0.01359,
      0.99093
    ],
    "tcp_roll_pitch_yaw": [
      -0.01743,
      0.17415,
      -0.01884
    ],
    "tcp_rotation_matrix": [
      [
        0.99962,
        0.02697,
        -0.00635
      ],
      [
        0.02635,
        -0.99626,
        -0.08228
      ],
      [
        -0.00854,
        0.08208,
        -0.99659
      ]
    ],
    "simulated_seconds_remaining": 27.984,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 5.8060294995084405,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.86,
                    "pitch": -0.25
                  },
                  "note": "The handle is visible below the gripper along the refrigerator edge. I descend toward its middle with a modest forward tilt."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 6,
  "state": {
    "instruction": "open the refrigerator.",
    "joint_positions": [
      0.02481,
      -0.87504,
      0.06352,
      -2.46587,
      -0.03303,
      1.58009,
      0.03907
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.28089,
      0.01359,
      0.99093
    ],
    "tcp_roll_pitch_yaw": [
      -0.01743,
      0.17415,
      -0.01884
    ],
    "tcp_rotation_matrix": [
      [
        0.99962,
        0.02697,
        -0.00635
      ],
      [
        0.02635,
        -0.99626,
        -0.08228
      ],
      [
        -0.00854,
        0.08208,
        -0.99659
      ]
    ],
    "simulated_seconds_remaining": 27.984,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 7.0061503779143095,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.88
                  },
                  "note": "I keep the reachable wrist orientation and lower alongside the vertical handle to align the fingertips with it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "open the refrigerator.",
    "joint_positions": [
      0.03162,
      -0.89682,
      0.07163,
      -2.75716,
      -0.02673,
      1.84861,
      0.0568
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.28084,
      0.01359,
      0.88122
    ],
    "tcp_roll_pitch_yaw": [
      -0.01747,
      0.17443,
      -0.01885
    ],
    "tcp_rotation_matrix": [
      [
        0.99961,
        0.02698,
        -0.00662
      ],
      [
        0.02635,
        -0.99626,
        -0.08231
      ],
      [
        -0.00882,
        0.0821,
        -0.99658
      ]
    ],
    "simulated_seconds_remaining": 26.928,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 9.408288138918579,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.33,
                    "y": 0.065
                  },
                  "note": "The handle is offset to the left of the finger gap in the wrist view. I advance and shift left to center the open gripper around it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "open the refrigerator.",
    "joint_positions": [
      0.0636,
      -0.68503,
      0.15955,
      -2.62847,
      0.02231,
      1.92769,
      0.15167
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.32914,
      0.0641,
      0.88122
    ],
    "tcp_roll_pitch_yaw": [
      -0.01753,
      0.17448,
      -0.01879
    ],
    "tcp_rotation_matrix": [
      [
        0.99961,
        0.02705,
        -0.00667
      ],
      [
        0.02641,
        -0.99625,
        -0.08237
      ],
      [
        -0.00887,
        0.08216,
        -0.99658
      ]
    ],
    "simulated_seconds_remaining": 26.136,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 11.410104672424495,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": -0.065
                  },
                  "note": "The handle moved farther left in the wrist image after the previous shift. I correct in the opposite direction to bring it between the fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "open the refrigerator.",
    "joint_positions": [
      -0.05133,
      -0.71564,
      0.05978,
      -2.65734,
      -0.12304,
      1.92043,
      -0.09882
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.32552,
      -0.02976,
      0.88179
    ],
    "tcp_roll_pitch_yaw": [
      -0.08854,
      0.20325,
      0.07577
    ],
    "tcp_rotation_matrix": [
      [
        0.99038,
        0.13684,
        -0.02051
      ],
      [
        0.13211,
        -0.97921,
        -0.15396
      ],
      [
        -0.04116,
        0.14977,
        -0.98786
      ]
    ],
    "simulated_seconds_remaining": 24.948,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 11.209755406714976,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.08,
                    "roll": -1,
                    "pitch": 0.17,
                    "yaw": 0
                  },
                  "note": "The fingers appear to meet the refrigerator face while moving sideways. I back away from that face and turn the fingers toward it for a side-on handle grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "open the refrigerator.",
    "joint_positions": [
      -0.13875,
      -0.72461,
      0.6211,
      -2.48197,
      -0.56211,
      1.17117,
      0.59986
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.21605,
      -0.04149,
      1.02216
    ],
    "tcp_roll_pitch_yaw": [
      -1.07973,
      -0.0376,
      -0.5507
    ],
    "tcp_rotation_matrix": [
      [
        0.92452,
        -0.21608,
        -0.31395
      ],
      [
        -0.37311,
        -0.34514,
        -0.8612
      ],
      [
        0.07773,
        0.91334,
        -0.39971
      ]
    ],
    "simulated_seconds_remaining": 23.43,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 6.405553759075701,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.23,
                    "y": 0.18,
                    "z": 1,
                    "roll": -1.1,
                    "pitch": 0,
                    "yaw": 0
                  },
                  "note": "The wrist deflected while turning near the door. I move outward to gain clearance and establish the sideways approach before returning to the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 27,
    "motion_seconds": 1.782,
    "status": "executing; next observation shows actual arrival"
  }
}

========================================================================
GPT-Astra / Open / Episode 044

Completed scored attempt. Images are available in the paired videos.

Opaque provider signatures, image payloads, and local paths are omitted.


RESULT
{
  "benchmark_index": 44,
  "source_episode_index": 737,
  "house_index": 414,
  "status": "completed",
  "success": true,
  "oracle_success": true,
  "action_decisions": 22,
  "wall_seconds": 225.96,
  "usage": {
    "input_tokens": 417327,
    "cached_input_tokens": 381824,
    "cache_write_input_tokens": 0,
    "output_tokens": 3985,
    "reasoning_output_tokens": 1515
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task.
You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose.
Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion.
move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up.
roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial.
Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5).
The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y.
The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics.
Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration.
Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target.
You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time.
Each move must include a short note describing what you observe and why you chose that motion.
Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done.
Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available.



AGENT TRANSCRIPT (visible messages and completed tool calls)

I’ll inspect the scene, locate the handle, and use feedback from each motion to open it.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"open the drawer.\", \"joint_positions\": [0.01861, -0.82204, -0.03806, -2.29899, -0.05045, 1.64091, -0.14415], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.32873, -0.01944, 1.06233], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.97811, 0.12984, 0.16259], [0.13548, -0.99049, -0.024], [0.15792, 0.0455, -0.9864]], \"simulated_seconds_remaining\": 30.03, \"calls_remaining_including_this\": 57}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "x": 0.46,
    "y": 0,
    "z": 0.88,
    "pitch": -1.45,
    "gripper": 1,
    "note": "The drawer cabinet is ahead and below the gripper. I am lowering toward its upper handle and turning the fingers to approach the front horizontally."
  },
  "result": null,
  "error": {
    "message": "tool call error: tool call failed for `robot/move_to`\n\nCaused by:\n    Mcp error: -32602: Unexpected argument"
  },
  "status": "failed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.46,
      "y": 0,
      "z": 0.88,
      "pitch": -1.45,
      "gripper": 1
    },
    "note": "The cabinet is ahead and below the gripper. I am lowering toward the drawer and turning the fingers to approach its front horizontally."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"open the drawer.\", \"joint_positions\": [0.01861, -0.82204, -0.03806, -2.29899, -0.05045, 1.64091, -0.14415], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.32873, -0.01944, 1.06233], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.97811, 0.12984, 0.16259], [0.13548, -0.99049, -0.024], [0.15792, 0.0455, -0.9864]], \"simulated_seconds_remaining\": 30.03, \"calls_remaining_including_this\": 56}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.4,
      "z": 0.99,
      "pitch": -0.7
    },
    "note": "The full horizontal approach was unreachable. I will rotate partway while moving a little closer to obtain a clearer handle view."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"open the drawer.\", \"joint_positions\": [-0.00559, -1.11504, -0.06073, -2.97652, -0.08612, 2.72004, -0.11974], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.39958, -0.01946, 0.99009], \"tcp_roll_pitch_yaw\": [-3e-05, -0.69479, -3e-05], \"tcp_rotation_matrix\": [[0.65027, 0.07056, 0.75642], [0.13546, -0.99049, -0.02405], [0.74753, 0.11811, -0.65365]], \"simulated_seconds_remaining\": 28.776, \"calls_remaining_including_this\": 55}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 19, \"motion_seconds\": 1.254, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.51,
      "z": 0.89,
      "pitch": -1.05
    },
    "note": "The wrist view shows metal handles on the cabinet face. I will approach slowly and lower to align with the nearer handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"open the drawer.\", \"joint_positions\": [-0.00559, -1.11504, -0.06073, -2.97652, -0.08612, 2.72004, -0.11974], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.39958, -0.01946, 0.99009], \"tcp_roll_pitch_yaw\": [-3e-05, -0.69479, -3e-05], \"tcp_rotation_matrix\": [[0.65027, 0.07056, 0.75642], [0.13546, -0.99049, -0.02405], [0.74753, 0.11811, -0.65365]], \"simulated_seconds_remaining\": 28.776, \"calls_remaining_including_this\": 54}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.49,
      "z": 0.9,
      "pitch": -0.65
    },
    "note": "The steeper wrist angle hit a reach limit. I will keep the reachable angle and translate closer to inspect the handle position."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"open the drawer.\", \"joint_positions\": [-0.01825, -0.5475, -0.04632, -2.89003, -0.0929, 3.15657, -0.10025], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.489, -0.01946, 0.90089], \"tcp_roll_pitch_yaw\": [-4e-05, -0.65019, -3e-05], \"tcp_rotation_matrix\": [[0.68296, 0.07575, 0.72652], [0.13546, -0.99049, -0.02407], [0.71778, 0.11485, -0.68673]], \"simulated_seconds_remaining\": 27.654, \"calls_remaining_including_this\": 53}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 17, \"motion_seconds\": 1.122, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.59,
      "z": 0.86,
      "pitch": -0.45
    },
    "note": "The metal pull is now larger in the wrist view, just ahead of the fingers. I will advance a short distance while keeping it visible between the jaws."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"open the drawer.\", \"joint_positions\": [0.02378, -0.14199, -0.06232, -2.50019, -0.05615, 2.97372, -0.11659], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.58913, -0.01947, 0.86036], \"tcp_roll_pitch_yaw\": [-4e-05, -0.45175, -4e-05], \"tcp_rotation_matrix\": [[0.81106, 0.09689, 0.57688], [0.13545, -0.99049, -0.02406], [0.56906, 0.09765, -0.81648]], \"simulated_seconds_remaining\": 26.598, \"calls_remaining_including_this\": 52}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 16, \"motion_seconds\": 1.056, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.67,
      "z": 0.85,
      "pitch": -1.15
    },
    "note": "The pull is immediately ahead, but the gripper still points downward. I will turn more squarely toward the cabinet while moving slightly forward."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"open the drawer.\", \"joint_positions\": [0.02378, -0.14199, -0.06232, -2.50019, -0.05615, 2.97372, -0.11659], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.58913, -0.01947, 0.86036], \"tcp_roll_pitch_yaw\": [-4e-05, -0.45175, -4e-05], \"tcp_rotation_matrix\": [[0.81106, 0.09689, 0.57688], [0.13545, -0.99049, -0.02406], [0.56906, 0.09765, -0.81648]], \"simulated_seconds_remaining\": 26.598, \"calls_remaining_including_this\": 51}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK requires a large joint jump; split the motion or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.64,
      "pitch": -0.75
    },
    "note": "The larger wrist turn was rejected. I will split it into a smaller rotation and approach increment while monitoring the two visible pulls."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"open the drawer.\", \"joint_positions\": [0.02378, -0.14199, -0.06232, -2.50019, -0.05615, 2.97372, -0.11659], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.58913, -0.01947, 0.86036], \"tcp_roll_pitch_yaw\": [-4e-05, -0.45175, -4e-05], \"tcp_rotation_matrix\": [[0.81106, 0.09689, 0.57688], [0.13545, -0.99049, -0.02406], [0.56906, 0.09765, -0.81648]], \"simulated_seconds_remaining\": 26.598, \"calls_remaining_including_this\": 50}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK requires a large joint jump; split the motion or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.66,
      "z": 0.85
    },
    "note": "I will retain the reachable wrist angle and bring the fingers closer to the nearer pull, which remains centered just to the right in the wrist image."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"open the drawer.\", \"joint_positions\": [0.03713, 0.02695, -0.05584, -2.28717, -0.02256, 2.87043, -0.15546], \"gripper_open\": 1.0, \"tcp_xyz\": [0.6425, -0.01177, 0.85155], \"tcp_roll_pitch_yaw\": [-0.00878, -0.39231, 0.02932], \"tcp_rotation_matrix\": [[0.83951, 0.12824, 0.528], [0.16154, -0.98672, -0.01719], [0.51878, 0.09972, -0.84907]], \"simulated_seconds_remaining\": 25.806, \"calls_remaining_including_this\": 49}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 12, \"motion_seconds\": 0.792, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.625,
      "y": -0.045,
      "z": 0.875
    },
    "note": "The approach met resistance and the nearer pull sits right of the jaw center. I will back off slightly and shift sideways and upward to place the pull between the fingers."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"open the drawer.\", \"joint_positions\": [0.01341, -0.05121, -0.08271, -2.31724, 0.05202, 2.82011, -0.27389], \"gripper_open\": 0.9986, \"tcp_xyz\": [0.62513, -0.04317, 0.87356], \"tcp_roll_pitch_yaw\": [-0.00869, -0.39039, 0.03074], \"tcp_rotation_matrix\": [[0.84027, 0.12987, 0.52639], [0.16275, -0.98653, -0.0164], [0.51717, 0.09945, -0.85009]], \"simulated_seconds_remaining\": 25.212, \"calls_remaining_including_this\": 48}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 9, \"motion_seconds\": 0.5940000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.53,
      "z": 0.94,
      "roll": 0.7,
      "pitch": 0,
      "yaw": -0.7
    },
    "note": "The drawer pulls run across the cabinet face. I will withdraw and reorient so the jaws can pinch a pull from above and below."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 11, \"instruction\": \"open the drawer.\", \"joint_positions\": [0.01796, -0.38072, -0.22524, -2.44242, 0.67001, 2.45688, -0.03583], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.53042, -0.04327, 0.93975], \"tcp_roll_pitch_yaw\": [0.69763, -0.00292, -0.69765], \"tcp_rotation_matrix\": [[0.75063, -0.40558, 0.52159], [-0.62615, -0.68866, 0.36562], [0.21091, -0.60104, -0.77088]], \"simulated_seconds_remaining\": 23.628, \"calls_remaining_including_this\": 47}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 24, \"motion_seconds\": 1.584, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "roll": 1.4,
      "pitch": 0,
      "yaw": -1.55
    },
    "note": "The two drawer pulls are now clearly visible. I will finish turning the wrist so the open jaws straddle the upper pull vertically."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 12, \"instruction\": \"open the drawer.\", \"joint_positions\": [0.01796, -0.38072, -0.22524, -2.44242, 0.67001, 2.45688, -0.03583], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.53042, -0.04327, 0.93975], \"tcp_roll_pitch_yaw\": [0.69763, -0.00292, -0.69765], \"tcp_rotation_matrix\": [[0.75063, -0.40558, 0.52159], [-0.62615, -0.68866, 0.36562], [0.21091, -0.60104, -0.77088]], \"simulated_seconds_remaining\": 23.628, \"calls_remaining_including_this\": 46}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK requires a large joint jump; split the motion or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "roll": 1.05,
      "yaw": -1.1
    },
    "note": "The final turn was too large for the controller. I will split the rotation into a smaller step while staying clear of the cabinet."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 13, \"instruction\": \"open the drawer.\", \"joint_positions\": [0.01796, -0.38072, -0.22524, -2.44242, 0.67001, 2.45688, -0.03583], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.53042, -0.04327, 0.93975], \"tcp_roll_pitch_yaw\": [0.69763, -0.00292, -0.69765], \"tcp_rotation_matrix\": [[0.75063, -0.40558, 0.52159], [-0.62615, -0.68866, 0.36562], [0.21091, -0.60104, -0.77088]], \"simulated_seconds_remaining\": 23.628, \"calls_remaining_including_this\": 45}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK requires a large joint jump; split the motion or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "roll": 0.85,
      "yaw": -0.85
    },
    "note": "I will make a still smaller wrist adjustment to keep the joint motion continuous and improve vertical jaw alignment."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 14, \"instruction\": \"open the drawer.\", \"joint_positions\": [0.07952, -0.43792, -0.24939, -2.54806, 0.89927, 2.64252, -0.09388], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.53044, -0.04318, 0.93975], \"tcp_roll_pitch_yaw\": [0.84732, -0.00319, -0.84695], \"tcp_rotation_matrix\": [[0.62585, -0.42935, 0.65113], [-0.75137, -0.55583, 0.35568], [0.20921, -0.71184, -0.67046]], \"simulated_seconds_remaining\": 23.034, \"calls_remaining_including_this\": 44}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 9, \"motion_seconds\": 0.5940000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "roll": 1,
      "yaw": -1,
      "x": 0.55
    },
    "note": "The pulls are becoming horizontal in the camera view. I will continue the gradual wrist turn and move slightly toward them."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 15, \"instruction\": \"open the drawer.\", \"joint_positions\": [0.23577, -0.41294, -0.31577, -2.553, 1.30575, 2.85265, -0.3244], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.54976, -0.04308, 0.93983], \"tcp_roll_pitch_yaw\": [0.99743, -0.00376, -0.99663], \"tcp_rotation_matrix\": [[0.48115, -0.41107, 0.77429], [-0.85277, -0.42416, 0.30473], [0.20316, -0.80691, -0.55463]], \"simulated_seconds_remaining\": 22.44, \"calls_remaining_including_this\": 43}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 9, \"motion_seconds\": 0.5940000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "roll": 1.15,
      "yaw": -1.15,
      "x": 0.57
    },
    "note": "The lower visible pull is close to the gripper centerline. I will continue turning and approaching in small increments."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 16, \"instruction\": \"open the drawer.\", \"joint_positions\": [0.23577, -0.41294, -0.31577, -2.553, 1.30575, 2.85265, -0.3244], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.54976, -0.04308, 0.93983], \"tcp_roll_pitch_yaw\": [0.99743, -0.00376, -0.99663], \"tcp_rotation_matrix\": [[0.48115, -0.41107, 0.77429], [-0.85277, -0.42416, 0.30473], [0.20316, -0.80691, -0.55463]], \"simulated_seconds_remaining\": 22.44, \"calls_remaining_including_this\": 42}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK requires a large joint jump; split the motion or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "roll": 1.07,
      "yaw": -1.07
    },
    "note": "The wrist is near a sensitive joint configuration, so I will reduce the turn again while keeping position fixed."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 17, \"instruction\": \"open the drawer.\", \"joint_positions\": [0.2997, -0.41692, -0.34128, -2.54474, 1.60462, 2.93093, -0.55099], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.54982, -0.0431, 0.93991], \"tcp_roll_pitch_yaw\": [1.06803, -0.00418, -1.06764], \"tcp_rotation_matrix\": [[0.4072, -0.38873, 0.82648], [-0.89142, -0.36621, 0.26695], [0.19889, -0.84545, -0.49564]], \"simulated_seconds_remaining\": 21.978, \"calls_remaining_including_this\": 41}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 7, \"motion_seconds\": 0.462, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "roll": 1.14,
      "yaw": -1.14
    },
    "note": "The small turn succeeded. I will continue toward a straight approach with the jaws opening vertically across the pull."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 18, \"instruction\": \"open the drawer.\", \"joint_positions\": [0.2997, -0.41692, -0.34128, -2.54474, 1.60462, 2.93093, -0.55099], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.54982, -0.0431, 0.93991], \"tcp_roll_pitch_yaw\": [1.06803, -0.00418, -1.06764], \"tcp_rotation_matrix\": [[0.4072, -0.38873, 0.82648], [-0.89142, -0.36621, 0.26695], [0.19889, -0.84545, -0.49564]], \"simulated_seconds_remaining\": 21.978, \"calls_remaining_including_this\": 40}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK requires a large joint jump; split the motion or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.62,
      "y": -0.025,
      "z": 0.9
    },
    "note": "This angle already lets the jaws cross the pull. I will approach the lower visible drawer handle along the current finger direction."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 19, \"instruction\": \"open the drawer.\", \"joint_positions\": [0.32639, -0.12384, -0.35382, -2.33502, 1.89642, 2.85694, -0.77957], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.61889, -0.02523, 0.90055], \"tcp_roll_pitch_yaw\": [1.06784, -0.00413, -1.06751], \"tcp_rotation_matrix\": [[0.40735, -0.38885, 0.82636], [-0.89136, -0.3663, 0.26703], [0.19886, -0.84535, -0.49581]], \"simulated_seconds_remaining\": 21.12, \"calls_remaining_including_this\": 39}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 13, \"motion_seconds\": 0.8580000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.66,
      "y": -0.025,
      "z": 0.89
    },
    "note": "The drawer pull is just ahead of the open fingers. I will make a short final approach to bring its bar into the grasp region."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 20, \"instruction\": \"open the drawer.\", \"joint_positions\": [0.32345, 0.01172, -0.36118, -2.21653, 1.91091, 2.81766, -0.76383], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.65887, -0.02497, 0.89024], \"tcp_roll_pitch_yaw\": [1.06775, -0.00411, -1.06745], \"tcp_rotation_matrix\": [[0.40742, -0.3889, 0.82629], [-0.89133, -0.36635, 0.26706], [0.19885, -0.84531, -0.4959]], \"simulated_seconds_remaining\": 20.526, \"calls_remaining_including_this\": 38}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 9, \"motion_seconds\": 0.5940000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.68,
      "y": 0.015,
      "z": 0.87
    },
    "note": "The bar is above and left of the center between the fingertips. I will lower and shift along the pull before closing."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 21, \"instruction\": \"open the drawer.\", \"joint_positions\": [0.35689, 0.09886, -0.33418, -2.13339, 2.06381, 2.8467, -0.85192], \"gripper_open\": 1.0, \"tcp_xyz\": [0.68282, 0.00836, 0.87979], \"tcp_roll_pitch_yaw\": [1.08242, -0.00812, -1.07706], \"tcp_rotation_matrix\": [[0.39595, -0.3798, 0.83605], [-0.89585, -0.35972, 0.26086], [0.20167, -0.85226, -0.48267]], \"simulated_seconds_remaining\": 19.866, \"calls_remaining_including_this\": 37}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 10, \"motion_seconds\": 0.66, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The pull now spans the space between the fingers and the approach has made contact. I will close the jaws around the bar."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 22, \"instruction\": \"open the drawer.\", \"joint_positions\": [0.35814, 0.09219, -0.33283, -2.13071, 2.06423, 2.8445, -0.85251], \"gripper_open\": 0.8543, \"tcp_xyz\": [0.68407, 0.01084, 0.88578], \"tcp_roll_pitch_yaw\": [1.09291, -0.00974, -1.07288], \"tcp_rotation_matrix\": [[0.39776, -0.36972, 0.8397], [-0.89488, -0.35827, 0.26615], [0.20244, -0.85729, -0.47336]], \"simulated_seconds_remaining\": 18.942, \"calls_remaining_including_this\": 36}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.56,
      "gripper": 0
    },
    "note": "The jaws stopped against the handle. I will pull straight away from the cabinet and check whether the drawer follows."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "Episode ended. Do not call more tools. Return a brief final response."
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

I grasped the handle and pulled outward. The episode ended before I could verify the drawer’s final position.

