========================================================================
GPT-Astra / Pick & place / 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,
  "status": "completed",
  "success": true,
  "oracle_success": true,
  "action_decisions": 34,
  "wall_seconds": 455.13,
  "usage": {
    "input_tokens": 747432,
    "cached_input_tokens": 699008,
    "cache_write_input_tokens": 0,
    "output_tokens": 6131,
    "reasoning_output_tokens": 2561
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick-and-place 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 45 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 and grasp the requested object, lift it, move it to the named receptacle, and release it in or on that receptacle. Complete the entire pick-and-place 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 object and place it in the requested receptacle.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.0177, -0.82731, -0.00469, -2.37843, 0.02545, 1.6023, 0.00464], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.3067, 0.01068, 1.0206], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.99866, 0.01039, 0.05072], [0.00889, -0.99952, 0.02962], [0.051, -0.02913, -0.99827]], \"simulated_seconds_remaining\": 45.012, \"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 potato and bowl are on the counter; I am raising the open gripper to see their positions 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": {
      "z": 1.2
    },
    "note": "I see the potato near the far side of the counter and the bowl to the left; raising the gripper gives a wider locating view."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.02085, -0.59636, -0.00739, -1.7375, 0.02662, 1.19264, 0.01544], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.30672, 0.01068, 1.19873], \"tcp_roll_pitch_yaw\": [1e-05, -0.00018, -0.0], \"tcp_rotation_matrix\": [[0.99865, 0.01039, 0.0509], [0.00889, -0.99952, 0.02963], [0.05118, -0.02914, -0.99826]], \"simulated_seconds_remaining\": 43.494, \"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": 0.47,
      "z": 1.12
    },
    "note": "The wrist view shows the bowl on the left and a small brown object near the right finger; moving forward brings the work surface into view."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.02057, -0.25554, -0.01194, -1.67913, 0.02628, 1.47452, 0.00249], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.46882, 0.01067, 1.12045], \"tcp_roll_pitch_yaw\": [1e-05, 0.00015, -1e-05], \"tcp_rotation_matrix\": [[0.99867, 0.01037, 0.05057], [0.00888, -0.99952, 0.02962], [0.05085, -0.02913, -0.99828]], \"simulated_seconds_remaining\": 41.976, \"calls_remaining_including_this\": 55}"
      },
      {
        "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": 0.51,
      "y": 0.05,
      "z": 0.98
    },
    "note": "The golden potato is just ahead and left of the gripper center, with the bowl farther left. I am approaching above the potato."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.04764, -0.20163, 0.03433, -1.98666, 0.03347, 1.83751, 0.06378], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.50961, 0.04968, 0.98109], \"tcp_roll_pitch_yaw\": [-3e-05, 0.0005, 5e-05], \"tcp_rotation_matrix\": [[0.99868, 0.01043, 0.05021], [0.00895, -0.99952, 0.02959], [0.0505, -0.0291, -0.9983]], \"simulated_seconds_remaining\": 40.656, \"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": 0.53,
      "y": -0.035,
      "z": 0.88
    },
    "note": "The potato sits left of the finger gap. I am shifting sideways and lowering to center the open fingers around it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [-0.01882, -0.10187, -0.05739, -2.13482, 0.0315, 2.08049, -0.10028], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.52975, -0.03423, 0.8809], \"tcp_roll_pitch_yaw\": [-0.0, 0.00078, -0.00013], \"tcp_rotation_matrix\": [[0.9987, 0.01024, 0.04994], [0.00876, -0.99952, 0.02961], [0.05022, -0.02913, -0.99831]], \"simulated_seconds_remaining\": 39.468, \"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": 0.57,
      "y": -0.07,
      "z": 0.815
    },
    "note": "The potato is now close beneath the open gripper. I am making a small forward and sideways correction while lowering to grasp height."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [-0.04798, 0.08717, -0.08748, -2.07941, 0.05444, 2.2108, -0.1759], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.56931, -0.06949, 0.8159], \"tcp_roll_pitch_yaw\": [3e-05, 0.00108, -0.00024], \"tcp_rotation_matrix\": [[0.99872, 0.01012, 0.04964], [0.00865, -0.99952, 0.02964], [0.04992, -0.02917, -0.99833]], \"simulated_seconds_remaining\": 38.61, \"calls_remaining_including_this\": 52}"
      },
      {
        "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": 0.765
    },
    "note": "The potato is visible between the fingers but slightly left of center. I am centering the gap and lowering the fingertips around its sides."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [-0.06984, 0.16144, -0.10013, -2.12032, 0.07345, 2.32334, -0.22669], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.56923, -0.08956, 0.76604], \"tcp_roll_pitch_yaw\": [7e-05, 0.00141, -0.00034], \"tcp_rotation_matrix\": [[0.99873, 0.01001, 0.04932], [0.00855, -0.99952, 0.02968], [0.0496, -0.02922, -0.99834]], \"simulated_seconds_remaining\": 37.95, \"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 fingers are lowered around the potato at the counter surface. I am closing the jaws to secure it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [-0.06984, 0.16144, -0.10013, -2.12032, 0.07345, 2.32334, -0.22669], \"gripper_open\": 0.0, \"tcp_xyz\": [0.56923, -0.08957, 0.76603], \"tcp_roll_pitch_yaw\": [7e-05, 0.0014, -0.00033], \"tcp_rotation_matrix\": [[0.99873, 0.01001, 0.04933], [0.00855, -0.99952, 0.02967], [0.0496, -0.02921, -0.99834]], \"simulated_seconds_remaining\": 37.026, \"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": {
      "z": 0.92
    },
    "note": "The jaws closed completely, so the potato may not be secured. I am lifting to check its position before correcting the grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [-0.06774, 0.01566, -0.10379, -1.89735, 0.04243, 1.95658, -0.19589], \"gripper_open\": 0.0, \"tcp_xyz\": [0.56931, -0.08958, 0.9188], \"tcp_roll_pitch_yaw\": [3e-05, 0.00102, -0.00034], \"tcp_rotation_matrix\": [[0.99871, 0.01002, 0.04971], [0.00855, -0.99952, 0.02963], [0.04999, -0.02917, -0.99832]], \"simulated_seconds_remaining\": 35.706, \"calls_remaining_including_this\": 49}"
      },
      {
        "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": 0.625,
      "y": -0.115,
      "z": 0.82,
      "gripper": 1
    },
    "note": "The potato remained on the counter, just ahead of the closed fingertips. I am reopening and moving farther forward to align the grasp point over its center."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [-0.09122, 0.26194, -0.11222, -1.82748, 0.08003, 2.12901, -0.24929], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.62428, -0.11471, 0.82098], \"tcp_roll_pitch_yaw\": [8e-05, 0.00137, -0.00037], \"tcp_rotation_matrix\": [[0.99873, 0.00997, 0.04936], [0.00851, -0.99952, 0.02968], [0.04963, -0.02922, -0.99834]], \"simulated_seconds_remaining\": 34.65, \"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": 0.654,
      "y": -0.11,
      "z": 0.767
    },
    "note": "The potato is now centered in the open finger gap. I am lowering around it with a small forward correction to keep the grasp centered."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 11, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [-0.08617, 0.3917, -0.09848, -1.75652, 0.09846, 2.20609, -0.24529], \"gripper_open\": 1.0, \"tcp_xyz\": [0.65872, -0.10729, 0.77791], \"tcp_roll_pitch_yaw\": [0.00036, -0.01747, 0.00322], \"tcp_rotation_matrix\": [[0.99758, 0.01412, 0.06805], [0.01209, -0.99947, 0.03019], [0.06844, -0.0293, -0.99723]], \"simulated_seconds_remaining\": 33.924, \"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 potato is clearly bracketed by the fingertips at grasp height. I am closing the jaws around it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 12, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [-0.07877, 0.37555, -0.08936, -1.74125, 0.10345, 2.23953, -0.24513], \"gripper_open\": 0.298, \"tcp_xyz\": [0.67662, -0.09848, 0.79974], \"tcp_roll_pitch_yaw\": [-0.00398, -0.08223, 0.01534], \"tcp_rotation_matrix\": [[0.99084, 0.02775, 0.13214], [0.02429, -0.99932, 0.02767], [0.13282, -0.02421, -0.99084]], \"simulated_seconds_remaining\": 33.0, \"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": {
      "z": 1.01
    },
    "note": "The jaws remain partly open around the potato, indicating contact. I am lifting it clear of the counter to verify the hold."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 13, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [-0.08468, 0.31791, -0.09852, -1.28693, 0.08225, 1.72912, -0.21036], \"gripper_open\": 0.0, \"tcp_xyz\": [0.67668, -0.0985, 1.00883], \"tcp_roll_pitch_yaw\": [-0.00403, -0.08261, 0.01534], \"tcp_rotation_matrix\": [[0.99079, 0.02775, 0.13252], [0.02429, -0.99932, 0.02763], [0.13319, -0.02416, -0.9908]], \"simulated_seconds_remaining\": 31.284, \"calls_remaining_including_this\": 45}"
      },
      {
        "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"
}

The potato slipped ahead of the fingers. I’m correcting the approach so the jaws close across its center.


{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.755,
      "y": -0.08,
      "z": 0.87,
      "roll": 0,
      "pitch": 0,
      "yaw": 0,
      "gripper": 1
    },
    "note": "The potato is on the counter ahead of the gripper. I am approaching farther forward with level, open jaws for a centered grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 14, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [-0.06873, 0.69992, -0.08212, -1.01623, 0.09052, 1.76057, -0.15522], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.75432, -0.08012, 0.87089], \"tcp_roll_pitch_yaw\": [2e-05, -0.00027, 0.00017], \"tcp_rotation_matrix\": [[0.99864, 0.01057, 0.05098], [0.00906, -0.99952, 0.02965], [0.05127, -0.02914, -0.99826]], \"simulated_seconds_remaining\": 29.898, \"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": {
      "x": 0.66,
      "y": -0.1,
      "z": 0.87
    },
    "note": "The potato appears too far ahead in the wrist image. I am translating back at constant height to place it between the fingertip ends."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 15, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [-0.07459, 0.33136, -0.10248, -1.59926, 0.07734, 1.97334, -0.20922], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.66135, -0.09981, 0.87013], \"tcp_roll_pitch_yaw\": [-2e-05, -0.00037, 5e-05], \"tcp_rotation_matrix\": [[0.99864, 0.01045, 0.05108], [0.00895, -0.99952, 0.0296], [0.05137, -0.0291, -0.99826]], \"simulated_seconds_remaining\": 28.974, \"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": {
      "z": 0.805
    },
    "note": "The potato is centered laterally just beyond the fingertips. I am lowering straight down so the pads surround its middle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 16, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [-0.07501, 0.37769, -0.09897, -1.69743, 0.08673, 2.11698, -0.21939], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.66128, -0.09979, 0.80612], \"tcp_roll_pitch_yaw\": [3e-05, 1e-05, 6e-05], \"tcp_rotation_matrix\": [[0.99866, 0.01045, 0.0507], [0.00895, -0.99952, 0.02965], [0.05099, -0.02916, -0.99827]], \"simulated_seconds_remaining\": 28.248, \"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 potato's center is aligned with the fingertip pads. I am closing the gripper at this height."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 17, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [-0.07501, 0.37769, -0.09897, -1.69743, 0.08673, 2.11698, -0.21939], \"gripper_open\": 0.0, \"tcp_xyz\": [0.66128, -0.09979, 0.80611], \"tcp_roll_pitch_yaw\": [3e-05, 1e-05, 6e-05], \"tcp_rotation_matrix\": [[0.99866, 0.01045, 0.05071], [0.00895, -0.99952, 0.02965], [0.05099, -0.02916, -0.99827]], \"simulated_seconds_remaining\": 27.324, \"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": 1,
      "z": 0.758,
      "x": 0.682
    },
    "note": "The jaws closed without holding the potato, indicating the pads were still too high. I am reopening and lowering slightly, maintaining alignment over the potato."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 18, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [-0.07317, 0.47668, -0.08628, -1.64014, 0.10263, 2.18365, -0.22222], \"gripper_open\": 1.0, \"tcp_xyz\": [0.68914, -0.0927, 0.77271], \"tcp_roll_pitch_yaw\": [0.00322, -0.02595, 0.00756], \"tcp_rotation_matrix\": [[0.9969, 0.01878, 0.07635], [0.01626, -0.99931, 0.03341], [0.07693, -0.03206, -0.99652]], \"simulated_seconds_remaining\": 26.4, \"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": 0.63,
      "y": -0.073,
      "z": 0.785,
      "pitch": 0,
      "roll": 0,
      "yaw": 0
    },
    "note": "The potato shifted and rotated during the low approach. I am moving the open finger gap back and slightly sideways to surround its new position."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 19, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [-0.04323, 0.29903, -0.09039, -1.87211, 0.07843, 2.21568, -0.1846], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.63122, -0.07335, 0.78484], \"tcp_roll_pitch_yaw\": [7e-05, -0.00063, 0.00022], \"tcp_rotation_matrix\": [[0.99862, 0.01062, 0.05134], [0.00911, -0.99952, 0.0297], [0.05163, -0.02919, -0.99824]], \"simulated_seconds_remaining\": 25.674, \"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 potato now sits deep in the finger gap with its narrow dimension across the jaws. I am closing to grasp its sides."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 20, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [-0.04678, 0.29274, -0.09525, -1.86903, 0.07638, 2.21444, -0.18438], \"gripper_open\": 0.3839, \"tcp_xyz\": [0.63223, -0.07913, 0.7902], \"tcp_roll_pitch_yaw\": [-0.00347, -0.00842, -0.00692], \"tcp_rotation_matrix\": [[0.99823, 0.00369, 0.0593], [0.00216, -0.99967, 0.02575], [0.05938, -0.02557, -0.99791]], \"simulated_seconds_remaining\": 24.75, \"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": {
      "z": 1
    },
    "note": "The fingers have stopped around the potato's sides. I am lifting vertically to check that it remains secure."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 21, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [-0.04866, 0.20613, -0.10246, -1.44985, 0.05574, 1.71002, -0.15753], \"gripper_open\": 0.0, \"tcp_xyz\": [0.63228, -0.07914, 0.99882], \"tcp_roll_pitch_yaw\": [-0.00349, -0.00879, -0.00692], \"tcp_rotation_matrix\": [[0.99821, 0.00369, 0.05967], [0.00216, -0.99967, 0.02572], [0.05975, -0.02554, -0.99789]], \"simulated_seconds_remaining\": 23.034, \"calls_remaining_including_this\": 37}"
      },
      {
        "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": 0.632,
      "y": -0.1,
      "z": 0.735,
      "gripper": 1,
      "pitch": 0,
      "roll": 0,
      "yaw": 0
    },
    "note": "The potato slipped out during lifting. I am lowering the open jaws farther down its sides so the next grasp captures more than its upper surface."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 22, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [-0.07465, 0.37691, -0.09989, -1.89095, 0.10065, 2.30849, -0.24268], \"gripper_open\": 0.9973, \"tcp_xyz\": [0.63192, -0.09975, 0.73624], \"tcp_roll_pitch_yaw\": [0.00013, 0.00032, 0.00013], \"tcp_rotation_matrix\": [[0.99867, 0.01051, 0.05039], [0.00902, -0.99952, 0.02975], [0.05068, -0.02926, -0.99829]], \"simulated_seconds_remaining\": 20.988, \"calls_remaining_including_this\": 36}"
      },
      {
        "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": -0.082,
      "gripper": 0
    },
    "note": "The potato is now surrounded at a deeper grasp height. I am making a small centering correction and closing the jaws firmly around its body."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 23, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [-0.05481, 0.36835, -0.0947, -1.9015, 0.09473, 2.31452, -0.21278], \"gripper_open\": 0.0018, \"tcp_xyz\": [0.63245, -0.08449, 0.73743], \"tcp_roll_pitch_yaw\": [-0.00113, -0.00211, -0.00185], \"tcp_rotation_matrix\": [[0.99856, 0.0086, 0.05288], [0.0071, -0.99957, 0.02839], [0.0531, -0.02797, -0.9982]], \"simulated_seconds_remaining\": 20.064, \"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": 0.86,
      "gripper": 1
    },
    "note": "The gripper closed fully again. I am reopening and lifting slightly to locate the potato after the contact."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 24, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [-0.05004, 0.23688, -0.10409, -1.7642, 0.06801, 2.04739, -0.18828], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.63254, -0.08451, 0.85885], \"tcp_roll_pitch_yaw\": [-0.00117, -0.0025, -0.00185], \"tcp_rotation_matrix\": [[0.99854, 0.0086, 0.05327], [0.0071, -0.99957, 0.02836], [0.05349, -0.02794, -0.99818]], \"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": {
      "x": 0.697,
      "y": -0.091,
      "z": 0.733
    },
    "note": "The potato is visible just behind the fingertip line. I am moving forward while lowering so its center stays inside the jaw pads."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 25, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [-0.06537, 0.55902, -0.08877, -1.60607, 0.10303, 2.20933, -0.20721], \"gripper_open\": 0.9975, \"tcp_xyz\": [0.69633, -0.0907, 0.73402], \"tcp_roll_pitch_yaw\": [-0.00098, -0.00214, -0.00157], \"tcp_rotation_matrix\": [[0.99856, 0.00888, 0.0529], [0.00738, -0.99957, 0.02855], [0.05313, -0.02812, -0.99819]], \"simulated_seconds_remaining\": 17.688, \"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": 0.729,
      "y": -0.077
    },
    "note": "The potato is still toward the back and right of the gap. I am sliding the open jaws slightly forward and right at the same height."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 26, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [-0.05212, 0.65674, -0.08228, -1.44286, 0.10097, 2.14498, -0.17725], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.72791, -0.07737, 0.73397], \"tcp_roll_pitch_yaw\": [-0.00095, -0.00211, -0.00144], \"tcp_rotation_matrix\": [[0.99856, 0.00901, 0.05286], [0.0075, -0.99956, 0.02859], [0.0531, -0.02816, -0.99819]], \"simulated_seconds_remaining\": 17.16, \"calls_remaining_including_this\": 32}"
      },
      {
        "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 potato is centered between the jaws at the deeper height. I am closing across its middle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 27, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [-0.0522, 0.65663, -0.08238, -1.44268, 0.10093, 2.14516, -0.17725], \"gripper_open\": 0.761, \"tcp_xyz\": [0.72804, -0.07752, 0.73416], \"tcp_roll_pitch_yaw\": [-0.0011, -0.00256, -0.00158], \"tcp_rotation_matrix\": [[0.99854, 0.00888, 0.05332], [0.00738, -0.99957, 0.02844], [0.05355, -0.028, -0.99817]], \"simulated_seconds_remaining\": 16.236, \"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": {
      "z": 0.97
    },
    "note": "The jaws are held open by the potato's full width. I am lifting it clear of the surface while maintaining the grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 28, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [-0.06993, 0.63305, -0.08916, -0.87544, 0.08837, 1.55602, -0.14522], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.72811, -0.07753, 0.96878], \"tcp_roll_pitch_yaw\": [-0.00113, -0.00296, -0.00159], \"tcp_rotation_matrix\": [[0.99852, 0.00889, 0.05372], [0.00737, -0.99957, 0.0284], [0.05395, -0.02797, -0.99815]], \"simulated_seconds_remaining\": 14.388, \"calls_remaining_including_this\": 30}"
      },
      {
        "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": 0.728,
      "y": -0.0775,
      "z": 0.734,
      "gripper": 1
    },
    "note": "The gripper opened during the lift, leaving the potato on the counter. I am returning to the centered grasp position and will explicitly hold the jaws closed while lifting."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 29, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [-0.05207, 0.65506, -0.08254, -1.44271, 0.10083, 2.14359, -0.17714], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.7279, -0.07749, 0.73515], \"tcp_roll_pitch_yaw\": [-0.00109, -0.00253, -0.00158], \"tcp_rotation_matrix\": [[0.99854, 0.00888, 0.05329], [0.00737, -0.99957, 0.02844], [0.05352, -0.02801, -0.99817]], \"simulated_seconds_remaining\": 12.54, \"calls_remaining_including_this\": 29}"
      },
      {
        "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": {
      "gripper": 0
    },
    "note": "The potato is centered between the open fingers again. I am closing around its body."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 30, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [-0.05231, 0.65467, -0.08285, -1.44223, 0.10071, 2.14397, -0.17715], \"gripper_open\": 0.7494, \"tcp_xyz\": [0.72821, -0.07792, 0.73569], \"tcp_roll_pitch_yaw\": [-0.00152, -0.00375, -0.00198], \"tcp_rotation_matrix\": [[0.99848, 0.00852, 0.05451], [0.007, -0.99958, 0.028], [0.05473, -0.02757, -0.99812]], \"simulated_seconds_remaining\": 11.616, \"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": {
      "z": 0.96,
      "gripper": 0
    },
    "note": "The fingers are gripping the potato. I am lifting while explicitly maintaining the closed-gripper command."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 31, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [-0.06703, 0.61441, -0.09015, -0.9342, 0.08724, 1.59628, -0.14727], \"gripper_open\": 0.7365, \"tcp_xyz\": [0.7282, -0.07792, 0.95827], \"tcp_roll_pitch_yaw\": [-0.00146, -0.00318, -0.00199], \"tcp_rotation_matrix\": [[0.99851, 0.00849, 0.05395], [0.00698, -0.99958, 0.02806], [0.05416, -0.02764, -0.99815]], \"simulated_seconds_remaining\": 9.834, \"calls_remaining_including_this\": 27}"
      },
      {
        "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": 0.39,
      "y": -0.31,
      "z": 0.96,
      "gripper": 0
    },
    "note": "The potato is lifted securely. The bowl lies back and to the side on the counter, so I am carrying the potato above it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 32, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [-0.32282, -0.23264, -0.33757, -2.05207, -0.02234, 1.85721, -0.6543], \"gripper_open\": 0.7349, \"tcp_xyz\": [0.39095, -0.30927, 0.95969], \"tcp_roll_pitch_yaw\": [-0.00107, -0.00255, -0.00228], \"tcp_rotation_matrix\": [[0.99854, 0.00818, 0.05333], [0.00667, -0.99957, 0.02843], [0.05354, -0.02803, -0.99817]], \"simulated_seconds_remaining\": 6.798, \"calls_remaining_including_this\": 26}"
      },
      {
        "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": 0.39,
      "y": -0.295,
      "z": 0.84,
      "gripper": 0
    },
    "note": "The bowl is directly beneath and slightly to the right of the held potato. I am centering and lowering the potato toward the bowl."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 33, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [-0.31762, -0.18354, -0.34194, -2.31428, -0.00764, 2.16502, -0.65823], \"gripper_open\": 0.7329, \"tcp_xyz\": [0.3898, -0.29498, 0.84084], \"tcp_roll_pitch_yaw\": [-0.0005, -0.00156, -0.00223], \"tcp_rotation_matrix\": [[0.9986, 0.00821, 0.05234], [0.0067, -0.99956, 0.029], [0.05255, -0.02861, -0.99821]], \"simulated_seconds_remaining\": 5.676, \"calls_remaining_including_this\": 25}"
      },
      {
        "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": -0.25,
      "z": 0.815,
      "gripper": 0
    },
    "note": "The lower view shows the bowl center just right of the potato. I am shifting over its center and lowering slightly for release."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 34, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [-0.29291, -0.22899, -0.29482, -2.43453, -0.01673, 2.24204, -0.57868], \"gripper_open\": 0.7333, \"tcp_xyz\": [0.38961, -0.25081, 0.81523], \"tcp_roll_pitch_yaw\": [-0.00012, -0.00079, -0.0021], \"tcp_rotation_matrix\": [[0.99863, 0.00831, 0.05157], [0.0068, -0.99954, 0.02939], [0.05179, -0.029, -0.99824]], \"simulated_seconds_remaining\": 4.752, \"calls_remaining_including_this\": 24}"
      },
      {
        "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 potato is centered over the bowl opening. I am opening the jaws to place it into the bowl."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "Episode ended. Do not call more tools. Return a brief final response."
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