TURN USAGE
{
  "input_tokens": 417327,
  "cached_input_tokens": 381824,
  "cache_write_input_tokens": 0,
  "output_tokens": 3985,
  "reasoning_output_tokens": 1515
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.01861,
      -0.82204,
      -0.03806,
      -2.29899,
      -0.05045,
      1.64091,
      -0.14415
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.32873,
      -0.01944,
      1.06233
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.97811,
        0.12984,
        0.16259
      ],
      [
        0.13548,
        -0.99049,
        -0.024
      ],
      [
        0.15792,
        0.0455,
        -0.9864
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 28.02117487695068,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.46,
                    "y": 0,
                    "z": 0.88,
                    "pitch": -1.45,
                    "gripper": 1
                  },
                  "note": "The cabinet is ahead and below the gripper. I am lowering toward the drawer and turning the fingers to approach its front horizontally."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 2,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.01861,
      -0.82204,
      -0.03806,
      -2.29899,
      -0.05045,
      1.64091,
      -0.14415
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.32873,
      -0.01944,
      1.06233
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.97811,
        0.12984,
        0.16259
      ],
      [
        0.13548,
        -0.99049,
        -0.024
      ],
      [
        0.15792,
        0.0455,
        -0.9864
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 5.204383661970496,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "z": 0.99,
                    "pitch": -0.7
                  },
                  "note": "The full horizontal approach was unreachable. I will rotate partway while moving a little closer to obtain a clearer handle view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.00559,
      -1.11504,
      -0.06073,
      -2.97652,
      -0.08612,
      2.72004,
      -0.11974
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.39958,
      -0.01946,
      0.99009
    ],
    "tcp_roll_pitch_yaw": [
      -3e-05,
      -0.69479,
      -3e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.65027,
        0.07056,
        0.75642
      ],
      [
        0.13546,
        -0.99049,
        -0.02405
      ],
      [
        0.74753,
        0.11811,
        -0.65365
      ]
    ],
    "simulated_seconds_remaining": 28.776,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 8.006576389074326,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.51,
                    "z": 0.89,
                    "pitch": -1.05
                  },
                  "note": "The wrist view shows metal handles on the cabinet face. I will approach slowly and lower to align with the nearer handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 4,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.00559,
      -1.11504,
      -0.06073,
      -2.97652,
      -0.08612,
      2.72004,
      -0.11974
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.39958,
      -0.01946,
      0.99009
    ],
    "tcp_roll_pitch_yaw": [
      -3e-05,
      -0.69479,
      -3e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.65027,
        0.07056,
        0.75642
      ],
      [
        0.13546,
        -0.99049,
        -0.02405
      ],
      [
        0.74753,
        0.11811,
        -0.65365
      ]
    ],
    "simulated_seconds_remaining": 28.776,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 6.20492403768003,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.49,
                    "z": 0.9,
                    "pitch": -0.65
                  },
                  "note": "The steeper wrist angle hit a reach limit. I will keep the reachable angle and translate closer to inspect the handle position."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.01825,
      -0.5475,
      -0.04632,
      -2.89003,
      -0.0929,
      3.15657,
      -0.10025
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.489,
      -0.01946,
      0.90089
    ],
    "tcp_roll_pitch_yaw": [
      -4e-05,
      -0.65019,
      -3e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.68296,
        0.07575,
        0.72652
      ],
      [
        0.13546,
        -0.99049,
        -0.02407
      ],
      [
        0.71778,
        0.11485,
        -0.68673
      ]
    ],
    "simulated_seconds_remaining": 27.654,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 9.813045046292245,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.59,
                    "z": 0.86,
                    "pitch": -0.45
                  },
                  "note": "The metal pull is now larger in the wrist view, just ahead of the fingers. I will advance a short distance while keeping it visible between the jaws."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.02378,
      -0.14199,
      -0.06232,
      -2.50019,
      -0.05615,
      2.97372,
      -0.11659
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.58913,
      -0.01947,
      0.86036
    ],
    "tcp_roll_pitch_yaw": [
      -4e-05,
      -0.45175,
      -4e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.81106,
        0.09689,
        0.57688
      ],
      [
        0.13545,
        -0.99049,
        -0.02406
      ],
      [
        0.56906,
        0.09765,
        -0.81648
      ]
    ],
    "simulated_seconds_remaining": 26.598,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 6.6050744177773595,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.67,
                    "z": 0.85,
                    "pitch": -1.15
                  },
                  "note": "The pull is immediately ahead, but the gripper still points downward. I will turn more squarely toward the cabinet while moving slightly forward."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 7,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.02378,
      -0.14199,
      -0.06232,
      -2.50019,
      -0.05615,
      2.97372,
      -0.11659
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.58913,
      -0.01947,
      0.86036
    ],
    "tcp_roll_pitch_yaw": [
      -4e-05,
      -0.45175,
      -4e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.81106,
        0.09689,
        0.57688
      ],
      [
        0.13545,
        -0.99049,
        -0.02406
      ],
      [
        0.56906,
        0.09765,
        -0.81648
      ]
    ],
    "simulated_seconds_remaining": 26.598,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 6.204545921646059,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.64,
                    "pitch": -0.75
                  },
                  "note": "The larger wrist turn was rejected. I will split it into a smaller rotation and approach increment while monitoring the two visible pulls."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 8,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.02378,
      -0.14199,
      -0.06232,
      -2.50019,
      -0.05615,
      2.97372,
      -0.11659
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.58913,
      -0.01947,
      0.86036
    ],
    "tcp_roll_pitch_yaw": [
      -4e-05,
      -0.45175,
      -4e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.81106,
        0.09689,
        0.57688
      ],
      [
        0.13545,
        -0.99049,
        -0.02406
      ],
      [
        0.56906,
        0.09765,
        -0.81648
      ]
    ],
    "simulated_seconds_remaining": 26.598,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 5.604761166498065,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.66,
                    "z": 0.85
                  },
                  "note": "I will retain the reachable wrist angle and bring the fingers closer to the nearer pull, which remains centered just to the right in the wrist image."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.03713,
      0.02695,
      -0.05584,
      -2.28717,
      -0.02256,
      2.87043,
      -0.15546
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.6425,
      -0.01177,
      0.85155
    ],
    "tcp_roll_pitch_yaw": [
      -0.00878,
      -0.39231,
      0.02932
    ],
    "tcp_rotation_matrix": [
      [
        0.83951,
        0.12824,
        0.528
      ],
      [
        0.16154,
        -0.98672,
        -0.01719
      ],
      [
        0.51878,
        0.09972,
        -0.84907
      ]
    ],
    "simulated_seconds_remaining": 25.806,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 11.608302326872945,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.625,
                    "y": -0.045,
                    "z": 0.875
                  },
                  "note": "The approach met resistance and the nearer pull sits right of the jaw center. I will back off slightly and shift sideways and upward to place the pull between the fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.01341,
      -0.05121,
      -0.08271,
      -2.31724,
      0.05202,
      2.82011,
      -0.27389
    ],
    "gripper_open": 0.9986,
    "tcp_xyz": [
      0.62513,
      -0.04317,
      0.87356
    ],
    "tcp_roll_pitch_yaw": [
      -0.00869,
      -0.39039,
      0.03074
    ],
    "tcp_rotation_matrix": [
      [
        0.84027,
        0.12987,
        0.52639
      ],
      [
        0.16275,
        -0.98653,
        -0.0164
      ],
      [
        0.51717,
        0.09945,
        -0.85009
      ]
    ],
    "simulated_seconds_remaining": 25.212,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 23.41995453927666,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.53,
                    "z": 0.94,
                    "roll": 0.7,
                    "pitch": 0,
                    "yaw": -0.7
                  },
                  "note": "The drawer pulls run across the cabinet face. I will withdraw and reorient so the jaws can pinch a pull from above and below."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 24,
    "motion_seconds": 1.584,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.01796,
      -0.38072,
      -0.22524,
      -2.44242,
      0.67001,
      2.45688,
      -0.03583
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.53042,
      -0.04327,
      0.93975
    ],
    "tcp_roll_pitch_yaw": [
      0.69763,
      -0.00292,
      -0.69765
    ],
    "tcp_rotation_matrix": [
      [
        0.75063,
        -0.40558,
        0.52159
      ],
      [
        -0.62615,
        -0.68866,
        0.36562
      ],
      [
        0.21091,
        -0.60104,
        -0.77088
      ]
    ],
    "simulated_seconds_remaining": 23.628,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 4.603796664625406,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "roll": 1.4,
                    "pitch": 0,
                    "yaw": -1.55
                  },
                  "note": "The two drawer pulls are now clearly visible. I will finish turning the wrist so the open jaws straddle the upper pull vertically."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 12,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.01796,
      -0.38072,
      -0.22524,
      -2.44242,
      0.67001,
      2.45688,
      -0.03583
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.53042,
      -0.04327,
      0.93975
    ],
    "tcp_roll_pitch_yaw": [
      0.69763,
      -0.00292,
      -0.69765
    ],
    "tcp_rotation_matrix": [
      [
        0.75063,
        -0.40558,
        0.52159
      ],
      [
        -0.62615,
        -0.68866,
        0.36562
      ],
      [
        0.21091,
        -0.60104,
        -0.77088
      ]
    ],
    "simulated_seconds_remaining": 23.628,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 4.8040040247142315,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "roll": 1.05,
                    "yaw": -1.1
                  },
                  "note": "The final turn was too large for the controller. I will split the rotation into a smaller step while staying clear of the cabinet."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 13,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.01796,
      -0.38072,
      -0.22524,
      -2.44242,
      0.67001,
      2.45688,
      -0.03583
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.53042,
      -0.04327,
      0.93975
    ],
    "tcp_roll_pitch_yaw": [
      0.69763,
      -0.00292,
      -0.69765
    ],
    "tcp_rotation_matrix": [
      [
        0.75063,
        -0.40558,
        0.52159
      ],
      [
        -0.62615,
        -0.68866,
        0.36562
      ],
      [
        0.21091,
        -0.60104,
        -0.77088
      ]
    ],
    "simulated_seconds_remaining": 23.628,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 5.00463982950896,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "roll": 0.85,
                    "yaw": -0.85
                  },
                  "note": "I will make a still smaller wrist adjustment to keep the joint motion continuous and improve vertical jaw alignment."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.07952,
      -0.43792,
      -0.24939,
      -2.54806,
      0.89927,
      2.64252,
      -0.09388
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.53044,
      -0.04318,
      0.93975
    ],
    "tcp_roll_pitch_yaw": [
      0.84732,
      -0.00319,
      -0.84695
    ],
    "tcp_rotation_matrix": [
      [
        0.62585,
        -0.42935,
        0.65113
      ],
      [
        -0.75137,
        -0.55583,
        0.35568
      ],
      [
        0.20921,
        -0.71184,
        -0.67046
      ]
    ],
    "simulated_seconds_remaining": 23.034,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 5.004592024721205,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "roll": 1,
                    "yaw": -1,
                    "x": 0.55
                  },
                  "note": "The pulls are becoming horizontal in the camera view. I will continue the gradual wrist turn and move slightly toward them."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.23577,
      -0.41294,
      -0.31577,
      -2.553,
      1.30575,
      2.85265,
      -0.3244
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.54976,
      -0.04308,
      0.93983
    ],
    "tcp_roll_pitch_yaw": [
      0.99743,
      -0.00376,
      -0.99663
    ],
    "tcp_rotation_matrix": [
      [
        0.48115,
        -0.41107,
        0.77429
      ],
      [
        -0.85277,
        -0.42416,
        0.30473
      ],
      [
        0.20316,
        -0.80691,
        -0.55463
      ]
    ],
    "simulated_seconds_remaining": 22.44,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 5.404883104376495,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "roll": 1.15,
                    "yaw": -1.15,
                    "x": 0.57
                  },
                  "note": "The lower visible pull is close to the gripper centerline. I will continue turning and approaching in small increments."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 16,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.23577,
      -0.41294,
      -0.31577,
      -2.553,
      1.30575,
      2.85265,
      -0.3244
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.54976,
      -0.04308,
      0.93983
    ],
    "tcp_roll_pitch_yaw": [
      0.99743,
      -0.00376,
      -0.99663
    ],
    "tcp_rotation_matrix": [
      [
        0.48115,
        -0.41107,
        0.77429
      ],
      [
        -0.85277,
        -0.42416,
        0.30473
      ],
      [
        0.20316,
        -0.80691,
        -0.55463
      ]
    ],
    "simulated_seconds_remaining": 22.44,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 7.8066360941156745,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "roll": 1.07,
                    "yaw": -1.07
                  },
                  "note": "The wrist is near a sensitive joint configuration, so I will reduce the turn again while keeping position fixed."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 7,
    "motion_seconds": 0.462,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.2997,
      -0.41692,
      -0.34128,
      -2.54474,
      1.60462,
      2.93093,
      -0.55099
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.54982,
      -0.0431,
      0.93991
    ],
    "tcp_roll_pitch_yaw": [
      1.06803,
      -0.00418,
      -1.06764
    ],
    "tcp_rotation_matrix": [
      [
        0.4072,
        -0.38873,
        0.82648
      ],
      [
        -0.89142,
        -0.36621,
        0.26695
      ],
      [
        0.19889,
        -0.84545,
        -0.49564
      ]
    ],
    "simulated_seconds_remaining": 21.978,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 5.8045917665585876,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "roll": 1.14,
                    "yaw": -1.14
                  },
                  "note": "The small turn succeeded. I will continue toward a straight approach with the jaws opening vertically across the pull."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 18,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.2997,
      -0.41692,
      -0.34128,
      -2.54474,
      1.60462,
      2.93093,
      -0.55099
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.54982,
      -0.0431,
      0.93991
    ],
    "tcp_roll_pitch_yaw": [
      1.06803,
      -0.00418,
      -1.06764
    ],
    "tcp_rotation_matrix": [
      [
        0.4072,
        -0.38873,
        0.82648
      ],
      [
        -0.89142,
        -0.36621,
        0.26695
      ],
      [
        0.19889,
        -0.84545,
        -0.49564
      ]
    ],
    "simulated_seconds_remaining": 21.978,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 10.208959851413965,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.62,
                    "y": -0.025,
                    "z": 0.9
                  },
                  "note": "This angle already lets the jaws cross the pull. I will approach the lower visible drawer handle along the current finger direction."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 19,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.32639,
      -0.12384,
      -0.35382,
      -2.33502,
      1.89642,
      2.85694,
      -0.77957
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.61889,
      -0.02523,
      0.90055
    ],
    "tcp_roll_pitch_yaw": [
      1.06784,
      -0.00413,
      -1.06751
    ],
    "tcp_rotation_matrix": [
      [
        0.40735,
        -0.38885,
        0.82636
      ],
      [
        -0.89136,
        -0.3663,
        0.26703
      ],
      [
        0.19886,
        -0.84535,
        -0.49581
      ]
    ],
    "simulated_seconds_remaining": 21.12,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 13.210087372921407,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.66,
                    "y": -0.025,
                    "z": 0.89
                  },
                  "note": "The drawer pull is just ahead of the open fingers. I will make a short final approach to bring its bar into the grasp region."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 20,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.32345,
      0.01172,
      -0.36118,
      -2.21653,
      1.91091,
      2.81766,
      -0.76383
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.65887,
      -0.02497,
      0.89024
    ],
    "tcp_roll_pitch_yaw": [
      1.06775,
      -0.00411,
      -1.06745
    ],
    "tcp_rotation_matrix": [
      [
        0.40742,
        -0.3889,
        0.82629
      ],
      [
        -0.89133,
        -0.36635,
        0.26706
      ],
      [
        0.19885,
        -0.84531,
        -0.4959
      ]
    ],
    "simulated_seconds_remaining": 20.526,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 7.805953369475901,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.68,
                    "y": 0.015,
                    "z": 0.87
                  },
                  "note": "The bar is above and left of the center between the fingertips. I will lower and shift along the pull before closing."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 21,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.35689,
      0.09886,
      -0.33418,
      -2.13339,
      2.06381,
      2.8467,
      -0.85192
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.68282,
      0.00836,
      0.87979
    ],
    "tcp_roll_pitch_yaw": [
      1.08242,
      -0.00812,
      -1.07706
    ],
    "tcp_rotation_matrix": [
      [
        0.39595,
        -0.3798,
        0.83605
      ],
      [
        -0.89585,
        -0.35972,
        0.26086
      ],
      [
        0.20167,
        -0.85226,
        -0.48267
      ]
    ],
    "simulated_seconds_remaining": 19.866,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 5.204117674380541,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The pull now spans the space between the fingers and the approach has made contact. I will close the jaws around the bar."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 22,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.35814,
      0.09219,
      -0.33283,
      -2.13071,
      2.06423,
      2.8445,
      -0.85251
    ],
    "gripper_open": 0.8543,
    "tcp_xyz": [
      0.68407,
      0.01084,
      0.88578
    ],
    "tcp_roll_pitch_yaw": [
      1.09291,
      -0.00974,
      -1.07288
    ],
    "tcp_rotation_matrix": [
      [
        0.39776,
        -0.36972,
        0.8397
      ],
      [
        -0.89488,
        -0.35827,
        0.26615
      ],
      [
        0.20244,
        -0.85729,
        -0.47336
      ]
    ],
    "simulated_seconds_remaining": 18.942,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 5.604578867554665,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.56,
                    "gripper": 0
                  },
                  "note": "The jaws stopped against the handle. I will pull straight away from the cabinet and check whether the drawer follows."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

========================================================================
GPT-Astra / Open / Episode 045

Completed scored attempt. Images are available in the paired videos.

Opaque provider signatures, image payloads, and local paths are omitted.


RESULT
{
  "benchmark_index": 45,
  "source_episode_index": 238,
  "house_index": 21,
  "status": "completed",
  "success": true,
  "oracle_success": true,
  "action_decisions": 10,
  "wall_seconds": 155.97,
  "usage": {
    "input_tokens": 198744,
    "cached_input_tokens": 180352,
    "cache_write_input_tokens": 0,
    "output_tokens": 2847,
    "reasoning_output_tokens": 1436
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task.
You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose.
Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion.
move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up.
roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial.
Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5).
The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y.
The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics.
Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration.
Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target.
You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time.
Each move must include a short note describing what you observe and why you chose that motion.
Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done.
Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available.



AGENT TRANSCRIPT (visible messages and completed tool calls)

I’ll observe the scene, locate the handle, and use fresh feedback to guide the opening motion.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"open the drawer.\", \"joint_positions\": [0.00845, -0.74674, 0.05214, -2.42329, -0.00896, 1.52175, -0.08169], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.28277, 0.01286, 0.96989], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.97996, 0.12801, -0.15263], [0.12153, -0.99127, -0.0511], [-0.15784, 0.03153, -0.98696]], \"simulated_seconds_remaining\": 30.03, \"calls_remaining_including_this\": 57}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "x": 0.45,
    "y": 0.05,
    "z": 0.85,
    "note": "The drawer is at the top of the gray cabinet. I move closer and lower to bring its handle into the wrist view."
  },
  "result": null,
  "error": {
    "message": "tool call error: tool call failed for `robot/move_to`\n\nCaused by:\n    Mcp error: -32602: Unexpected argument"
  },
  "status": "failed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {},
  "result": null,
  "error": {
    "message": "tool call error: tool call failed for `robot/move_to`\n\nCaused by:\n    Mcp error: -32602: A short note is required"
  },
  "status": "failed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "note": "I hold position while checking the drawer handle and motion interface."
  },
  "result": null,
  "error": {
    "message": "tool call error: tool call failed for `robot/move_to`\n\nCaused by:\n    Mcp error: -32602: Invalid targets"
  },
  "status": "failed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.45,
      "y": 0.05,
      "z": 0.85
    },
    "note": "The top drawer has a horizontal handle. I approach the cabinet and lower the wrist to locate that handle more clearly."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"open the drawer.\", \"joint_positions\": [0.01066, -0.16269, 0.11114, -2.24117, -0.01562, 1.92086, -0.00049], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.4489, 0.04976, 0.85069], \"tcp_roll_pitch_yaw\": [-2e-05, 0.00023, 0.0], \"tcp_rotation_matrix\": [[0.97992, 0.12802, -0.15286], [0.12153, -0.99127, -0.05112], [-0.15807, 0.03152, -0.98692]], \"simulated_seconds_remaining\": 28.314, \"calls_remaining_including_this\": 56}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 26, \"motion_seconds\": 1.7160000000000002, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.47,
      "y": 0.12,
      "z": 0.89,
      "roll": -1.57,
      "yaw": 1.45
    },
    "note": "The handle is above and left of the wrist. I turn the gripper toward the drawer with the jaws opening vertically, and align nearer its center."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"open the drawer.\", \"joint_positions\": [-0.18456, -0.43927, 0.85052, -2.86001, -2.07016, 2.11156, 1.14069], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.46993, 0.11966, 0.88978], \"tcp_roll_pitch_yaw\": [-1.56691, -0.00206, 1.44696], \"tcp_rotation_matrix\": [[0.27724, -0.0119, 0.96073], [0.95326, 0.12842, -0.27349], [-0.12013, 0.99165, 0.04695]], \"simulated_seconds_remaining\": 25.344, \"calls_remaining_including_this\": 55}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 45, \"motion_seconds\": 2.97, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.57,
      "y": 0.19,
      "z": 1.035
    },
    "note": "The wrist shows the cabinet face, while the exterior view places the gripper below the drawer handle. I raise and advance toward the handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"open the drawer.\", \"joint_positions\": [-0.253, -0.3635, 0.77019, -2.42596, -1.98409, 2.30645, 0.75685], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.56932, 0.18952, 1.03405], \"tcp_roll_pitch_yaw\": [-1.56703, -0.00218, 1.44694], \"tcp_rotation_matrix\": [[0.27727, -0.01203, 0.96072], [0.95327, 0.12832, -0.27351], [-0.11999, 0.99166, 0.04705]], \"simulated_seconds_remaining\": 23.76, \"calls_remaining_including_this\": 54}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 24, \"motion_seconds\": 1.584, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.62,
      "y": 0.14,
      "z": 1.01
    },
    "note": "The handle is visible beside the fingertips. I shift toward the middle of the bar and slightly lower while closing the remaining approach distance."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"open the drawer.\", \"joint_positions\": [-0.33449, -0.21288, 0.73009, -2.37724, -2.19528, 2.28228, 0.85702], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.61915, 0.14071, 1.01036], \"tcp_roll_pitch_yaw\": [-1.56689, -0.00225, 1.44663], \"tcp_rotation_matrix\": [[0.27755, -0.01187, 0.96064], [0.9532, 0.12824, -0.27381], [-0.11994, 0.99167, 0.0469]], \"simulated_seconds_remaining\": 22.968, \"calls_remaining_including_this\": 53}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 12, \"motion_seconds\": 0.792, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.68,
      "y": 0.04,
      "z": 0.96
    },
    "note": "The wrist shows the bar above and to the right of the jaw gap. I move along the drawer toward its center and lower to place the bar between the open fingers."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"open the drawer.\", \"joint_positions\": [-0.43209, -0.12874, 0.64636, -2.31997, -2.53169, 2.46093, 1.01361], \"gripper_open\": 1.0, \"tcp_xyz\": [0.65615, 0.08881, 0.98172], \"tcp_roll_pitch_yaw\": [-1.48771, 0.01915, 1.56248], \"tcp_rotation_matrix\": [[0.15533, 0.05206, 0.98649], [0.97595, 0.14652, -0.1614], [-0.15294, 0.98784, -0.02805]], \"simulated_seconds_remaining\": 21.846, \"calls_remaining_including_this\": 52}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 17, \"motion_seconds\": 1.122, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The handle now lies between the fingertips in the wrist view. I close the jaws around the bar before pulling the drawer outward."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"open the drawer.\", \"joint_positions\": [-0.43001, -0.1347, 0.6484, -2.32767, -2.52983, 2.4654, 1.01261], \"gripper_open\": 0.9374, \"tcp_xyz\": [0.65317, 0.09126, 0.97912], \"tcp_roll_pitch_yaw\": [-1.48106, 0.02235, 1.56681], \"tcp_rotation_matrix\": [[0.1502, 0.05803, 0.98695], [0.9761, 0.14987, -0.15736], [-0.15705, 0.987, -0.03413]], \"simulated_seconds_remaining\": 20.922, \"calls_remaining_including_this\": 51}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.5
    },
    "note": "The jaws have contacted the handle region. I pull outward a short distance and check whether the drawer follows."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"open the drawer.\", \"joint_positions\": [-0.2799, -0.68421, 0.59197, -2.7325, -2.43616, 2.63235, 1.16692], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.50132, 0.09131, 0.97915], \"tcp_roll_pitch_yaw\": [-1.48109, 0.02247, 1.5669], \"tcp_rotation_matrix\": [[0.15012, 0.05799, 0.98697], [0.9761, 0.15, -0.15728], [-0.15716, 0.98698, -0.03409]], \"simulated_seconds_remaining\": 19.602, \"calls_remaining_including_this\": 50}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 20, \"motion_seconds\": 1.32, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.61,
      "y": 0.015,
      "z": 1.01,
      "gripper": 1
    },
    "note": "The drawer did not follow the first pull. I reposition slightly higher and farther along the bar so the fingers can surround its middle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"open the drawer.\", \"joint_positions\": [-0.38384, -0.34099, 0.44304, -2.43532, -2.75905, 2.61807, 1.23077], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.60893, 0.0157, 1.00971], \"tcp_roll_pitch_yaw\": [-1.4811, 0.02236, 1.56675], \"tcp_rotation_matrix\": [[0.15027, 0.058, 0.98694], [0.97609, 0.14988, -0.15743], [-0.15706, 0.987, -0.03409]], \"simulated_seconds_remaining\": 18.414, \"calls_remaining_including_this\": 49}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 18, \"motion_seconds\": 1.1880000000000002, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The handle shaft is centered in the open jaw gap. I close the gripper here to secure the bar."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"open the drawer.\", \"joint_positions\": [-0.38258, -0.3442, 0.44411, -2.44335, -2.7584, 2.63024, 1.23059], \"gripper_open\": 0.5017, \"tcp_xyz\": [0.60568, 0.01713, 1.00333], \"tcp_roll_pitch_yaw\": [-1.46418, 0.02189, 1.57008], \"tcp_rotation_matrix\": [[0.1447, 0.07424, 0.98669], [0.97661, 0.14957, -0.15448], [-0.15905, 0.98596, -0.05086]], \"simulated_seconds_remaining\": 17.49, \"calls_remaining_including_this\": 48}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.49,
      "gripper": 0
    },
    "note": "The jaws stopped partway closed around the shaft. I maintain the grip and pull outward to open the drawer."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "Episode ended. Do not call more tools. Return a brief final response."
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

I grasped the handle and pulled outward. The episode ended before I could confirm the drawer was open.

TURN USAGE
{
  "input_tokens": 198744,
  "cached_input_tokens": 180352,
  "cache_write_input_tokens": 0,
  "output_tokens": 2847,
  "reasoning_output_tokens": 1436
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.00845,
      -0.74674,
      0.05214,
      -2.42329,
      -0.00896,
      1.52175,
      -0.08169
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.28277,
      0.01286,
      0.96989
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.97996,
        0.12801,
        -0.15263
      ],
      [
        0.12153,
        -0.99127,
        -0.0511
      ],
      [
        -0.15784,
        0.03153,
        -0.98696
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 36.629708926193416,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.45,
                    "y": 0.05,
                    "z": 0.85
                  },
                  "note": "The top drawer has a horizontal handle. I approach the cabinet and lower the wrist to locate that handle more clearly."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 26,
    "motion_seconds": 1.7160000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.01066,
      -0.16269,
      0.11114,
      -2.24117,
      -0.01562,
      1.92086,
      -0.00049
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.4489,
      0.04976,
      0.85069
    ],
    "tcp_roll_pitch_yaw": [
      -2e-05,
      0.00023,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.97992,
        0.12802,
        -0.15286
      ],
      [
        0.12153,
        -0.99127,
        -0.05112
      ],
      [
        -0.15807,
        0.03152,
        -0.98692
      ]
    ],
    "simulated_seconds_remaining": 28.314,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 15.21341022849083,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.47,
                    "y": 0.12,
                    "z": 0.89,
                    "roll": -1.57,
                    "yaw": 1.45
                  },
                  "note": "The handle is above and left of the wrist. I turn the gripper toward the drawer with the jaws opening vertically, and align nearer its center."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 45,
    "motion_seconds": 2.97,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.18456,
      -0.43927,
      0.85052,
      -2.86001,
      -2.07016,
      2.11156,
      1.14069
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.46993,
      0.11966,
      0.88978
    ],
    "tcp_roll_pitch_yaw": [
      -1.56691,
      -0.00206,
      1.44696
    ],
    "tcp_rotation_matrix": [
      [
        0.27724,
        -0.0119,
        0.96073
      ],
      [
        0.95326,
        0.12842,
        -0.27349
      ],
      [
        -0.12013,
        0.99165,
        0.04695
      ]
    ],
    "simulated_seconds_remaining": 25.344,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 8.209152281284332,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.57,
                    "y": 0.19,
                    "z": 1.035
                  },
                  "note": "The wrist shows the cabinet face, while the exterior view places the gripper below the drawer handle. I raise and advance toward the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 24,
    "motion_seconds": 1.584,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.253,
      -0.3635,
      0.77019,
      -2.42596,
      -1.98409,
      2.30645,
      0.75685
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.56932,
      0.18952,
      1.03405
    ],
    "tcp_roll_pitch_yaw": [
      -1.56703,
      -0.00218,
      1.44694
    ],
    "tcp_rotation_matrix": [
      [
        0.27727,
        -0.01203,
        0.96072
      ],
      [
        0.95327,
        0.12832,
        -0.27351
      ],
      [
        -0.11999,
        0.99166,
        0.04705
      ]
    ],
    "simulated_seconds_remaining": 23.76,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 16.616412967443466,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.62,
                    "y": 0.14,
                    "z": 1.01
                  },
                  "note": "The handle is visible beside the fingertips. I shift toward the middle of the bar and slightly lower while closing the remaining approach distance."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.33449,
      -0.21288,
      0.73009,
      -2.37724,
      -2.19528,
      2.28228,
      0.85702
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.61915,
      0.14071,
      1.01036
    ],
    "tcp_roll_pitch_yaw": [
      -1.56689,
      -0.00225,
      1.44663
    ],
    "tcp_rotation_matrix": [
      [
        0.27755,
        -0.01187,
        0.96064
      ],
      [
        0.9532,
        0.12824,
        -0.27381
      ],
      [
        -0.11994,
        0.99167,
        0.0469
      ]
    ],
    "simulated_seconds_remaining": 22.968,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 12.81052776798606,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.68,
                    "y": 0.04,
                    "z": 0.96
                  },
                  "note": "The wrist shows the bar above and to the right of the jaw gap. I move along the drawer toward its center and lower to place the bar between the open fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.43209,
      -0.12874,
      0.64636,
      -2.31997,
      -2.53169,
      2.46093,
      1.01361
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.65615,
      0.08881,
      0.98172
    ],
    "tcp_roll_pitch_yaw": [
      -1.48771,
      0.01915,
      1.56248
    ],
    "tcp_rotation_matrix": [
      [
        0.15533,
        0.05206,
        0.98649
      ],
      [
        0.97595,
        0.14652,
        -0.1614
      ],
      [
        -0.15294,
        0.98784,
        -0.02805
      ]
    ],
    "simulated_seconds_remaining": 21.846,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 6.407554472796619,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The handle now lies between the fingertips in the wrist view. I close the jaws around the bar before pulling the drawer outward."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.43001,
      -0.1347,
      0.6484,
      -2.32767,
      -2.52983,
      2.4654,
      1.01261
    ],
    "gripper_open": 0.9374,
    "tcp_xyz": [
      0.65317,
      0.09126,
      0.97912
    ],
    "tcp_roll_pitch_yaw": [
      -1.48106,
      0.02235,
      1.56681
    ],
    "tcp_rotation_matrix": [
      [
        0.1502,
        0.05803,
        0.98695
      ],
      [
        0.9761,
        0.14987,
        -0.15736
      ],
      [
        -0.15705,
        0.987,
        -0.03413
      ]
    ],
    "simulated_seconds_remaining": 20.922,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 6.205884890630841,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.5
                  },
                  "note": "The jaws have contacted the handle region. I pull outward a short distance and check whether the drawer follows."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.2799,
      -0.68421,
      0.59197,
      -2.7325,
      -2.43616,
      2.63235,
      1.16692
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.50132,
      0.09131,
      0.97915
    ],
    "tcp_roll_pitch_yaw": [
      -1.48109,
      0.02247,
      1.5669
    ],
    "tcp_rotation_matrix": [
      [
        0.15012,
        0.05799,
        0.98697
      ],
      [
        0.9761,
        0.15,
        -0.15728
      ],
      [
        -0.15716,
        0.98698,
        -0.03409
      ]
    ],
    "simulated_seconds_remaining": 19.602,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 12.209848104044795,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.61,
                    "y": 0.015,
                    "z": 1.01,
                    "gripper": 1
                  },
                  "note": "The drawer did not follow the first pull. I reposition slightly higher and farther along the bar so the fingers can surround its middle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.38384,
      -0.34099,
      0.44304,
      -2.43532,
      -2.75905,
      2.61807,
      1.23077
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.60893,
      0.0157,
      1.00971
    ],
    "tcp_roll_pitch_yaw": [
      -1.4811,
      0.02236,
      1.56675
    ],
    "tcp_rotation_matrix": [
      [
        0.15027,
        0.058,
        0.98694
      ],
      [
        0.97609,
        0.14988,
        -0.15743
      ],
      [
        -0.15706,
        0.987,
        -0.03409
      ]
    ],
    "simulated_seconds_remaining": 18.414,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 6.405804763548076,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The handle shaft is centered in the open jaw gap. I close the gripper here to secure the bar."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.38258,
      -0.3442,
      0.44411,
      -2.44335,
      -2.7584,
      2.63024,
      1.23059
    ],
    "gripper_open": 0.5017,
    "tcp_xyz": [
      0.60568,
      0.01713,
      1.00333
    ],
    "tcp_roll_pitch_yaw": [
      -1.46418,
      0.02189,
      1.57008
    ],
    "tcp_rotation_matrix": [
      [
        0.1447,
        0.07424,
        0.98669
      ],
      [
        0.97661,
        0.14957,
        -0.15448
      ],
      [
        -0.15905,
        0.98596,
        -0.05086
      ]
    ],
    "simulated_seconds_remaining": 17.49,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 5.205095282755792,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.49,
                    "gripper": 0
                  },
                  "note": "The jaws stopped partway closed around the shaft. I maintain the grip and pull outward to open the drawer."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

========================================================================
GPT-Astra / Open / Episode 046

Completed scored attempt. Images are available in the paired videos.

Opaque provider signatures, image payloads, and local paths are omitted.


RESULT
{
  "benchmark_index": 46,
  "source_episode_index": 561,
  "house_index": 315,
  "status": "completed",
  "success": false,
  "oracle_success": false,
  "action_decisions": 39,
  "wall_seconds": 374.62,
  "usage": {
    "input_tokens": 904819,
    "cached_input_tokens": 860160,
    "cache_write_input_tokens": 0,
    "output_tokens": 6515,
    "reasoning_output_tokens": 2401
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task.
You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose.
Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion.
move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up.
roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial.
Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5).
The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y.
The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics.
Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration.
Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target.
You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time.
Each move must include a short note describing what you observe and why you chose that motion.
Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done.
Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available.



AGENT TRANSCRIPT (visible messages and completed tool calls)