Placed the potato in the bowl.

TURN USAGE
{
  "input_tokens": 747432,
  "cached_input_tokens": 699008,
  "cache_write_input_tokens": 0,
  "output_tokens": 6131,
  "reasoning_output_tokens": 2561
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.0177,
      -0.82731,
      -0.00469,
      -2.37843,
      0.02545,
      1.6023,
      0.00464
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.3067,
      0.01068,
      1.0206
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99866,
        0.01039,
        0.05072
      ],
      [
        0.00889,
        -0.99952,
        0.02962
      ],
      [
        0.051,
        -0.02913,
        -0.99827
      ]
    ],
    "simulated_seconds_remaining": 45.012,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 22.818784929811954,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.2
                  },
                  "note": "I see the potato near the far side of the counter and the bowl to the left; raising the gripper gives a wider locating view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.02085,
      -0.59636,
      -0.00739,
      -1.7375,
      0.02662,
      1.19264,
      0.01544
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.30672,
      0.01068,
      1.19873
    ],
    "tcp_roll_pitch_yaw": [
      1e-05,
      -0.00018,
      -0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99865,
        0.01039,
        0.0509
      ],
      [
        0.00889,
        -0.99952,
        0.02963
      ],
      [
        0.05118,
        -0.02914,
        -0.99826
      ]
    ],
    "simulated_seconds_remaining": 43.494,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 10.209131378680468,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.47,
                    "z": 1.12
                  },
                  "note": "The wrist view shows the bowl on the left and a small brown object near the right finger; moving forward brings the work surface into view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.02057,
      -0.25554,
      -0.01194,
      -1.67913,
      0.02628,
      1.47452,
      0.00249
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.46882,
      0.01067,
      1.12045
    ],
    "tcp_roll_pitch_yaw": [
      1e-05,
      0.00015,
      -1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99867,
        0.01037,
        0.05057
      ],
      [
        0.00888,
        -0.99952,
        0.02962
      ],
      [
        0.05085,
        -0.02913,
        -0.99828
      ]
    ],
    "simulated_seconds_remaining": 41.976,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 8.007759141735733,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.51,
                    "y": 0.05,
                    "z": 0.98
                  },
                  "note": "The golden potato is just ahead and left of the gripper center, with the bowl farther left. I am approaching above the potato."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.04764,
      -0.20163,
      0.03433,
      -1.98666,
      0.03347,
      1.83751,
      0.06378
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.50961,
      0.04968,
      0.98109
    ],
    "tcp_roll_pitch_yaw": [
      -3e-05,
      0.0005,
      5e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99868,
        0.01043,
        0.05021
      ],
      [
        0.00895,
        -0.99952,
        0.02959
      ],
      [
        0.0505,
        -0.0291,
        -0.9983
      ]
    ],
    "simulated_seconds_remaining": 40.656,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 16.61537293251604,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.53,
                    "y": -0.035,
                    "z": 0.88
                  },
                  "note": "The potato sits left of the finger gap. I am shifting sideways and lowering to center the open fingers around it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      -0.01882,
      -0.10187,
      -0.05739,
      -2.13482,
      0.0315,
      2.08049,
      -0.10028
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.52975,
      -0.03423,
      0.8809
    ],
    "tcp_roll_pitch_yaw": [
      -0.0,
      0.00078,
      -0.00013
    ],
    "tcp_rotation_matrix": [
      [
        0.9987,
        0.01024,
        0.04994
      ],
      [
        0.00876,
        -0.99952,
        0.02961
      ],
      [
        0.05022,
        -0.02913,
        -0.99831
      ]
    ],
    "simulated_seconds_remaining": 39.468,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 7.006089243106544,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.57,
                    "y": -0.07,
                    "z": 0.815
                  },
                  "note": "The potato is now close beneath the open gripper. I am making a small forward and sideways correction while lowering to grasp height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      -0.04798,
      0.08717,
      -0.08748,
      -2.07941,
      0.05444,
      2.2108,
      -0.1759
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.56931,
      -0.06949,
      0.8159
    ],
    "tcp_roll_pitch_yaw": [
      3e-05,
      0.00108,
      -0.00024
    ],
    "tcp_rotation_matrix": [
      [
        0.99872,
        0.01012,
        0.04964
      ],
      [
        0.00865,
        -0.99952,
        0.02964
      ],
      [
        0.04992,
        -0.02917,
        -0.99833
      ]
    ],
    "simulated_seconds_remaining": 38.61,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 8.607625444419682,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": -0.09,
                    "z": 0.765
                  },
                  "note": "The potato is visible between the fingers but slightly left of center. I am centering the gap and lowering the fingertips around its sides."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      -0.06984,
      0.16144,
      -0.10013,
      -2.12032,
      0.07345,
      2.32334,
      -0.22669
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.56923,
      -0.08956,
      0.76604
    ],
    "tcp_roll_pitch_yaw": [
      7e-05,
      0.00141,
      -0.00034
    ],
    "tcp_rotation_matrix": [
      [
        0.99873,
        0.01001,
        0.04932
      ],
      [
        0.00855,
        -0.99952,
        0.02968
      ],
      [
        0.0496,
        -0.02922,
        -0.99834
      ]
    ],
    "simulated_seconds_remaining": 37.95,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 6.2057907888665795,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The fingers are lowered around the potato at the counter surface. I am closing the jaws to secure it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      -0.06984,
      0.16144,
      -0.10013,
      -2.12032,
      0.07345,
      2.32334,
      -0.22669
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.56923,
      -0.08957,
      0.76603
    ],
    "tcp_roll_pitch_yaw": [
      7e-05,
      0.0014,
      -0.00033
    ],
    "tcp_rotation_matrix": [
      [
        0.99873,
        0.01001,
        0.04933
      ],
      [
        0.00855,
        -0.99952,
        0.02967
      ],
      [
        0.0496,
        -0.02921,
        -0.99834
      ]
    ],
    "simulated_seconds_remaining": 37.026,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 5.204714966006577,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.92
                  },
                  "note": "The jaws closed completely, so the potato may not be secured. I am lifting to check its position before correcting the grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      -0.06774,
      0.01566,
      -0.10379,
      -1.89735,
      0.04243,
      1.95658,
      -0.19589
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.56931,
      -0.08958,
      0.9188
    ],
    "tcp_roll_pitch_yaw": [
      3e-05,
      0.00102,
      -0.00034
    ],
    "tcp_rotation_matrix": [
      [
        0.99871,
        0.01002,
        0.04971
      ],
      [
        0.00855,
        -0.99952,
        0.02963
      ],
      [
        0.04999,
        -0.02917,
        -0.99832
      ]
    ],
    "simulated_seconds_remaining": 35.706,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 12.01045339088887,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.625,
                    "y": -0.115,
                    "z": 0.82,
                    "gripper": 1
                  },
                  "note": "The potato remained on the counter, just ahead of the closed fingertips. I am reopening and moving farther forward to align the grasp point over its center."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      -0.09122,
      0.26194,
      -0.11222,
      -1.82748,
      0.08003,
      2.12901,
      -0.24929
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.62428,
      -0.11471,
      0.82098
    ],
    "tcp_roll_pitch_yaw": [
      8e-05,
      0.00137,
      -0.00037
    ],
    "tcp_rotation_matrix": [
      [
        0.99873,
        0.00997,
        0.04936
      ],
      [
        0.00851,
        -0.99952,
        0.02968
      ],
      [
        0.04963,
        -0.02922,
        -0.99834
      ]
    ],
    "simulated_seconds_remaining": 34.65,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 7.6066424660384655,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.654,
                    "y": -0.11,
                    "z": 0.767
                  },
                  "note": "The potato is now centered in the open finger gap. I am lowering around it with a small forward correction to keep the grasp centered."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      -0.08617,
      0.3917,
      -0.09848,
      -1.75652,
      0.09846,
      2.20609,
      -0.24529
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.65872,
      -0.10729,
      0.77791
    ],
    "tcp_roll_pitch_yaw": [
      0.00036,
      -0.01747,
      0.00322
    ],
    "tcp_rotation_matrix": [
      [
        0.99758,
        0.01412,
        0.06805
      ],
      [
        0.01209,
        -0.99947,
        0.03019
      ],
      [
        0.06844,
        -0.0293,
        -0.99723
      ]
    ],
    "simulated_seconds_remaining": 33.924,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 7.605881679803133,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The potato is clearly bracketed by the fingertips at grasp height. I am closing the jaws around it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      -0.07877,
      0.37555,
      -0.08936,
      -1.74125,
      0.10345,
      2.23953,
      -0.24513
    ],
    "gripper_open": 0.298,
    "tcp_xyz": [
      0.67662,
      -0.09848,
      0.79974
    ],
    "tcp_roll_pitch_yaw": [
      -0.00398,
      -0.08223,
      0.01534
    ],
    "tcp_rotation_matrix": [
      [
        0.99084,
        0.02775,
        0.13214
      ],
      [
        0.02429,
        -0.99932,
        0.02767
      ],
      [
        0.13282,
        -0.02421,
        -0.99084
      ]
    ],
    "simulated_seconds_remaining": 33.0,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 5.804951888509095,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.01
                  },
                  "note": "The jaws remain partly open around the potato, indicating contact. I am lifting it clear of the counter to verify the hold."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 26,
    "motion_seconds": 1.7160000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      -0.08468,
      0.31791,
      -0.09852,
      -1.28693,
      0.08225,
      1.72912,
      -0.21036
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.67668,
      -0.0985,
      1.00883
    ],
    "tcp_roll_pitch_yaw": [
      -0.00403,
      -0.08261,
      0.01534
    ],
    "tcp_rotation_matrix": [
      [
        0.99079,
        0.02775,
        0.13252
      ],
      [
        0.02429,
        -0.99932,
        0.02763
      ],
      [
        0.13319,
        -0.02416,
        -0.9908
      ]
    ],
    "simulated_seconds_remaining": 31.284,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 17.01269563101232,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.755,
                    "y": -0.08,
                    "z": 0.87,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 0,
                    "gripper": 1
                  },
                  "note": "The potato is on the counter ahead of the gripper. I am approaching farther forward with level, open jaws for a centered grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      -0.06873,
      0.69992,
      -0.08212,
      -1.01623,
      0.09052,
      1.76057,
      -0.15522
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.75432,
      -0.08012,
      0.87089
    ],
    "tcp_roll_pitch_yaw": [
      2e-05,
      -0.00027,
      0.00017
    ],
    "tcp_rotation_matrix": [
      [
        0.99864,
        0.01057,
        0.05098
      ],
      [
        0.00906,
        -0.99952,
        0.02965
      ],
      [
        0.05127,
        -0.02914,
        -0.99826
      ]
    ],
    "simulated_seconds_remaining": 29.898,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 20.61503272410482,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.66,
                    "y": -0.1,
                    "z": 0.87
                  },
                  "note": "The potato appears too far ahead in the wrist image. I am translating back at constant height to place it between the fingertip ends."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      -0.07459,
      0.33136,
      -0.10248,
      -1.59926,
      0.07734,
      1.97334,
      -0.20922
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.66135,
      -0.09981,
      0.87013
    ],
    "tcp_roll_pitch_yaw": [
      -2e-05,
      -0.00037,
      5e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99864,
        0.01045,
        0.05108
      ],
      [
        0.00895,
        -0.99952,
        0.0296
      ],
      [
        0.05137,
        -0.0291,
        -0.99826
      ]
    ],
    "simulated_seconds_remaining": 28.974,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 6.8058236902579665,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.805
                  },
                  "note": "The potato is centered laterally just beyond the fingertips. I am lowering straight down so the pads surround its middle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      -0.07501,
      0.37769,
      -0.09897,
      -1.69743,
      0.08673,
      2.11698,
      -0.21939
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.66128,
      -0.09979,
      0.80612
    ],
    "tcp_roll_pitch_yaw": [
      3e-05,
      1e-05,
      6e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99866,
        0.01045,
        0.0507
      ],
      [
        0.00895,
        -0.99952,
        0.02965
      ],
      [
        0.05099,
        -0.02916,
        -0.99827
      ]
    ],
    "simulated_seconds_remaining": 28.248,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 7.6063657477498055,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The potato's center is aligned with the fingertip pads. I am closing the gripper at this height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      -0.07501,
      0.37769,
      -0.09897,
      -1.69743,
      0.08673,
      2.11698,
      -0.21939
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.66128,
      -0.09979,
      0.80611
    ],
    "tcp_roll_pitch_yaw": [
      3e-05,
      1e-05,
      6e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99866,
        0.01045,
        0.05071
      ],
      [
        0.00895,
        -0.99952,
        0.02965
      ],
      [
        0.05099,
        -0.02916,
        -0.99827
      ]
    ],
    "simulated_seconds_remaining": 27.324,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 10.819172428920865,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 1,
                    "z": 0.758,
                    "x": 0.682
                  },
                  "note": "The jaws closed without holding the potato, indicating the pads were still too high. I am reopening and lowering slightly, maintaining alignment over the potato."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      -0.07317,
      0.47668,
      -0.08628,
      -1.64014,
      0.10263,
      2.18365,
      -0.22222
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.68914,
      -0.0927,
      0.77271
    ],
    "tcp_roll_pitch_yaw": [
      0.00322,
      -0.02595,
      0.00756
    ],
    "tcp_rotation_matrix": [
      [
        0.9969,
        0.01878,
        0.07635
      ],
      [
        0.01626,
        -0.99931,
        0.03341
      ],
      [
        0.07693,
        -0.03206,
        -0.99652
      ]
    ],
    "simulated_seconds_remaining": 26.4,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 16.412890967912972,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.63,
                    "y": -0.073,
                    "z": 0.785,
                    "pitch": 0,
                    "roll": 0,
                    "yaw": 0
                  },
                  "note": "The potato shifted and rotated during the low approach. I am moving the open finger gap back and slightly sideways to surround its new position."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 19,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      -0.04323,
      0.29903,
      -0.09039,
      -1.87211,
      0.07843,
      2.21568,
      -0.1846
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.63122,
      -0.07335,
      0.78484
    ],
    "tcp_roll_pitch_yaw": [
      7e-05,
      -0.00063,
      0.00022
    ],
    "tcp_rotation_matrix": [
      [
        0.99862,
        0.01062,
        0.05134
      ],
      [
        0.00911,
        -0.99952,
        0.0297
      ],
      [
        0.05163,
        -0.02919,
        -0.99824
      ]
    ],
    "simulated_seconds_remaining": 25.674,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 7.00614158436656,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The potato now sits deep in the finger gap with its narrow dimension across the jaws. I am closing to grasp its sides."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 20,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      -0.04678,
      0.29274,
      -0.09525,
      -1.86903,
      0.07638,
      2.21444,
      -0.18438
    ],
    "gripper_open": 0.3839,
    "tcp_xyz": [
      0.63223,
      -0.07913,
      0.7902
    ],
    "tcp_roll_pitch_yaw": [
      -0.00347,
      -0.00842,
      -0.00692
    ],
    "tcp_rotation_matrix": [
      [
        0.99823,
        0.00369,
        0.0593
      ],
      [
        0.00216,
        -0.99967,
        0.02575
      ],
      [
        0.05938,
        -0.02557,
        -0.99791
      ]
    ],
    "simulated_seconds_remaining": 24.75,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 4.603747461922467,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1
                  },
                  "note": "The fingers have stopped around the potato's sides. I am lifting vertically to check that it remains secure."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 26,
    "motion_seconds": 1.7160000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 21,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      -0.04866,
      0.20613,
      -0.10246,
      -1.44985,
      0.05574,
      1.71002,
      -0.15753
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.63228,
      -0.07914,
      0.99882
    ],
    "tcp_roll_pitch_yaw": [
      -0.00349,
      -0.00879,
      -0.00692
    ],
    "tcp_rotation_matrix": [
      [
        0.99821,
        0.00369,
        0.05967
      ],
      [
        0.00216,
        -0.99967,
        0.02572
      ],
      [
        0.05975,
        -0.02554,
        -0.99789
      ]
    ],
    "simulated_seconds_remaining": 23.034,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 9.40795844886452,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.632,
                    "y": -0.1,
                    "z": 0.735,
                    "gripper": 1,
                    "pitch": 0,
                    "roll": 0,
                    "yaw": 0
                  },
                  "note": "The potato slipped out during lifting. I am lowering the open jaws farther down its sides so the next grasp captures more than its upper surface."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 31,
    "motion_seconds": 2.0460000000000003,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 22,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      -0.07465,
      0.37691,
      -0.09989,
      -1.89095,
      0.10065,
      2.30849,
      -0.24268
    ],
    "gripper_open": 0.9973,
    "tcp_xyz": [
      0.63192,
      -0.09975,
      0.73624
    ],
    "tcp_roll_pitch_yaw": [
      0.00013,
      0.00032,
      0.00013
    ],
    "tcp_rotation_matrix": [
      [
        0.99867,
        0.01051,
        0.05039
      ],
      [
        0.00902,
        -0.99952,
        0.02975
      ],
      [
        0.05068,
        -0.02926,
        -0.99829
      ]
    ],
    "simulated_seconds_remaining": 20.988,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 7.806561192497611,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": -0.082,
                    "gripper": 0
                  },
                  "note": "The potato is now surrounded at a deeper grasp height. I am making a small centering correction and closing the jaws firmly around its body."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 23,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      -0.05481,
      0.36835,
      -0.0947,
      -1.9015,
      0.09473,
      2.31452,
      -0.21278
    ],
    "gripper_open": 0.0018,
    "tcp_xyz": [
      0.63245,
      -0.08449,
      0.73743
    ],
    "tcp_roll_pitch_yaw": [
      -0.00113,
      -0.00211,
      -0.00185
    ],
    "tcp_rotation_matrix": [
      [
        0.99856,
        0.0086,
        0.05288
      ],
      [
        0.0071,
        -0.99957,
        0.02839
      ],
      [
        0.0531,
        -0.02797,
        -0.9982
      ]
    ],
    "simulated_seconds_remaining": 20.064,
    "calls_remaining_including_this": 35
  },
  "api_seconds": 6.005206484347582,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.86,
                    "gripper": 1
                  },
                  "note": "The gripper closed fully again. I am reopening and lifting slightly to locate the potato after the contact."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 24,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      -0.05004,
      0.23688,
      -0.10409,
      -1.7642,
      0.06801,
      2.04739,
      -0.18828
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.63254,
      -0.08451,
      0.85885
    ],
    "tcp_roll_pitch_yaw": [
      -0.00117,
      -0.0025,
      -0.00185
    ],
    "tcp_rotation_matrix": [
      [
        0.99854,
        0.0086,
        0.05327
      ],
      [
        0.0071,
        -0.99957,
        0.02836
      ],
      [
        0.05349,
        -0.02794,
        -0.99818
      ]
    ],
    "simulated_seconds_remaining": 18.942,
    "calls_remaining_including_this": 34
  },
  "api_seconds": 8.812079981900752,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.697,
                    "y": -0.091,
                    "z": 0.733
                  },
                  "note": "The potato is visible just behind the fingertip line. I am moving forward while lowering so its center stays inside the jaw pads."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 25,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      -0.06537,
      0.55902,
      -0.08877,
      -1.60607,
      0.10303,
      2.20933,
      -0.20721
    ],
    "gripper_open": 0.9975,
    "tcp_xyz": [
      0.69633,
      -0.0907,
      0.73402
    ],
    "tcp_roll_pitch_yaw": [
      -0.00098,
      -0.00214,
      -0.00157
    ],
    "tcp_rotation_matrix": [
      [
        0.99856,
        0.00888,
        0.0529
      ],
      [
        0.00738,
        -0.99957,
        0.02855
      ],
      [
        0.05313,
        -0.02812,
        -0.99819
      ]
    ],
    "simulated_seconds_remaining": 17.688,
    "calls_remaining_including_this": 33
  },
  "api_seconds": 6.405137816444039,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.729,
                    "y": -0.077
                  },
                  "note": "The potato is still toward the back and right of the gap. I am sliding the open jaws slightly forward and right at the same height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 8,
    "motion_seconds": 0.528,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 26,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      -0.05212,
      0.65674,
      -0.08228,
      -1.44286,
      0.10097,
      2.14498,
      -0.17725
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.72791,
      -0.07737,
      0.73397
    ],
    "tcp_roll_pitch_yaw": [
      -0.00095,
      -0.00211,
      -0.00144
    ],
    "tcp_rotation_matrix": [
      [
        0.99856,
        0.00901,
        0.05286
      ],
      [
        0.0075,
        -0.99956,
        0.02859
      ],
      [
        0.0531,
        -0.02816,
        -0.99819
      ]
    ],
    "simulated_seconds_remaining": 17.16,
    "calls_remaining_including_this": 32
  },
  "api_seconds": 6.40507192350924,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The potato is centered between the jaws at the deeper height. I am closing across its middle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 27,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      -0.0522,
      0.65663,
      -0.08238,
      -1.44268,
      0.10093,
      2.14516,
      -0.17725
    ],
    "gripper_open": 0.761,
    "tcp_xyz": [
      0.72804,
      -0.07752,
      0.73416
    ],
    "tcp_roll_pitch_yaw": [
      -0.0011,
      -0.00256,
      -0.00158
    ],
    "tcp_rotation_matrix": [
      [
        0.99854,
        0.00888,
        0.05332
      ],
      [
        0.00738,
        -0.99957,
        0.02844
      ],
      [
        0.05355,
        -0.028,
        -0.99817
      ]
    ],
    "simulated_seconds_remaining": 16.236,
    "calls_remaining_including_this": 31
  },
  "api_seconds": 6.004958579316735,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.97
                  },
                  "note": "The jaws are held open by the potato's full width. I am lifting it clear of the surface while maintaining the grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 28,
    "motion_seconds": 1.848,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 28,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      -0.06993,
      0.63305,
      -0.08916,
      -0.87544,
      0.08837,
      1.55602,
      -0.14522
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.72811,
      -0.07753,
      0.96878
    ],
    "tcp_roll_pitch_yaw": [
      -0.00113,
      -0.00296,
      -0.00159
    ],
    "tcp_rotation_matrix": [
      [
        0.99852,
        0.00889,
        0.05372
      ],
      [
        0.00737,
        -0.99957,
        0.0284
      ],
      [
        0.05395,
        -0.02797,
        -0.99815
      ]
    ],
    "simulated_seconds_remaining": 14.388,
    "calls_remaining_including_this": 30
  },
  "api_seconds": 17.21860267408192,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.728,
                    "y": -0.0775,
                    "z": 0.734,
                    "gripper": 1
                  },
                  "note": "The gripper opened during the lift, leaving the potato on the counter. I am returning to the centered grasp position and will explicitly hold the jaws closed while lifting."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 28,
    "motion_seconds": 1.848,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 29,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      -0.05207,
      0.65506,
      -0.08254,
      -1.44271,
      0.10083,
      2.14359,
      -0.17714
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.7279,
      -0.07749,
      0.73515
    ],
    "tcp_roll_pitch_yaw": [
      -0.00109,
      -0.00253,
      -0.00158
    ],
    "tcp_rotation_matrix": [
      [
        0.99854,
        0.00888,
        0.05329
      ],
      [
        0.00737,
        -0.99957,
        0.02844
      ],
      [
        0.05352,
        -0.02801,
        -0.99817
      ]
    ],
    "simulated_seconds_remaining": 12.54,
    "calls_remaining_including_this": 29
  },
  "api_seconds": 5.404906862415373,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The potato is centered between the open fingers again. I am closing around its body."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 30,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      -0.05231,
      0.65467,
      -0.08285,
      -1.44223,
      0.10071,
      2.14397,
      -0.17715
    ],
    "gripper_open": 0.7494,
    "tcp_xyz": [
      0.72821,
      -0.07792,
      0.73569
    ],
    "tcp_roll_pitch_yaw": [
      -0.00152,
      -0.00375,
      -0.00198
    ],
    "tcp_rotation_matrix": [
      [
        0.99848,
        0.00852,
        0.05451
      ],
      [
        0.007,
        -0.99958,
        0.028
      ],
      [
        0.05473,
        -0.02757,
        -0.99812
      ]
    ],
    "simulated_seconds_remaining": 11.616,
    "calls_remaining_including_this": 28
  },
  "api_seconds": 7.005663308314979,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.96,
                    "gripper": 0
                  },
                  "note": "The fingers are gripping the potato. I am lifting while explicitly maintaining the closed-gripper command."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 27,
    "motion_seconds": 1.782,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 31,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      -0.06703,
      0.61441,
      -0.09015,
      -0.9342,
      0.08724,
      1.59628,
      -0.14727
    ],
    "gripper_open": 0.7365,
    "tcp_xyz": [
      0.7282,
      -0.07792,
      0.95827
    ],
    "tcp_roll_pitch_yaw": [
      -0.00146,
      -0.00318,
      -0.00199
    ],
    "tcp_rotation_matrix": [
      [
        0.99851,
        0.00849,
        0.05395
      ],
      [
        0.00698,
        -0.99958,
        0.02806
      ],
      [
        0.05416,
        -0.02764,
        -0.99815
      ]
    ],
    "simulated_seconds_remaining": 9.834,
    "calls_remaining_including_this": 27
  },
  "api_seconds": 15.012320652604103,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.39,
                    "y": -0.31,
                    "z": 0.96,
                    "gripper": 0
                  },
                  "note": "The potato is lifted securely. The bowl lies back and to the side on the counter, so I am carrying the potato above it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 46,
    "motion_seconds": 3.036,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 32,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      -0.32282,
      -0.23264,
      -0.33757,
      -2.05207,
      -0.02234,
      1.85721,
      -0.6543
    ],
    "gripper_open": 0.7349,
    "tcp_xyz": [
      0.39095,
      -0.30927,
      0.95969
    ],
    "tcp_roll_pitch_yaw": [
      -0.00107,
      -0.00255,
      -0.00228
    ],
    "tcp_rotation_matrix": [
      [
        0.99854,
        0.00818,
        0.05333
      ],
      [
        0.00667,
        -0.99957,
        0.02843
      ],
      [
        0.05354,
        -0.02803,
        -0.99817
      ]
    ],
    "simulated_seconds_remaining": 6.798,
    "calls_remaining_including_this": 26
  },
  "api_seconds": 17.614020731300116,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.39,
                    "y": -0.295,
                    "z": 0.84,
                    "gripper": 0
                  },
                  "note": "The bowl is directly beneath and slightly to the right of the held potato. I am centering and lowering the potato toward the bowl."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 33,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      -0.31762,
      -0.18354,
      -0.34194,
      -2.31428,
      -0.00764,
      2.16502,
      -0.65823
    ],
    "gripper_open": 0.7329,
    "tcp_xyz": [
      0.3898,
      -0.29498,
      0.84084
    ],
    "tcp_roll_pitch_yaw": [
      -0.0005,
      -0.00156,
      -0.00223
    ],
    "tcp_rotation_matrix": [
      [
        0.9986,
        0.00821,
        0.05234
      ],
      [
        0.0067,
        -0.99956,
        0.029
      ],
      [
        0.05255,
        -0.02861,
        -0.99821
      ]
    ],
    "simulated_seconds_remaining": 5.676,
    "calls_remaining_including_this": 25
  },
  "api_seconds": 8.60731076542288,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": -0.25,
                    "z": 0.815,
                    "gripper": 0
                  },
                  "note": "The lower view shows the bowl center just right of the potato. I am shifting over its center and lowering slightly for release."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 34,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      -0.29291,
      -0.22899,
      -0.29482,
      -2.43453,
      -0.01673,
      2.24204,
      -0.57868
    ],
    "gripper_open": 0.7333,
    "tcp_xyz": [
      0.38961,
      -0.25081,
      0.81523
    ],
    "tcp_roll_pitch_yaw": [
      -0.00012,
      -0.00079,
      -0.0021
    ],
    "tcp_rotation_matrix": [
      [
        0.99863,
        0.00831,
        0.05157
      ],
      [
        0.0068,
        -0.99954,
        0.02939
      ],
      [
        0.05179,
        -0.029,
        -0.99824
      ]
    ],
    "simulated_seconds_remaining": 4.752,
    "calls_remaining_including_this": 24
  },
  "api_seconds": 5.404672261327505,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 1
                  },
                  "note": "The potato is centered over the bowl opening. I am opening the jaws to place it into the bowl."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