I’ll observe the scene, locate the handle, and use fresh feedback after each motion.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.00728, -0.79866, 0.05646, -2.2947, -0.12096, 1.4299, 0.09355], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.27937, -0.01469, 1.03926], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.99662, -0.05618, -0.05991], [-0.06526, -0.98457, -0.1624], [-0.04986, 0.16576, -0.98491]], \"simulated_seconds_remaining\": 30.03, \"calls_remaining_including_this\": 57}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "x": 0.43,
    "y": 0,
    "z": 1.04,
    "note": "The dresser is ahead and left in the exterior view. I move forward above its front to get a clearer view of the upper drawer handle."
  },
  "result": null,
  "error": {
    "message": "tool call error: tool call failed for `robot/move_to`\n\nCaused by:\n    Mcp error: -32602: Unexpected argument"
  },
  "status": "failed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.43,
      "y": 0,
      "z": 1.04
    },
    "note": "The dresser is ahead in both views. I move forward above its front to get a clearer view of the upper drawer handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.00453, -0.35512, 0.0888, -1.94719, -0.13035, 1.23359, 0.13601], \"gripper_open\": 1.0, \"tcp_xyz\": [0.3453, -0.0049, 1.03901], \"tcp_roll_pitch_yaw\": [-0.03317, 0.2816, -0.0495], \"tcp_rotation_matrix\": [[0.93966, -0.04727, -0.33884], [-0.11351, -0.97738, -0.17843], [-0.32274, 0.20612, -0.92377]], \"simulated_seconds_remaining\": 28.71, \"calls_remaining_including_this\": 56}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 20, \"motion_seconds\": 1.32, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.43,
      "y": 0.05,
      "z": 0.94,
      "pitch": -1.45,
      "roll": 0,
      "yaw": 0
    },
    "note": "The dark horizontal pull is near the upper front of the dresser. I lower toward its height and turn the gripper to face the drawer."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.00453, -0.35512, 0.0888, -1.94719, -0.13035, 1.23359, 0.13601], \"gripper_open\": 1.0, \"tcp_xyz\": [0.3453, -0.0049, 1.03901], \"tcp_roll_pitch_yaw\": [-0.03317, 0.2816, -0.0495], \"tcp_rotation_matrix\": [[0.93966, -0.04727, -0.33884], [-0.11351, -0.97738, -0.17843], [-0.32274, 0.20612, -0.92377]], \"simulated_seconds_remaining\": 28.71, \"calls_remaining_including_this\": 55}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.39,
      "y": 0.05,
      "z": 0.92,
      "pitch": -0.7
    },
    "note": "The full forward-facing pose was unreachable. I use a smaller rotation and descend toward the visible upper pull."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.00194, -0.9538, 0.28379, -2.90736, -0.22132, 2.51879, 0.56193], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.38974, 0.04968, 0.92034], \"tcp_roll_pitch_yaw\": [-0.03384, -0.69502, -0.04934], \"tcp_rotation_matrix\": [[0.79168, -0.21862, 0.57049], [-0.10609, -0.96879, -0.22403], [0.60166, 0.11684, -0.79016]], \"simulated_seconds_remaining\": 27.126, \"calls_remaining_including_this\": 54}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 24, \"motion_seconds\": 1.584, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.46,
      "y": 0.18,
      "z": 0.96,
      "pitch": -0.7
    },
    "note": "The wrist view shows the drawer pull left of the fingers. I shift left and slightly upward to center the gripper on it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.10834, -0.6049, 0.58676, -2.5171, -0.2426, 2.33613, 0.8052], \"gripper_open\": 1.0, \"tcp_xyz\": [0.44323, 0.1579, 0.94001], \"tcp_roll_pitch_yaw\": [-0.09386, -0.61791, -0.0705], \"tcp_rotation_matrix\": [[0.83057, -0.26233, 0.49127], [-0.12847, -0.94857, -0.28931], [0.5419, 0.17718, -0.82156]], \"simulated_seconds_remaining\": 25.806, \"calls_remaining_including_this\": 53}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 20, \"motion_seconds\": 1.32, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.37,
      "y": 0.19,
      "z": 0.96,
      "pitch": -1.35,
      "roll": 0,
      "yaw": 0
    },
    "note": "The fingertips are close to the drawer face. I back off slightly while rotating farther forward to approach the pull squarely."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.10834, -0.6049, 0.58676, -2.5171, -0.2426, 2.33613, 0.8052], \"gripper_open\": 1.0, \"tcp_xyz\": [0.44323, 0.1579, 0.94001], \"tcp_roll_pitch_yaw\": [-0.09386, -0.61791, -0.0705], \"tcp_rotation_matrix\": [[0.83057, -0.26233, 0.49127], [-0.12847, -0.94857, -0.28931], [0.5419, 0.17718, -0.82156]], \"simulated_seconds_remaining\": 25.806, \"calls_remaining_including_this\": 52}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.4,
      "y": 0.27,
      "z": 1.1,
      "pitch": -0.5
    },
    "note": "The exterior view places the upper pull above and left of the current fingertips. I raise the gripper to that pull while keeping a reachable angled approach."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.10113, -0.4585, 0.72229, -1.89404, -0.17581, 1.71988, 0.80558], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.4003, 0.26933, 1.099], \"tcp_roll_pitch_yaw\": [-0.09375, -0.501, -0.0704], \"tcp_rotation_matrix\": [[0.88793, -0.24024, 0.39225], [-0.13243, -0.95018, -0.28217], [0.4405, 0.19861, -0.87551]], \"simulated_seconds_remaining\": 24.156, \"calls_remaining_including_this\": 51}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 25, \"motion_seconds\": 1.6500000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.46,
      "y": 0.32,
      "z": 1.12,
      "pitch": -0.5
    },
    "note": "The upper pull is just left and above the fingertips in the exterior view. I make a short alignment move toward its center."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.19436, -0.09745, 0.96335, -1.55561, -0.41499, 1.59196, 0.95972], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.4591, 0.31921, 1.11957], \"tcp_roll_pitch_yaw\": [-0.09384, -0.49976, -0.07032], \"tcp_rotation_matrix\": [[0.88849, -0.23996, 0.39117], [-0.1324, -0.95019, -0.28216], [0.43939, 0.1989, -0.876]], \"simulated_seconds_remaining\": 23.298, \"calls_remaining_including_this\": 50}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 13, \"motion_seconds\": 0.8580000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.48,
      "y": 0.38,
      "z": 1.075
    },
    "note": "The wrist view places the pull left of the grasp center. I shift left and lower a few centimeters so the open fingers can straddle it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.03493, 0.20994, 1.04843, -1.43324, -0.68473, 1.51821, 1.17628], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.47963, 0.37892, 1.07568], \"tcp_roll_pitch_yaw\": [-0.09392, -0.49941, -0.07018], \"tcp_rotation_matrix\": [[0.88865, -0.23979, 0.39089], [-0.13229, -0.95021, -0.28215], [0.43908, 0.19902, -0.87613]], \"simulated_seconds_remaining\": 22.506, \"calls_remaining_including_this\": 49}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 12, \"motion_seconds\": 0.792, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.43,
      "y": 0.25,
      "z": 1.15,
      "pitch": 0
    },
    "note": "The exterior view shows the pull to the right of the fingers after that shift. I correct rightward and upward, returning to a downward grasp over the upper pull."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.16305, 0.25415, 1.02223, -1.05748, -0.38875, 0.9773, 0.82122], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.43043, 0.25068, 1.14959], \"tcp_roll_pitch_yaw\": [-0.09379, -0.00302, -0.07049], \"tcp_rotation_matrix\": [[0.98937, -0.12476, -0.07473], [-0.13967, -0.95831, -0.24928], [-0.04052, 0.25707, -0.96554]], \"simulated_seconds_remaining\": 21.186, \"calls_remaining_including_this\": 48}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 20, \"motion_seconds\": 1.32, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "y": 0.295,
      "z": 1.125,
      "roll": 0,
      "pitch": 0,
      "yaw": 0
    },
    "note": "The upper pull is directly beneath and slightly left of the open fingers. I center the grasp and descend onto it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 11, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.20317, 0.23174, 1.05461, -1.1624, -0.2922, 1.12651, 0.81248], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.43041, 0.29423, 1.1254], \"tcp_roll_pitch_yaw\": [-0.00175, 8e-05, -0.00112], \"tcp_rotation_matrix\": [[0.99654, -0.05727, -0.06017], [-0.06647, -0.98421, -0.16405], [-0.04983, 0.16749, -0.98461]], \"simulated_seconds_remaining\": 20.526, \"calls_remaining_including_this\": 47}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 10, \"motion_seconds\": 0.66, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.43,
      "y": 0.32,
      "z": 1.16,
      "yaw": 1.57
    },
    "note": "The pull runs horizontally across the drawer. I lift slightly and rotate the fingers to pinch across its narrow depth."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 12, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.47819, -0.05818, 1.14416, -1.33214, -0.09825, 1.40072, -0.85738], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.42999, 0.31994, 1.15992], \"tcp_roll_pitch_yaw\": [-0.00178, 4e-05, 1.5652], \"tcp_rotation_matrix\": [[0.07092, 0.98394, 0.16381], [0.99624, -0.06167, -0.06087], [-0.04979, 0.16751, -0.98461]], \"simulated_seconds_remaining\": 18.15, \"calls_remaining_including_this\": 46}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 36, \"motion_seconds\": 2.3760000000000003, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "z": 1.125
    },
    "note": "The rotated fingers are positioned over the upper pull. I lower them around the handle before closing."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 13, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.47903, -0.17413, 1.05938, -1.48887, 0.01023, 1.50752, -0.9211], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.42994, 0.31998, 1.12614], \"tcp_roll_pitch_yaw\": [-0.00167, 0.00027, 1.5653], \"tcp_rotation_matrix\": [[0.07082, 0.98396, 0.16371], [0.99623, -0.06154, -0.06108], [-0.05002, 0.16742, -0.98462]], \"simulated_seconds_remaining\": 17.622, \"calls_remaining_including_this\": 45}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 8, \"motion_seconds\": 0.528, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The fingertips surround the upper pull in the exterior view. I close the jaws to secure it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 14, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.47903, -0.17413, 1.05938, -1.48887, 0.01023, 1.50752, -0.9211], \"gripper_open\": 0.0, \"tcp_xyz\": [0.42994, 0.31998, 1.12612], \"tcp_roll_pitch_yaw\": [-0.00167, 0.00026, 1.56529], \"tcp_rotation_matrix\": [[0.07083, 0.98396, 0.16371], [0.99623, -0.06155, -0.06107], [-0.05002, 0.16742, -0.98462]], \"simulated_seconds_remaining\": 16.698, \"calls_remaining_including_this\": 44}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 1,
      "x": 0.49,
      "z": 1.14
    },
    "note": "The jaws closed fully, indicating the handle was not captured. I reopen and move farther toward the drawer face to reach behind the pull."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 15, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.30957, 0.23327, 1.16665, -1.20748, -0.38447, 1.38243, -0.75222], \"gripper_open\": 0.9965, \"tcp_xyz\": [0.48875, 0.31991, 1.13964], \"tcp_roll_pitch_yaw\": [-0.00144, 0.00015, 1.56521], \"tcp_rotation_matrix\": [[0.0709, 0.984, 0.16348], [0.99623, -0.06165, -0.06097], [-0.04992, 0.16718, -0.98466]], \"simulated_seconds_remaining\": 15.774, \"calls_remaining_including_this\": 43}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.58,
      "y": 0.23,
      "z": 1.16
    },
    "note": "The wrist camera now reveals the black pull with a screw at the upper left. I move toward that visible hardware while keeping the fingers open above it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 16, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.16233, 0.46308, 1.04106, -0.84258, -0.5954, 1.23071, -0.93259], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.57918, 0.2308, 1.15975], \"tcp_roll_pitch_yaw\": [-0.00136, 9e-05, 1.56502], \"tcp_rotation_matrix\": [[0.07108, 0.984, 0.16339], [0.99622, -0.06185, -0.06095], [-0.04987, 0.1671, -0.98468]], \"simulated_seconds_remaining\": 14.586, \"calls_remaining_including_this\": 42}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 18, \"motion_seconds\": 1.1880000000000002, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.635,
      "y": 0.18,
      "z": 1.145
    },
    "note": "The pull is clearly visible just above and left of the grasp center. I make a short forward and right adjustment to place it between the jaws."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 17, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.00743, 0.64716, 0.91846, -0.51033, -0.73637, 1.14892, -1.0916], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.63407, 0.18083, 1.14509], \"tcp_roll_pitch_yaw\": [-0.00117, 9e-05, 1.56487], \"tcp_rotation_matrix\": [[0.07123, 0.98402, 0.16319], [0.99621, -0.062, -0.06097], [-0.04987, 0.16691, -0.98471]], \"simulated_seconds_remaining\": 13.794, \"calls_remaining_including_this\": 41}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 12, \"motion_seconds\": 0.792, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.665,
      "y": 0.2,
      "z": 1.13
    },
    "note": "The handle end is beside the left finger in the wrist view. I advance a few centimeters and align with the middle of the pull before gripping."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 18, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.00743, 0.64716, 0.91846, -0.51033, -0.73637, 1.14892, -1.0916], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.63407, 0.18083, 1.14509], \"tcp_roll_pitch_yaw\": [-0.00117, 9e-05, 1.56487], \"tcp_rotation_matrix\": [[0.07123, 0.98402, 0.16319], [0.99621, -0.062, -0.06097], [-0.04987, 0.16691, -0.98471]], \"simulated_seconds_remaining\": 13.794, \"calls_remaining_including_this\": 40}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.65,
      "y": 0.2,
      "z": 1.08
    },
    "note": "The farther high pose was unreachable. I lower to the handle height with a smaller forward adjustment."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 19, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.00743, 0.64716, 0.91846, -0.51033, -0.73637, 1.14892, -1.0916], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.63407, 0.18083, 1.14509], \"tcp_roll_pitch_yaw\": [-0.00117, 9e-05, 1.56487], \"tcp_rotation_matrix\": [[0.07123, 0.98402, 0.16319], [0.99621, -0.062, -0.06097], [-0.04987, 0.16691, -0.98471]], \"simulated_seconds_remaining\": 13.794, \"calls_remaining_including_this\": 39}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK requires a large joint jump; split the motion or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "z": 1.115
    },
    "note": "The controller requires smaller steps near this extended pose. I descend three centimeters while retaining the current alignment."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 20, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.00743, 0.64716, 0.91846, -0.51033, -0.73637, 1.14892, -1.0916], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.63407, 0.18083, 1.14509], \"tcp_roll_pitch_yaw\": [-0.00117, 9e-05, 1.56487], \"tcp_rotation_matrix\": [[0.07123, 0.98402, 0.16319], [0.99621, -0.062, -0.06097], [-0.04987, 0.16691, -0.98471]], \"simulated_seconds_remaining\": 13.794, \"calls_remaining_including_this\": 38}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK requires a large joint jump; split the motion or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.62,
      "z": 1.13,
      "roll": -0.35
    },
    "note": "The arm is near its extension limit. I tilt the fingers toward the dresser and retract slightly to regain a reachable approach."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 21, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.00743, 0.64716, 0.91846, -0.51033, -0.73637, 1.14892, -1.0916], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.63407, 0.18083, 1.14509], \"tcp_roll_pitch_yaw\": [-0.00117, 9e-05, 1.56487], \"tcp_rotation_matrix\": [[0.07123, 0.98402, 0.16319], [0.99621, -0.062, -0.06097], [-0.04987, 0.16691, -0.98471]], \"simulated_seconds_remaining\": 13.794, \"calls_remaining_including_this\": 37}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK requires a large joint jump; split the motion or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.6,
      "z": 1.1
    },
    "note": "I retract and lower together to move away from the arm's straight configuration, keeping the pull in view."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 22, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.00743, 0.64716, 0.91846, -0.51033, -0.73637, 1.14892, -1.0916], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.63407, 0.18083, 1.14509], \"tcp_roll_pitch_yaw\": [-0.00117, 9e-05, 1.56487], \"tcp_rotation_matrix\": [[0.07123, 0.98402, 0.16319], [0.99621, -0.062, -0.06097], [-0.04987, 0.16691, -0.98471]], \"simulated_seconds_remaining\": 13.794, \"calls_remaining_including_this\": 36}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK requires a large joint jump; split the motion or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.59
    },
    "note": "I first retract horizontally to bend the elbow before attempting another descent."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 23, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.00743, 0.64716, 0.91846, -0.51033, -0.73637, 1.14892, -1.0916], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.63407, 0.18083, 1.14509], \"tcp_roll_pitch_yaw\": [-0.00117, 9e-05, 1.56487], \"tcp_rotation_matrix\": [[0.07123, 0.98402, 0.16319], [0.99621, -0.062, -0.06097], [-0.04987, 0.16691, -0.98471]], \"simulated_seconds_remaining\": 13.794, \"calls_remaining_including_this\": 35}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK requires a large joint jump; split the motion or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.624,
      "z": 1.15
    },
    "note": "I reduce the retreat to one centimeter to satisfy the joint continuity constraint."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 24, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.09887, 0.58135, 0.97629, -0.65258, -0.68788, 1.19083, -1.05423], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.62494, 0.18083, 1.14962], \"tcp_roll_pitch_yaw\": [-0.0013, 0.00011, 1.56484], \"tcp_rotation_matrix\": [[0.07126, 0.984, 0.16332], [0.99621, -0.06202, -0.061], [-0.04989, 0.16705, -0.98469]], \"simulated_seconds_remaining\": 13.398, \"calls_remaining_including_this\": 34}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 6, \"motion_seconds\": 0.396, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.61,
      "z": 1.13,
      "roll": -0.15
    },
    "note": "The small retreat restored motion. I continue with a modest tilt and descent toward the pull."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 25, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.09887, 0.58135, 0.97629, -0.65258, -0.68788, 1.19083, -1.05423], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.62494, 0.18083, 1.14962], \"tcp_roll_pitch_yaw\": [-0.0013, 0.00011, 1.56484], \"tcp_rotation_matrix\": [[0.07126, 0.984, 0.16332], [0.99621, -0.06202, -0.061], [-0.04989, 0.16705, -0.98469]], \"simulated_seconds_remaining\": 13.398, \"calls_remaining_including_this\": 33}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK requires a large joint jump; split the motion or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "z": 1.14
    },
    "note": "I keep the successful orientation and lower only one centimeter to approach the handle incrementally."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 26, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.09887, 0.58135, 0.97629, -0.65258, -0.68788, 1.19083, -1.05423], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.62494, 0.18083, 1.14962], \"tcp_roll_pitch_yaw\": [-0.0013, 0.00011, 1.56484], \"tcp_rotation_matrix\": [[0.07126, 0.984, 0.16332], [0.99621, -0.06202, -0.061], [-0.04989, 0.16705, -0.98469]], \"simulated_seconds_remaining\": 13.398, \"calls_remaining_including_this\": 32}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK requires a large joint jump; split the motion or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "yaw": 1.45,
      "z": 1.14
    },
    "note": "I adjust the wrist yaw slightly to find a continuous joint solution for the descent."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 27, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.1335, 0.55988, 0.9766, -0.72386, -0.6677, 1.21792, -0.93035], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.62495, 0.18084, 1.14024], \"tcp_roll_pitch_yaw\": [-0.00124, 0.00017, 1.45328], \"tcp_rotation_matrix\": [[0.18172, 0.97099, 0.15545], [0.98208, -0.17117, -0.07885], [-0.04996, 0.16699, -0.98469]], \"simulated_seconds_remaining\": 12.936, \"calls_remaining_including_this\": 31}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 7, \"motion_seconds\": 0.462, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.65,
      "z": 1.105,
      "yaw": 1.4
    },
    "note": "The new wrist angle permits descent. I bring the grasp center forward over the visible handle and down to its surface."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 28, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.14757, 0.58597, 0.96615, -0.76941, -0.6742, 1.28426, -0.87404], \"gripper_open\": 1.0, \"tcp_xyz\": [0.64635, 0.18126, 1.11434], \"tcp_roll_pitch_yaw\": [-0.01067, -0.00425, 1.40226], \"tcp_rotation_matrix\": [[0.23206, 0.95927, 0.1611], [0.97166, -0.22097, -0.08394], [-0.04493, 0.17602, -0.98336]], \"simulated_seconds_remaining\": 12.342, \"calls_remaining_including_this\": 30}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 9, \"motion_seconds\": 0.5940000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.675,
      "z": 1.125,
      "y": 0.205,
      "yaw": 1.4
    },
    "note": "The pull is still slightly left of the grasp center in the wrist view. I slide forward and toward its middle while maintaining clearance."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 29, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.14757, 0.58597, 0.96615, -0.76941, -0.6742, 1.28426, -0.87404], \"gripper_open\": 1.0, \"tcp_xyz\": [0.64635, 0.18126, 1.11434], \"tcp_roll_pitch_yaw\": [-0.01067, -0.00425, 1.40226], \"tcp_rotation_matrix\": [[0.23206, 0.95927, 0.1611], [0.97166, -0.22097, -0.08394], [-0.04493, 0.17602, -0.98336]], \"simulated_seconds_remaining\": 12.342, \"calls_remaining_including_this\": 29}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK requires a large joint jump; split the motion or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.665,
      "y": 0.195,
      "z": 1.12,
      "roll": -0.2,
      "yaw": 1.3
    },
    "note": "I use a slight forward tilt and smaller alignment step to keep the handle reachable."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 30, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.24103, 0.46495, 0.97838, -1.01048, -0.70544, 1.51256, -0.70641], \"gripper_open\": 1.0, \"tcp_xyz\": [0.66436, 0.19289, 1.12325], \"tcp_roll_pitch_yaw\": [-0.20155, -0.00397, 1.2988], \"tcp_rotation_matrix\": [[0.33899, 0.88173, 0.32807], [0.94025, -0.30573, -0.14986], [-0.03184, 0.35927, -0.93269]], \"simulated_seconds_remaining\": 11.748, \"calls_remaining_including_this\": 28}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 9, \"motion_seconds\": 0.5940000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The handle end now lies between the fingers in the wrist view. I close the jaws around it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 31, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.24119, 0.46109, 0.97953, -1.00663, -0.70678, 1.51493, -0.70635], \"gripper_open\": 0.0273, \"tcp_xyz\": [0.66436, 0.19306, 1.12787], \"tcp_roll_pitch_yaw\": [-0.21012, -0.00826, 1.29856], \"tcp_rotation_matrix\": [[0.33954, 0.87823, 0.33679], [0.94021, -0.30665, -0.14825], [-0.02692, 0.36699, -0.92984]], \"simulated_seconds_remaining\": 10.824, \"calls_remaining_including_this\": 27}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.54
    },
    "note": "The jaws contact the pull. I pull outward from the dresser and check whether the drawer follows."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 32, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.63629, -0.212, 0.95958, -1.60058, -0.08267, 1.75652, -0.88878], \"gripper_open\": 0.0, \"tcp_xyz\": [0.54127, 0.19321, 1.12796], \"tcp_roll_pitch_yaw\": [-0.21037, -0.00781, 1.29886], \"tcp_rotation_matrix\": [[0.33927, 0.87827, 0.33695], [0.94029, -0.30621, -0.14861], [-0.02735, 0.36725, -0.92972]], \"simulated_seconds_remaining\": 9.702, \"calls_remaining_including_this\": 26}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 17, \"motion_seconds\": 1.122, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 1,
      "x": 0.665,
      "y": 0.12,
      "z": 1.125,
      "roll": -0.25,
      "yaw": 1.3
    },
    "note": "The drawer did not follow; the first grip caught only the handle end. I reopen and move along the pull toward its central raised section."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 33, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.54045, 0.27393, 1.008, -1.27104, -0.53543, 1.71231, -0.81562], \"gripper_open\": 1.0, \"tcp_xyz\": [0.66355, 0.12143, 1.12584], \"tcp_roll_pitch_yaw\": [-0.25056, -0.00852, 1.30096], \"tcp_rotation_matrix\": [[0.33859, 0.8638, 0.37311], [0.94064, -0.30078, -0.15727], [-0.02363, 0.40421, -0.91436]], \"simulated_seconds_remaining\": 8.448, \"calls_remaining_including_this\": 25}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 19, \"motion_seconds\": 1.254, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.685,
      "y": 0.09,
      "z": 1.105,
      "roll": -0.3
    },
    "note": "The center of the pull is now between the open fingers. I advance slightly and descend to seat the jaws around the raised grip."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 34, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.61158, 0.21835, 1.01104, -1.35768, -0.47696, 1.85252, -0.84275], \"gripper_open\": 1.0, \"tcp_xyz\": [0.67466, 0.11837, 1.127], \"tcp_roll_pitch_yaw\": [-0.31105, -0.05057, 1.32468], \"tcp_rotation_matrix\": [[0.3179, 0.84055, 0.43866], [0.94785, -0.29293, -0.12561], [0.02291, 0.45571, -0.88983]], \"simulated_seconds_remaining\": 7.854, \"calls_remaining_including_this\": 24}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 9, \"motion_seconds\": 0.5940000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The fingers have contacted the central pull and further approach is constrained. I close at this position to capture the grip."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 35, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.61147, 0.21795, 1.01128, -1.35743, -0.47688, 1.85238, -0.84277], \"gripper_open\": 0.0014, \"tcp_xyz\": [0.67454, 0.11863, 1.12733], \"tcp_roll_pitch_yaw\": [-0.31152, -0.05062, 1.325], \"tcp_rotation_matrix\": [[0.31761, 0.84042, 0.43911], [0.94794, -0.29265, -0.12554], [0.023, 0.45612, -0.88962]], \"simulated_seconds_remaining\": 6.93, \"calls_remaining_including_this\": 23}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 1,
      "x": 0.7,
      "y": 0.085,
      "z": 1.16,
      "roll": -0.4,
      "yaw": 1.3
    },
    "note": "The jaws again closed nearly fully. I lift clear and recenter farther across the pull so the next descent places the raised bar inside the grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 36, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.59203, 0.25812, 0.97972, -1.26933, -0.55583, 1.86877, -0.84755], \"gripper_open\": 0.9965, \"tcp_xyz\": [0.69966, 0.08541, 1.15954], \"tcp_roll_pitch_yaw\": [-0.39876, -0.05062, 1.30027], \"tcp_rotation_matrix\": [[0.34288, 0.79007, 0.50815], [0.9389, -0.30543, -0.15867], [0.02984, 0.53151, -0.84653]], \"simulated_seconds_remaining\": 6.006, \"calls_remaining_including_this\": 22}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "z": 1.105
    },
    "note": "The raised pull is centered between the fingers in the wrist view. I lower onto it for a deeper grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 37, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.67997, 0.16323, 0.98669, -1.45612, -0.5042, 2.04083, -0.82781], \"gripper_open\": 1.0, \"tcp_xyz\": [0.69954, 0.0865, 1.1323], \"tcp_roll_pitch_yaw\": [-0.44557, -0.05223, 1.30154], \"tcp_rotation_matrix\": [[0.34247, 0.76467, 0.54589], [0.93887, -0.3003, -0.16837], [0.03518, 0.57018, -0.82077]], \"simulated_seconds_remaining\": 5.346, \"calls_remaining_including_this\": 21}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 10, \"motion_seconds\": 0.66, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The centered descent has reached contact. I close the fingers around the pull."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 38, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.67997, 0.16323, 0.98669, -1.45612, -0.5042, 2.04083, -0.82781], \"gripper_open\": 0.0, \"tcp_xyz\": [0.69954, 0.0865, 1.1323], \"tcp_roll_pitch_yaw\": [-0.4456, -0.05224, 1.30154], \"tcp_rotation_matrix\": [[0.34247, 0.76465, 0.54591], [0.93887, -0.30029, -0.16837], [0.03519, 0.5702, -0.82075]], \"simulated_seconds_remaining\": 4.422, \"calls_remaining_including_this\": 20}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.53,
      "z": 1.13
    },
    "note": "I pull outward to test whether this centered contact engages the drawer handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 39, \"instruction\": \"open the dresser.\", \"joint_positions\": [-0.58358, -0.57096, 0.63939, -2.0334, 0.14039, 2.13995, -1.17629], \"gripper_open\": 0.0, \"tcp_xyz\": [0.53131, 0.08658, 1.13009], \"tcp_roll_pitch_yaw\": [-0.44576, -0.05206, 1.30162], \"tcp_rotation_matrix\": [[0.3424, 0.76461, 0.54601], [0.9389, -0.30012, -0.1685], [0.03503, 0.57034, -0.82066]], \"simulated_seconds_remaining\": 2.97, \"calls_remaining_including_this\": 19}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 22, \"motion_seconds\": 1.452, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "give_up",
  "arguments": {},
  "result": null,
  "error": {
    "message": "tool call error: tool call failed for `robot/give_up`\n\nCaused by:\n    Mcp error: -32602: A short note is required"
  },
  "status": "failed"
}

{
  "type": "mcp_tool_call",
  "tool": "give_up",
  "arguments": {
    "note": "I could not secure the dresser handle; the drawer did not follow the attempted pulls, and insufficient motion time remains for another grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "Episode ended. Do not call more tools. Return a brief final response."
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

I couldn’t secure the handle, so the dresser remains closed.