========================================================================
GPT-Astra / Pick & place / 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,
  "status": "completed",
  "success": false,
  "oracle_success": false,
  "action_decisions": 36,
  "wall_seconds": 462.74,
  "usage": {
    "input_tokens": 806037,
    "cached_input_tokens": 755072,
    "cache_write_input_tokens": 0,
    "output_tokens": 7026,
    "reasoning_output_tokens": 3211
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick-and-place 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 45 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 and grasp the requested object, lift it, move it to the named receptacle, and release it in or on that receptacle. Complete the entire pick-and-place 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 and use visual feedback to guide the pick and place.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [-0.01328, -0.78487, -0.04721, -2.311, 0.04815, 1.58709, 0.02355], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.31887, -0.00654, 1.03875], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.99564, -0.06788, 0.06405], [-0.07283, -0.99425, 0.07845], [0.05836, -0.08277, -0.99486]], \"simulated_seconds_remaining\": 45.012, \"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": 0.12,
    "z": 0.94,
    "note": "The bottle appears on the small white surface beside the bowl. I move closer with the gripper open to resolve their positions."
  },
  "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": 0.12,
      "z": 0.94
    },
    "note": "The bottle appears on the small white surface beside the bowl. I move closer with the gripper open to resolve their positions."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.05648, -0.33501, 0.14932, -2.22556, 0.12285, 1.96983, 0.22654], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.45907, 0.11921, 0.94054], \"tcp_roll_pitch_yaw\": [-7e-05, 0.00023, 0.0001], \"tcp_rotation_matrix\": [[0.99566, -0.0678, 0.06381], [-0.07273, -0.99427, 0.07839], [0.05813, -0.08269, -0.99488]], \"simulated_seconds_remaining\": 43.296, \"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": 0.4,
      "y": 0.21,
      "z": 0.84
    },
    "note": "The wrist view shows the green bottle below and left of the bowl. I approach that side and lower for a clearer grasp alignment."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.15062, -0.3469, 0.30216, -2.48934, 0.18542, 2.24038, 0.40147], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.40048, 0.2092, 0.84087], \"tcp_roll_pitch_yaw\": [-0.00018, 0.00042, 0.0003], \"tcp_rotation_matrix\": [[0.99568, -0.06761, 0.06361], [-0.07252, -0.99429, 0.07829], [0.05795, -0.08257, -0.9949]], \"simulated_seconds_remaining\": 42.042, \"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": 0.55,
      "y": 0.1,
      "z": 0.86
    },
    "note": "The bottle has moved out of the bottom of the wrist view, while the bowl sits at the lower left. I shift forward and right to bring the bottle between the fingers."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.00685, -0.02224, 0.14912, -2.10572, 0.08508, 2.1573, 0.1821], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.54893, 0.10071, 0.85984], \"tcp_roll_pitch_yaw\": [-0.00014, 0.00045, 6e-05], \"tcp_rotation_matrix\": [[0.99567, -0.06785, 0.0636], [-0.07276, -0.99427, 0.07831], [0.05792, -0.0826, -0.9949]], \"simulated_seconds_remaining\": 40.524, \"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": 0.66,
      "y": -0.02,
      "z": 0.88
    },
    "note": "The bottle remains at the lower-left edge of the wrist image, next to the bowl. I continue shifting toward it while keeping clearance above the objects."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [-0.10587, 0.28309, 0.05596, -1.64792, 0.07222, 1.98921, -0.00922], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.6591, -0.01915, 0.8798], \"tcp_roll_pitch_yaw\": [-0.00016, 0.00049, -0.00019], \"tcp_rotation_matrix\": [[0.99565, -0.06811, 0.06358], [-0.07301, -0.99425, 0.07828], [0.05788, -0.08258, -0.9949]], \"simulated_seconds_remaining\": 39.138, \"calls_remaining_including_this\": 53}"
      },
      {
        "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": 0.57,
      "y": -0.075,
      "z": 0.84
    },
    "note": "The blue bottle is now clearly visible below the bowl in the wrist view. I center the open fingers over its upper body before descending."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [-0.17399, 0.06426, 0.01365, -2.04454, 0.10404, 2.1567, -0.1449], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.57102, -0.07445, 0.84045], \"tcp_roll_pitch_yaw\": [-0.00017, 0.00056, -0.00037], \"tcp_rotation_matrix\": [[0.99564, -0.06829, 0.06352], [-0.07319, -0.99424, 0.07826], [0.05781, -0.08257, -0.99491]], \"simulated_seconds_remaining\": 38.082, \"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": {
      "z": 0.76
    },
    "note": "The blue bottle is aligned between the open fingers. I lower the grasp point around the bottle while watching clearance from the adjacent bowl."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [-0.1727, 0.16377, 0.01673, -2.13337, 0.11834, 2.34403, -0.166], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.57093, -0.07443, 0.7611], \"tcp_roll_pitch_yaw\": [-0.0001, 0.00092, -0.00036], \"tcp_rotation_matrix\": [[0.99566, -0.06831, 0.06316], [-0.07318, -0.99424, 0.07833], [0.05745, -0.08261, -0.99492]], \"simulated_seconds_remaining\": 37.224, \"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 bottle’s blue body is centered at the finger tips. I close the gripper to secure it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [-0.1727, 0.16377, 0.01673, -2.13337, 0.11834, 2.34403, -0.166], \"gripper_open\": 0.0, \"tcp_xyz\": [0.57093, -0.07443, 0.76109], \"tcp_roll_pitch_yaw\": [-0.0001, 0.00091, -0.00036], \"tcp_rotation_matrix\": [[0.99566, -0.06831, 0.06317], [-0.07318, -0.99424, 0.07833], [0.05746, -0.08261, -0.99492]], \"simulated_seconds_remaining\": 36.3, \"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": 1,
      "z": 0.8,
      "x": 0.52
    },
    "note": "The fingers closed fully, indicating the bottle was outside the grasp. I reopen and shift back slightly to place the bottle deeper between the jaws."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [-0.18172, -0.02675, 0.00886, -2.27068, 0.11755, 2.28961, -0.1773], \"gripper_open\": 0.9965, \"tcp_xyz\": [0.52113, -0.07444, 0.79923], \"tcp_roll_pitch_yaw\": [-0.00013, 0.00077, -0.00038], \"tcp_rotation_matrix\": [[0.99565, -0.06831, 0.06332], [-0.0732, -0.99424, 0.0783], [0.0576, -0.0826, -0.99492]], \"simulated_seconds_remaining\": 35.376, \"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": 0.57,
      "y": -0.085,
      "z": 0.71
    },
    "note": "The blue bottle is just below the finger contact region in the wrist view. I advance slightly and descend to surround its body."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [-0.18297, 0.24786, 0.01149, -2.16302, 0.13482, 2.45531, -0.20335], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.5693, -0.08486, 0.71102], \"tcp_roll_pitch_yaw\": [-7e-05, 0.00106, -0.00039], \"tcp_rotation_matrix\": [[0.99567, -0.06835, 0.06303], [-0.07321, -0.99423, 0.07836], [0.05731, -0.08263, -0.99493]], \"simulated_seconds_remaining\": 34.386, \"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": 0.63
    },
    "note": "At this height the bottle remains slightly behind the finger tips. I move forward to align the gripping surfaces with it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 11, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [-0.16926, 0.39749, 0.01267, -1.93309, 0.11936, 2.37641, -0.17122], \"gripper_open\": 0.9968, \"tcp_xyz\": [0.6286, -0.08465, 0.71076], \"tcp_roll_pitch_yaw\": [0.00011, 0.00173, -6e-05], \"tcp_rotation_matrix\": [[0.99573, -0.06807, 0.06234], [-0.07289, -0.99424, 0.07855], [0.05663, -0.08276, -0.99496]], \"simulated_seconds_remaining\": 33.66, \"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 bottle’s blue body now spans the space between the fingers. I close the jaws at this alignment."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 12, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [-0.17092, 0.39432, 0.01054, -1.9306, 0.11885, 2.37719, -0.17132], \"gripper_open\": 0.2241, \"tcp_xyz\": [0.63021, -0.0875, 0.71392], \"tcp_roll_pitch_yaw\": [-0.00218, -0.00443, -0.00331], \"tcp_rotation_matrix\": [[0.99512, -0.07081, 0.06871], [-0.076, -0.9942, 0.07605], [0.06293, -0.0809, -0.99473]], \"simulated_seconds_remaining\": 32.736, \"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": {
      "z": 0.93
    },
    "note": "The jaws stopped partially open, indicating contact with the bottle. I lift vertically to verify the grasp and clear the bowl."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 13, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [-0.17148, 0.19299, 0.00209, -1.64689, 0.091, 1.89415, -0.12238], \"gripper_open\": 0.0, \"tcp_xyz\": [0.63029, -0.0875, 0.92879], \"tcp_roll_pitch_yaw\": [-0.00223, -0.00482, -0.00331], \"tcp_rotation_matrix\": [[0.9951, -0.07077, 0.0691], [-0.07599, -0.99421, 0.076], [0.06332, -0.08088, -0.99471]], \"simulated_seconds_remaining\": 31.02, \"calls_remaining_including_this\": 45}"
      },
      {
        "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"
}

The object slipped during the lift. I’m checking where it settled before trying another grasp.


{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.7,
      "y": 0.04,
      "z": 1.02,
      "gripper": 1
    },
    "note": "The gripper is empty after lifting. I move to a higher open-gripper view to locate the bottle and bowl after the contact."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 14, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [-0.0176, 0.4824, 0.07177, -0.99375, 0.03971, 1.5478, 0.12055], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.6995, 0.03915, 1.01929], \"tcp_roll_pitch_yaw\": [-0.00217, -0.00489, -0.00306], \"tcp_rotation_matrix\": [[0.99511, -0.07052, 0.06915], [-0.07575, -0.99422, 0.07608], [0.06338, -0.08094, -0.9947]], \"simulated_seconds_remaining\": 29.568, \"calls_remaining_including_this\": 44}"
      },
      {
        "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": -0.08,
      "z": 0.88
    },
    "note": "A brown bottle is visible lying on the white surface, with the bowl farther left. I approach the bottle from above with open fingers."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 15, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [-0.16209, 0.11651, -0.00019, -1.87217, 0.09698, 2.04277, -0.13046], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.60059, -0.07935, 0.88081], \"tcp_roll_pitch_yaw\": [-0.00216, -0.00468, -0.00326], \"tcp_rotation_matrix\": [[0.99511, -0.07073, 0.06895], [-0.07594, -0.99421, 0.07608], [0.06317, -0.08094, -0.99471]], \"simulated_seconds_remaining\": 27.852, \"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": 0.63,
      "y": -0.055,
      "z": 0.77
    },
    "note": "The brown bottle lies just left of the jaw center. I adjust laterally and lower toward its middle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 16, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [-0.13161, 0.29785, 0.02068, -1.91519, 0.10117, 2.27032, -0.10145], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.62958, -0.05523, 0.77112], \"tcp_roll_pitch_yaw\": [-0.0021, -0.0043, -0.00317], \"tcp_rotation_matrix\": [[0.99514, -0.07068, 0.06857], [-0.07586, -0.99421, 0.07614], [0.06279, -0.08097, -0.99474]], \"simulated_seconds_remaining\": 26.796, \"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": {
      "x": 0.69,
      "y": -0.11
    },
    "note": "The bottle is now visible below the left finger. I shift forward and right at the same height to center it in the jaw opening."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 17, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [-0.18331, 0.49638, 0.00064, -1.60768, 0.10449, 2.15533, -0.16449], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.68905, -0.10926, 0.77107], \"tcp_roll_pitch_yaw\": [-0.00213, -0.00425, -0.00336], \"tcp_rotation_matrix\": [[0.99513, -0.07087, 0.06853], [-0.07605, -0.9942, 0.0761], [0.06274, -0.08094, -0.99474]], \"simulated_seconds_remaining\": 25.938, \"calls_remaining_including_this\": 41}"
      },
      {
        "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,
      "y": -0.12,
      "z": 0.7
    },
    "note": "The bottle is centered beneath the open jaws. I descend the final distance, compensating slightly forward for the wrist-camera perspective."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 18, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [-0.19123, 0.66889, 0.00203, -1.5115, 0.10953, 2.23029, -0.1809], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.71445, -0.11982, 0.70103], \"tcp_roll_pitch_yaw\": [-0.00208, -0.00387, -0.00339], \"tcp_rotation_matrix\": [[0.99515, -0.07093, 0.06816], [-0.07608, -0.99419, 0.07616], [0.06237, -0.08097, -0.99476]], \"simulated_seconds_remaining\": 25.146, \"calls_remaining_including_this\": 40}"
      },
      {
        "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 brown bottle is between the finger pads at grasp height. I close the gripper around its body."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 19, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [-0.19123, 0.66889, 0.00203, -1.5115, 0.10953, 2.23029, -0.1809], \"gripper_open\": 0.0001, \"tcp_xyz\": [0.71445, -0.11982, 0.70102], \"tcp_roll_pitch_yaw\": [-0.00208, -0.00388, -0.00338], \"tcp_rotation_matrix\": [[0.99515, -0.07093, 0.06817], [-0.07608, -0.99419, 0.07616], [0.06237, -0.08097, -0.99476]], \"simulated_seconds_remaining\": 24.222, \"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,
      "z": 0.61,
      "x": 0.745
    },
    "note": "The jaws closed fully above the bottle. I reopen and lower closer to the white surface, maintaining alignment with the bottle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 20, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [-0.18395, 0.87773, 0.00921, -1.32299, 0.11184, 2.25657, -0.18075], \"gripper_open\": 1.0, \"tcp_xyz\": [0.74898, -0.11615, 0.63609], \"tcp_roll_pitch_yaw\": [0.0028, -0.01059, 0.00427], \"tcp_rotation_matrix\": [[0.99527, -0.06273, 0.07423], [-0.06875, -0.9943, 0.08155], [0.06869, -0.08627, -0.9939]], \"simulated_seconds_remaining\": 23.298, \"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 fingers are now at the surface beside the brown bottle. I close to secure its body at this lower height."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 21, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [-0.17681, 0.86645, 0.01857, -1.31879, 0.11555, 2.25199, -0.18196], \"gripper_open\": 0.7049, \"tcp_xyz\": [0.75453, -0.10434, 0.64638], \"tcp_roll_pitch_yaw\": [0.01091, -0.02344, 0.01676], \"tcp_rotation_matrix\": [[0.9951, -0.04901, 0.08582], [-0.05679, -0.99425, 0.09075], [0.08088, -0.09518, -0.99217]], \"simulated_seconds_remaining\": 22.374, \"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": {
      "z": 0.88
    },
    "note": "The gripper remains open against an object, so I lift to check whether the bottle is held securely."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 22, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [-0.17787, 0.68347, 0.0121, -1.03047, 0.09866, 1.78309, -0.1331], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.75461, -0.10435, 0.87885], \"tcp_roll_pitch_yaw\": [0.01085, -0.02387, 0.01675], \"tcp_rotation_matrix\": [[0.99507, -0.04898, 0.08624], [-0.0568, -0.99426, 0.09069], [0.08131, -0.09515, -0.99214]], \"simulated_seconds_remaining\": 20.526, \"calls_remaining_including_this\": 36}"
      },
      {
        "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": 0.78,
      "y": -0.145,
      "z": 0.68,
      "gripper": 1,
      "roll": 0,
      "pitch": 0,
      "yaw": 0
    },
    "note": "The bottle remains on the surface, visible as a brown cylinder. I realign the open gripper above its center for a lower grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 23, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [-0.20872, 0.98282, 0.00074, -1.009, 0.10029, 2.03614, -0.18083], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.77972, -0.14475, 0.68106], \"tcp_roll_pitch_yaw\": [0.00014, 0.00027, 7e-05], \"tcp_rotation_matrix\": [[0.99566, -0.06783, 0.06377], [-0.07277, -0.99425, 0.07859], [0.05808, -0.08289, -0.99486]], \"simulated_seconds_remaining\": 18.876, \"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": {
      "gripper": 0
    },
    "note": "The bottle’s cylindrical body is centered between the jaws. I close around it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 24, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [-0.20872, 0.98282, 0.00074, -1.009, 0.10029, 2.03614, -0.18083], \"gripper_open\": 0.0001, \"tcp_xyz\": [0.77972, -0.14475, 0.68105], \"tcp_roll_pitch_yaw\": [0.00014, 0.00027, 7e-05], \"tcp_rotation_matrix\": [[0.99566, -0.06783, 0.06378], [-0.07277, -0.99425, 0.07859], [0.05808, -0.08289, -0.99486]], \"simulated_seconds_remaining\": 17.952, \"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": 0.74,
      "z": 0.66,
      "gripper": 1
    },
    "note": "The bottle is still just beyond the closed finger tips. I reopen and move back slightly so the jaws surround the middle of the bottle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 25, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [-0.21823, 0.83842, 0.0022, -1.32305, 0.11042, 2.20405, -0.20972], \"gripper_open\": 0.9965, \"tcp_xyz\": [0.74084, -0.14477, 0.66043], \"tcp_roll_pitch_yaw\": [0.00015, 0.00035, 5e-05], \"tcp_rotation_matrix\": [[0.99566, -0.06786, 0.0637], [-0.07279, -0.99425, 0.0786], [0.058, -0.0829, -0.99487]], \"simulated_seconds_remaining\": 17.028, \"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 bottle is now deeper within the jaw opening. I close the fingers for the grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 26, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [-0.21823, 0.83842, 0.0022, -1.32305, 0.11042, 2.20405, -0.20972], \"gripper_open\": 0.0, \"tcp_xyz\": [0.74084, -0.14477, 0.66043], \"tcp_roll_pitch_yaw\": [0.00015, 0.00035, 5e-05], \"tcp_rotation_matrix\": [[0.99566, -0.06786, 0.0637], [-0.07279, -0.99425, 0.0786], [0.058, -0.0829, -0.99487]], \"simulated_seconds_remaining\": 16.104, \"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": {
      "z": 0.57,
      "gripper": 1,
      "y": -0.16
    },
    "note": "The grip remains empty, suggesting the fingers are above the bottle. I lower farther while keeping the bottle centered and avoiding the neighboring dark object."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 27, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [-0.23226, 0.91548, 0.01252, -1.25219, 0.11957, 2.19015, -0.2397], \"gripper_open\": 1.0, \"tcp_xyz\": [0.74518, -0.14756, 0.63381], \"tcp_roll_pitch_yaw\": [0.0193, 0.01335, 0.01844], \"tcp_rotation_matrix\": [[0.9975, -0.05091, 0.04898], [-0.05555, -0.99358, 0.09856], [0.04365, -0.10104, -0.99392]], \"simulated_seconds_remaining\": 15.18, \"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": {
      "z": 0.68,
      "y": -0.1,
      "x": 0.73,
      "gripper": 1,
      "roll": 0,
      "pitch": 0,
      "yaw": 0
    },
    "note": "The bottle sits to the right of the gripper’s center and the fingers have reached the surface. I raise slightly and shift left to align the actual grasp point."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 28, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [-0.16481, 0.74402, 0.00594, -1.44038, 0.10681, 2.23242, -0.15419], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.73043, -0.10077, 0.67926], \"tcp_roll_pitch_yaw\": [0.00042, -1e-05, 0.00063], \"tcp_rotation_matrix\": [[0.99568, -0.06725, 0.06401], [-0.07223, -0.99426, 0.07891], [0.05834, -0.08319, -0.99482]], \"simulated_seconds_remaining\": 14.454, \"calls_remaining_including_this\": 30}"
      },
      {
        "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": 0.645,
      "gripper": 0
    },
    "note": "The brown bottle is centered at the grasp point. I lower slightly and close the jaws."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 29, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [-0.16571, 0.79452, 0.00741, -1.44153, 0.10941, 2.28552, -0.15991], \"gripper_open\": 0.0, \"tcp_xyz\": [0.73087, -0.1014, 0.64684], \"tcp_roll_pitch_yaw\": [-0.0002, -0.00155, 8e-05], \"tcp_rotation_matrix\": [[0.99555, -0.06767, 0.06559], [-0.07274, -0.99428, 0.07825], [0.05992, -0.08268, -0.99477]], \"simulated_seconds_remaining\": 13.53, \"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": 0.775,
      "y": -0.12,
      "z": 0.65,
      "gripper": 1
    },
    "note": "The bottle remains beside the closed fingers. I reposition the open jaws forward over its body at surface height."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 30, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [-0.17883, 0.9687, 0.00344, -1.11757, 0.10163, 2.13492, -0.15875], \"gripper_open\": 0.9965, \"tcp_xyz\": [0.77403, -0.11963, 0.64989], \"tcp_roll_pitch_yaw\": [-0.00022, -0.00154, 3e-05], \"tcp_rotation_matrix\": [[0.99555, -0.06772, 0.06558], [-0.07278, -0.99427, 0.07824], [0.0599, -0.08266, -0.99478]], \"simulated_seconds_remaining\": 12.606, \"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": {
      "gripper": 0
    },
    "note": "The bottle body lies between the finger pads at the lower height. I close the gripper."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 31, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [-0.17882, 0.96881, 0.00345, -1.11768, 0.10163, 2.13484, -0.15875], \"gripper_open\": 0.3948, \"tcp_xyz\": [0.77395, -0.1196, 0.64975], \"tcp_roll_pitch_yaw\": [-0.00015, -0.00124, 7e-05], \"tcp_rotation_matrix\": [[0.99557, -0.0677, 0.06528], [-0.07275, -0.99427, 0.0783], [0.0596, -0.08271, -0.99479]], \"simulated_seconds_remaining\": 11.682, \"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": {
      "z": 0.85,
      "gripper": 0
    },
    "note": "The jaws hold at a partial opening around the bottle. I keep them commanded closed and lift the bottle clear."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 32, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [-0.18139, 0.84873, -0.00036, -0.81884, 0.09016, 1.71724, -0.12209], \"gripper_open\": 0.3933, \"tcp_xyz\": [0.77397, -0.1196, 0.84862], \"tcp_roll_pitch_yaw\": [-0.00015, -0.00122, 6e-05], \"tcp_rotation_matrix\": [[0.99557, -0.06771, 0.06526], [-0.07276, -0.99427, 0.07831], [0.05959, -0.08271, -0.99479]], \"simulated_seconds_remaining\": 10.032, \"calls_remaining_including_this\": 26}"
      },
      {
        "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 bottle is now held securely. I’m moving it over the bowl for release.


{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.88,
      "y": 0.12,
      "z": 0.85,
      "gripper": 0
    },
    "note": "The bottle lifted with the gripper. The bowl is forward and left in the wrist view, so I carry the bottle toward it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 33, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [-0.18139, 0.84873, -0.00036, -0.81884, 0.09016, 1.71724, -0.12209], \"gripper_open\": 0.3933, \"tcp_xyz\": [0.77397, -0.1196, 0.84862], \"tcp_roll_pitch_yaw\": [-0.00015, -0.00122, 6e-05], \"tcp_rotation_matrix\": [[0.99557, -0.06771, 0.06526], [-0.07276, -0.99427, 0.07831], [0.05959, -0.08271, -0.99479]], \"simulated_seconds_remaining\": 10.032, \"calls_remaining_including_this\": 25}"
      },
      {
        "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": 0.82,
      "y": 0.12,
      "z": 0.74,
      "gripper": 0
    },
    "note": "The higher forward pose is outside reach. I lower the transport height and move left toward the bowl while maintaining the grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 34, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [-0.18139, 0.84873, -0.00036, -0.81884, 0.09016, 1.71724, -0.12209], \"gripper_open\": 0.3933, \"tcp_xyz\": [0.77397, -0.1196, 0.84862], \"tcp_roll_pitch_yaw\": [-0.00015, -0.00122, 6e-05], \"tcp_rotation_matrix\": [[0.99557, -0.06771, 0.06526], [-0.07276, -0.99427, 0.07831], [0.05959, -0.08271, -0.99479]], \"simulated_seconds_remaining\": 10.032, \"calls_remaining_including_this\": 24}"
      },
      {
        "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": 0.7,
      "y": 0.15,
      "z": 0.66,
      "gripper": 0
    },
    "note": "The bowl appears on the lower white surface. I bring the held bottle left and down using a reachable intermediate pose."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 35, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.15198, 0.68693, 0.05007, -1.60289, 0.04725, 2.36744, 0.22716], \"gripper_open\": 0.0001, \"tcp_xyz\": [0.70019, 0.14912, 0.66064], \"tcp_roll_pitch_yaw\": [-0.00011, -0.00097, 0.00036], \"tcp_rotation_matrix\": [[0.9956, -0.06744, 0.06499], [-0.07246, -0.99429, 0.07837], [0.05933, -0.08273, -0.9948]], \"simulated_seconds_remaining\": 7.458, \"calls_remaining_including_this\": 23}"
      },
      {
        "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": 0.75,
      "y": -0.16,
      "z": 0.8,
      "gripper": 0
    },
    "note": "The nearby dark bowl is on the right side of the white surface. I return toward it and raise the bottle for placement."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 36, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [-0.23076, 0.74635, -0.00908, -1.11905, 0.10351, 1.90883, -0.19905], \"gripper_open\": 0.0001, \"tcp_xyz\": [0.7498, -0.15898, 0.79949], \"tcp_roll_pitch_yaw\": [-0.00023, -0.00109, 6e-05], \"tcp_rotation_matrix\": [[0.99558, -0.06772, 0.06513], [-0.07275, -0.99428, 0.07822], [0.05945, -0.08262, -0.99481]], \"simulated_seconds_remaining\": 4.884, \"calls_remaining_including_this\": 22}"
      },
      {
        "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": "give_up",
  "arguments": {
    "note": "The bottle slipped during transport and I cannot reliably recover and place it within the remaining motion time."
  },
  "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 placement. The bottle slipped during transport, and I stopped before running out of motion time.