TURN USAGE
{
  "input_tokens": 904819,
  "cached_input_tokens": 860160,
  "cache_write_input_tokens": 0,
  "output_tokens": 6515,
  "reasoning_output_tokens": 2401
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.00728,
      -0.79866,
      0.05646,
      -2.2947,
      -0.12096,
      1.4299,
      0.09355
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.27937,
      -0.01469,
      1.03926
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99662,
        -0.05618,
        -0.05991
      ],
      [
        -0.06526,
        -0.98457,
        -0.1624
      ],
      [
        -0.04986,
        0.16576,
        -0.98491
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 24.219297647476196,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.43,
                    "y": 0,
                    "z": 1.04
                  },
                  "note": "The dresser is ahead in both views. I move forward above its front to get a clearer view of the upper drawer handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.00453,
      -0.35512,
      0.0888,
      -1.94719,
      -0.13035,
      1.23359,
      0.13601
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.3453,
      -0.0049,
      1.03901
    ],
    "tcp_roll_pitch_yaw": [
      -0.03317,
      0.2816,
      -0.0495
    ],
    "tcp_rotation_matrix": [
      [
        0.93966,
        -0.04727,
        -0.33884
      ],
      [
        -0.11351,
        -0.97738,
        -0.17843
      ],
      [
        -0.32274,
        0.20612,
        -0.92377
      ]
    ],
    "simulated_seconds_remaining": 28.71,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 11.21139432862401,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.43,
                    "y": 0.05,
                    "z": 0.94,
                    "pitch": -1.45,
                    "roll": 0,
                    "yaw": 0
                  },
                  "note": "The dark horizontal pull is near the upper front of the dresser. I lower toward its height and turn the gripper to face the drawer."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 3,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.00453,
      -0.35512,
      0.0888,
      -1.94719,
      -0.13035,
      1.23359,
      0.13601
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.3453,
      -0.0049,
      1.03901
    ],
    "tcp_roll_pitch_yaw": [
      -0.03317,
      0.2816,
      -0.0495
    ],
    "tcp_rotation_matrix": [
      [
        0.93966,
        -0.04727,
        -0.33884
      ],
      [
        -0.11351,
        -0.97738,
        -0.17843
      ],
      [
        -0.32274,
        0.20612,
        -0.92377
      ]
    ],
    "simulated_seconds_remaining": 28.71,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 6.004958898760378,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.39,
                    "y": 0.05,
                    "z": 0.92,
                    "pitch": -0.7
                  },
                  "note": "The full forward-facing pose was unreachable. I use a smaller rotation and descend toward the visible upper pull."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 24,
    "motion_seconds": 1.584,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.00194,
      -0.9538,
      0.28379,
      -2.90736,
      -0.22132,
      2.51879,
      0.56193
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.38974,
      0.04968,
      0.92034
    ],
    "tcp_roll_pitch_yaw": [
      -0.03384,
      -0.69502,
      -0.04934
    ],
    "tcp_rotation_matrix": [
      [
        0.79168,
        -0.21862,
        0.57049
      ],
      [
        -0.10609,
        -0.96879,
        -0.22403
      ],
      [
        0.60166,
        0.11684,
        -0.79016
      ]
    ],
    "simulated_seconds_remaining": 27.126,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 12.209827534854412,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.46,
                    "y": 0.18,
                    "z": 0.96,
                    "pitch": -0.7
                  },
                  "note": "The wrist view shows the drawer pull left of the fingers. I shift left and slightly upward to center the gripper on it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.10834,
      -0.6049,
      0.58676,
      -2.5171,
      -0.2426,
      2.33613,
      0.8052
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.44323,
      0.1579,
      0.94001
    ],
    "tcp_roll_pitch_yaw": [
      -0.09386,
      -0.61791,
      -0.0705
    ],
    "tcp_rotation_matrix": [
      [
        0.83057,
        -0.26233,
        0.49127
      ],
      [
        -0.12847,
        -0.94857,
        -0.28931
      ],
      [
        0.5419,
        0.17718,
        -0.82156
      ]
    ],
    "simulated_seconds_remaining": 25.806,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 6.4106166353449225,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.37,
                    "y": 0.19,
                    "z": 0.96,
                    "pitch": -1.35,
                    "roll": 0,
                    "yaw": 0
                  },
                  "note": "The fingertips are close to the drawer face. I back off slightly while rotating farther forward to approach the pull squarely."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 6,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.10834,
      -0.6049,
      0.58676,
      -2.5171,
      -0.2426,
      2.33613,
      0.8052
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.44323,
      0.1579,
      0.94001
    ],
    "tcp_roll_pitch_yaw": [
      -0.09386,
      -0.61791,
      -0.0705
    ],
    "tcp_rotation_matrix": [
      [
        0.83057,
        -0.26233,
        0.49127
      ],
      [
        -0.12847,
        -0.94857,
        -0.28931
      ],
      [
        0.5419,
        0.17718,
        -0.82156
      ]
    ],
    "simulated_seconds_remaining": 25.806,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 9.4068654011935,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "y": 0.27,
                    "z": 1.1,
                    "pitch": -0.5
                  },
                  "note": "The exterior view places the upper pull above and left of the current fingertips. I raise the gripper to that pull while keeping a reachable angled approach."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 25,
    "motion_seconds": 1.6500000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.10113,
      -0.4585,
      0.72229,
      -1.89404,
      -0.17581,
      1.71988,
      0.80558
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.4003,
      0.26933,
      1.099
    ],
    "tcp_roll_pitch_yaw": [
      -0.09375,
      -0.501,
      -0.0704
    ],
    "tcp_rotation_matrix": [
      [
        0.88793,
        -0.24024,
        0.39225
      ],
      [
        -0.13243,
        -0.95018,
        -0.28217
      ],
      [
        0.4405,
        0.19861,
        -0.87551
      ]
    ],
    "simulated_seconds_remaining": 24.156,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 7.006484639830887,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.46,
                    "y": 0.32,
                    "z": 1.12,
                    "pitch": -0.5
                  },
                  "note": "The upper pull is just left and above the fingertips in the exterior view. I make a short alignment move toward its center."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.19436,
      -0.09745,
      0.96335,
      -1.55561,
      -0.41499,
      1.59196,
      0.95972
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.4591,
      0.31921,
      1.11957
    ],
    "tcp_roll_pitch_yaw": [
      -0.09384,
      -0.49976,
      -0.07032
    ],
    "tcp_rotation_matrix": [
      [
        0.88849,
        -0.23996,
        0.39117
      ],
      [
        -0.1324,
        -0.95019,
        -0.28216
      ],
      [
        0.43939,
        0.1989,
        -0.876
      ]
    ],
    "simulated_seconds_remaining": 23.298,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 11.408743322826922,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48,
                    "y": 0.38,
                    "z": 1.075
                  },
                  "note": "The wrist view places the pull left of the grasp center. I shift left and lower a few centimeters so the open fingers can straddle it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.03493,
      0.20994,
      1.04843,
      -1.43324,
      -0.68473,
      1.51821,
      1.17628
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.47963,
      0.37892,
      1.07568
    ],
    "tcp_roll_pitch_yaw": [
      -0.09392,
      -0.49941,
      -0.07018
    ],
    "tcp_rotation_matrix": [
      [
        0.88865,
        -0.23979,
        0.39089
      ],
      [
        -0.13229,
        -0.95021,
        -0.28215
      ],
      [
        0.43908,
        0.19902,
        -0.87613
      ]
    ],
    "simulated_seconds_remaining": 22.506,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 8.807215462438762,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.43,
                    "y": 0.25,
                    "z": 1.15,
                    "pitch": 0
                  },
                  "note": "The exterior view shows the pull to the right of the fingers after that shift. I correct rightward and upward, returning to a downward grasp over the upper pull."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.16305,
      0.25415,
      1.02223,
      -1.05748,
      -0.38875,
      0.9773,
      0.82122
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.43043,
      0.25068,
      1.14959
    ],
    "tcp_roll_pitch_yaw": [
      -0.09379,
      -0.00302,
      -0.07049
    ],
    "tcp_rotation_matrix": [
      [
        0.98937,
        -0.12476,
        -0.07473
      ],
      [
        -0.13967,
        -0.95831,
        -0.24928
      ],
      [
        -0.04052,
        0.25707,
        -0.96554
      ]
    ],
    "simulated_seconds_remaining": 21.186,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 8.608531097881496,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.295,
                    "z": 1.125,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 0
                  },
                  "note": "The upper pull is directly beneath and slightly left of the open fingers. I center the grasp and descend onto it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.20317,
      0.23174,
      1.05461,
      -1.1624,
      -0.2922,
      1.12651,
      0.81248
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.43041,
      0.29423,
      1.1254
    ],
    "tcp_roll_pitch_yaw": [
      -0.00175,
      8e-05,
      -0.00112
    ],
    "tcp_rotation_matrix": [
      [
        0.99654,
        -0.05727,
        -0.06017
      ],
      [
        -0.06647,
        -0.98421,
        -0.16405
      ],
      [
        -0.04983,
        0.16749,
        -0.98461
      ]
    ],
    "simulated_seconds_remaining": 20.526,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 9.607666033320129,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.43,
                    "y": 0.32,
                    "z": 1.16,
                    "yaw": 1.57
                  },
                  "note": "The pull runs horizontally across the drawer. I lift slightly and rotate the fingers to pinch across its narrow depth."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 36,
    "motion_seconds": 2.3760000000000003,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.47819,
      -0.05818,
      1.14416,
      -1.33214,
      -0.09825,
      1.40072,
      -0.85738
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.42999,
      0.31994,
      1.15992
    ],
    "tcp_roll_pitch_yaw": [
      -0.00178,
      4e-05,
      1.5652
    ],
    "tcp_rotation_matrix": [
      [
        0.07092,
        0.98394,
        0.16381
      ],
      [
        0.99624,
        -0.06167,
        -0.06087
      ],
      [
        -0.04979,
        0.16751,
        -0.98461
      ]
    ],
    "simulated_seconds_remaining": 18.15,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 6.605934111401439,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.125
                  },
                  "note": "The rotated fingers are positioned over the upper pull. I lower them around the handle before closing."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 8,
    "motion_seconds": 0.528,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.47903,
      -0.17413,
      1.05938,
      -1.48887,
      0.01023,
      1.50752,
      -0.9211
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.42994,
      0.31998,
      1.12614
    ],
    "tcp_roll_pitch_yaw": [
      -0.00167,
      0.00027,
      1.5653
    ],
    "tcp_rotation_matrix": [
      [
        0.07082,
        0.98396,
        0.16371
      ],
      [
        0.99623,
        -0.06154,
        -0.06108
      ],
      [
        -0.05002,
        0.16742,
        -0.98462
      ]
    ],
    "simulated_seconds_remaining": 17.622,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 6.405250280164182,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The fingertips surround the upper pull in the exterior view. I close the jaws to secure it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.47903,
      -0.17413,
      1.05938,
      -1.48887,
      0.01023,
      1.50752,
      -0.9211
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.42994,
      0.31998,
      1.12612
    ],
    "tcp_roll_pitch_yaw": [
      -0.00167,
      0.00026,
      1.56529
    ],
    "tcp_rotation_matrix": [
      [
        0.07083,
        0.98396,
        0.16371
      ],
      [
        0.99623,
        -0.06155,
        -0.06107
      ],
      [
        -0.05002,
        0.16742,
        -0.98462
      ]
    ],
    "simulated_seconds_remaining": 16.698,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 8.406121542677283,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 1,
                    "x": 0.49,
                    "z": 1.14
                  },
                  "note": "The jaws closed fully, indicating the handle was not captured. I reopen and move farther toward the drawer face to reach behind the pull."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.30957,
      0.23327,
      1.16665,
      -1.20748,
      -0.38447,
      1.38243,
      -0.75222
    ],
    "gripper_open": 0.9965,
    "tcp_xyz": [
      0.48875,
      0.31991,
      1.13964
    ],
    "tcp_roll_pitch_yaw": [
      -0.00144,
      0.00015,
      1.56521
    ],
    "tcp_rotation_matrix": [
      [
        0.0709,
        0.984,
        0.16348
      ],
      [
        0.99623,
        -0.06165,
        -0.06097
      ],
      [
        -0.04992,
        0.16718,
        -0.98466
      ]
    ],
    "simulated_seconds_remaining": 15.774,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 19.616829680278897,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.58,
                    "y": 0.23,
                    "z": 1.16
                  },
                  "note": "The wrist camera now reveals the black pull with a screw at the upper left. I move toward that visible hardware while keeping the fingers open above it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.16233,
      0.46308,
      1.04106,
      -0.84258,
      -0.5954,
      1.23071,
      -0.93259
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.57918,
      0.2308,
      1.15975
    ],
    "tcp_roll_pitch_yaw": [
      -0.00136,
      9e-05,
      1.56502
    ],
    "tcp_rotation_matrix": [
      [
        0.07108,
        0.984,
        0.16339
      ],
      [
        0.99622,
        -0.06185,
        -0.06095
      ],
      [
        -0.04987,
        0.1671,
        -0.98468
      ]
    ],
    "simulated_seconds_remaining": 14.586,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 7.406117785722017,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.635,
                    "y": 0.18,
                    "z": 1.145
                  },
                  "note": "The pull is clearly visible just above and left of the grasp center. I make a short forward and right adjustment to place it between the jaws."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.00743,
      0.64716,
      0.91846,
      -0.51033,
      -0.73637,
      1.14892,
      -1.0916
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.63407,
      0.18083,
      1.14509
    ],
    "tcp_roll_pitch_yaw": [
      -0.00117,
      9e-05,
      1.56487
    ],
    "tcp_rotation_matrix": [
      [
        0.07123,
        0.98402,
        0.16319
      ],
      [
        0.99621,
        -0.062,
        -0.06097
      ],
      [
        -0.04987,
        0.16691,
        -0.98471
      ]
    ],
    "simulated_seconds_remaining": 13.794,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 6.806046849116683,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.665,
                    "y": 0.2,
                    "z": 1.13
                  },
                  "note": "The handle end is beside the left finger in the wrist view. I advance a few centimeters and align with the middle of the pull before gripping."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 18,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.00743,
      0.64716,
      0.91846,
      -0.51033,
      -0.73637,
      1.14892,
      -1.0916
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.63407,
      0.18083,
      1.14509
    ],
    "tcp_roll_pitch_yaw": [
      -0.00117,
      9e-05,
      1.56487
    ],
    "tcp_rotation_matrix": [
      [
        0.07123,
        0.98402,
        0.16319
      ],
      [
        0.99621,
        -0.062,
        -0.06097
      ],
      [
        -0.04987,
        0.16691,
        -0.98471
      ]
    ],
    "simulated_seconds_remaining": 13.794,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 6.0045604491606355,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.65,
                    "y": 0.2,
                    "z": 1.08
                  },
                  "note": "The farther high pose was unreachable. I lower to the handle height with a smaller forward adjustment."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 19,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.00743,
      0.64716,
      0.91846,
      -0.51033,
      -0.73637,
      1.14892,
      -1.0916
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.63407,
      0.18083,
      1.14509
    ],
    "tcp_roll_pitch_yaw": [
      -0.00117,
      9e-05,
      1.56487
    ],
    "tcp_rotation_matrix": [
      [
        0.07123,
        0.98402,
        0.16319
      ],
      [
        0.99621,
        -0.062,
        -0.06097
      ],
      [
        -0.04987,
        0.16691,
        -0.98471
      ]
    ],
    "simulated_seconds_remaining": 13.794,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 6.805576126091182,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.115
                  },
                  "note": "The controller requires smaller steps near this extended pose. I descend three centimeters while retaining the current alignment."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 20,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.00743,
      0.64716,
      0.91846,
      -0.51033,
      -0.73637,
      1.14892,
      -1.0916
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.63407,
      0.18083,
      1.14509
    ],
    "tcp_roll_pitch_yaw": [
      -0.00117,
      9e-05,
      1.56487
    ],
    "tcp_rotation_matrix": [
      [
        0.07123,
        0.98402,
        0.16319
      ],
      [
        0.99621,
        -0.062,
        -0.06097
      ],
      [
        -0.04987,
        0.16691,
        -0.98471
      ]
    ],
    "simulated_seconds_remaining": 13.794,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 7.205970090813935,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.62,
                    "z": 1.13,
                    "roll": -0.35
                  },
                  "note": "The arm is near its extension limit. I tilt the fingers toward the dresser and retract slightly to regain a reachable approach."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 21,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.00743,
      0.64716,
      0.91846,
      -0.51033,
      -0.73637,
      1.14892,
      -1.0916
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.63407,
      0.18083,
      1.14509
    ],
    "tcp_roll_pitch_yaw": [
      -0.00117,
      9e-05,
      1.56487
    ],
    "tcp_rotation_matrix": [
      [
        0.07123,
        0.98402,
        0.16319
      ],
      [
        0.99621,
        -0.062,
        -0.06097
      ],
      [
        -0.04987,
        0.16691,
        -0.98471
      ]
    ],
    "simulated_seconds_remaining": 13.794,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 5.6046878434717655,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.6,
                    "z": 1.1
                  },
                  "note": "I retract and lower together to move away from the arm's straight configuration, keeping the pull in view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 22,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.00743,
      0.64716,
      0.91846,
      -0.51033,
      -0.73637,
      1.14892,
      -1.0916
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.63407,
      0.18083,
      1.14509
    ],
    "tcp_roll_pitch_yaw": [
      -0.00117,
      9e-05,
      1.56487
    ],
    "tcp_rotation_matrix": [
      [
        0.07123,
        0.98402,
        0.16319
      ],
      [
        0.99621,
        -0.062,
        -0.06097
      ],
      [
        -0.04987,
        0.16691,
        -0.98471
      ]
    ],
    "simulated_seconds_remaining": 13.794,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 5.604884275235236,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.59
                  },
                  "note": "I first retract horizontally to bend the elbow before attempting another descent."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 23,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.00743,
      0.64716,
      0.91846,
      -0.51033,
      -0.73637,
      1.14892,
      -1.0916
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.63407,
      0.18083,
      1.14509
    ],
    "tcp_roll_pitch_yaw": [
      -0.00117,
      9e-05,
      1.56487
    ],
    "tcp_rotation_matrix": [
      [
        0.07123,
        0.98402,
        0.16319
      ],
      [
        0.99621,
        -0.062,
        -0.06097
      ],
      [
        -0.04987,
        0.16691,
        -0.98471
      ]
    ],
    "simulated_seconds_remaining": 13.794,
    "calls_remaining_including_this": 35
  },
  "api_seconds": 5.004492559470236,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.624,
                    "z": 1.15
                  },
                  "note": "I reduce the retreat to one centimeter to satisfy the joint continuity constraint."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 6,
    "motion_seconds": 0.396,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 24,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.09887,
      0.58135,
      0.97629,
      -0.65258,
      -0.68788,
      1.19083,
      -1.05423
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.62494,
      0.18083,
      1.14962
    ],
    "tcp_roll_pitch_yaw": [
      -0.0013,
      0.00011,
      1.56484
    ],
    "tcp_rotation_matrix": [
      [
        0.07126,
        0.984,
        0.16332
      ],
      [
        0.99621,
        -0.06202,
        -0.061
      ],
      [
        -0.04989,
        0.16705,
        -0.98469
      ]
    ],
    "simulated_seconds_remaining": 13.398,
    "calls_remaining_including_this": 34
  },
  "api_seconds": 7.806225775741041,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.61,
                    "z": 1.13,
                    "roll": -0.15
                  },
                  "note": "The small retreat restored motion. I continue with a modest tilt and descent toward the pull."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 25,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.09887,
      0.58135,
      0.97629,
      -0.65258,
      -0.68788,
      1.19083,
      -1.05423
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.62494,
      0.18083,
      1.14962
    ],
    "tcp_roll_pitch_yaw": [
      -0.0013,
      0.00011,
      1.56484
    ],
    "tcp_rotation_matrix": [
      [
        0.07126,
        0.984,
        0.16332
      ],
      [
        0.99621,
        -0.06202,
        -0.061
      ],
      [
        -0.04989,
        0.16705,
        -0.98469
      ]
    ],
    "simulated_seconds_remaining": 13.398,
    "calls_remaining_including_this": 33
  },
  "api_seconds": 6.608704931102693,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.14
                  },
                  "note": "I keep the successful orientation and lower only one centimeter to approach the handle incrementally."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 26,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.09887,
      0.58135,
      0.97629,
      -0.65258,
      -0.68788,
      1.19083,
      -1.05423
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.62494,
      0.18083,
      1.14962
    ],
    "tcp_roll_pitch_yaw": [
      -0.0013,
      0.00011,
      1.56484
    ],
    "tcp_rotation_matrix": [
      [
        0.07126,
        0.984,
        0.16332
      ],
      [
        0.99621,
        -0.06202,
        -0.061
      ],
      [
        -0.04989,
        0.16705,
        -0.98469
      ]
    ],
    "simulated_seconds_remaining": 13.398,
    "calls_remaining_including_this": 32
  },
  "api_seconds": 6.2053474467247725,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "yaw": 1.45,
                    "z": 1.14
                  },
                  "note": "I adjust the wrist yaw slightly to find a continuous joint solution for the descent."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 7,
    "motion_seconds": 0.462,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 27,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.1335,
      0.55988,
      0.9766,
      -0.72386,
      -0.6677,
      1.21792,
      -0.93035
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.62495,
      0.18084,
      1.14024
    ],
    "tcp_roll_pitch_yaw": [
      -0.00124,
      0.00017,
      1.45328
    ],
    "tcp_rotation_matrix": [
      [
        0.18172,
        0.97099,
        0.15545
      ],
      [
        0.98208,
        -0.17117,
        -0.07885
      ],
      [
        -0.04996,
        0.16699,
        -0.98469
      ]
    ],
    "simulated_seconds_remaining": 12.936,
    "calls_remaining_including_this": 31
  },
  "api_seconds": 5.604637213982642,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.65,
                    "z": 1.105,
                    "yaw": 1.4
                  },
                  "note": "The new wrist angle permits descent. I bring the grasp center forward over the visible handle and down to its surface."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 28,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.14757,
      0.58597,
      0.96615,
      -0.76941,
      -0.6742,
      1.28426,
      -0.87404
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.64635,
      0.18126,
      1.11434
    ],
    "tcp_roll_pitch_yaw": [
      -0.01067,
      -0.00425,
      1.40226
    ],
    "tcp_rotation_matrix": [
      [
        0.23206,
        0.95927,
        0.1611
      ],
      [
        0.97166,
        -0.22097,
        -0.08394
      ],
      [
        -0.04493,
        0.17602,
        -0.98336
      ]
    ],
    "simulated_seconds_remaining": 12.342,
    "calls_remaining_including_this": 30
  },
  "api_seconds": 6.405290434136987,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.675,
                    "z": 1.125,
                    "y": 0.205,
                    "yaw": 1.4
                  },
                  "note": "The pull is still slightly left of the grasp center in the wrist view. I slide forward and toward its middle while maintaining clearance."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 29,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.14757,
      0.58597,
      0.96615,
      -0.76941,
      -0.6742,
      1.28426,
      -0.87404
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.64635,
      0.18126,
      1.11434
    ],
    "tcp_roll_pitch_yaw": [
      -0.01067,
      -0.00425,
      1.40226
    ],
    "tcp_rotation_matrix": [
      [
        0.23206,
        0.95927,
        0.1611
      ],
      [
        0.97166,
        -0.22097,
        -0.08394
      ],
      [
        -0.04493,
        0.17602,
        -0.98336
      ]
    ],
    "simulated_seconds_remaining": 12.342,
    "calls_remaining_including_this": 29
  },
  "api_seconds": 6.005452958866954,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.665,
                    "y": 0.195,
                    "z": 1.12,
                    "roll": -0.2,
                    "yaw": 1.3
                  },
                  "note": "I use a slight forward tilt and smaller alignment step to keep the handle reachable."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 30,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.24103,
      0.46495,
      0.97838,
      -1.01048,
      -0.70544,
      1.51256,
      -0.70641
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.66436,
      0.19289,
      1.12325
    ],
    "tcp_roll_pitch_yaw": [
      -0.20155,
      -0.00397,
      1.2988
    ],
    "tcp_rotation_matrix": [
      [
        0.33899,
        0.88173,
        0.32807
      ],
      [
        0.94025,
        -0.30573,
        -0.14986
      ],
      [
        -0.03184,
        0.35927,
        -0.93269
      ]
    ],
    "simulated_seconds_remaining": 11.748,
    "calls_remaining_including_this": 28
  },
  "api_seconds": 5.604654750786722,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The handle end now lies between the fingers in the wrist view. I close the jaws around it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 31,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.24119,
      0.46109,
      0.97953,
      -1.00663,
      -0.70678,
      1.51493,
      -0.70635
    ],
    "gripper_open": 0.0273,
    "tcp_xyz": [
      0.66436,
      0.19306,
      1.12787
    ],
    "tcp_roll_pitch_yaw": [
      -0.21012,
      -0.00826,
      1.29856
    ],
    "tcp_rotation_matrix": [
      [
        0.33954,
        0.87823,
        0.33679
      ],
      [
        0.94021,
        -0.30665,
        -0.14825
      ],
      [
        -0.02692,
        0.36699,
        -0.92984
      ]
    ],
    "simulated_seconds_remaining": 10.824,
    "calls_remaining_including_this": 27
  },
  "api_seconds": 6.205259354785085,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.54
                  },
                  "note": "The jaws contact the pull. I pull outward from the dresser and check whether the drawer follows."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 32,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.63629,
      -0.212,
      0.95958,
      -1.60058,
      -0.08267,
      1.75652,
      -0.88878
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.54127,
      0.19321,
      1.12796
    ],
    "tcp_roll_pitch_yaw": [
      -0.21037,
      -0.00781,
      1.29886
    ],
    "tcp_rotation_matrix": [
      [
        0.33927,
        0.87827,
        0.33695
      ],
      [
        0.94029,
        -0.30621,
        -0.14861
      ],
      [
        -0.02735,
        0.36725,
        -0.92972
      ]
    ],
    "simulated_seconds_remaining": 9.702,
    "calls_remaining_including_this": 26
  },
  "api_seconds": 14.610714943148196,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 1,
                    "x": 0.665,
                    "y": 0.12,
                    "z": 1.125,
                    "roll": -0.25,
                    "yaw": 1.3
                  },
                  "note": "The drawer did not follow; the first grip caught only the handle end. I reopen and move along the pull toward its central raised section."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 33,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.54045,
      0.27393,
      1.008,
      -1.27104,
      -0.53543,
      1.71231,
      -0.81562
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.66355,
      0.12143,
      1.12584
    ],
    "tcp_roll_pitch_yaw": [
      -0.25056,
      -0.00852,
      1.30096
    ],
    "tcp_rotation_matrix": [
      [
        0.33859,
        0.8638,
        0.37311
      ],
      [
        0.94064,
        -0.30078,
        -0.15727
      ],
      [
        -0.02363,
        0.40421,
        -0.91436
      ]
    ],
    "simulated_seconds_remaining": 8.448,
    "calls_remaining_including_this": 25
  },
  "api_seconds": 7.4060002118349075,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.685,
                    "y": 0.09,
                    "z": 1.105,
                    "roll": -0.3
                  },
                  "note": "The center of the pull is now between the open fingers. I advance slightly and descend to seat the jaws around the raised grip."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 34,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.61158,
      0.21835,
      1.01104,
      -1.35768,
      -0.47696,
      1.85252,
      -0.84275
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.67466,
      0.11837,
      1.127
    ],
    "tcp_roll_pitch_yaw": [
      -0.31105,
      -0.05057,
      1.32468
    ],
    "tcp_rotation_matrix": [
      [
        0.3179,
        0.84055,
        0.43866
      ],
      [
        0.94785,
        -0.29293,
        -0.12561
      ],
      [
        0.02291,
        0.45571,
        -0.88983
      ]
    ],
    "simulated_seconds_remaining": 7.854,
    "calls_remaining_including_this": 24
  },
  "api_seconds": 5.204429608769715,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The fingers have contacted the central pull and further approach is constrained. I close at this position to capture the grip."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 35,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.61147,
      0.21795,
      1.01128,
      -1.35743,
      -0.47688,
      1.85238,
      -0.84277
    ],
    "gripper_open": 0.0014,
    "tcp_xyz": [
      0.67454,
      0.11863,
      1.12733
    ],
    "tcp_roll_pitch_yaw": [
      -0.31152,
      -0.05062,
      1.325
    ],
    "tcp_rotation_matrix": [
      [
        0.31761,
        0.84042,
        0.43911
      ],
      [
        0.94794,
        -0.29265,
        -0.12554
      ],
      [
        0.023,
        0.45612,
        -0.88962
      ]
    ],
    "simulated_seconds_remaining": 6.93,
    "calls_remaining_including_this": 23
  },
  "api_seconds": 12.409544395282865,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 1,
                    "x": 0.7,
                    "y": 0.085,
                    "z": 1.16,
                    "roll": -0.4,
                    "yaw": 1.3
                  },
                  "note": "The jaws again closed nearly fully. I lift clear and recenter farther across the pull so the next descent places the raised bar inside the grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 36,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.59203,
      0.25812,
      0.97972,
      -1.26933,
      -0.55583,
      1.86877,
      -0.84755
    ],
    "gripper_open": 0.9965,
    "tcp_xyz": [
      0.69966,
      0.08541,
      1.15954
    ],
    "tcp_roll_pitch_yaw": [
      -0.39876,
      -0.05062,
      1.30027
    ],
    "tcp_rotation_matrix": [
      [
        0.34288,
        0.79007,
        0.50815
      ],
      [
        0.9389,
        -0.30543,
        -0.15867
      ],
      [
        0.02984,
        0.53151,
        -0.84653
      ]
    ],
    "simulated_seconds_remaining": 6.006,
    "calls_remaining_including_this": 22
  },
  "api_seconds": 6.806002633646131,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.105
                  },
                  "note": "The raised pull is centered between the fingers in the wrist view. I lower onto it for a deeper grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 37,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.67997,
      0.16323,
      0.98669,
      -1.45612,
      -0.5042,
      2.04083,
      -0.82781
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.69954,
      0.0865,
      1.1323
    ],
    "tcp_roll_pitch_yaw": [
      -0.44557,
      -0.05223,
      1.30154
    ],
    "tcp_rotation_matrix": [
      [
        0.34247,
        0.76467,
        0.54589
      ],
      [
        0.93887,
        -0.3003,
        -0.16837
      ],
      [
        0.03518,
        0.57018,
        -0.82077
      ]
    ],
    "simulated_seconds_remaining": 5.346,
    "calls_remaining_including_this": 21
  },
  "api_seconds": 6.60853018425405,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The centered descent has reached contact. I close the fingers around the pull."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 38,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.67997,
      0.16323,
      0.98669,
      -1.45612,
      -0.5042,
      2.04083,
      -0.82781
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.69954,
      0.0865,
      1.1323
    ],
    "tcp_roll_pitch_yaw": [
      -0.4456,
      -0.05224,
      1.30154
    ],
    "tcp_rotation_matrix": [
      [
        0.34247,
        0.76465,
        0.54591
      ],
      [
        0.93887,
        -0.30029,
        -0.16837
      ],
      [
        0.03519,
        0.5702,
        -0.82075
      ]
    ],
    "simulated_seconds_remaining": 4.422,
    "calls_remaining_including_this": 20
  },
  "api_seconds": 6.005409345030785,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.53,
                    "z": 1.13
                  },
                  "note": "I pull outward to test whether this centered contact engages the drawer handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 22,
    "motion_seconds": 1.452,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 39,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.58358,
      -0.57096,
      0.63939,
      -2.0334,
      0.14039,
      2.13995,
      -1.17629
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.53131,
      0.08658,
      1.13009
    ],
    "tcp_roll_pitch_yaw": [
      -0.44576,
      -0.05206,
      1.30162
    ],
    "tcp_rotation_matrix": [
      [
        0.3424,
        0.76461,
        0.54601
      ],
      [
        0.9389,
        -0.30012,
        -0.1685
      ],
      [
        0.03503,
        0.57034,
        -0.82066
      ]
    ],
    "simulated_seconds_remaining": 2.97,
    "calls_remaining_including_this": 19
  },
  "api_seconds": 10.608700973913074,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "give_up",
                "args": {
                  "note": "I could not secure the dresser handle; the drawer did not follow the attempted pulls, and insufficient motion time remains for another grasp."
                }
              }
            }
          ]
        }
      }
    ]
  }
}

========================================================================
GPT-Astra / Open / Episode 047

Completed scored attempt. Images are available in the paired videos.