TURN USAGE
{
  "input_tokens": 806037,
  "cached_input_tokens": 755072,
  "cache_write_input_tokens": 0,
  "output_tokens": 7026,
  "reasoning_output_tokens": 3211
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      -0.01328,
      -0.78487,
      -0.04721,
      -2.311,
      0.04815,
      1.58709,
      0.02355
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.31887,
      -0.00654,
      1.03875
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99564,
        -0.06788,
        0.06405
      ],
      [
        -0.07283,
        -0.99425,
        0.07845
      ],
      [
        0.05836,
        -0.08277,
        -0.99486
      ]
    ],
    "simulated_seconds_remaining": 45.012,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 30.823516242206097,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.46,
                    "y": 0.12,
                    "z": 0.94
                  },
                  "note": "The bottle appears on the small white surface beside the bowl. I move closer with the gripper open to resolve their positions."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 26,
    "motion_seconds": 1.7160000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.05648,
      -0.33501,
      0.14932,
      -2.22556,
      0.12285,
      1.96983,
      0.22654
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.45907,
      0.11921,
      0.94054
    ],
    "tcp_roll_pitch_yaw": [
      -7e-05,
      0.00023,
      0.0001
    ],
    "tcp_rotation_matrix": [
      [
        0.99566,
        -0.0678,
        0.06381
      ],
      [
        -0.07273,
        -0.99427,
        0.07839
      ],
      [
        0.05813,
        -0.08269,
        -0.99488
      ]
    ],
    "simulated_seconds_remaining": 43.296,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 11.009265131317079,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "y": 0.21,
                    "z": 0.84
                  },
                  "note": "The wrist view shows the green bottle below and left of the bowl. I approach that side and lower for a clearer grasp alignment."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.15062,
      -0.3469,
      0.30216,
      -2.48934,
      0.18542,
      2.24038,
      0.40147
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.40048,
      0.2092,
      0.84087
    ],
    "tcp_roll_pitch_yaw": [
      -0.00018,
      0.00042,
      0.0003
    ],
    "tcp_rotation_matrix": [
      [
        0.99568,
        -0.06761,
        0.06361
      ],
      [
        -0.07252,
        -0.99429,
        0.07829
      ],
      [
        0.05795,
        -0.08257,
        -0.9949
      ]
    ],
    "simulated_seconds_remaining": 42.042,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 8.407262342050672,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.55,
                    "y": 0.1,
                    "z": 0.86
                  },
                  "note": "The bottle has moved out of the bottom of the wrist view, while the bowl sits at the lower left. I shift forward and right to bring the bottle between the fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.00685,
      -0.02224,
      0.14912,
      -2.10572,
      0.08508,
      2.1573,
      0.1821
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.54893,
      0.10071,
      0.85984
    ],
    "tcp_roll_pitch_yaw": [
      -0.00014,
      0.00045,
      6e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99567,
        -0.06785,
        0.0636
      ],
      [
        -0.07276,
        -0.99427,
        0.07831
      ],
      [
        0.05792,
        -0.0826,
        -0.9949
      ]
    ],
    "simulated_seconds_remaining": 40.524,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 11.213473156094551,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.66,
                    "y": -0.02,
                    "z": 0.88
                  },
                  "note": "The bottle remains at the lower-left edge of the wrist image, next to the bowl. I continue shifting toward it while keeping clearance above the objects."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      -0.10587,
      0.28309,
      0.05596,
      -1.64792,
      0.07222,
      1.98921,
      -0.00922
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.6591,
      -0.01915,
      0.8798
    ],
    "tcp_roll_pitch_yaw": [
      -0.00016,
      0.00049,
      -0.00019
    ],
    "tcp_rotation_matrix": [
      [
        0.99565,
        -0.06811,
        0.06358
      ],
      [
        -0.07301,
        -0.99425,
        0.07828
      ],
      [
        0.05788,
        -0.08258,
        -0.9949
      ]
    ],
    "simulated_seconds_remaining": 39.138,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 12.208599050529301,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.57,
                    "y": -0.075,
                    "z": 0.84
                  },
                  "note": "The blue bottle is now clearly visible below the bowl in the wrist view. I center the open fingers over its upper body before descending."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      -0.17399,
      0.06426,
      0.01365,
      -2.04454,
      0.10404,
      2.1567,
      -0.1449
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.57102,
      -0.07445,
      0.84045
    ],
    "tcp_roll_pitch_yaw": [
      -0.00017,
      0.00056,
      -0.00037
    ],
    "tcp_rotation_matrix": [
      [
        0.99564,
        -0.06829,
        0.06352
      ],
      [
        -0.07319,
        -0.99424,
        0.07826
      ],
      [
        0.05781,
        -0.08257,
        -0.99491
      ]
    ],
    "simulated_seconds_remaining": 38.082,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 8.207200437784195,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.76
                  },
                  "note": "The blue bottle is aligned between the open fingers. I lower the grasp point around the bottle while watching clearance from the adjacent bowl."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      -0.1727,
      0.16377,
      0.01673,
      -2.13337,
      0.11834,
      2.34403,
      -0.166
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.57093,
      -0.07443,
      0.7611
    ],
    "tcp_roll_pitch_yaw": [
      -0.0001,
      0.00092,
      -0.00036
    ],
    "tcp_rotation_matrix": [
      [
        0.99566,
        -0.06831,
        0.06316
      ],
      [
        -0.07318,
        -0.99424,
        0.07833
      ],
      [
        0.05745,
        -0.08261,
        -0.99492
      ]
    ],
    "simulated_seconds_remaining": 37.224,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 7.206439954228699,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The bottle’s blue body is centered at the finger tips. I close the gripper to secure it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      -0.1727,
      0.16377,
      0.01673,
      -2.13337,
      0.11834,
      2.34403,
      -0.166
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.57093,
      -0.07443,
      0.76109
    ],
    "tcp_roll_pitch_yaw": [
      -0.0001,
      0.00091,
      -0.00036
    ],
    "tcp_rotation_matrix": [
      [
        0.99566,
        -0.06831,
        0.06317
      ],
      [
        -0.07318,
        -0.99424,
        0.07833
      ],
      [
        0.05746,
        -0.08261,
        -0.99492
      ]
    ],
    "simulated_seconds_remaining": 36.3,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 6.805852341465652,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 1,
                    "z": 0.8,
                    "x": 0.52
                  },
                  "note": "The fingers closed fully, indicating the bottle was outside the grasp. I reopen and shift back slightly to place the bottle deeper between the jaws."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      -0.18172,
      -0.02675,
      0.00886,
      -2.27068,
      0.11755,
      2.28961,
      -0.1773
    ],
    "gripper_open": 0.9965,
    "tcp_xyz": [
      0.52113,
      -0.07444,
      0.79923
    ],
    "tcp_roll_pitch_yaw": [
      -0.00013,
      0.00077,
      -0.00038
    ],
    "tcp_rotation_matrix": [
      [
        0.99565,
        -0.06831,
        0.06332
      ],
      [
        -0.0732,
        -0.99424,
        0.0783
      ],
      [
        0.0576,
        -0.0826,
        -0.99492
      ]
    ],
    "simulated_seconds_remaining": 35.376,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 12.20961681380868,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.57,
                    "y": -0.085,
                    "z": 0.71
                  },
                  "note": "The blue bottle is just below the finger contact region in the wrist view. I advance slightly and descend to surround its body."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      -0.18297,
      0.24786,
      0.01149,
      -2.16302,
      0.13482,
      2.45531,
      -0.20335
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.5693,
      -0.08486,
      0.71102
    ],
    "tcp_roll_pitch_yaw": [
      -7e-05,
      0.00106,
      -0.00039
    ],
    "tcp_rotation_matrix": [
      [
        0.99567,
        -0.06835,
        0.06303
      ],
      [
        -0.07321,
        -0.99423,
        0.07836
      ],
      [
        0.05731,
        -0.08263,
        -0.99493
      ]
    ],
    "simulated_seconds_remaining": 34.386,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 5.204186234623194,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.63
                  },
                  "note": "At this height the bottle remains slightly behind the finger tips. I move forward to align the gripping surfaces with it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      -0.16926,
      0.39749,
      0.01267,
      -1.93309,
      0.11936,
      2.37641,
      -0.17122
    ],
    "gripper_open": 0.9968,
    "tcp_xyz": [
      0.6286,
      -0.08465,
      0.71076
    ],
    "tcp_roll_pitch_yaw": [
      0.00011,
      0.00173,
      -6e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99573,
        -0.06807,
        0.06234
      ],
      [
        -0.07289,
        -0.99424,
        0.07855
      ],
      [
        0.05663,
        -0.08276,
        -0.99496
      ]
    ],
    "simulated_seconds_remaining": 33.66,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 5.805309467017651,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The bottle’s blue body now spans the space between the fingers. I close the jaws at this alignment."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      -0.17092,
      0.39432,
      0.01054,
      -1.9306,
      0.11885,
      2.37719,
      -0.17132
    ],
    "gripper_open": 0.2241,
    "tcp_xyz": [
      0.63021,
      -0.0875,
      0.71392
    ],
    "tcp_roll_pitch_yaw": [
      -0.00218,
      -0.00443,
      -0.00331
    ],
    "tcp_rotation_matrix": [
      [
        0.99512,
        -0.07081,
        0.06871
      ],
      [
        -0.076,
        -0.9942,
        0.07605
      ],
      [
        0.06293,
        -0.0809,
        -0.99473
      ]
    ],
    "simulated_seconds_remaining": 32.736,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 7.0061355866491795,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.93
                  },
                  "note": "The jaws stopped partially open, indicating contact with the bottle. I lift vertically to verify the grasp and clear the bowl."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 26,
    "motion_seconds": 1.7160000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      -0.17148,
      0.19299,
      0.00209,
      -1.64689,
      0.091,
      1.89415,
      -0.12238
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.63029,
      -0.0875,
      0.92879
    ],
    "tcp_roll_pitch_yaw": [
      -0.00223,
      -0.00482,
      -0.00331
    ],
    "tcp_rotation_matrix": [
      [
        0.9951,
        -0.07077,
        0.0691
      ],
      [
        -0.07599,
        -0.99421,
        0.076
      ],
      [
        0.06332,
        -0.08088,
        -0.99471
      ]
    ],
    "simulated_seconds_remaining": 31.02,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 16.61370656080544,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.7,
                    "y": 0.04,
                    "z": 1.02,
                    "gripper": 1
                  },
                  "note": "The gripper is empty after lifting. I move to a higher open-gripper view to locate the bottle and bowl after the contact."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 22,
    "motion_seconds": 1.452,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      -0.0176,
      0.4824,
      0.07177,
      -0.99375,
      0.03971,
      1.5478,
      0.12055
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.6995,
      0.03915,
      1.01929
    ],
    "tcp_roll_pitch_yaw": [
      -0.00217,
      -0.00489,
      -0.00306
    ],
    "tcp_rotation_matrix": [
      [
        0.99511,
        -0.07052,
        0.06915
      ],
      [
        -0.07575,
        -0.99422,
        0.07608
      ],
      [
        0.06338,
        -0.08094,
        -0.9947
      ]
    ],
    "simulated_seconds_remaining": 29.568,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 15.812851241789758,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.6,
                    "y": -0.08,
                    "z": 0.88
                  },
                  "note": "A brown bottle is visible lying on the white surface, with the bowl farther left. I approach the bottle from above with open fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 26,
    "motion_seconds": 1.7160000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      -0.16209,
      0.11651,
      -0.00019,
      -1.87217,
      0.09698,
      2.04277,
      -0.13046
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.60059,
      -0.07935,
      0.88081
    ],
    "tcp_roll_pitch_yaw": [
      -0.00216,
      -0.00468,
      -0.00326
    ],
    "tcp_rotation_matrix": [
      [
        0.99511,
        -0.07073,
        0.06895
      ],
      [
        -0.07594,
        -0.99421,
        0.07608
      ],
      [
        0.06317,
        -0.08094,
        -0.99471
      ]
    ],
    "simulated_seconds_remaining": 27.852,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 9.007353593595326,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.63,
                    "y": -0.055,
                    "z": 0.77
                  },
                  "note": "The brown bottle lies just left of the jaw center. I adjust laterally and lower toward its middle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      -0.13161,
      0.29785,
      0.02068,
      -1.91519,
      0.10117,
      2.27032,
      -0.10145
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.62958,
      -0.05523,
      0.77112
    ],
    "tcp_roll_pitch_yaw": [
      -0.0021,
      -0.0043,
      -0.00317
    ],
    "tcp_rotation_matrix": [
      [
        0.99514,
        -0.07068,
        0.06857
      ],
      [
        -0.07586,
        -0.99421,
        0.07614
      ],
      [
        0.06279,
        -0.08097,
        -0.99474
      ]
    ],
    "simulated_seconds_remaining": 26.796,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 6.80554345715791,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.69,
                    "y": -0.11
                  },
                  "note": "The bottle is now visible below the left finger. I shift forward and right at the same height to center it in the jaw opening."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      -0.18331,
      0.49638,
      0.00064,
      -1.60768,
      0.10449,
      2.15533,
      -0.16449
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.68905,
      -0.10926,
      0.77107
    ],
    "tcp_roll_pitch_yaw": [
      -0.00213,
      -0.00425,
      -0.00336
    ],
    "tcp_rotation_matrix": [
      [
        0.99513,
        -0.07087,
        0.06853
      ],
      [
        -0.07605,
        -0.9942,
        0.0761
      ],
      [
        0.06274,
        -0.08094,
        -0.99474
      ]
    ],
    "simulated_seconds_remaining": 25.938,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 12.611976413056254,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.715,
                    "y": -0.12,
                    "z": 0.7
                  },
                  "note": "The bottle is centered beneath the open jaws. I descend the final distance, compensating slightly forward for the wrist-camera perspective."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      -0.19123,
      0.66889,
      0.00203,
      -1.5115,
      0.10953,
      2.23029,
      -0.1809
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.71445,
      -0.11982,
      0.70103
    ],
    "tcp_roll_pitch_yaw": [
      -0.00208,
      -0.00387,
      -0.00339
    ],
    "tcp_rotation_matrix": [
      [
        0.99515,
        -0.07093,
        0.06816
      ],
      [
        -0.07608,
        -0.99419,
        0.07616
      ],
      [
        0.06237,
        -0.08097,
        -0.99476
      ]
    ],
    "simulated_seconds_remaining": 25.146,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 8.00644762441516,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The brown bottle is between the finger pads at grasp height. I close the gripper around its body."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 19,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      -0.19123,
      0.66889,
      0.00203,
      -1.5115,
      0.10953,
      2.23029,
      -0.1809
    ],
    "gripper_open": 0.0001,
    "tcp_xyz": [
      0.71445,
      -0.11982,
      0.70102
    ],
    "tcp_roll_pitch_yaw": [
      -0.00208,
      -0.00388,
      -0.00338
    ],
    "tcp_rotation_matrix": [
      [
        0.99515,
        -0.07093,
        0.06817
      ],
      [
        -0.07608,
        -0.99419,
        0.07616
      ],
      [
        0.06237,
        -0.08097,
        -0.99476
      ]
    ],
    "simulated_seconds_remaining": 24.222,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 9.811312003992498,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 1,
                    "z": 0.61,
                    "x": 0.745
                  },
                  "note": "The jaws closed fully above the bottle. I reopen and lower closer to the white surface, maintaining alignment with the bottle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 20,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      -0.18395,
      0.87773,
      0.00921,
      -1.32299,
      0.11184,
      2.25657,
      -0.18075
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.74898,
      -0.11615,
      0.63609
    ],
    "tcp_roll_pitch_yaw": [
      0.0028,
      -0.01059,
      0.00427
    ],
    "tcp_rotation_matrix": [
      [
        0.99527,
        -0.06273,
        0.07423
      ],
      [
        -0.06875,
        -0.9943,
        0.08155
      ],
      [
        0.06869,
        -0.08627,
        -0.9939
      ]
    ],
    "simulated_seconds_remaining": 23.298,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 7.606210703030229,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The fingers are now at the surface beside the brown bottle. I close to secure its body at this lower height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 21,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      -0.17681,
      0.86645,
      0.01857,
      -1.31879,
      0.11555,
      2.25199,
      -0.18196
    ],
    "gripper_open": 0.7049,
    "tcp_xyz": [
      0.75453,
      -0.10434,
      0.64638
    ],
    "tcp_roll_pitch_yaw": [
      0.01091,
      -0.02344,
      0.01676
    ],
    "tcp_rotation_matrix": [
      [
        0.9951,
        -0.04901,
        0.08582
      ],
      [
        -0.05679,
        -0.99425,
        0.09075
      ],
      [
        0.08088,
        -0.09518,
        -0.99217
      ]
    ],
    "simulated_seconds_remaining": 22.374,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 5.60509857069701,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.88
                  },
                  "note": "The gripper remains open against an object, so I lift to check whether the bottle is held securely."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 28,
    "motion_seconds": 1.848,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 22,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      -0.17787,
      0.68347,
      0.0121,
      -1.03047,
      0.09866,
      1.78309,
      -0.1331
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.75461,
      -0.10435,
      0.87885
    ],
    "tcp_roll_pitch_yaw": [
      0.01085,
      -0.02387,
      0.01675
    ],
    "tcp_rotation_matrix": [
      [
        0.99507,
        -0.04898,
        0.08624
      ],
      [
        -0.0568,
        -0.99426,
        0.09069
      ],
      [
        0.08131,
        -0.09515,
        -0.99214
      ]
    ],
    "simulated_seconds_remaining": 20.526,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 10.608473697677255,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.78,
                    "y": -0.145,
                    "z": 0.68,
                    "gripper": 1,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 0
                  },
                  "note": "The bottle remains on the surface, visible as a brown cylinder. I realign the open gripper above its center for a lower grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 25,
    "motion_seconds": 1.6500000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 23,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      -0.20872,
      0.98282,
      0.00074,
      -1.009,
      0.10029,
      2.03614,
      -0.18083
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.77972,
      -0.14475,
      0.68106
    ],
    "tcp_roll_pitch_yaw": [
      0.00014,
      0.00027,
      7e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99566,
        -0.06783,
        0.06377
      ],
      [
        -0.07277,
        -0.99425,
        0.07859
      ],
      [
        0.05808,
        -0.08289,
        -0.99486
      ]
    ],
    "simulated_seconds_remaining": 18.876,
    "calls_remaining_including_this": 35
  },
  "api_seconds": 7.806945500895381,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The bottle’s cylindrical body is centered between the jaws. I close around it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 24,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      -0.20872,
      0.98282,
      0.00074,
      -1.009,
      0.10029,
      2.03614,
      -0.18083
    ],
    "gripper_open": 0.0001,
    "tcp_xyz": [
      0.77972,
      -0.14475,
      0.68105
    ],
    "tcp_roll_pitch_yaw": [
      0.00014,
      0.00027,
      7e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99566,
        -0.06783,
        0.06378
      ],
      [
        -0.07277,
        -0.99425,
        0.07859
      ],
      [
        0.05808,
        -0.08289,
        -0.99486
      ]
    ],
    "simulated_seconds_remaining": 17.952,
    "calls_remaining_including_this": 34
  },
  "api_seconds": 7.806301434524357,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.74,
                    "z": 0.66,
                    "gripper": 1
                  },
                  "note": "The bottle is still just beyond the closed finger tips. I reopen and move back slightly so the jaws surround the middle of the bottle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 25,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      -0.21823,
      0.83842,
      0.0022,
      -1.32305,
      0.11042,
      2.20405,
      -0.20972
    ],
    "gripper_open": 0.9965,
    "tcp_xyz": [
      0.74084,
      -0.14477,
      0.66043
    ],
    "tcp_roll_pitch_yaw": [
      0.00015,
      0.00035,
      5e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99566,
        -0.06786,
        0.0637
      ],
      [
        -0.07279,
        -0.99425,
        0.0786
      ],
      [
        0.058,
        -0.0829,
        -0.99487
      ]
    ],
    "simulated_seconds_remaining": 17.028,
    "calls_remaining_including_this": 33
  },
  "api_seconds": 5.0073152566328645,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The bottle is now deeper within the jaw opening. I close the fingers for the grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 26,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      -0.21823,
      0.83842,
      0.0022,
      -1.32305,
      0.11042,
      2.20405,
      -0.20972
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.74084,
      -0.14477,
      0.66043
    ],
    "tcp_roll_pitch_yaw": [
      0.00015,
      0.00035,
      5e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99566,
        -0.06786,
        0.0637
      ],
      [
        -0.07279,
        -0.99425,
        0.0786
      ],
      [
        0.058,
        -0.0829,
        -0.99487
      ]
    ],
    "simulated_seconds_remaining": 16.104,
    "calls_remaining_including_this": 32
  },
  "api_seconds": 7.606109714135528,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.57,
                    "gripper": 1,
                    "y": -0.16
                  },
                  "note": "The grip remains empty, suggesting the fingers are above the bottle. I lower farther while keeping the bottle centered and avoiding the neighboring dark object."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 27,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      -0.23226,
      0.91548,
      0.01252,
      -1.25219,
      0.11957,
      2.19015,
      -0.2397
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.74518,
      -0.14756,
      0.63381
    ],
    "tcp_roll_pitch_yaw": [
      0.0193,
      0.01335,
      0.01844
    ],
    "tcp_rotation_matrix": [
      [
        0.9975,
        -0.05091,
        0.04898
      ],
      [
        -0.05555,
        -0.99358,
        0.09856
      ],
      [
        0.04365,
        -0.10104,
        -0.99392
      ]
    ],
    "simulated_seconds_remaining": 15.18,
    "calls_remaining_including_this": 31
  },
  "api_seconds": 10.608000134117901,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.68,
                    "y": -0.1,
                    "x": 0.73,
                    "gripper": 1,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 0
                  },
                  "note": "The bottle sits to the right of the gripper’s center and the fingers have reached the surface. I raise slightly and shift left to align the actual grasp point."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 28,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      -0.16481,
      0.74402,
      0.00594,
      -1.44038,
      0.10681,
      2.23242,
      -0.15419
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.73043,
      -0.10077,
      0.67926
    ],
    "tcp_roll_pitch_yaw": [
      0.00042,
      -1e-05,
      0.00063
    ],
    "tcp_rotation_matrix": [
      [
        0.99568,
        -0.06725,
        0.06401
      ],
      [
        -0.07223,
        -0.99426,
        0.07891
      ],
      [
        0.05834,
        -0.08319,
        -0.99482
      ]
    ],
    "simulated_seconds_remaining": 14.454,
    "calls_remaining_including_this": 30
  },
  "api_seconds": 5.004323100671172,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.645,
                    "gripper": 0
                  },
                  "note": "The brown bottle is centered at the grasp point. I lower slightly and close the jaws."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 29,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      -0.16571,
      0.79452,
      0.00741,
      -1.44153,
      0.10941,
      2.28552,
      -0.15991
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.73087,
      -0.1014,
      0.64684
    ],
    "tcp_roll_pitch_yaw": [
      -0.0002,
      -0.00155,
      8e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99555,
        -0.06767,
        0.06559
      ],
      [
        -0.07274,
        -0.99428,
        0.07825
      ],
      [
        0.05992,
        -0.08268,
        -0.99477
      ]
    ],
    "simulated_seconds_remaining": 13.53,
    "calls_remaining_including_this": 29
  },
  "api_seconds": 7.806529818102717,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.775,
                    "y": -0.12,
                    "z": 0.65,
                    "gripper": 1
                  },
                  "note": "The bottle remains beside the closed fingers. I reposition the open jaws forward over its body at surface height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 30,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      -0.17883,
      0.9687,
      0.00344,
      -1.11757,
      0.10163,
      2.13492,
      -0.15875
    ],
    "gripper_open": 0.9965,
    "tcp_xyz": [
      0.77403,
      -0.11963,
      0.64989
    ],
    "tcp_roll_pitch_yaw": [
      -0.00022,
      -0.00154,
      3e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99555,
        -0.06772,
        0.06558
      ],
      [
        -0.07278,
        -0.99427,
        0.07824
      ],
      [
        0.0599,
        -0.08266,
        -0.99478
      ]
    ],
    "simulated_seconds_remaining": 12.606,
    "calls_remaining_including_this": 28
  },
  "api_seconds": 5.004493776708841,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The bottle body lies between the finger pads at the lower height. I close the gripper."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 31,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      -0.17882,
      0.96881,
      0.00345,
      -1.11768,
      0.10163,
      2.13484,
      -0.15875
    ],
    "gripper_open": 0.3948,
    "tcp_xyz": [
      0.77395,
      -0.1196,
      0.64975
    ],
    "tcp_roll_pitch_yaw": [
      -0.00015,
      -0.00124,
      7e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99557,
        -0.0677,
        0.06528
      ],
      [
        -0.07275,
        -0.99427,
        0.0783
      ],
      [
        0.0596,
        -0.08271,
        -0.99479
      ]
    ],
    "simulated_seconds_remaining": 11.682,
    "calls_remaining_including_this": 27
  },
  "api_seconds": 5.404555989429355,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.85,
                    "gripper": 0
                  },
                  "note": "The jaws hold at a partial opening around the bottle. I keep them commanded closed and lift the bottle clear."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 25,
    "motion_seconds": 1.6500000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 32,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      -0.18139,
      0.84873,
      -0.00036,
      -0.81884,
      0.09016,
      1.71724,
      -0.12209
    ],
    "gripper_open": 0.3933,
    "tcp_xyz": [
      0.77397,
      -0.1196,
      0.84862
    ],
    "tcp_roll_pitch_yaw": [
      -0.00015,
      -0.00122,
      6e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99557,
        -0.06771,
        0.06526
      ],
      [
        -0.07276,
        -0.99427,
        0.07831
      ],
      [
        0.05959,
        -0.08271,
        -0.99479
      ]
    ],
    "simulated_seconds_remaining": 10.032,
    "calls_remaining_including_this": 26
  },
  "api_seconds": 12.810354880988598,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.88,
                    "y": 0.12,
                    "z": 0.85,
                    "gripper": 0
                  },
                  "note": "The bottle lifted with the gripper. The bowl is forward and left in the wrist view, so I carry the bottle toward it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 33,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      -0.18139,
      0.84873,
      -0.00036,
      -0.81884,
      0.09016,
      1.71724,
      -0.12209
    ],
    "gripper_open": 0.3933,
    "tcp_xyz": [
      0.77397,
      -0.1196,
      0.84862
    ],
    "tcp_roll_pitch_yaw": [
      -0.00015,
      -0.00122,
      6e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99557,
        -0.06771,
        0.06526
      ],
      [
        -0.07276,
        -0.99427,
        0.07831
      ],
      [
        0.05959,
        -0.08271,
        -0.99479
      ]
    ],
    "simulated_seconds_remaining": 10.032,
    "calls_remaining_including_this": 25
  },
  "api_seconds": 6.004941779188812,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.82,
                    "y": 0.12,
                    "z": 0.74,
                    "gripper": 0
                  },
                  "note": "The higher forward pose is outside reach. I lower the transport height and move left toward the bowl while maintaining the grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 34,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      -0.18139,
      0.84873,
      -0.00036,
      -0.81884,
      0.09016,
      1.71724,
      -0.12209
    ],
    "gripper_open": 0.3933,
    "tcp_xyz": [
      0.77397,
      -0.1196,
      0.84862
    ],
    "tcp_roll_pitch_yaw": [
      -0.00015,
      -0.00122,
      6e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99557,
        -0.06771,
        0.06526
      ],
      [
        -0.07276,
        -0.99427,
        0.07831
      ],
      [
        0.05959,
        -0.08271,
        -0.99479
      ]
    ],
    "simulated_seconds_remaining": 10.032,
    "calls_remaining_including_this": 24
  },
  "api_seconds": 20.61526204738766,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.7,
                    "y": 0.15,
                    "z": 0.66,
                    "gripper": 0
                  },
                  "note": "The bowl appears on the lower white surface. I bring the held bottle left and down using a reachable intermediate pose."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 39,
    "motion_seconds": 2.5740000000000003,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 35,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.15198,
      0.68693,
      0.05007,
      -1.60289,
      0.04725,
      2.36744,
      0.22716
    ],
    "gripper_open": 0.0001,
    "tcp_xyz": [
      0.70019,
      0.14912,
      0.66064
    ],
    "tcp_roll_pitch_yaw": [
      -0.00011,
      -0.00097,
      0.00036
    ],
    "tcp_rotation_matrix": [
      [
        0.9956,
        -0.06744,
        0.06499
      ],
      [
        -0.07246,
        -0.99429,
        0.07837
      ],
      [
        0.05933,
        -0.08273,
        -0.9948
      ]
    ],
    "simulated_seconds_remaining": 7.458,
    "calls_remaining_including_this": 23
  },
  "api_seconds": 23.42327745538205,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.75,
                    "y": -0.16,
                    "z": 0.8,
                    "gripper": 0
                  },
                  "note": "The nearby dark bowl is on the right side of the white surface. I return toward it and raise the bottle for placement."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 39,
    "motion_seconds": 2.5740000000000003,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 36,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      -0.23076,
      0.74635,
      -0.00908,
      -1.11905,
      0.10351,
      1.90883,
      -0.19905
    ],
    "gripper_open": 0.0001,
    "tcp_xyz": [
      0.7498,
      -0.15898,
      0.79949
    ],
    "tcp_roll_pitch_yaw": [
      -0.00023,
      -0.00109,
      6e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99558,
        -0.06772,
        0.06513
      ],
      [
        -0.07275,
        -0.99428,
        0.07822
      ],
      [
        0.05945,
        -0.08262,
        -0.99481
      ]
    ],
    "simulated_seconds_remaining": 4.884,
    "calls_remaining_including_this": 22
  },
  "api_seconds": 7.206007215194404,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "give_up",
                "args": {
                  "note": "The bottle slipped during transport and I cannot reliably recover and place it within the remaining motion time."
                }
              }
            }
          ]
        }
      }
    ]
  }
}