Opaque provider signatures, image payloads, and local paths are omitted.


RESULT
{
  "benchmark_index": 47,
  "source_episode_index": 986,
  "house_index": 424,
  "status": "completed",
  "success": true,
  "oracle_success": true,
  "action_decisions": 9,
  "wall_seconds": 119.25,
  "usage": {
    "input_tokens": 165955,
    "cached_input_tokens": 153088,
    "cache_write_input_tokens": 0,
    "output_tokens": 1902,
    "reasoning_output_tokens": 763
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task.
You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose.
Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion.
move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up.
roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial.
Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5).
The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y.
The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics.
Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration.
Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target.
You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time.
Each move must include a short note describing what you observe and why you chose that motion.
Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done.
Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available.



AGENT TRANSCRIPT (visible messages and completed tool calls)

I’ll inspect the scene and use the camera feedback to guide the opening motion.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.00455, -0.81147, 0.0119, -2.42759, -0.08226, 1.68321, -0.16569], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.32042, -0.01866, 1.0009], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.98282, 0.17181, 0.06748], [0.17749, -0.98, -0.08998], [0.05067, 0.10041, -0.99365]], \"simulated_seconds_remaining\": 30.03, \"calls_remaining_including_this\": 57}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "x": 0.48,
    "y": 0,
    "z": 1.13,
    "pitch": -1.57,
    "gripper": 1,
    "note": "The cabinet has two slim vertical handles; I am approaching the nearer handle with the fingers aimed horizontally toward the door."
  },
  "result": null,
  "error": {
    "message": "tool call error: tool call failed for `robot/move_to`\n\nCaused by:\n    Mcp error: -32602: Unexpected argument"
  },
  "status": "failed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.48,
      "y": 0,
      "z": 1.13,
      "pitch": -1.57,
      "gripper": 1
    },
    "note": "The cabinet has two vertical handles. I am approaching with the gripper aimed horizontally toward the door."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.38429, -0.68283, 0.36039, -2.92013, 0.00645, 3.90227, 0.04612], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.47977, -6e-05, 1.12939], \"tcp_roll_pitch_yaw\": [-0.02017, -1.56447, 0.02002], \"tcp_rotation_matrix\": [[-0.04443, -0.09947, 0.99405], [0.17762, -0.97996, -0.09012], [0.9831, 0.17256, 0.06121]], \"simulated_seconds_remaining\": 27.654, \"calls_remaining_including_this\": 56}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 36, \"motion_seconds\": 2.3760000000000003, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.58,
      "y": -0.02,
      "z": 1.2
    },
    "note": "The wrist view shows the left vertical handle slightly above and right of the approach center. I am raising and advancing toward its lower section."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.44901, -0.42173, 0.35905, -2.53821, -0.03284, 3.77637, -0.00143], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.57893, -0.01981, 1.19926], \"tcp_roll_pitch_yaw\": [-0.01447, -1.5645, 0.01428], \"tcp_rotation_matrix\": [[-0.04445, -0.09952, 0.99404], [0.17759, -0.97997, -0.09017], [0.9831, 0.17252, 0.06123]], \"simulated_seconds_remaining\": 26.532, \"calls_remaining_including_this\": 55}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 17, \"motion_seconds\": 1.122, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "y": 0.055,
      "z": 1.09
    },
    "note": "The exterior view places the gripper above the handle. I am lowering it and shifting left in the base frame to align with the left handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.5529, -0.22039, 0.78815, -2.62758, 0.39484, 4.09329, -0.26714], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.57897, 0.05435, 1.091], \"tcp_roll_pitch_yaw\": [-0.01131, -1.5643, 0.01139], \"tcp_rotation_matrix\": [[-0.0443, -0.09922, 0.99408], [0.17756, -0.98, -0.0899], [0.98311, 0.17253, 0.06103]], \"simulated_seconds_remaining\": 25.344, \"calls_remaining_including_this\": 54}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 18, \"motion_seconds\": 1.1880000000000002, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.635,
      "y": 0.05,
      "z": 1.095
    },
    "note": "A vertical handle is now between the open fingers in the wrist view. I am advancing a short distance to place the fingers around it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.58261, -0.02237, 0.83195, -2.45905, 0.41095, 4.13289, -0.42527], \"gripper_open\": 1.0, \"tcp_xyz\": [0.62682, 0.05238, 1.09461], \"tcp_roll_pitch_yaw\": [-2.45374, -1.55736, 2.45214], \"tcp_rotation_matrix\": [[-0.06057, -0.1038, 0.99275], [0.18597, -0.97834, -0.09095], [0.98069, 0.17911, 0.07856]], \"simulated_seconds_remaining\": 24.684, \"calls_remaining_including_this\": 53}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 10, \"motion_seconds\": 0.66, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The right-hand vertical bar lies between the fingertips. I am closing the gripper to secure it before pulling."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.58018, -0.02589, 0.835, -2.46893, 0.41138, 4.1471, -0.4255], \"gripper_open\": 0.9241, \"tcp_xyz\": [0.62308, 0.05488, 1.09444], \"tcp_roll_pitch_yaw\": [-2.46743, -1.54848, 2.46737], \"tcp_rotation_matrix\": [[-0.06777, -0.10357, 0.99231], [0.19116, -0.97752, -0.08897], [0.97922, 0.18366, 0.08604]], \"simulated_seconds_remaining\": 23.76, \"calls_remaining_including_this\": 52}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.52
    },
    "note": "The gripper met resistance while closing. I am making a short outward pull to check whether it has engaged the handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.47294, -0.42347, 0.71691, -2.80558, 0.37237, 4.08965, -0.14973], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.5213, 0.05496, 1.09446], \"tcp_roll_pitch_yaw\": [-2.46095, -1.54834, 2.46101], \"tcp_rotation_matrix\": [[-0.06781, -0.10346, 0.99232], [0.19135, -0.97749, -0.08884], [0.97918, 0.18386, 0.08608]], \"simulated_seconds_remaining\": 22.77, \"calls_remaining_including_this\": 51}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 15, \"motion_seconds\": 0.99, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.62,
      "y": -0.015,
      "z": 1.095,
      "roll": 0,
      "pitch": -1.57,
      "yaw": 0,
      "gripper": 1
    },
    "note": "The door did not move; the wide closure may have caught both adjacent handles. I am shifting toward the right handle to isolate one bar."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.60285, -0.09623, 0.62536, -2.53368, 0.13979, 4.09335, -0.20611], \"gripper_open\": 0.9968, \"tcp_xyz\": [0.6186, -0.01407, 1.09509], \"tcp_roll_pitch_yaw\": [-2.39434, -1.56989, 2.39464], \"tcp_rotation_matrix\": [[-0.05138, -0.10024, 0.99364], [0.17808, -0.97992, -0.08965], [0.98267, 0.17234, 0.0682]], \"simulated_seconds_remaining\": 21.648, \"calls_remaining_including_this\": 50}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 17, \"motion_seconds\": 1.122, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "Only one handle now crosses the gap between the fingers. I am closing around that bar."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"open the cabinet.\", \"joint_positions\": [-0.60852, -0.09737, 0.61774, -2.53354, 0.15759, 4.09623, -0.20557], \"gripper_open\": 0.1374, \"tcp_xyz\": [0.61734, -0.02694, 1.09657], \"tcp_roll_pitch_yaw\": [2.03737, -1.55851, -2.06414], \"tcp_rotation_matrix\": [[-0.05163, -0.12758, 0.99048], [0.16814, -0.97876, -0.11731], [0.98441, 0.16049, 0.07198]], \"simulated_seconds_remaining\": 20.724, \"calls_remaining_including_this\": 49}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.5,
      "gripper": 0
    },
    "note": "The fingers have closed to a narrow gap around the handle. I am keeping them closed and pulling the cabinet door outward."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "Episode ended. Do not call more tools. Return a brief final response."
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

The cabinet door was pulled open.

TURN USAGE
{
  "input_tokens": 165955,
  "cached_input_tokens": 153088,
  "cache_write_input_tokens": 0,
  "output_tokens": 1902,
  "reasoning_output_tokens": 763
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.00455,
      -0.81147,
      0.0119,
      -2.42759,
      -0.08226,
      1.68321,
      -0.16569
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.32042,
      -0.01866,
      1.0009
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.98282,
        0.17181,
        0.06748
      ],
      [
        0.17749,
        -0.98,
        -0.08998
      ],
      [
        0.05067,
        0.10041,
        -0.99365
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 29.425257329829037,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48,
                    "y": 0,
                    "z": 1.13,
                    "pitch": -1.57,
                    "gripper": 1
                  },
                  "note": "The cabinet has two vertical handles. I am approaching with the gripper aimed horizontally toward the door."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 36,
    "motion_seconds": 2.3760000000000003,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.38429,
      -0.68283,
      0.36039,
      -2.92013,
      0.00645,
      3.90227,
      0.04612
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.47977,
      -6e-05,
      1.12939
    ],
    "tcp_roll_pitch_yaw": [
      -0.02017,
      -1.56447,
      0.02002
    ],
    "tcp_rotation_matrix": [
      [
        -0.04443,
        -0.09947,
        0.99405
      ],
      [
        0.17762,
        -0.97996,
        -0.09012
      ],
      [
        0.9831,
        0.17256,
        0.06121
      ]
    ],
    "simulated_seconds_remaining": 27.654,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 10.211231868714094,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.58,
                    "y": -0.02,
                    "z": 1.2
                  },
                  "note": "The wrist view shows the left vertical handle slightly above and right of the approach center. I am raising and advancing toward its lower section."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.44901,
      -0.42173,
      0.35905,
      -2.53821,
      -0.03284,
      3.77637,
      -0.00143
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.57893,
      -0.01981,
      1.19926
    ],
    "tcp_roll_pitch_yaw": [
      -0.01447,
      -1.5645,
      0.01428
    ],
    "tcp_rotation_matrix": [
      [
        -0.04445,
        -0.09952,
        0.99404
      ],
      [
        0.17759,
        -0.97997,
        -0.09017
      ],
      [
        0.9831,
        0.17252,
        0.06123
      ]
    ],
    "simulated_seconds_remaining": 26.532,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 8.607726507820189,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.055,
                    "z": 1.09
                  },
                  "note": "The exterior view places the gripper above the handle. I am lowering it and shifting left in the base frame to align with the left handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.5529,
      -0.22039,
      0.78815,
      -2.62758,
      0.39484,
      4.09329,
      -0.26714
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.57897,
      0.05435,
      1.091
    ],
    "tcp_roll_pitch_yaw": [
      -0.01131,
      -1.5643,
      0.01139
    ],
    "tcp_rotation_matrix": [
      [
        -0.0443,
        -0.09922,
        0.99408
      ],
      [
        0.17756,
        -0.98,
        -0.0899
      ],
      [
        0.98311,
        0.17253,
        0.06103
      ]
    ],
    "simulated_seconds_remaining": 25.344,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 9.408307976089418,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.635,
                    "y": 0.05,
                    "z": 1.095
                  },
                  "note": "A vertical handle is now between the open fingers in the wrist view. I am advancing a short distance to place the fingers around it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.58261,
      -0.02237,
      0.83195,
      -2.45905,
      0.41095,
      4.13289,
      -0.42527
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.62682,
      0.05238,
      1.09461
    ],
    "tcp_roll_pitch_yaw": [
      -2.45374,
      -1.55736,
      2.45214
    ],
    "tcp_rotation_matrix": [
      [
        -0.06057,
        -0.1038,
        0.99275
      ],
      [
        0.18597,
        -0.97834,
        -0.09095
      ],
      [
        0.98069,
        0.17911,
        0.07856
      ]
    ],
    "simulated_seconds_remaining": 24.684,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 4.604455253109336,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The right-hand vertical bar lies between the fingertips. I am closing the gripper to secure it before pulling."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.58018,
      -0.02589,
      0.835,
      -2.46893,
      0.41138,
      4.1471,
      -0.4255
    ],
    "gripper_open": 0.9241,
    "tcp_xyz": [
      0.62308,
      0.05488,
      1.09444
    ],
    "tcp_roll_pitch_yaw": [
      -2.46743,
      -1.54848,
      2.46737
    ],
    "tcp_rotation_matrix": [
      [
        -0.06777,
        -0.10357,
        0.99231
      ],
      [
        0.19116,
        -0.97752,
        -0.08897
      ],
      [
        0.97922,
        0.18366,
        0.08604
      ]
    ],
    "simulated_seconds_remaining": 23.76,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 5.60537095554173,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.52
                  },
                  "note": "The gripper met resistance while closing. I am making a short outward pull to check whether it has engaged the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.47294,
      -0.42347,
      0.71691,
      -2.80558,
      0.37237,
      4.08965,
      -0.14973
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.5213,
      0.05496,
      1.09446
    ],
    "tcp_roll_pitch_yaw": [
      -2.46095,
      -1.54834,
      2.46101
    ],
    "tcp_rotation_matrix": [
      [
        -0.06781,
        -0.10346,
        0.99232
      ],
      [
        0.19135,
        -0.97749,
        -0.08884
      ],
      [
        0.97918,
        0.18386,
        0.08608
      ]
    ],
    "simulated_seconds_remaining": 22.77,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 11.80987302865833,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.62,
                    "y": -0.015,
                    "z": 1.095,
                    "roll": 0,
                    "pitch": -1.57,
                    "yaw": 0,
                    "gripper": 1
                  },
                  "note": "The door did not move; the wide closure may have caught both adjacent handles. I am shifting toward the right handle to isolate one bar."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.60285,
      -0.09623,
      0.62536,
      -2.53368,
      0.13979,
      4.09335,
      -0.20611
    ],
    "gripper_open": 0.9968,
    "tcp_xyz": [
      0.6186,
      -0.01407,
      1.09509
    ],
    "tcp_roll_pitch_yaw": [
      -2.39434,
      -1.56989,
      2.39464
    ],
    "tcp_rotation_matrix": [
      [
        -0.05138,
        -0.10024,
        0.99364
      ],
      [
        0.17808,
        -0.97992,
        -0.08965
      ],
      [
        0.98267,
        0.17234,
        0.0682
      ]
    ],
    "simulated_seconds_remaining": 21.648,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 7.005644362419844,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "Only one handle now crosses the gap between the fingers. I am closing around that bar."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.60852,
      -0.09737,
      0.61774,
      -2.53354,
      0.15759,
      4.09623,
      -0.20557
    ],
    "gripper_open": 0.1374,
    "tcp_xyz": [
      0.61734,
      -0.02694,
      1.09657
    ],
    "tcp_roll_pitch_yaw": [
      2.03737,
      -1.55851,
      -2.06414
    ],
    "tcp_rotation_matrix": [
      [
        -0.05163,
        -0.12758,
        0.99048
      ],
      [
        0.16814,
        -0.97876,
        -0.11731
      ],
      [
        0.98441,
        0.16049,
        0.07198
      ]
    ],
    "simulated_seconds_remaining": 20.724,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 6.2059085154905915,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.5,
                    "gripper": 0
                  },
                  "note": "The fingers have closed to a narrow gap around the handle. I am keeping them closed and pulling the cabinet door outward."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

========================================================================
GPT-Astra / Open / Episode 048

Completed scored attempt. Images are available in the paired videos.

Opaque provider signatures, image payloads, and local paths are omitted.


RESULT
{
  "benchmark_index": 48,
  "source_episode_index": 866,
  "house_index": 420,
  "status": "completed",
  "success": true,
  "oracle_success": true,
  "action_decisions": 14,
  "wall_seconds": 148.95,
  "usage": {
    "input_tokens": 249345,
    "cached_input_tokens": 222720,
    "cache_write_input_tokens": 0,
    "output_tokens": 2597,
    "reasoning_output_tokens": 934
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task.
You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose.
Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion.
move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up.
roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial.
Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5).
The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y.
The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics.
Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration.
Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target.
You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time.
Each move must include a short note describing what you observe and why you chose that motion.
Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done.
Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available.



AGENT TRANSCRIPT (visible messages and completed tool calls)

I’ll inspect the scene and use the camera feedback to guide the opening motion.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"open the table.\", \"joint_positions\": [0.01691, -0.79692, -0.00231, -2.37321, 0.05029, 1.6298, -0.00551], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.31776, 0.01758, 1.01667], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.9984, 0.0205, 0.05269], [0.01773, -0.99846, 0.05264], [0.05368, -0.05162, -0.99722]], \"simulated_seconds_remaining\": 30.03, \"calls_remaining_including_this\": 57}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "x": 0.47,
    "z": 0.88,
    "note": "The black table is ahead of the gripper, with its front beneath the top. I move closer and lower to inspect the drawer handle."
  },
  "result": null,
  "error": {
    "message": "tool call error: tool call failed for `robot/move_to`\n\nCaused by:\n    Mcp error: -32602: Unexpected argument"
  },
  "status": "failed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.47,
      "z": 0.88
    },
    "note": "The black table is ahead, with its front below the top. I move closer and lower to inspect the drawer handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"open the table.\", \"joint_positions\": [0.01916, -0.29195, -0.00469, -2.33666, 0.05847, 2.09722, -0.03255], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.46894, 0.01758, 0.88081], \"tcp_roll_pitch_yaw\": [-0.0, 0.0003, -1e-05], \"tcp_rotation_matrix\": [[0.99842, 0.02048, 0.05238], [0.01772, -0.99846, 0.05264], [0.05338, -0.05163, -0.99724]], \"simulated_seconds_remaining\": 28.38, \"calls_remaining_including_this\": 56}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 25, \"motion_seconds\": 1.6500000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "pitch": -1.5,
      "x": 0.55,
      "z": 0.84
    },
    "note": "The table has a small knob centered on its front panel. I turn the fingers toward the panel to approach the knob horizontally."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"open the table.\", \"joint_positions\": [0.01916, -0.29195, -0.00469, -2.33666, 0.05847, 2.09722, -0.03255], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.46894, 0.01758, 0.88081], \"tcp_roll_pitch_yaw\": [-0.0, 0.0003, -1e-05], \"tcp_rotation_matrix\": [[0.99842, 0.02048, 0.05238], [0.01772, -0.99846, 0.05264], [0.05338, -0.05163, -0.99724]], \"simulated_seconds_remaining\": 28.38, \"calls_remaining_including_this\": 55}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "pitch": -0.8,
      "x": 0.5,
      "z": 0.87
    },
    "note": "The full horizontal approach was unreachable. I use a smaller wrist tilt while staying near the current position."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"open the table.\", \"joint_positions\": [0.16666, -0.41241, -0.10886, -2.90934, 0.12634, 3.34991, -0.12987], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.4998, 0.01763, 0.86968], \"tcp_roll_pitch_yaw\": [0.00019, -0.7947, 4e-05], \"tcp_rotation_matrix\": [[0.66106, 0.05138, 0.74857], [0.01774, -0.99844, 0.05287], [0.75012, -0.02167, -0.66095]], \"simulated_seconds_remaining\": 26.994, \"calls_remaining_including_this\": 54}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 21, \"motion_seconds\": 1.3860000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.66,
      "z": 0.99,
      "pitch": -0.8
    },
    "note": "The wrist view is beneath the drawer, and the exterior view places the knob higher and farther ahead. I raise and advance the grasp point."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"open the table.\", \"joint_positions\": [0.14101, -0.1966, -0.09621, -2.31059, 0.11628, 2.5344, 0.0502], \"gripper_open\": 0.9972, \"tcp_xyz\": [0.57695, 0.03598, 0.90796], \"tcp_roll_pitch_yaw\": [0.10279, -0.34991, -0.13193], \"tcp_rotation_matrix\": [[0.91258, -0.05859, 0.40468], [-0.10887, -0.98877, 0.10234], [0.39414, -0.13745, -0.90872]], \"simulated_seconds_remaining\": 25.344, \"calls_remaining_including_this\": 53}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 25, \"motion_seconds\": 1.6500000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.49,
      "y": 0.17,
      "z": 0.99,
      "pitch": -0.55
    },
    "note": "The fingers appear beside the drawer rather than centered on its knob. I back away and shift left and up to align with the front."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"open the table.\", \"joint_positions\": [0.14647, -0.53996, 0.20338, -2.49952, -0.03887, 2.57592, 0.45158], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.49063, 0.16912, 0.98948], \"tcp_roll_pitch_yaw\": [0.10275, -0.54868, -0.13165], \"tcp_rotation_matrix\": [[0.81752, -0.03284, 0.57497], [-0.09602, -0.99217, 0.07986], [0.56784, -0.1205, -0.81427]], \"simulated_seconds_remaining\": 23.826, \"calls_remaining_including_this\": 52}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 23, \"motion_seconds\": 1.518, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.45,
      "y": 0.22,
      "z": 1.03,
      "pitch": -1.25,
      "roll": 0,
      "yaw": 0
    },
    "note": "The knob is just ahead and left of the fingers. I tilt farther toward the drawer while retracting slightly to keep the wrist reachable."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"open the table.\", \"joint_positions\": [-0.33707, -0.96399, 0.8141, -2.86974, -0.20362, 3.35771, 0.8508], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.45021, 0.21971, 1.02985], \"tcp_roll_pitch_yaw\": [0.00203, -1.24592, -0.00238], \"tcp_rotation_matrix\": [[0.26781, 0.05501, 0.9619], [0.01698, -0.99848, 0.05238], [0.96332, 0.00231, -0.26834]], \"simulated_seconds_remaining\": 22.572, \"calls_remaining_including_this\": 51}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 19, \"motion_seconds\": 1.254, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.55,
      "y": 0.21,
      "z": 1.075
    },
    "note": "The wrist camera now clearly shows the round knob above the open fingers. I advance and raise the gripper to surround it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"open the table.\", \"joint_positions\": [-0.61523, -0.6916, 0.87749, -2.58516, -0.25927, 3.40289, 0.76273], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.54886, 0.21007, 1.07448], \"tcp_roll_pitch_yaw\": [0.00227, -1.24589, -0.00273], \"tcp_rotation_matrix\": [[0.26784, 0.05489, 0.9619], [0.01687, -0.99849, 0.05228], [0.96331, 0.00223, -0.26836]], \"simulated_seconds_remaining\": 21.516, \"calls_remaining_including_this\": 50}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 16, \"motion_seconds\": 1.056, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.61,
      "y": 0.175,
      "z": 1.045
    },
    "note": "The knob is slightly right of the wrist center and close to the fingertips. I shift right, lower slightly, and advance to seat it between the jaws."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"open the table.\", \"joint_positions\": [-0.94989, -0.56393, 1.10325, -2.53845, -0.2527, 3.68926, 0.71606], \"gripper_open\": 1.0, \"tcp_xyz\": [0.59558, 0.18704, 1.05517], \"tcp_roll_pitch_yaw\": [0.09002, -1.31612, -0.02163], \"tcp_rotation_matrix\": [[0.19848, 0.12035, 0.97269], [0.00854, -0.99261, 0.12107], [0.98007, -0.01573, -0.19804]], \"simulated_seconds_remaining\": 20.724, \"calls_remaining_including_this\": 49}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 12, \"motion_seconds\": 0.792, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.59,
      "y": 0.235,
      "z": 1.025
    },
    "note": "The knob remains to the right and above the gap in the wrist image. I correct the lateral alignment and lower the grasp point before closing."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"open the table.\", \"joint_positions\": [-1.02767, -0.6756, 1.28054, -2.53597, 0.10051, 3.70373, 0.76185], \"gripper_open\": 1.0, \"tcp_xyz\": [0.5972, 0.19201, 1.06043], \"tcp_roll_pitch_yaw\": [0.85824, -1.30329, -0.89101], \"tcp_rotation_matrix\": [[0.11391, 0.00464, 0.99348], [-0.18711, -0.98199, 0.02604], [0.97571, -0.18885, -0.11099]], \"simulated_seconds_remaining\": 20.064, \"calls_remaining_including_this\": 48}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 10, \"motion_seconds\": 0.66, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.49,
      "y": 0.26,
      "z": 1.015,
      "roll": 0,
      "pitch": -1.1,
      "yaw": 0
    },
    "note": "Contact with the drawer has deflected the wrist and prevented alignment. I retract, restore the wrist angle, and reposition toward the knob."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 11, \"instruction\": \"open the table.\", \"joint_positions\": [-0.40582, -0.77391, 0.93235, -2.67452, -0.00042, 3.20931, 0.66765], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.49081, 0.25964, 1.01542], \"tcp_roll_pitch_yaw\": [0.00324, -1.1025, -0.00324], \"tcp_rotation_matrix\": [[0.40274, 0.05496, 0.91366], [0.01625, -0.99847, 0.0529], [0.91517, -0.00646, -0.40302]], \"simulated_seconds_remaining\": 18.876, \"calls_remaining_including_this\": 47}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 18, \"motion_seconds\": 1.1880000000000002, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.55,
      "y": 0.235,
      "z": 1.025
    },
    "note": "The knob is now visible beside the left finger tip. I make a small centering adjustment and approach with the jaws open."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 12, \"instruction\": \"open the table.\", \"joint_positions\": [-0.57784, -0.61955, 0.96687, -2.56457, -0.05579, 3.27862, 0.60804], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.54886, 0.2354, 1.02479], \"tcp_roll_pitch_yaw\": [0.00345, -1.1024, -0.00364], \"tcp_rotation_matrix\": [[0.40284, 0.05475, 0.91363], [0.01607, -0.99848, 0.05275], [0.91513, -0.00657, -0.4031]], \"simulated_seconds_remaining\": 18.15, \"calls_remaining_including_this\": 46}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 11, \"motion_seconds\": 0.726, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.575,
      "y": 0.225,
      "z": 1.012
    },
    "note": "The knob is nearly centered between the finger tips. I advance a short distance and lower slightly so the jaws can grip behind the knob."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 13, \"instruction\": \"open the table.\", \"joint_positions\": [-0.71338, -0.55934, 1.05805, -2.52884, -0.07383, 3.33849, 0.60202], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.57414, 0.22527, 1.01239], \"tcp_roll_pitch_yaw\": [0.00347, -1.10229, -0.00382], \"tcp_rotation_matrix\": [[0.40295, 0.0546, 0.91359], [0.016, -0.99849, 0.05261], [0.91508, -0.00658, -0.40321]], \"simulated_seconds_remaining\": 17.622, \"calls_remaining_including_this\": 45}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 8, \"motion_seconds\": 0.528, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The round knob is centered inside the open jaws. I close the gripper to secure it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 14, \"instruction\": \"open the table.\", \"joint_positions\": [-0.71021, -0.56024, 1.06111, -2.52782, -0.07509, 3.34003, 0.60193], \"gripper_open\": 0.2031, \"tcp_xyz\": [0.57295, 0.22947, 1.01259], \"tcp_roll_pitch_yaw\": [-0.00161, -1.10396, 0.00846], \"tcp_rotation_matrix\": [[0.40126, 0.06234, 0.91384], [0.02121, -0.99805, 0.05877], [0.91572, -0.0042, -0.4018]], \"simulated_seconds_remaining\": 16.698, \"calls_remaining_including_this\": 44}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.43
    },
    "note": "The jaws have closed around the knob with a remaining gap. I pull straight back to open the table drawer."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "Episode ended. Do not call more tools. Return a brief final response."
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

Pulled the table drawer open.