========================================================================
GPT-Astra / Pick & place / 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,
  "status": "completed",
  "success": false,
  "oracle_success": false,
  "action_decisions": 23,
  "wall_seconds": 269.81,
  "usage": {
    "input_tokens": 467528,
    "cached_input_tokens": 434432,
    "cache_write_input_tokens": 0,
    "output_tokens": 4108,
    "reasoning_output_tokens": 1461
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick-and-place 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 45 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 and grasp the requested object, lift it, move it to the named receptacle, and release it in or on that receptacle. Complete the entire pick-and-place 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 object and place it in the requested receptacle.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"pick up the towel and place it on the bowl.\", \"joint_positions\": [-0.00223, -0.79443, -0.04795, -2.33322, -0.0102, 1.53874, -0.00767], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.30114, -0.01736, 1.0257], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.99959, -0.02848, 0.00023], [-0.02848, -0.99931, 0.02402], [-0.00045, -0.02402, -0.99971]], \"simulated_seconds_remaining\": 45.012, \"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": 0.42,
    "y": 0,
    "z": 1.05,
    "note": "The white towel and brown bowl are visible on the counter. I move forward above them to improve the wrist view and locate a 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": 0.42,
      "y": 0,
      "z": 1.05
    },
    "note": "The white towel and brown bowl are visible on the counter. I move forward above them to improve the wrist view and locate a grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"pick up the towel and place it on the bowl.\", \"joint_positions\": [0.01772, -0.42307, -0.02543, -2.00901, 0.01358, 1.58603, 0.02279], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.41873, -0.00018, 1.04969], \"tcp_roll_pitch_yaw\": [-1e-05, 0.00013, 2e-05], \"tcp_rotation_matrix\": [[0.99959, -0.02846, 0.0001], [-0.02845, -0.99931, 0.02401], [-0.00058, -0.024, -0.99971]], \"simulated_seconds_remaining\": 43.89, \"calls_remaining_including_this\": 56}"
      },
      {
        "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": -0.08,
      "z": 1
    },
    "note": "The towel is the pale blue ribbed cloth near the lower-right of the wrist image, beside the bowl. I move toward it while remaining above the counter."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"pick up the towel and place it on the bowl.\", \"joint_positions\": [-0.03078, -0.17595, -0.12562, -1.89524, 0.00183, 1.71682, -0.12609], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.49911, -0.0792, 1.00043], \"tcp_roll_pitch_yaw\": [3e-05, 0.00036, -0.00013], \"tcp_rotation_matrix\": [[0.99959, -0.02862, -0.00013], [-0.02861, -0.9993, 0.02405], [-0.00082, -0.02404, -0.99971]], \"simulated_seconds_remaining\": 42.768, \"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": {
      "x": 0.46,
      "y": 0.13,
      "z": 1.02
    },
    "note": "The towel lies to the right of the gripper in the wrist view. I shift laterally to bring it between the fingers before descending."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"pick up the towel and place it on the bowl.\", \"joint_positions\": [0.1237, -0.26435, 0.1178, -1.93806, 0.05442, 1.68087, 0.26002], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.46023, 0.12879, 1.01989], \"tcp_roll_pitch_yaw\": [1e-05, 0.00032, 0.00016], \"tcp_rotation_matrix\": [[0.9996, -0.02832, -9e-05], [-0.02831, -0.99931, 0.02403], [-0.00078, -0.02402, -0.99971]], \"simulated_seconds_remaining\": 41.052, \"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": 0.45,
      "y": 0.23,
      "z": 0.9
    },
    "note": "The blue towel is now visible just ahead of the fingers. I center over its exposed section and lower for a closer grasp view."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"pick up the towel and place it on the bowl.\", \"joint_positions\": [0.20087, -0.17178, 0.24656, -2.14397, 0.0694, 1.98638, 0.44457], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.45003, 0.22916, 0.90095], \"tcp_roll_pitch_yaw\": [-0.0001, 0.00057, 0.00034], \"tcp_rotation_matrix\": [[0.9996, -0.02815, -0.00035], [-0.02814, -0.99932, 0.02392], [-0.00103, -0.0239, -0.99971]], \"simulated_seconds_remaining\": 39.732, \"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": 0.6,
      "y": 0.23,
      "z": 0.94
    },
    "note": "The towel is hidden beneath the near edge of the wrist view. I advance along the counter to bring it into the open space ahead of the gripper."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"pick up the towel and place it on the bowl.\", \"joint_positions\": [0.17396, 0.25635, 0.21364, -1.52517, -0.03216, 1.78434, 0.41554], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.59873, 0.22994, 0.93961], \"tcp_roll_pitch_yaw\": [-0.00011, 0.00063, 0.00023], \"tcp_rotation_matrix\": [[0.9996, -0.02826, -0.00041], [-0.02825, -0.99931, 0.02391], [-0.00108, -0.02389, -0.99971]], \"simulated_seconds_remaining\": 38.412, \"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": 0.64,
      "y": 0.25,
      "z": 0.81
    },
    "note": "The towel is clearly visible between the open fingers, with the bowl farther along the counter. I lower toward the towel while refining the alignment."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"pick up the towel and place it on the bowl.\", \"joint_positions\": [0.1991, 0.46543, 0.20276, -1.54923, -0.0754, 2.01345, 0.44077], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.63952, 0.24977, 0.81109], \"tcp_roll_pitch_yaw\": [-0.00023, 0.00102, 0.00023], \"tcp_rotation_matrix\": [[0.9996, -0.02828, -0.00079], [-0.02825, -0.99932, 0.02379], [-0.00146, -0.02376, -0.99972]], \"simulated_seconds_remaining\": 37.224, \"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": {
      "z": 0.755
    },
    "note": "The towel remains centered under the open gripper. I descend the final few centimeters so the fingers can pinch its raised folds."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"pick up the towel and place it on the bowl.\", \"joint_positions\": [0.20177, 0.51819, 0.19609, -1.61195, -0.08743, 2.12771, 0.44657], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.63944, 0.24973, 0.75611], \"tcp_roll_pitch_yaw\": [-0.00036, 0.00137, 0.00022], \"tcp_rotation_matrix\": [[0.9996, -0.02829, -0.00115], [-0.02826, -0.99932, 0.02366], [-0.00182, -0.02362, -0.99972]], \"simulated_seconds_remaining\": 36.564, \"calls_remaining_including_this\": 50}"
      },
      {
        "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": 0.7,
      "z": 0.78
    },
    "note": "The towel’s visible folds sit slightly toward the near side of the fingers. I advance a little to center the pinch on the fabric."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"pick up the towel and place it on the bowl.\", \"joint_positions\": [0.21171, 0.69715, 0.18069, -1.25402, -0.10011, 1.94854, 0.41551], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.69885, 0.24969, 0.77951], \"tcp_roll_pitch_yaw\": [-0.00034, 0.0013, 0.00014], \"tcp_rotation_matrix\": [[0.9996, -0.02837, -0.00107], [-0.02834, -0.99932, 0.02368], [-0.00174, -0.02364, -0.99972]], \"simulated_seconds_remaining\": 35.838, \"calls_remaining_including_this\": 49}"
      },
      {
        "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": 0.735,
      "gripper": 0
    },
    "note": "The towel spans the gap between the fingers. I lower slightly and close the jaws around its folds."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"pick up the towel and place it on the bowl.\", \"joint_positions\": [0.21303, 0.71984, 0.17928, -1.29363, -0.10579, 2.03724, 0.41829], \"gripper_open\": 0.0, \"tcp_xyz\": [0.70421, 0.2541, 0.7521], \"tcp_roll_pitch_yaw\": [0.0094, -0.02373, 0.00237], \"tcp_rotation_matrix\": [[0.99939, -0.02531, 0.02387], [-0.0261, -0.9991, 0.03347], [0.023, -0.03407, -0.99915]], \"simulated_seconds_remaining\": 34.914, \"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": {
      "z": 0.94
    },
    "note": "The jaws have closed at the towel. I lift vertically to check whether the fabric is securely held."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 11, \"instruction\": \"pick up the towel and place it on the bowl.\", \"joint_positions\": [0.25124, 0.74471, 0.18352, -0.76776, -0.10199, 1.53952, 0.40539], \"gripper_open\": 0.0, \"tcp_xyz\": [0.70429, 0.25415, 0.93877], \"tcp_roll_pitch_yaw\": [0.00954, -0.02411, 0.00238], \"tcp_rotation_matrix\": [[0.99939, -0.02528, 0.02425], [-0.02609, -0.99909, 0.03362], [0.02338, -0.03423, -0.99914]], \"simulated_seconds_remaining\": 33.396, \"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": 0.755,
      "z": 0.79,
      "gripper": 1,
      "roll": 0,
      "pitch": 0,
      "yaw": 0
    },
    "note": "The towel stayed on the counter after the lift. I reopen and reposition farther over its center for another pinch."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 12, \"instruction\": \"pick up the towel and place it on the bowl.\", \"joint_positions\": [0.27675, 1.02729, 0.15605, -0.47979, -0.10816, 1.62398, 0.37222], \"gripper_open\": 1.0, \"tcp_xyz\": [0.76544, 0.26329, 0.86523], \"tcp_roll_pitch_yaw\": [0.04129, -0.10551, 0.00175], \"tcp_rotation_matrix\": [[0.99426, -0.0197, 0.10521], [-0.02669, -0.9975, 0.06544], [0.10365, -0.06788, -0.99229]], \"simulated_seconds_remaining\": 32.076, \"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": {
      "gripper": 0
    },
    "note": "The ribbed towel fills the space between the fingers at this height. I close here to capture the thicker middle section."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 13, \"instruction\": \"pick up the towel and place it on the bowl.\", \"joint_positions\": [0.27676, 1.01985, 0.1564, -0.47411, -0.1082, 1.62589, 0.37222], \"gripper_open\": 0.8352, \"tcp_xyz\": [0.76704, 0.26361, 0.87427], \"tcp_roll_pitch_yaw\": [0.04624, -0.11978, 0.00057], \"tcp_rotation_matrix\": [[0.99266, -0.01932, 0.11938], [-0.02786, -0.99714, 0.07027], [0.11769, -0.07308, -0.99036]], \"simulated_seconds_remaining\": 31.152, \"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": 0.52,
      "y": 0.02,
      "z": 0.98,
      "gripper": 1,
      "roll": 0,
      "pitch": 0,
      "yaw": 0
    },
    "note": "The close view reveals that the blue ribbed object is a cup. The towel is the white roll beside the knife; I release the cup and move above the roll."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 14, \"instruction\": \"pick up the towel and place it on the bowl.\", \"joint_positions\": [0.27676, 1.01985, 0.1564, -0.47411, -0.1082, 1.62589, 0.37222], \"gripper_open\": 0.8352, \"tcp_xyz\": [0.76704, 0.26361, 0.87427], \"tcp_roll_pitch_yaw\": [0.04624, -0.11978, 0.00057], \"tcp_rotation_matrix\": [[0.99266, -0.01932, 0.11938], [-0.02786, -0.99714, 0.07027], [0.11769, -0.07308, -0.99036]], \"simulated_seconds_remaining\": 31.152, \"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": 0.68,
      "z": 1,
      "gripper": 1
    },
    "note": "The long reposition was rejected. I open the fingers and retreat upward and inward in a smaller motion."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 15, \"instruction\": \"pick up the towel and place it on the bowl.\", \"joint_positions\": [0.27676, 1.01985, 0.1564, -0.47411, -0.1082, 1.62589, 0.37222], \"gripper_open\": 0.8352, \"tcp_xyz\": [0.76704, 0.26361, 0.87427], \"tcp_roll_pitch_yaw\": [0.04624, -0.11978, 0.00057], \"tcp_rotation_matrix\": [[0.99266, -0.01932, 0.11938], [-0.02786, -0.99714, 0.07027], [0.11769, -0.07308, -0.99036]], \"simulated_seconds_remaining\": 31.152, \"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": 0.72,
      "gripper": 1
    },
    "note": "The arm is near its extended limit. I shorten the reach first while opening the gripper."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 16, \"instruction\": \"pick up the towel and place it on the bowl.\", \"joint_positions\": [0.27676, 1.01985, 0.1564, -0.47411, -0.1082, 1.62589, 0.37222], \"gripper_open\": 0.8352, \"tcp_xyz\": [0.76704, 0.26361, 0.87427], \"tcp_roll_pitch_yaw\": [0.04624, -0.11978, 0.00057], \"tcp_rotation_matrix\": [[0.99266, -0.01932, 0.11938], [-0.02786, -0.99714, 0.07027], [0.11769, -0.07308, -0.99036]], \"simulated_seconds_remaining\": 31.152, \"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": {
      "gripper": 1,
      "roll": 0,
      "pitch": 0,
      "yaw": 0
    },
    "note": "Contact tilted the gripper. I restore its downward orientation and release before attempting further translation."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 17, \"instruction\": \"pick up the towel and place it on the bowl.\", \"joint_positions\": [0.27676, 1.01985, 0.1564, -0.47411, -0.1082, 1.62589, 0.37222], \"gripper_open\": 0.8352, \"tcp_xyz\": [0.76704, 0.26361, 0.87427], \"tcp_roll_pitch_yaw\": [0.04624, -0.11978, 0.00057], \"tcp_rotation_matrix\": [[0.99266, -0.01932, 0.11938], [-0.02786, -0.99714, 0.07027], [0.11769, -0.07308, -0.99036]], \"simulated_seconds_remaining\": 31.152, \"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": {
      "x": 0.75,
      "z": 0.88,
      "pitch": -0.12,
      "roll": 0.046,
      "gripper": 1
    },
    "note": "I use a very small inward move with the measured tilt to leave the reach limit without a large joint change."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 18, \"instruction\": \"pick up the towel and place it on the bowl.\", \"joint_positions\": [0.27676, 1.01985, 0.1564, -0.47411, -0.1082, 1.62589, 0.37222], \"gripper_open\": 0.8352, \"tcp_xyz\": [0.76704, 0.26361, 0.87427], \"tcp_roll_pitch_yaw\": [0.04624, -0.11978, 0.00057], \"tcp_rotation_matrix\": [[0.99266, -0.01932, 0.11938], [-0.02786, -0.99714, 0.07027], [0.11769, -0.07308, -0.99036]], \"simulated_seconds_remaining\": 31.152, \"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": 0.7,
      "z": 0.82,
      "roll": 0,
      "pitch": 0,
      "yaw": 0,
      "gripper": 1
    },
    "note": "I move back toward the last reachable lower pose, which should bend the elbow away from its limit."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 19, \"instruction\": \"pick up the towel and place it on the bowl.\", \"joint_positions\": [0.27676, 1.01985, 0.1564, -0.47411, -0.1082, 1.62589, 0.37222], \"gripper_open\": 0.8352, \"tcp_xyz\": [0.76704, 0.26361, 0.87427], \"tcp_roll_pitch_yaw\": [0.04624, -0.11978, 0.00057], \"tcp_rotation_matrix\": [[0.99266, -0.01932, 0.11938], [-0.02786, -0.99714, 0.07027], [0.11769, -0.07308, -0.99036]], \"simulated_seconds_remaining\": 31.152, \"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": {
      "gripper": 1
    },
    "note": "I first release the cup without changing the grasp-point target, allowing contact forces to settle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 20, \"instruction\": \"pick up the towel and place it on the bowl.\", \"joint_positions\": [0.27676, 1.01984, 0.1564, -0.4741, -0.1082, 1.62589, 0.37222], \"gripper_open\": 0.9905, \"tcp_xyz\": [0.76704, 0.26361, 0.87431], \"tcp_roll_pitch_yaw\": [0.04626, -0.11984, 0.00057], \"tcp_rotation_matrix\": [[0.99265, -0.01932, 0.11945], [-0.02786, -0.99714, 0.07029], [0.11775, -0.0731, -0.99035]], \"simulated_seconds_remaining\": 30.822, \"calls_remaining_including_this\": 38}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 5, \"motion_seconds\": 0.33, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "wrist"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.762,
      "z": 0.87
    },
    "note": "The fingers are open. I try a five-millimeter inward retreat to recover from the extended arm pose."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 21, \"instruction\": \"pick up the towel and place it on the bowl.\", \"joint_positions\": [0.27676, 1.01984, 0.1564, -0.4741, -0.1082, 1.62589, 0.37222], \"gripper_open\": 0.9905, \"tcp_xyz\": [0.76704, 0.26361, 0.87431], \"tcp_roll_pitch_yaw\": [0.04626, -0.11984, 0.00057], \"tcp_rotation_matrix\": [[0.99265, -0.01932, 0.11945], [-0.02786, -0.99714, 0.07029], [0.11775, -0.0731, -0.99035]], \"simulated_seconds_remaining\": 30.822, \"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": {
      "pitch": -0.3,
      "z": 0.91
    },
    "note": "Small translations remain rejected. I tilt the wrist farther while lifting slightly to seek a reachable configuration away from the cup."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 22, \"instruction\": \"pick up the towel and place it on the bowl.\", \"joint_positions\": [0.27676, 1.01984, 0.1564, -0.4741, -0.1082, 1.62589, 0.37222], \"gripper_open\": 0.9905, \"tcp_xyz\": [0.76704, 0.26361, 0.87431], \"tcp_roll_pitch_yaw\": [0.04626, -0.11984, 0.00057], \"tcp_rotation_matrix\": [[0.99265, -0.01932, 0.11945], [-0.02786, -0.99714, 0.07029], [0.11775, -0.0731, -0.99035]], \"simulated_seconds_remaining\": 30.822, \"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": 0.767,
      "y": 0.2636,
      "z": 0.86,
      "pitch": -0.12,
      "roll": 0.046
    },
    "note": "I make one final short downward adjustment at the current wrist tilt to test whether the arm can leave this configuration."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 23, \"instruction\": \"pick up the towel and place it on the bowl.\", \"joint_positions\": [0.27676, 1.01984, 0.1564, -0.4741, -0.1082, 1.62589, 0.37222], \"gripper_open\": 0.9905, \"tcp_xyz\": [0.76704, 0.26361, 0.87431], \"tcp_roll_pitch_yaw\": [0.04626, -0.11984, 0.00057], \"tcp_rotation_matrix\": [[0.99265, -0.01932, 0.11945], [-0.02786, -0.99714, 0.07029], [0.11775, -0.0731, -0.99035]], \"simulated_seconds_remaining\": 30.822, \"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": "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": "Unable to complete: after releasing the misidentified cup, the controller rejects every recovery translation and orientation adjustment with IK errors. The towel has not been placed on the bowl."
  },
  "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 placement. I initially mistook the cup for the towel, then the controller rejected all recovery motions after I released it.

TURN USAGE
{
  "input_tokens": 467528,
  "cached_input_tokens": 434432,
  "cache_write_input_tokens": 0,
  "output_tokens": 4108,
  "reasoning_output_tokens": 1461
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "pick up the towel and place it on the bowl.",
    "joint_positions": [
      -0.00223,
      -0.79443,
      -0.04795,
      -2.33322,
      -0.0102,
      1.53874,
      -0.00767
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.30114,
      -0.01736,
      1.0257
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99959,
        -0.02848,
        0.00023
      ],
      [
        -0.02848,
        -0.99931,
        0.02402
      ],
      [
        -0.00045,
        -0.02402,
        -0.99971
      ]
    ],
    "simulated_seconds_remaining": 45.012,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 23.818196646869183,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.42,
                    "y": 0,
                    "z": 1.05
                  },
                  "note": "The white towel and brown bowl are visible on the counter. I move forward above them to improve the wrist view and locate a grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "pick up the towel and place it on the bowl.",
    "joint_positions": [
      0.01772,
      -0.42307,
      -0.02543,
      -2.00901,
      0.01358,
      1.58603,
      0.02279
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.41873,
      -0.00018,
      1.04969
    ],
    "tcp_roll_pitch_yaw": [
      -1e-05,
      0.00013,
      2e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99959,
        -0.02846,
        0.0001
      ],
      [
        -0.02845,
        -0.99931,
        0.02401
      ],
      [
        -0.00058,
        -0.024,
        -0.99971
      ]
    ],
    "simulated_seconds_remaining": 43.89,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 14.411715032532811,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.5,
                    "y": -0.08,
                    "z": 1
                  },
                  "note": "The towel is the pale blue ribbed cloth near the lower-right of the wrist image, beside the bowl. I move toward it while remaining above the counter."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "pick up the towel and place it on the bowl.",
    "joint_positions": [
      -0.03078,
      -0.17595,
      -0.12562,
      -1.89524,
      0.00183,
      1.71682,
      -0.12609
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.49911,
      -0.0792,
      1.00043
    ],
    "tcp_roll_pitch_yaw": [
      3e-05,
      0.00036,
      -0.00013
    ],
    "tcp_rotation_matrix": [
      [
        0.99959,
        -0.02862,
        -0.00013
      ],
      [
        -0.02861,
        -0.9993,
        0.02405
      ],
      [
        -0.00082,
        -0.02404,
        -0.99971
      ]
    ],
    "simulated_seconds_remaining": 42.768,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 8.80754360742867,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.46,
                    "y": 0.13,
                    "z": 1.02
                  },
                  "note": "The towel lies to the right of the gripper in the wrist view. I shift laterally to bring it between the fingers before descending."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 26,
    "motion_seconds": 1.7160000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "pick up the towel and place it on the bowl.",
    "joint_positions": [
      0.1237,
      -0.26435,
      0.1178,
      -1.93806,
      0.05442,
      1.68087,
      0.26002
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.46023,
      0.12879,
      1.01989
    ],
    "tcp_roll_pitch_yaw": [
      1e-05,
      0.00032,
      0.00016
    ],
    "tcp_rotation_matrix": [
      [
        0.9996,
        -0.02832,
        -9e-05
      ],
      [
        -0.02831,
        -0.99931,
        0.02403
      ],
      [
        -0.00078,
        -0.02402,
        -0.99971
      ]
    ],
    "simulated_seconds_remaining": 41.052,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 8.207222985103726,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.45,
                    "y": 0.23,
                    "z": 0.9
                  },
                  "note": "The blue towel is now visible just ahead of the fingers. I center over its exposed section and lower for a closer grasp view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "pick up the towel and place it on the bowl.",
    "joint_positions": [
      0.20087,
      -0.17178,
      0.24656,
      -2.14397,
      0.0694,
      1.98638,
      0.44457
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.45003,
      0.22916,
      0.90095
    ],
    "tcp_roll_pitch_yaw": [
      -0.0001,
      0.00057,
      0.00034
    ],
    "tcp_rotation_matrix": [
      [
        0.9996,
        -0.02815,
        -0.00035
      ],
      [
        -0.02814,
        -0.99932,
        0.02392
      ],
      [
        -0.00103,
        -0.0239,
        -0.99971
      ]
    ],
    "simulated_seconds_remaining": 39.732,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 7.4065628843382,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.6,
                    "y": 0.23,
                    "z": 0.94
                  },
                  "note": "The towel is hidden beneath the near edge of the wrist view. I advance along the counter to bring it into the open space ahead of the gripper."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "pick up the towel and place it on the bowl.",
    "joint_positions": [
      0.17396,
      0.25635,
      0.21364,
      -1.52517,
      -0.03216,
      1.78434,
      0.41554
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.59873,
      0.22994,
      0.93961
    ],
    "tcp_roll_pitch_yaw": [
      -0.00011,
      0.00063,
      0.00023
    ],
    "tcp_rotation_matrix": [
      [
        0.9996,
        -0.02826,
        -0.00041
      ],
      [
        -0.02825,
        -0.99931,
        0.02391
      ],
      [
        -0.00108,
        -0.02389,
        -0.99971
      ]
    ],
    "simulated_seconds_remaining": 38.412,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 7.007428640499711,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.64,
                    "y": 0.25,
                    "z": 0.81
                  },
                  "note": "The towel is clearly visible between the open fingers, with the bowl farther along the counter. I lower toward the towel while refining the alignment."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "pick up the towel and place it on the bowl.",
    "joint_positions": [
      0.1991,
      0.46543,
      0.20276,
      -1.54923,
      -0.0754,
      2.01345,
      0.44077
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.63952,
      0.24977,
      0.81109
    ],
    "tcp_roll_pitch_yaw": [
      -0.00023,
      0.00102,
      0.00023
    ],
    "tcp_rotation_matrix": [
      [
        0.9996,
        -0.02828,
        -0.00079
      ],
      [
        -0.02825,
        -0.99932,
        0.02379
      ],
      [
        -0.00146,
        -0.02376,
        -0.99972
      ]
    ],
    "simulated_seconds_remaining": 37.224,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 7.006562407128513,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.755
                  },
                  "note": "The towel remains centered under the open gripper. I descend the final few centimeters so the fingers can pinch its raised folds."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "pick up the towel and place it on the bowl.",
    "joint_positions": [
      0.20177,
      0.51819,
      0.19609,
      -1.61195,
      -0.08743,
      2.12771,
      0.44657
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.63944,
      0.24973,
      0.75611
    ],
    "tcp_roll_pitch_yaw": [
      -0.00036,
      0.00137,
      0.00022
    ],
    "tcp_rotation_matrix": [
      [
        0.9996,
        -0.02829,
        -0.00115
      ],
      [
        -0.02826,
        -0.99932,
        0.02366
      ],
      [
        -0.00182,
        -0.02362,
        -0.99972
      ]
    ],
    "simulated_seconds_remaining": 36.564,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 8.006926462985575,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.7,
                    "z": 0.78
                  },
                  "note": "The towel’s visible folds sit slightly toward the near side of the fingers. I advance a little to center the pinch on the fabric."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "pick up the towel and place it on the bowl.",
    "joint_positions": [
      0.21171,
      0.69715,
      0.18069,
      -1.25402,
      -0.10011,
      1.94854,
      0.41551
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.69885,
      0.24969,
      0.77951
    ],
    "tcp_roll_pitch_yaw": [
      -0.00034,
      0.0013,
      0.00014
    ],
    "tcp_rotation_matrix": [
      [
        0.9996,
        -0.02837,
        -0.00107
      ],
      [
        -0.02834,
        -0.99932,
        0.02368
      ],
      [
        -0.00174,
        -0.02364,
        -0.99972
      ]
    ],
    "simulated_seconds_remaining": 35.838,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 6.205195375718176,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.735,
                    "gripper": 0
                  },
                  "note": "The towel spans the gap between the fingers. I lower slightly and close the jaws around its folds."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "pick up the towel and place it on the bowl.",
    "joint_positions": [
      0.21303,
      0.71984,
      0.17928,
      -1.29363,
      -0.10579,
      2.03724,
      0.41829
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.70421,
      0.2541,
      0.7521
    ],
    "tcp_roll_pitch_yaw": [
      0.0094,
      -0.02373,
      0.00237
    ],
    "tcp_rotation_matrix": [
      [
        0.99939,
        -0.02531,
        0.02387
      ],
      [
        -0.0261,
        -0.9991,
        0.03347
      ],
      [
        0.023,
        -0.03407,
        -0.99915
      ]
    ],
    "simulated_seconds_remaining": 34.914,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 5.605608828365803,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.94
                  },
                  "note": "The jaws have closed at the towel. I lift vertically to check whether the fabric is securely held."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "pick up the towel and place it on the bowl.",
    "joint_positions": [
      0.25124,
      0.74471,
      0.18352,
      -0.76776,
      -0.10199,
      1.53952,
      0.40539
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.70429,
      0.25415,
      0.93877
    ],
    "tcp_roll_pitch_yaw": [
      0.00954,
      -0.02411,
      0.00238
    ],
    "tcp_rotation_matrix": [
      [
        0.99939,
        -0.02528,
        0.02425
      ],
      [
        -0.02609,
        -0.99909,
        0.03362
      ],
      [
        0.02338,
        -0.03423,
        -0.99914
      ]
    ],
    "simulated_seconds_remaining": 33.396,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 10.408712159842253,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.755,
                    "z": 0.79,
                    "gripper": 1,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 0
                  },
                  "note": "The towel stayed on the counter after the lift. I reopen and reposition farther over its center for another pinch."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "pick up the towel and place it on the bowl.",
    "joint_positions": [
      0.27675,
      1.02729,
      0.15605,
      -0.47979,
      -0.10816,
      1.62398,
      0.37222
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.76544,
      0.26329,
      0.86523
    ],
    "tcp_roll_pitch_yaw": [
      0.04129,
      -0.10551,
      0.00175
    ],
    "tcp_rotation_matrix": [
      [
        0.99426,
        -0.0197,
        0.10521
      ],
      [
        -0.02669,
        -0.9975,
        0.06544
      ],
      [
        0.10365,
        -0.06788,
        -0.99229
      ]
    ],
    "simulated_seconds_remaining": 32.076,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 11.009346666745842,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The ribbed towel fills the space between the fingers at this height. I close here to capture the thicker middle section."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "pick up the towel and place it on the bowl.",
    "joint_positions": [
      0.27676,
      1.01985,
      0.1564,
      -0.47411,
      -0.1082,
      1.62589,
      0.37222
    ],
    "gripper_open": 0.8352,
    "tcp_xyz": [
      0.76704,
      0.26361,
      0.87427
    ],
    "tcp_roll_pitch_yaw": [
      0.04624,
      -0.11978,
      0.00057
    ],
    "tcp_rotation_matrix": [
      [
        0.99266,
        -0.01932,
        0.11938
      ],
      [
        -0.02786,
        -0.99714,
        0.07027
      ],
      [
        0.11769,
        -0.07308,
        -0.99036
      ]
    ],
    "simulated_seconds_remaining": 31.152,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 12.008955554105341,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.52,
                    "y": 0.02,
                    "z": 0.98,
                    "gripper": 1,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 0
                  },
                  "note": "The close view reveals that the blue ribbed object is a cup. The towel is the white roll beside the knife; I release the cup and move above the roll."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 14,
  "state": {
    "instruction": "pick up the towel and place it on the bowl.",
    "joint_positions": [
      0.27676,
      1.01985,
      0.1564,
      -0.47411,
      -0.1082,
      1.62589,
      0.37222
    ],
    "gripper_open": 0.8352,
    "tcp_xyz": [
      0.76704,
      0.26361,
      0.87427
    ],
    "tcp_roll_pitch_yaw": [
      0.04624,
      -0.11978,
      0.00057
    ],
    "tcp_rotation_matrix": [
      [
        0.99266,
        -0.01932,
        0.11938
      ],
      [
        -0.02786,
        -0.99714,
        0.07027
      ],
      [
        0.11769,
        -0.07308,
        -0.99036
      ]
    ],
    "simulated_seconds_remaining": 31.152,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 6.60604390501976,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.68,
                    "z": 1,
                    "gripper": 1
                  },
                  "note": "The long reposition was rejected. I open the fingers and retreat upward and inward in a smaller motion."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 15,
  "state": {
    "instruction": "pick up the towel and place it on the bowl.",
    "joint_positions": [
      0.27676,
      1.01985,
      0.1564,
      -0.47411,
      -0.1082,
      1.62589,
      0.37222
    ],
    "gripper_open": 0.8352,
    "tcp_xyz": [
      0.76704,
      0.26361,
      0.87427
    ],
    "tcp_roll_pitch_yaw": [
      0.04624,
      -0.11978,
      0.00057
    ],
    "tcp_rotation_matrix": [
      [
        0.99266,
        -0.01932,
        0.11938
      ],
      [
        -0.02786,
        -0.99714,
        0.07027
      ],
      [
        0.11769,
        -0.07308,
        -0.99036
      ]
    ],
    "simulated_seconds_remaining": 31.152,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 6.005353519693017,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.72,
                    "gripper": 1
                  },
                  "note": "The arm is near its extended limit. I shorten the reach first while opening the gripper."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 16,
  "state": {
    "instruction": "pick up the towel and place it on the bowl.",
    "joint_positions": [
      0.27676,
      1.01985,
      0.1564,
      -0.47411,
      -0.1082,
      1.62589,
      0.37222
    ],
    "gripper_open": 0.8352,
    "tcp_xyz": [
      0.76704,
      0.26361,
      0.87427
    ],
    "tcp_roll_pitch_yaw": [
      0.04624,
      -0.11978,
      0.00057
    ],
    "tcp_rotation_matrix": [
      [
        0.99266,
        -0.01932,
        0.11938
      ],
      [
        -0.02786,
        -0.99714,
        0.07027
      ],
      [
        0.11769,
        -0.07308,
        -0.99036
      ]
    ],
    "simulated_seconds_remaining": 31.152,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 5.60496028419584,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 1,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 0
                  },
                  "note": "Contact tilted the gripper. I restore its downward orientation and release before attempting further translation."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 17,
  "state": {
    "instruction": "pick up the towel and place it on the bowl.",
    "joint_positions": [
      0.27676,
      1.01985,
      0.1564,
      -0.47411,
      -0.1082,
      1.62589,
      0.37222
    ],
    "gripper_open": 0.8352,
    "tcp_xyz": [
      0.76704,
      0.26361,
      0.87427
    ],
    "tcp_roll_pitch_yaw": [
      0.04624,
      -0.11978,
      0.00057
    ],
    "tcp_rotation_matrix": [
      [
        0.99266,
        -0.01932,
        0.11938
      ],
      [
        -0.02786,
        -0.99714,
        0.07027
      ],
      [
        0.11769,
        -0.07308,
        -0.99036
      ]
    ],
    "simulated_seconds_remaining": 31.152,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 8.00636922661215,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.75,
                    "z": 0.88,
                    "pitch": -0.12,
                    "roll": 0.046,
                    "gripper": 1
                  },
                  "note": "I use a very small inward move with the measured tilt to leave the reach limit without a large joint change."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 18,
  "state": {
    "instruction": "pick up the towel and place it on the bowl.",
    "joint_positions": [
      0.27676,
      1.01985,
      0.1564,
      -0.47411,
      -0.1082,
      1.62589,
      0.37222
    ],
    "gripper_open": 0.8352,
    "tcp_xyz": [
      0.76704,
      0.26361,
      0.87427
    ],
    "tcp_roll_pitch_yaw": [
      0.04624,
      -0.11978,
      0.00057
    ],
    "tcp_rotation_matrix": [
      [
        0.99266,
        -0.01932,
        0.11938
      ],
      [
        -0.02786,
        -0.99714,
        0.07027
      ],
      [
        0.11769,
        -0.07308,
        -0.99036
      ]
    ],
    "simulated_seconds_remaining": 31.152,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 5.8052604999393225,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.7,
                    "z": 0.82,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 0,
                    "gripper": 1
                  },
                  "note": "I move back toward the last reachable lower pose, which should bend the elbow away from its limit."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 19,
  "state": {
    "instruction": "pick up the towel and place it on the bowl.",
    "joint_positions": [
      0.27676,
      1.01985,
      0.1564,
      -0.47411,
      -0.1082,
      1.62589,
      0.37222
    ],
    "gripper_open": 0.8352,
    "tcp_xyz": [
      0.76704,
      0.26361,
      0.87427
    ],
    "tcp_roll_pitch_yaw": [
      0.04624,
      -0.11978,
      0.00057
    ],
    "tcp_rotation_matrix": [
      [
        0.99266,
        -0.01932,
        0.11938
      ],
      [
        -0.02786,
        -0.99714,
        0.07027
      ],
      [
        0.11769,
        -0.07308,
        -0.99036
      ]
    ],
    "simulated_seconds_remaining": 31.152,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 6.005405539646745,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 1
                  },
                  "note": "I first release the cup without changing the grasp-point target, allowing contact forces to settle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 5,
    "motion_seconds": 0.33,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 20,
  "state": {
    "instruction": "pick up the towel and place it on the bowl.",
    "joint_positions": [
      0.27676,
      1.01984,
      0.1564,
      -0.4741,
      -0.1082,
      1.62589,
      0.37222
    ],
    "gripper_open": 0.9905,
    "tcp_xyz": [
      0.76704,
      0.26361,
      0.87431
    ],
    "tcp_roll_pitch_yaw": [
      0.04626,
      -0.11984,
      0.00057
    ],
    "tcp_rotation_matrix": [
      [
        0.99265,
        -0.01932,
        0.11945
      ],
      [
        -0.02786,
        -0.99714,
        0.07029
      ],
      [
        0.11775,
        -0.0731,
        -0.99035
      ]
    ],
    "simulated_seconds_remaining": 30.822,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 6.805888180620968,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.762,
                    "z": 0.87
                  },
                  "note": "The fingers are open. I try a five-millimeter inward retreat to recover from the extended arm pose."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 21,
  "state": {
    "instruction": "pick up the towel and place it on the bowl.",
    "joint_positions": [
      0.27676,
      1.01984,
      0.1564,
      -0.4741,
      -0.1082,
      1.62589,
      0.37222
    ],
    "gripper_open": 0.9905,
    "tcp_xyz": [
      0.76704,
      0.26361,
      0.87431
    ],
    "tcp_roll_pitch_yaw": [
      0.04626,
      -0.11984,
      0.00057
    ],
    "tcp_rotation_matrix": [
      [
        0.99265,
        -0.01932,
        0.11945
      ],
      [
        -0.02786,
        -0.99714,
        0.07029
      ],
      [
        0.11775,
        -0.0731,
        -0.99035
      ]
    ],
    "simulated_seconds_remaining": 30.822,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 5.405472110025585,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.3,
                    "z": 0.91
                  },
                  "note": "Small translations remain rejected. I tilt the wrist farther while lifting slightly to seek a reachable configuration away from the cup."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 22,
  "state": {
    "instruction": "pick up the towel and place it on the bowl.",
    "joint_positions": [
      0.27676,
      1.01984,
      0.1564,
      -0.4741,
      -0.1082,
      1.62589,
      0.37222
    ],
    "gripper_open": 0.9905,
    "tcp_xyz": [
      0.76704,
      0.26361,
      0.87431
    ],
    "tcp_roll_pitch_yaw": [
      0.04626,
      -0.11984,
      0.00057
    ],
    "tcp_rotation_matrix": [
      [
        0.99265,
        -0.01932,
        0.11945
      ],
      [
        -0.02786,
        -0.99714,
        0.07029
      ],
      [
        0.11775,
        -0.0731,
        -0.99035
      ]
    ],
    "simulated_seconds_remaining": 30.822,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 9.007923400960863,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.767,
                    "y": 0.2636,
                    "z": 0.86,
                    "pitch": -0.12,
                    "roll": 0.046
                  },
                  "note": "I make one final short downward adjustment at the current wrist tilt to test whether the arm can leave this configuration."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 23,
  "state": {
    "instruction": "pick up the towel and place it on the bowl.",
    "joint_positions": [
      0.27676,
      1.01984,
      0.1564,
      -0.4741,
      -0.1082,
      1.62589,
      0.37222
    ],
    "gripper_open": 0.9905,
    "tcp_xyz": [
      0.76704,
      0.26361,
      0.87431
    ],
    "tcp_roll_pitch_yaw": [
      0.04626,
      -0.11984,
      0.00057
    ],
    "tcp_rotation_matrix": [
      [
        0.99265,
        -0.01932,
        0.11945
      ],
      [
        -0.02786,
        -0.99714,
        0.07029
      ],
      [
        0.11775,
        -0.0731,
        -0.99035
      ]
    ],
    "simulated_seconds_remaining": 30.822,
    "calls_remaining_including_this": 35
  },
  "api_seconds": 10.208540280349553,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "give_up",
                "args": {
                  "note": "Unable to complete: after releasing the misidentified cup, the controller rejects every recovery translation and orientation adjustment with IK errors. The towel has not been placed on the bowl."
                }
              }
            }
          ]
        }
      }
    ]
  }
}