TURN USAGE
{
  "input_tokens": 249345,
  "cached_input_tokens": 222720,
  "cache_write_input_tokens": 0,
  "output_tokens": 2597,
  "reasoning_output_tokens": 934
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.01691,
      -0.79692,
      -0.00231,
      -2.37321,
      0.05029,
      1.6298,
      -0.00551
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.31776,
      0.01758,
      1.01667
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.9984,
        0.0205,
        0.05269
      ],
      [
        0.01773,
        -0.99846,
        0.05264
      ],
      [
        0.05368,
        -0.05162,
        -0.99722
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 21.618561116047204,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.47,
                    "z": 0.88
                  },
                  "note": "The black table is ahead, with its front below the top. I move closer and lower to inspect the drawer handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 25,
    "motion_seconds": 1.6500000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.01916,
      -0.29195,
      -0.00469,
      -2.33666,
      0.05847,
      2.09722,
      -0.03255
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.46894,
      0.01758,
      0.88081
    ],
    "tcp_roll_pitch_yaw": [
      -0.0,
      0.0003,
      -1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99842,
        0.02048,
        0.05238
      ],
      [
        0.01772,
        -0.99846,
        0.05264
      ],
      [
        0.05338,
        -0.05163,
        -0.99724
      ]
    ],
    "simulated_seconds_remaining": 28.38,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 7.612860039807856,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.5,
                    "x": 0.55,
                    "z": 0.84
                  },
                  "note": "The table has a small knob centered on its front panel. I turn the fingers toward the panel to approach the knob horizontally."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 3,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.01916,
      -0.29195,
      -0.00469,
      -2.33666,
      0.05847,
      2.09722,
      -0.03255
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.46894,
      0.01758,
      0.88081
    ],
    "tcp_roll_pitch_yaw": [
      -0.0,
      0.0003,
      -1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99842,
        0.02048,
        0.05238
      ],
      [
        0.01772,
        -0.99846,
        0.05264
      ],
      [
        0.05338,
        -0.05163,
        -0.99724
      ]
    ],
    "simulated_seconds_remaining": 28.38,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 5.2044568490237,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.8,
                    "x": 0.5,
                    "z": 0.87
                  },
                  "note": "The full horizontal approach was unreachable. I use a smaller wrist tilt while staying near the current position."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.16666,
      -0.41241,
      -0.10886,
      -2.90934,
      0.12634,
      3.34991,
      -0.12987
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.4998,
      0.01763,
      0.86968
    ],
    "tcp_roll_pitch_yaw": [
      0.00019,
      -0.7947,
      4e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.66106,
        0.05138,
        0.74857
      ],
      [
        0.01774,
        -0.99844,
        0.05287
      ],
      [
        0.75012,
        -0.02167,
        -0.66095
      ]
    ],
    "simulated_seconds_remaining": 26.994,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 10.209148263558745,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.66,
                    "z": 0.99,
                    "pitch": -0.8
                  },
                  "note": "The wrist view is beneath the drawer, and the exterior view places the knob higher and farther ahead. I raise and advance the grasp point."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 25,
    "motion_seconds": 1.6500000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.14101,
      -0.1966,
      -0.09621,
      -2.31059,
      0.11628,
      2.5344,
      0.0502
    ],
    "gripper_open": 0.9972,
    "tcp_xyz": [
      0.57695,
      0.03598,
      0.90796
    ],
    "tcp_roll_pitch_yaw": [
      0.10279,
      -0.34991,
      -0.13193
    ],
    "tcp_rotation_matrix": [
      [
        0.91258,
        -0.05859,
        0.40468
      ],
      [
        -0.10887,
        -0.98877,
        0.10234
      ],
      [
        0.39414,
        -0.13745,
        -0.90872
      ]
    ],
    "simulated_seconds_remaining": 25.344,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 7.606476543471217,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.49,
                    "y": 0.17,
                    "z": 0.99,
                    "pitch": -0.55
                  },
                  "note": "The fingers appear beside the drawer rather than centered on its knob. I back away and shift left and up to align with the front."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.14647,
      -0.53996,
      0.20338,
      -2.49952,
      -0.03887,
      2.57592,
      0.45158
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.49063,
      0.16912,
      0.98948
    ],
    "tcp_roll_pitch_yaw": [
      0.10275,
      -0.54868,
      -0.13165
    ],
    "tcp_rotation_matrix": [
      [
        0.81752,
        -0.03284,
        0.57497
      ],
      [
        -0.09602,
        -0.99217,
        0.07986
      ],
      [
        0.56784,
        -0.1205,
        -0.81427
      ]
    ],
    "simulated_seconds_remaining": 23.826,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 8.007384583353996,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.45,
                    "y": 0.22,
                    "z": 1.03,
                    "pitch": -1.25,
                    "roll": 0,
                    "yaw": 0
                  },
                  "note": "The knob is just ahead and left of the fingers. I tilt farther toward the drawer while retracting slightly to keep the wrist reachable."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.33707,
      -0.96399,
      0.8141,
      -2.86974,
      -0.20362,
      3.35771,
      0.8508
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.45021,
      0.21971,
      1.02985
    ],
    "tcp_roll_pitch_yaw": [
      0.00203,
      -1.24592,
      -0.00238
    ],
    "tcp_rotation_matrix": [
      [
        0.26781,
        0.05501,
        0.9619
      ],
      [
        0.01698,
        -0.99848,
        0.05238
      ],
      [
        0.96332,
        0.00231,
        -0.26834
      ]
    ],
    "simulated_seconds_remaining": 22.572,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 8.807665806263685,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.55,
                    "y": 0.21,
                    "z": 1.075
                  },
                  "note": "The wrist camera now clearly shows the round knob above the open fingers. I advance and raise the gripper to surround it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.61523,
      -0.6916,
      0.87749,
      -2.58516,
      -0.25927,
      3.40289,
      0.76273
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.54886,
      0.21007,
      1.07448
    ],
    "tcp_roll_pitch_yaw": [
      0.00227,
      -1.24589,
      -0.00273
    ],
    "tcp_rotation_matrix": [
      [
        0.26784,
        0.05489,
        0.9619
      ],
      [
        0.01687,
        -0.99849,
        0.05228
      ],
      [
        0.96331,
        0.00223,
        -0.26836
      ]
    ],
    "simulated_seconds_remaining": 21.516,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 12.811077781952918,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.61,
                    "y": 0.175,
                    "z": 1.045
                  },
                  "note": "The knob is slightly right of the wrist center and close to the fingertips. I shift right, lower slightly, and advance to seat it between the jaws."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.94989,
      -0.56393,
      1.10325,
      -2.53845,
      -0.2527,
      3.68926,
      0.71606
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.59558,
      0.18704,
      1.05517
    ],
    "tcp_roll_pitch_yaw": [
      0.09002,
      -1.31612,
      -0.02163
    ],
    "tcp_rotation_matrix": [
      [
        0.19848,
        0.12035,
        0.97269
      ],
      [
        0.00854,
        -0.99261,
        0.12107
      ],
      [
        0.98007,
        -0.01573,
        -0.19804
      ]
    ],
    "simulated_seconds_remaining": 20.724,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 10.009775714948773,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.59,
                    "y": 0.235,
                    "z": 1.025
                  },
                  "note": "The knob remains to the right and above the gap in the wrist image. I correct the lateral alignment and lower the grasp point before closing."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -1.02767,
      -0.6756,
      1.28054,
      -2.53597,
      0.10051,
      3.70373,
      0.76185
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.5972,
      0.19201,
      1.06043
    ],
    "tcp_roll_pitch_yaw": [
      0.85824,
      -1.30329,
      -0.89101
    ],
    "tcp_rotation_matrix": [
      [
        0.11391,
        0.00464,
        0.99348
      ],
      [
        -0.18711,
        -0.98199,
        0.02604
      ],
      [
        0.97571,
        -0.18885,
        -0.11099
      ]
    ],
    "simulated_seconds_remaining": 20.064,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 6.606128926388919,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.49,
                    "y": 0.26,
                    "z": 1.015,
                    "roll": 0,
                    "pitch": -1.1,
                    "yaw": 0
                  },
                  "note": "Contact with the drawer has deflected the wrist and prevented alignment. I retract, restore the wrist angle, and reposition toward the knob."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.40582,
      -0.77391,
      0.93235,
      -2.67452,
      -0.00042,
      3.20931,
      0.66765
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.49081,
      0.25964,
      1.01542
    ],
    "tcp_roll_pitch_yaw": [
      0.00324,
      -1.1025,
      -0.00324
    ],
    "tcp_rotation_matrix": [
      [
        0.40274,
        0.05496,
        0.91366
      ],
      [
        0.01625,
        -0.99847,
        0.0529
      ],
      [
        0.91517,
        -0.00646,
        -0.40302
      ]
    ],
    "simulated_seconds_remaining": 18.876,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 7.406976581551135,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.55,
                    "y": 0.235,
                    "z": 1.025
                  },
                  "note": "The knob is now visible beside the left finger tip. I make a small centering adjustment and approach with the jaws open."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.57784,
      -0.61955,
      0.96687,
      -2.56457,
      -0.05579,
      3.27862,
      0.60804
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.54886,
      0.2354,
      1.02479
    ],
    "tcp_roll_pitch_yaw": [
      0.00345,
      -1.1024,
      -0.00364
    ],
    "tcp_rotation_matrix": [
      [
        0.40284,
        0.05475,
        0.91363
      ],
      [
        0.01607,
        -0.99848,
        0.05275
      ],
      [
        0.91513,
        -0.00657,
        -0.4031
      ]
    ],
    "simulated_seconds_remaining": 18.15,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 6.808467264287174,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.575,
                    "y": 0.225,
                    "z": 1.012
                  },
                  "note": "The knob is nearly centered between the finger tips. I advance a short distance and lower slightly so the jaws can grip behind the knob."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 8,
    "motion_seconds": 0.528,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.71338,
      -0.55934,
      1.05805,
      -2.52884,
      -0.07383,
      3.33849,
      0.60202
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.57414,
      0.22527,
      1.01239
    ],
    "tcp_roll_pitch_yaw": [
      0.00347,
      -1.10229,
      -0.00382
    ],
    "tcp_rotation_matrix": [
      [
        0.40295,
        0.0546,
        0.91359
      ],
      [
        0.016,
        -0.99849,
        0.05261
      ],
      [
        0.91508,
        -0.00658,
        -0.40321
      ]
    ],
    "simulated_seconds_remaining": 17.622,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 4.404499265365303,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The round knob is centered inside the open jaws. I close the gripper to secure it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.71021,
      -0.56024,
      1.06111,
      -2.52782,
      -0.07509,
      3.34003,
      0.60193
    ],
    "gripper_open": 0.2031,
    "tcp_xyz": [
      0.57295,
      0.22947,
      1.01259
    ],
    "tcp_roll_pitch_yaw": [
      -0.00161,
      -1.10396,
      0.00846
    ],
    "tcp_rotation_matrix": [
      [
        0.40126,
        0.06234,
        0.91384
      ],
      [
        0.02121,
        -0.99805,
        0.05877
      ],
      [
        0.91572,
        -0.0042,
        -0.4018
      ]
    ],
    "simulated_seconds_remaining": 16.698,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 4.203873995691538,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.43
                  },
                  "note": "The jaws have closed around the knob with a remaining gap. I pull straight back to open the table drawer."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

========================================================================
GPT-Astra / Open / Episode 049

Completed scored attempt. Images are available in the paired videos.

Opaque provider signatures, image payloads, and local paths are omitted.


RESULT
{
  "benchmark_index": 49,
  "source_episode_index": 481,
  "house_index": 224,
  "status": "completed",
  "success": false,
  "oracle_success": false,
  "action_decisions": 21,
  "wall_seconds": 246.77,
  "usage": {
    "input_tokens": 403307,
    "cached_input_tokens": 384512,
    "cache_write_input_tokens": 0,
    "output_tokens": 4708,
    "reasoning_output_tokens": 2414
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task.
You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose.
Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion.
move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up.
roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial.
Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5).
The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y.
The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics.
Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration.
Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target.
You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time.
Each move must include a short note describing what you observe and why you chose that motion.
Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done.
Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available.



AGENT TRANSCRIPT (visible messages and completed tool calls)

{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.0011, -0.7639, 0.01313, -2.37162, 0.1201, 1.59149, -0.09205], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.31122, 0.0353, 1.00471], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.99504, 0.09798, -0.01718], [0.09928, -0.98889, 0.11059], [-0.00615, -0.11175, -0.99372]], \"simulated_seconds_remaining\": 30.03, \"calls_remaining_including_this\": 57}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "x": 0.45,
    "y": 0.03,
    "z": 1.15,
    "gripper": 1,
    "note": "The black dresser is ahead of the open gripper. I am raising and advancing slightly to see its drawer fronts and handles more clearly."
  },
  "result": null,
  "error": {
    "message": "tool call error: tool call failed for `robot/move_to`\n\nCaused by:\n    Mcp error: -32602: Unexpected argument"
  },
  "status": "failed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.45,
      "y": 0.03,
      "z": 1.15,
      "gripper": 1
    },
    "note": "The black dresser is ahead. I am raising and advancing slightly to locate the drawer handles."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.00153, -0.21796, -0.00394, -1.54914, 0.11365, 1.31521, -0.0735], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.44911, 0.03003, 1.14901], \"tcp_roll_pitch_yaw\": [1e-05, 1e-05, -2e-05], \"tcp_rotation_matrix\": [[0.99504, 0.09795, -0.01719], [0.09926, -0.9889, 0.11061], [-0.00617, -0.11177, -0.99372]], \"simulated_seconds_remaining\": 28.38, \"calls_remaining_including_this\": 56}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 25, \"motion_seconds\": 1.6500000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "z": 0.82,
      "pitch": -1.45
    },
    "note": "The drawer fronts are dark and ahead-left in the wrist view. I am turning the gripper forward and lowering to view and approach a handle horizontally."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.00153, -0.21796, -0.00394, -1.54914, 0.11365, 1.31521, -0.0735], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.44911, 0.03003, 1.14901], \"tcp_roll_pitch_yaw\": [1e-05, 1e-05, -2e-05], \"tcp_rotation_matrix\": [[0.99504, 0.09795, -0.01719], [0.09926, -0.9889, 0.11061], [-0.00617, -0.11177, -0.99372]], \"simulated_seconds_remaining\": 28.38, \"calls_remaining_including_this\": 55}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.36,
      "z": 0.88,
      "pitch": -0.8
    },
    "note": "The horizontal approach was unreachable. I am using a nearer intermediate pose with a smaller wrist rotation."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.00153, -0.21796, -0.00394, -1.54914, 0.11365, 1.31521, -0.0735], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.44911, 0.03003, 1.14901], \"tcp_roll_pitch_yaw\": [1e-05, 1e-05, -2e-05], \"tcp_rotation_matrix\": [[0.99504, 0.09795, -0.01719], [0.09926, -0.9889, 0.11061], [-0.00617, -0.11177, -0.99372]], \"simulated_seconds_remaining\": 28.38, \"calls_remaining_including_this\": 54}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.4,
      "z": 0.94
    },
    "note": "I am lowering with the original wrist orientation to establish a reachable approach beside the drawer face."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.00021, -0.48677, 0.00746, -2.33929, 0.11853, 1.83394, -0.12424], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.40027, 0.03003, 0.94125], \"tcp_roll_pitch_yaw\": [1e-05, 0.00029, -0.0], \"tcp_rotation_matrix\": [[0.99504, 0.09794, -0.01747], [0.09928, -0.98889, 0.1106], [-0.00644, -0.11179, -0.99371]], \"simulated_seconds_remaining\": 26.664, \"calls_remaining_including_this\": 53}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 26, \"motion_seconds\": 1.7160000000000002, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "y": 0.23,
      "z": 1.02,
      "roll": 0.6
    },
    "note": "The dresser remains to the left of the wrist view. I am shifting left and tilting toward it to expose the handle area."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.20056, -0.47249, -0.01288, -2.28353, 0.72701, 1.85844, -0.11371], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.40026, 0.22907, 1.01958], \"tcp_roll_pitch_yaw\": [0.59697, 0.00025, 0.00014], \"tcp_rotation_matrix\": [[0.99504, 0.09792, -0.01746], [0.08571, -0.75502, 0.65007], [0.05047, -0.64834, -0.75967]], \"simulated_seconds_remaining\": 24.948, \"calls_remaining_including_this\": 52}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 26, \"motion_seconds\": 1.7160000000000002, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "roll": 0,
      "pitch": 0.65
    },
    "note": "The leftward tilt exposed the floor rather than the drawer fronts. I am tilting in the other horizontal direction to face the dresser."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.2465, 0.1645, 0.07834, -1.46866, 0.34319, 1.05284, 0.34732], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.40029, 0.22917, 1.01944], \"tcp_roll_pitch_yaw\": [0.00381, 0.64697, 0.00157], \"tcp_rotation_matrix\": [[0.79032, 0.01009, -0.61261], [0.10054, -0.98845, 0.11342], [-0.60439, -0.15123, -0.7822]], \"simulated_seconds_remaining\": 23.496, \"calls_remaining_including_this\": 51}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 22, \"motion_seconds\": 1.452, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "roll": -1.25,
      "pitch": 0,
      "y": 0.03
    },
    "note": "The latest view shows the robot base, locating the dresser on the opposite side. I am turning toward negative y and returning toward its front."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.40725, -0.17553, 0.2113, -2.11093, -0.86239, 1.22337, 0.52342], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.40023, 0.0306, 1.01935], \"tcp_roll_pitch_yaw\": [-1.24623, 0.00196, 0.00012], \"tcp_rotation_matrix\": [[0.99485, 0.09979, -0.0179], [0.02594, -0.42126, -0.90657], [-0.09801, 0.90143, -0.42168]], \"simulated_seconds_remaining\": 21.318, \"calls_remaining_including_this\": 50}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 33, \"motion_seconds\": 2.178, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "roll": -1.57,
      "y": 0.13,
      "z": 0.82
    },
    "note": "The wrist now faces the dresser. I am leveling the gripper and lowering to bring a drawer handle into the center of the view."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.55456, 0.46804, 0.2838, -1.96221, -0.88006, 1.0859, 1.02304], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.4002, 0.12956, 0.82082], \"tcp_roll_pitch_yaw\": [-1.5686, 0.0023, 0.00019], \"tcp_rotation_matrix\": [[0.99481, 0.10027, -0.01725], [-0.00575, -0.1139, -0.99348], [-0.10158, 0.98842, -0.11273]], \"simulated_seconds_remaining\": 19.536, \"calls_remaining_including_this\": 49}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 27, \"motion_seconds\": 1.782, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.58,
      "y": -0.08,
      "z": 0.88
    },
    "note": "The drawer surface is visible but off-center. I am moving along its front and closer to align the fingers with the upper drawer's edge."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.26545, 0.43669, 0.06842, -1.86251, -1.27338, 1.37543, 0.67927], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.57912, -0.07914, 0.87974], \"tcp_roll_pitch_yaw\": [-1.56865, 0.00221, -0.00012], \"tcp_rotation_matrix\": [[0.99482, 0.10014, -0.01755], [-0.00606, -0.11389, -0.99348], [-0.10149, 0.98843, -0.11269]], \"simulated_seconds_remaining\": 17.358, \"calls_remaining_including_this\": 48}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 33, \"motion_seconds\": 2.178, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.47,
      "y": -0.15,
      "z": 0.9
    },
    "note": "A slim protruding pull is visible to the left of the fingers. I am shifting toward it and advancing with the jaws open."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 11, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.22495, 0.08104, 0.06181, -2.30263, -1.43815, 1.70735, 0.749], \"gripper_open\": 1.0, \"tcp_xyz\": [0.54161, -0.09611, 0.88623], \"tcp_roll_pitch_yaw\": [-1.48712, -0.04585, 0.29338], \"tcp_rotation_matrix\": [[0.95526, 0.10697, 0.27574], [0.29084, -0.17035, -0.94148], [-0.05373, 0.97956, -0.19384]], \"simulated_seconds_remaining\": 16.17, \"calls_remaining_including_this\": 47}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 18, \"motion_seconds\": 1.1880000000000002, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The hand has met the drawer surface near the visible pull. I am closing the fingers to test whether the pull is between them."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 12, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.23239, 0.07693, 0.0712, -2.29614, -1.44308, 1.70995, 0.74879], \"gripper_open\": 0.0126, \"tcp_xyz\": [0.54654, -0.08577, 0.89108], \"tcp_roll_pitch_yaw\": [-1.48831, -0.05665, 0.31566], \"tcp_rotation_matrix\": [[0.94908, 0.10031, 0.29865], [0.3121, -0.17012, -0.93469], [-0.04295, 0.98031, -0.19276]], \"simulated_seconds_remaining\": 15.246, \"calls_remaining_including_this\": 46}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "y": 0.12
    },
    "note": "The fingers closed almost fully. I am making a short outward pull and checking whether the drawer follows."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 13, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.46348, 0.34465, 0.24379, -1.92778, -1.23171, 1.36167, 0.73782], \"gripper_open\": 0.0, \"tcp_xyz\": [0.54655, 0.11878, 0.89105], \"tcp_roll_pitch_yaw\": [-1.48823, -0.05665, 0.31597], \"tcp_rotation_matrix\": [[0.94898, 0.10039, 0.29894], [0.3124, -0.17016, -0.93459], [-0.04296, 0.98029, -0.19284]], \"simulated_seconds_remaining\": 13.596, \"calls_remaining_including_this\": 45}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 25, \"motion_seconds\": 1.6500000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.67,
      "z": 0.8,
      "roll": -1.57,
      "pitch": 0,
      "yaw": 0,
      "gripper": 1
    },
    "note": "The drawer did not follow. From the clearer backed-off view, the pull lies above-left in the wrist image; I am aligning farther forward and lower before another approach."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 14, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.46348, 0.34465, 0.24379, -1.92778, -1.23171, 1.36167, 0.73782], \"gripper_open\": 0.0, \"tcp_xyz\": [0.54655, 0.11878, 0.89105], \"tcp_roll_pitch_yaw\": [-1.48823, -0.05665, 0.31597], \"tcp_rotation_matrix\": [[0.94898, 0.10039, 0.29894], [0.3124, -0.17016, -0.93459], [-0.04296, 0.98029, -0.19284]], \"simulated_seconds_remaining\": 13.596, \"calls_remaining_including_this\": 44}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK requires a large joint jump; split the motion or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.61,
      "z": 0.83,
      "gripper": 1
    },
    "note": "I am splitting the alignment adjustment into a smaller reachable step toward the visible pull."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 15, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.44803, 0.57342, 0.19992, -1.73147, -1.29913, 1.40824, 0.74984], \"gripper_open\": 0.9965, \"tcp_xyz\": [0.60911, 0.1187, 0.83076], \"tcp_roll_pitch_yaw\": [-1.48828, -0.05645, 0.31585], \"tcp_rotation_matrix\": [[0.94901, 0.10054, 0.29879], [0.31229, -0.17006, -0.93464], [-0.04316, 0.98029, -0.19278]], \"simulated_seconds_remaining\": 12.672, \"calls_remaining_including_this\": 43}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 14, \"motion_seconds\": 0.924, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.47,
      "z": 0.98,
      "roll": -1.57,
      "pitch": 0,
      "yaw": 0
    },
    "note": "The pull shifted away from center, clarifying the wrist camera axes. I am correcting toward the nearer, higher handle position."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 16, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.53596, 0.33595, 0.2366, -1.7571, -1.07092, 0.95463, 0.65324], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.47072, 0.11874, 0.97931], \"tcp_roll_pitch_yaw\": [-1.5694, -0.00041, 0.00175], \"tcp_rotation_matrix\": [[0.99509, 0.09777, -0.0154], [-0.00428, -0.11296, -0.99359], [-0.09889, 0.98878, -0.11198]], \"simulated_seconds_remaining\": 11.022, \"calls_remaining_including_this\": 42}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 25, \"motion_seconds\": 1.6500000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "z": 0.75
    },
    "note": "A drawer pull is visible near the left edge at the fingers' height in the image. I am lowering to bring that pull between the jaws."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 17, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.52894, 0.7031, 0.21331, -1.76602, -0.98536, 1.15647, 1.00551], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.47068, 0.1187, 0.75124], \"tcp_roll_pitch_yaw\": [-1.56956, -0.00015, 0.00174], \"tcp_rotation_matrix\": [[0.99506, 0.09803, -0.01544], [-0.0043, -0.1128, -0.99361], [-0.09914, 0.98877, -0.11182]], \"simulated_seconds_remaining\": 9.174, \"calls_remaining_including_this\": 41}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 28, \"motion_seconds\": 1.848, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "yaw": 1,
      "z": 0.9
    },
    "note": "The visible pull remains on the side of the approach. I am turning toward the angled drawer face to engage it more squarely."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 18, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.48066, -0.24755, 0.2585, -2.68902, -1.65135, 1.862, 0.78471], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.47077, 0.11859, 0.89952], \"tcp_roll_pitch_yaw\": [-1.5697, -0.00052, 0.99537], \"tcp_rotation_matrix\": [[0.5466, 0.1477, 0.82427], [0.83155, 0.02036, -0.55508], [-0.09877, 0.98882, -0.11169]], \"simulated_seconds_remaining\": 7.524, \"calls_remaining_including_this\": 40}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 25, \"motion_seconds\": 1.6500000000000001, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "yaw": 2,
      "x": 0.53,
      "y": 0.2,
      "z": 0.98
    },
    "note": "The pull is now visible above-right. I am rotating farther toward the front and shifting upward along the face to center it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 19, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.48066, -0.24755, 0.2585, -2.68902, -1.65135, 1.862, 0.78471], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.47077, 0.11859, 0.89952], \"tcp_roll_pitch_yaw\": [-1.5697, -0.00052, 0.99537], \"tcp_rotation_matrix\": [[0.5466, 0.1477, 0.82427], [0.83155, 0.02036, -0.55508], [-0.09877, 0.98882, -0.11169]], \"simulated_seconds_remaining\": 7.524, \"calls_remaining_including_this\": 39}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"error\": \"IK could not reach this pose; choose a nearer target or adjust orientation.\", \"movement_executed\": false}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "yaw": 1.5,
      "x": 0.55,
      "y": 0.15,
      "z": 1.02
    },
    "note": "The larger turn was unreachable. I am using a smaller turn while approaching the visible handle height."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 20, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.40073, -0.44202, -0.02807, -2.53991, -2.24042, 2.53281, 0.71125], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.54964, 0.14977, 1.01945], \"tcp_roll_pitch_yaw\": [-1.57002, -0.00101, 1.49665], \"tcp_rotation_matrix\": [[0.07978, 0.1194, 0.98964], [0.99196, 0.08837, -0.09063], [-0.09828, 0.98891, -0.11139]], \"simulated_seconds_remaining\": 6.27, \"calls_remaining_including_this\": 38}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 19, \"motion_seconds\": 1.254, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "y": 0.4
    },
    "note": "The dresser lies above the wrist view along the front of the hand. I am translating left along the cabinet to bring its pull into reach."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 21, \"instruction\": \"open the dresser.\", \"joint_positions\": [0.59851, 0.00227, 0.28092, -2.12205, -1.81082, 2.13631, 0.48961], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.54959, 0.39877, 1.01942], \"tcp_roll_pitch_yaw\": [-1.56999, -0.00099, 1.49689], \"tcp_rotation_matrix\": [[0.07953, 0.11941, 0.98965], [0.99197, 0.08843, -0.09039], [-0.09831, 0.9889, -0.11142]], \"simulated_seconds_remaining\": 4.29, \"calls_remaining_including_this\": 37}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 30, \"motion_seconds\": 1.98, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "give_up",
  "arguments": {
    "note": "I could not reliably align and grasp the dark dresser pull. The test pull did not open a drawer, and the remaining motion budget is insufficient for another approach."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "Episode ended. Do not call more tools. Return a brief final response."
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

I couldn’t securely grasp the dresser handle, so the dresser remains closed.

TURN USAGE
{
  "input_tokens": 403307,
  "cached_input_tokens": 384512,
  "cache_write_input_tokens": 0,
  "output_tokens": 4708,
  "reasoning_output_tokens": 2414
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.0011,
      -0.7639,
      0.01313,
      -2.37162,
      0.1201,
      1.59149,
      -0.09205
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.31122,
      0.0353,
      1.00471
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99504,
        0.09798,
        -0.01718
      ],
      [
        0.09928,
        -0.98889,
        0.11059
      ],
      [
        -0.00615,
        -0.11175,
        -0.99372
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 24.4175628926605,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.45,
                    "y": 0.03,
                    "z": 1.15,
                    "gripper": 1
                  },
                  "note": "The black dresser is ahead. I am raising and advancing slightly to locate the drawer handles."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 25,
    "motion_seconds": 1.6500000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.00153,
      -0.21796,
      -0.00394,
      -1.54914,
      0.11365,
      1.31521,
      -0.0735
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44911,
      0.03003,
      1.14901
    ],
    "tcp_roll_pitch_yaw": [
      1e-05,
      1e-05,
      -2e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99504,
        0.09795,
        -0.01719
      ],
      [
        0.09926,
        -0.9889,
        0.11061
      ],
      [
        -0.00617,
        -0.11177,
        -0.99372
      ]
    ],
    "simulated_seconds_remaining": 28.38,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 10.40861526876688,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.82,
                    "pitch": -1.45
                  },
                  "note": "The drawer fronts are dark and ahead-left in the wrist view. I am turning the gripper forward and lowering to view and approach a handle horizontally."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 3,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.00153,
      -0.21796,
      -0.00394,
      -1.54914,
      0.11365,
      1.31521,
      -0.0735
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44911,
      0.03003,
      1.14901
    ],
    "tcp_roll_pitch_yaw": [
      1e-05,
      1e-05,
      -2e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99504,
        0.09795,
        -0.01719
      ],
      [
        0.09926,
        -0.9889,
        0.11061
      ],
      [
        -0.00617,
        -0.11177,
        -0.99372
      ]
    ],
    "simulated_seconds_remaining": 28.38,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 5.205401507206261,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.36,
                    "z": 0.88,
                    "pitch": -0.8
                  },
                  "note": "The horizontal approach was unreachable. I am using a nearer intermediate pose with a smaller wrist rotation."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 4,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.00153,
      -0.21796,
      -0.00394,
      -1.54914,
      0.11365,
      1.31521,
      -0.0735
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44911,
      0.03003,
      1.14901
    ],
    "tcp_roll_pitch_yaw": [
      1e-05,
      1e-05,
      -2e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99504,
        0.09795,
        -0.01719
      ],
      [
        0.09926,
        -0.9889,
        0.11061
      ],
      [
        -0.00617,
        -0.11177,
        -0.99372
      ]
    ],
    "simulated_seconds_remaining": 28.38,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 7.206163544207811,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "z": 0.94
                  },
                  "note": "I am lowering with the original wrist orientation to establish a reachable approach beside the drawer face."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 26,
    "motion_seconds": 1.7160000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.00021,
      -0.48677,
      0.00746,
      -2.33929,
      0.11853,
      1.83394,
      -0.12424
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.40027,
      0.03003,
      0.94125
    ],
    "tcp_roll_pitch_yaw": [
      1e-05,
      0.00029,
      -0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99504,
        0.09794,
        -0.01747
      ],
      [
        0.09928,
        -0.98889,
        0.1106
      ],
      [
        -0.00644,
        -0.11179,
        -0.99371
      ]
    ],
    "simulated_seconds_remaining": 26.664,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 8.206472451798618,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.23,
                    "z": 1.02,
                    "roll": 0.6
                  },
                  "note": "The dresser remains to the left of the wrist view. I am shifting left and tilting toward it to expose the handle area."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 26,
    "motion_seconds": 1.7160000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.20056,
      -0.47249,
      -0.01288,
      -2.28353,
      0.72701,
      1.85844,
      -0.11371
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.40026,
      0.22907,
      1.01958
    ],
    "tcp_roll_pitch_yaw": [
      0.59697,
      0.00025,
      0.00014
    ],
    "tcp_rotation_matrix": [
      [
        0.99504,
        0.09792,
        -0.01746
      ],
      [
        0.08571,
        -0.75502,
        0.65007
      ],
      [
        0.05047,
        -0.64834,
        -0.75967
      ]
    ],
    "simulated_seconds_remaining": 24.948,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 6.807393032126129,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "roll": 0,
                    "pitch": 0.65
                  },
                  "note": "The leftward tilt exposed the floor rather than the drawer fronts. I am tilting in the other horizontal direction to face the dresser."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 22,
    "motion_seconds": 1.452,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.2465,
      0.1645,
      0.07834,
      -1.46866,
      0.34319,
      1.05284,
      0.34732
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.40029,
      0.22917,
      1.01944
    ],
    "tcp_roll_pitch_yaw": [
      0.00381,
      0.64697,
      0.00157
    ],
    "tcp_rotation_matrix": [
      [
        0.79032,
        0.01009,
        -0.61261
      ],
      [
        0.10054,
        -0.98845,
        0.11342
      ],
      [
        -0.60439,
        -0.15123,
        -0.7822
      ]
    ],
    "simulated_seconds_remaining": 23.496,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 8.206903649494052,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "roll": -1.25,
                    "pitch": 0,
                    "y": 0.03
                  },
                  "note": "The latest view shows the robot base, locating the dresser on the opposite side. I am turning toward negative y and returning toward its front."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 33,
    "motion_seconds": 2.178,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.40725,
      -0.17553,
      0.2113,
      -2.11093,
      -0.86239,
      1.22337,
      0.52342
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.40023,
      0.0306,
      1.01935
    ],
    "tcp_roll_pitch_yaw": [
      -1.24623,
      0.00196,
      0.00012
    ],
    "tcp_rotation_matrix": [
      [
        0.99485,
        0.09979,
        -0.0179
      ],
      [
        0.02594,
        -0.42126,
        -0.90657
      ],
      [
        -0.09801,
        0.90143,
        -0.42168
      ]
    ],
    "simulated_seconds_remaining": 21.318,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 7.406230774708092,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "roll": -1.57,
                    "y": 0.13,
                    "z": 0.82
                  },
                  "note": "The wrist now faces the dresser. I am leveling the gripper and lowering to bring a drawer handle into the center of the view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 27,
    "motion_seconds": 1.782,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.55456,
      0.46804,
      0.2838,
      -1.96221,
      -0.88006,
      1.0859,
      1.02304
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.4002,
      0.12956,
      0.82082
    ],
    "tcp_roll_pitch_yaw": [
      -1.5686,
      0.0023,
      0.00019
    ],
    "tcp_rotation_matrix": [
      [
        0.99481,
        0.10027,
        -0.01725
      ],
      [
        -0.00575,
        -0.1139,
        -0.99348
      ],
      [
        -0.10158,
        0.98842,
        -0.11273
      ]
    ],
    "simulated_seconds_remaining": 19.536,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 14.011524751782417,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.58,
                    "y": -0.08,
                    "z": 0.88
                  },
                  "note": "The drawer surface is visible but off-center. I am moving along its front and closer to align the fingers with the upper drawer's edge."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 33,
    "motion_seconds": 2.178,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.26545,
      0.43669,
      0.06842,
      -1.86251,
      -1.27338,
      1.37543,
      0.67927
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.57912,
      -0.07914,
      0.87974
    ],
    "tcp_roll_pitch_yaw": [
      -1.56865,
      0.00221,
      -0.00012
    ],
    "tcp_rotation_matrix": [
      [
        0.99482,
        0.10014,
        -0.01755
      ],
      [
        -0.00606,
        -0.11389,
        -0.99348
      ],
      [
        -0.10149,
        0.98843,
        -0.11269
      ]
    ],
    "simulated_seconds_remaining": 17.358,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 10.809295420534909,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.47,
                    "y": -0.15,
                    "z": 0.9
                  },
                  "note": "A slim protruding pull is visible to the left of the fingers. I am shifting toward it and advancing with the jaws open."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.22495,
      0.08104,
      0.06181,
      -2.30263,
      -1.43815,
      1.70735,
      0.749
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.54161,
      -0.09611,
      0.88623
    ],
    "tcp_roll_pitch_yaw": [
      -1.48712,
      -0.04585,
      0.29338
    ],
    "tcp_rotation_matrix": [
      [
        0.95526,
        0.10697,
        0.27574
      ],
      [
        0.29084,
        -0.17035,
        -0.94148
      ],
      [
        -0.05373,
        0.97956,
        -0.19384
      ]
    ],
    "simulated_seconds_remaining": 16.17,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 6.805883003398776,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The hand has met the drawer surface near the visible pull. I am closing the fingers to test whether the pull is between them."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.23239,
      0.07693,
      0.0712,
      -2.29614,
      -1.44308,
      1.70995,
      0.74879
    ],
    "gripper_open": 0.0126,
    "tcp_xyz": [
      0.54654,
      -0.08577,
      0.89108
    ],
    "tcp_roll_pitch_yaw": [
      -1.48831,
      -0.05665,
      0.31566
    ],
    "tcp_rotation_matrix": [
      [
        0.94908,
        0.10031,
        0.29865
      ],
      [
        0.3121,
        -0.17012,
        -0.93469
      ],
      [
        -0.04295,
        0.98031,
        -0.19276
      ]
    ],
    "simulated_seconds_remaining": 15.246,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 4.0037520080804825,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.12
                  },
                  "note": "The fingers closed almost fully. I am making a short outward pull and checking whether the drawer follows."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 25,
    "motion_seconds": 1.6500000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.46348,
      0.34465,
      0.24379,
      -1.92778,
      -1.23171,
      1.36167,
      0.73782
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.54655,
      0.11878,
      0.89105
    ],
    "tcp_roll_pitch_yaw": [
      -1.48823,
      -0.05665,
      0.31597
    ],
    "tcp_rotation_matrix": [
      [
        0.94898,
        0.10039,
        0.29894
      ],
      [
        0.3124,
        -0.17016,
        -0.93459
      ],
      [
        -0.04296,
        0.98029,
        -0.19284
      ]
    ],
    "simulated_seconds_remaining": 13.596,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 15.813012519851327,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.67,
                    "z": 0.8,
                    "roll": -1.57,
                    "pitch": 0,
                    "yaw": 0,
                    "gripper": 1
                  },
                  "note": "The drawer did not follow. From the clearer backed-off view, the pull lies above-left in the wrist image; I am aligning farther forward and lower before another approach."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 14,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.46348,
      0.34465,
      0.24379,
      -1.92778,
      -1.23171,
      1.36167,
      0.73782
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.54655,
      0.11878,
      0.89105
    ],
    "tcp_roll_pitch_yaw": [
      -1.48823,
      -0.05665,
      0.31597
    ],
    "tcp_rotation_matrix": [
      [
        0.94898,
        0.10039,
        0.29894
      ],
      [
        0.3124,
        -0.17016,
        -0.93459
      ],
      [
        -0.04296,
        0.98029,
        -0.19284
      ]
    ],
    "simulated_seconds_remaining": 13.596,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 4.804308778606355,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.61,
                    "z": 0.83,
                    "gripper": 1
                  },
                  "note": "I am splitting the alignment adjustment into a smaller reachable step toward the visible pull."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.44803,
      0.57342,
      0.19992,
      -1.73147,
      -1.29913,
      1.40824,
      0.74984
    ],
    "gripper_open": 0.9965,
    "tcp_xyz": [
      0.60911,
      0.1187,
      0.83076
    ],
    "tcp_roll_pitch_yaw": [
      -1.48828,
      -0.05645,
      0.31585
    ],
    "tcp_rotation_matrix": [
      [
        0.94901,
        0.10054,
        0.29879
      ],
      [
        0.31229,
        -0.17006,
        -0.93464
      ],
      [
        -0.04316,
        0.98029,
        -0.19278
      ]
    ],
    "simulated_seconds_remaining": 12.672,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 16.21325189061463,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.47,
                    "z": 0.98,
                    "roll": -1.57,
                    "pitch": 0,
                    "yaw": 0
                  },
                  "note": "The pull shifted away from center, clarifying the wrist camera axes. I am correcting toward the nearer, higher handle position."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 25,
    "motion_seconds": 1.6500000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.53596,
      0.33595,
      0.2366,
      -1.7571,
      -1.07092,
      0.95463,
      0.65324
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.47072,
      0.11874,
      0.97931
    ],
    "tcp_roll_pitch_yaw": [
      -1.5694,
      -0.00041,
      0.00175
    ],
    "tcp_rotation_matrix": [
      [
        0.99509,
        0.09777,
        -0.0154
      ],
      [
        -0.00428,
        -0.11296,
        -0.99359
      ],
      [
        -0.09889,
        0.98878,
        -0.11198
      ]
    ],
    "simulated_seconds_remaining": 11.022,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 12.00972247775644,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.75
                  },
                  "note": "A drawer pull is visible near the left edge at the fingers' height in the image. I am lowering to bring that pull between the jaws."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 28,
    "motion_seconds": 1.848,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.52894,
      0.7031,
      0.21331,
      -1.76602,
      -0.98536,
      1.15647,
      1.00551
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.47068,
      0.1187,
      0.75124
    ],
    "tcp_roll_pitch_yaw": [
      -1.56956,
      -0.00015,
      0.00174
    ],
    "tcp_rotation_matrix": [
      [
        0.99506,
        0.09803,
        -0.01544
      ],
      [
        -0.0043,
        -0.1128,
        -0.99361
      ],
      [
        -0.09914,
        0.98877,
        -0.11182
      ]
    ],
    "simulated_seconds_remaining": 9.174,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 13.210091440938413,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "yaw": 1,
                    "z": 0.9
                  },
                  "note": "The visible pull remains on the side of the approach. I am turning toward the angled drawer face to engage it more squarely."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 25,
    "motion_seconds": 1.6500000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.48066,
      -0.24755,
      0.2585,
      -2.68902,
      -1.65135,
      1.862,
      0.78471
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.47077,
      0.11859,
      0.89952
    ],
    "tcp_roll_pitch_yaw": [
      -1.5697,
      -0.00052,
      0.99537
    ],
    "tcp_rotation_matrix": [
      [
        0.5466,
        0.1477,
        0.82427
      ],
      [
        0.83155,
        0.02036,
        -0.55508
      ],
      [
        -0.09877,
        0.98882,
        -0.11169
      ]
    ],
    "simulated_seconds_remaining": 7.524,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 14.611849541775882,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "yaw": 2,
                    "x": 0.53,
                    "y": 0.2,
                    "z": 0.98
                  },
                  "note": "The pull is now visible above-right. I am rotating farther toward the front and shifting upward along the face to center it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 19,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.48066,
      -0.24755,
      0.2585,
      -2.68902,
      -1.65135,
      1.862,
      0.78471
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.47077,
      0.11859,
      0.89952
    ],
    "tcp_roll_pitch_yaw": [
      -1.5697,
      -0.00052,
      0.99537
    ],
    "tcp_rotation_matrix": [
      [
        0.5466,
        0.1477,
        0.82427
      ],
      [
        0.83155,
        0.02036,
        -0.55508
      ],
      [
        -0.09877,
        0.98882,
        -0.11169
      ]
    ],
    "simulated_seconds_remaining": 7.524,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 6.204898371361196,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "yaw": 1.5,
                    "x": 0.55,
                    "y": 0.15,
                    "z": 1.02
                  },
                  "note": "The larger turn was unreachable. I am using a smaller turn while approaching the visible handle height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 20,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.40073,
      -0.44202,
      -0.02807,
      -2.53991,
      -2.24042,
      2.53281,
      0.71125
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.54964,
      0.14977,
      1.01945
    ],
    "tcp_roll_pitch_yaw": [
      -1.57002,
      -0.00101,
      1.49665
    ],
    "tcp_rotation_matrix": [
      [
        0.07978,
        0.1194,
        0.98964
      ],
      [
        0.99196,
        0.08837,
        -0.09063
      ],
      [
        -0.09828,
        0.98891,
        -0.11139
      ]
    ],
    "simulated_seconds_remaining": 6.27,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 9.208060543052852,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.4
                  },
                  "note": "The dresser lies above the wrist view along the front of the hand. I am translating left along the cabinet to bring its pull into reach."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 30,
    "motion_seconds": 1.98,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 21,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.59851,
      0.00227,
      0.28092,
      -2.12205,
      -1.81082,
      2.13631,
      0.48961
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.54959,
      0.39877,
      1.01942
    ],
    "tcp_roll_pitch_yaw": [
      -1.56999,
      -0.00099,
      1.49689
    ],
    "tcp_rotation_matrix": [
      [
        0.07953,
        0.11941,
        0.98965
      ],
      [
        0.99197,
        0.08843,
        -0.09039
      ],
      [
        -0.09831,
        0.9889,
        -0.11142
      ]
    ],
    "simulated_seconds_remaining": 4.29,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 6.6055462919175625,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "give_up",
                "args": {
                  "note": "I could not reliably align and grasp the dark dresser pull. The test pull did not open a drawer, and the remaining motion budget is insufficient for another approach."
                }
              }
            }
          ]
        }
      }
    ]
  }
}