========================================================================
GPT-Astra / Pick & place / 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,
  "status": "completed",
  "success": false,
  "oracle_success": false,
  "action_decisions": 45,
  "wall_seconds": 644.06,
  "usage": {
    "input_tokens": 1246402,
    "cached_input_tokens": 1170432,
    "cache_write_input_tokens": 0,
    "output_tokens": 11746,
    "reasoning_output_tokens": 5920
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick-and-place 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 45 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 and grasp the requested object, lift it, move it to the named receptacle, and release it in or on that receptacle. Complete the entire pick-and-place 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 fresh camera feedback to guide each motion.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [-0.01291, -0.81824, 0.01639, -2.31736, -0.02561, 1.52564, -0.03786], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.29774, -0.0058, 1.03956], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.99906, 0.03431, 0.02636], [0.03529, -0.99867, -0.03758], [0.02503, 0.03848, -0.99895]], \"simulated_seconds_remaining\": 45.012, \"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": 0.2,
    "z": 1.02,
    "gripper": 1,
    "note": "The potato is the brown oval at the back left of the table; I move above that area to 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": {
    "note": "I am checking the motion interface before moving toward the potato."
  },
  "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": 0.48,
      "y": 0.2,
      "z": 1.02,
      "gripper": 1
    },
    "note": "The brown potato is at the back left; I move above that area to obtain a closer wrist view."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.05391, -0.14745, 0.33172, -1.81002, 0.00317, 1.68078, 0.34725], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.47908, 0.199, 1.02003], \"tcp_roll_pitch_yaw\": [-5e-05, 0.00016, 0.00012], \"tcp_rotation_matrix\": [[0.99906, 0.03443, 0.0262], [0.03541, -0.99866, -0.03763], [0.02487, 0.03853, -0.99895]], \"simulated_seconds_remaining\": 42.9, \"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": 0.66,
      "y": 0.4,
      "z": 1.02
    },
    "note": "The wrist view shows the knife and round red object, while the potato remains farther toward the table’s back left; I shift toward it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.05391, -0.14745, 0.33172, -1.81002, 0.00317, 1.68078, 0.34725], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.47908, 0.199, 1.02003], \"tcp_roll_pitch_yaw\": [-5e-05, 0.00016, 0.00012], \"tcp_rotation_matrix\": [[0.99906, 0.03443, 0.0262], [0.03541, -0.99866, -0.03763], [0.02487, 0.03853, -0.99895]], \"simulated_seconds_remaining\": 42.9, \"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": 0.56,
      "y": 0.3,
      "z": 0.96
    },
    "note": "The longer reach was rejected without movement; I take a shorter step and lower slightly for a clearer view."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.1568, 0.24916, 0.40951, -1.49816, -0.14588, 1.72803, 0.54265], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.55922, 0.29908, 0.96043], \"tcp_roll_pitch_yaw\": [-0.00011, 0.00041, 0.00022], \"tcp_rotation_matrix\": [[0.99907, 0.03455, 0.02595], [0.03551, -0.99866, -0.03769], [0.02462, 0.03858, -0.99895]], \"simulated_seconds_remaining\": 41.646, \"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": 0.46,
      "y": 0.48,
      "z": 1
    },
    "note": "The potato is beyond the white rectangular dish in the exterior view; I shift left across the table while drawing the arm back slightly."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.46242, 0.42829, 0.5092, -1.16101, -0.24734, 1.5265, 0.8892], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.46051, 0.47898, 0.99975], \"tcp_roll_pitch_yaw\": [-4e-05, 0.00045, 0.00055], \"tcp_rotation_matrix\": [[0.99906, 0.03488, 0.02593], [0.03584, -0.99865, -0.03761], [0.02458, 0.03851, -0.99896]], \"simulated_seconds_remaining\": 39.93, \"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"
}

I’m adjusting the approach using the table landmarks to bring the potato into the wrist camera.


{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.62,
      "y": 0.48,
      "z": 0.9
    },
    "note": "The gripper is in front of the potato in the exterior view; I advance across the table and lower the camera."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.46242, 0.42829, 0.5092, -1.16101, -0.24734, 1.5265, 0.8892], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.46051, 0.47898, 0.99975], \"tcp_roll_pitch_yaw\": [-4e-05, 0.00045, 0.00055], \"tcp_rotation_matrix\": [[0.99906, 0.03488, 0.02593], [0.03584, -0.99865, -0.03761], [0.02458, 0.03851, -0.99896]], \"simulated_seconds_remaining\": 39.93, \"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": 0.54,
      "y": 0.46,
      "z": 0.92
    },
    "note": "The reach was rejected; I use a smaller forward step with less lateral extension."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.41743, 0.57198, 0.46318, -1.14234, -0.28989, 1.65106, 0.80644], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.53915, 0.46011, 0.92075], \"tcp_roll_pitch_yaw\": [-0.00026, 0.00067, 0.00036], \"tcp_rotation_matrix\": [[0.99907, 0.03469, 0.0257], [0.03565, -0.99865, -0.03784], [0.02435, 0.03872, -0.99895]], \"simulated_seconds_remaining\": 38.874, \"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": 0.64,
      "y": 0.4,
      "z": 0.84
    },
    "note": "The potato remains farther back on the table; I extend forward while reducing the lateral reach."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.34366, 0.77075, 0.40352, -1.01134, -0.32708, 1.72922, 0.66009], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.63912, 0.40041, 0.84059], \"tcp_roll_pitch_yaw\": [-0.00045, 0.00086, 0.00013], \"tcp_rotation_matrix\": [[0.99908, 0.03447, 0.0255], [0.03542, -0.99865, -0.03803], [0.02416, 0.0389, -0.99895]], \"simulated_seconds_remaining\": 37.62, \"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": 0.74,
      "y": 0.4,
      "z": 0.84
    },
    "note": "I advance straight toward the far side, keeping height fixed so the camera displacement clarifies the potato’s position."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.34366, 0.77075, 0.40352, -1.01134, -0.32708, 1.72922, 0.66009], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.63912, 0.40041, 0.84059], \"tcp_roll_pitch_yaw\": [-0.00045, 0.00086, 0.00013], \"tcp_rotation_matrix\": [[0.99908, 0.03447, 0.0255], [0.03542, -0.99865, -0.03803], [0.02416, 0.0389, -0.99895]], \"simulated_seconds_remaining\": 37.62, \"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": 0.68,
      "y": 0.38,
      "z": 0.86
    },
    "note": "The straight extension exceeded the current reach; I shorten the step and bring the arm inward."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.34366, 0.77075, 0.40352, -1.01134, -0.32708, 1.72922, 0.66009], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.63912, 0.40041, 0.84059], \"tcp_roll_pitch_yaw\": [-0.00045, 0.00086, 0.00013], \"tcp_rotation_matrix\": [[0.99908, 0.03447, 0.0255], [0.03542, -0.99865, -0.03803], [0.02416, 0.0389, -0.99895]], \"simulated_seconds_remaining\": 37.62, \"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": 0.44,
      "y": 0.4,
      "z": 0.94
    },
    "note": "The current approach is near the arm’s reach limit. I retract and raise to re-establish a usable overhead view."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 11, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.2578, 0.12736, 0.5294, -1.71131, -0.11246, 1.81133, 0.77609], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.44114, 0.40013, 0.93954], \"tcp_roll_pitch_yaw\": [-0.00033, 0.00065, 0.00037], \"tcp_rotation_matrix\": [[0.99907, 0.03471, 0.02572], [0.03567, -0.99864, -0.0379], [0.02437, 0.03878, -0.99895]], \"simulated_seconds_remaining\": 35.838, \"calls_remaining_including_this\": 47}"
      },
      {
        "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": 0.44,
      "y": 0.4,
      "z": 0.74
    },
    "note": "I lower vertically over the clear table edge to gauge the surface height and improve object visibility."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 12, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.28535, 0.31089, 0.49113, -2.00945, -0.2477, 2.26249, 0.88238], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.43996, 0.39992, 0.74119], \"tcp_roll_pitch_yaw\": [-0.00054, 0.00093, 0.00033], \"tcp_rotation_matrix\": [[0.99907, 0.03467, 0.02544], [0.03563, -0.99864, -0.03811], [0.02408, 0.03898, -0.99895]], \"simulated_seconds_remaining\": 34.188, \"calls_remaining_including_this\": 46}"
      },
      {
        "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 over the near edge of the table. I’m moving farther across the surface to reach the potato.


{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.68,
      "y": 0.25,
      "z": 0.8
    },
    "note": "The exterior view places the potato deeper across the table; I move forward and inward with clearance above the surface."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 13, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.10784, 0.62614, 0.35617, -1.35047, -0.26968, 1.94238, 0.46374], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.67896, 0.25055, 0.79971], \"tcp_roll_pitch_yaw\": [-0.00058, 0.00089, 7e-05], \"tcp_rotation_matrix\": [[0.99908, 0.03441, 0.02546], [0.03537, -0.99865, -0.03816], [0.02412, 0.03902, -0.99895]], \"simulated_seconds_remaining\": 31.944, \"calls_remaining_including_this\": 45}"
      },
      {
        "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": 0.78,
      "y": 0.25,
      "z": 0.78,
      "pitch": 0.35
    },
    "note": "The phone is now visible beside the gripper, confirming progress across the table; I extend with a slight wrist tilt."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 14, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.10784, 0.62614, 0.35617, -1.35047, -0.26968, 1.94238, 0.46374], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.67896, 0.25055, 0.79971], \"tcp_roll_pitch_yaw\": [-0.00058, 0.00089, 7e-05], \"tcp_rotation_matrix\": [[0.99908, 0.03441, 0.02546], [0.03537, -0.99865, -0.03816], [0.02412, 0.03902, -0.99895]], \"simulated_seconds_remaining\": 31.944, \"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": 0.75,
      "y": 0.25,
      "z": 0.82,
      "pitch": -0.4
    },
    "note": "The previous tilt was unreachable; I angle the fingers forward to extend the grasp point toward the potato."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 15, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.14416, 0.56415, 0.26711, -1.51003, -0.47697, 2.39657, 0.61576], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.74929, 0.2499, 0.81967], \"tcp_roll_pitch_yaw\": [-0.00087, -0.39574, -0.0001], \"tcp_rotation_matrix\": [[0.91221, 0.01639, 0.40939], [0.03522, -0.99864, -0.03849], [0.4082, 0.04953, -0.91155]], \"simulated_seconds_remaining\": 31.086, \"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": 0.84,
      "y": 0.34,
      "z": 0.88,
      "pitch": -0.65
    },
    "note": "The potato is past the rectangular dish toward the back left; I continue the tilted approach above that side."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 16, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.34866, 0.87974, 0.17571, -0.92704, -0.61261, 2.33668, 0.70811], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.83934, 0.33949, 0.87948], \"tcp_roll_pitch_yaw\": [-0.00085, -0.64806, 6e-05], \"tcp_rotation_matrix\": [[0.78142, 0.00368, 0.624], [0.03536, -0.99864, -0.03839], [0.623, 0.05206, -0.78048]], \"simulated_seconds_remaining\": 29.832, \"calls_remaining_including_this\": 42}"
      },
      {
        "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": 0.78,
      "y": 0.34,
      "z": 1.1,
      "pitch": -0.65
    },
    "note": "The close view shows the sides of the cup and dish; I raise the grasp point above their rims to regain an overhead approach."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 17, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.34866, 0.87974, 0.17571, -0.92704, -0.61261, 2.33668, 0.70811], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.83934, 0.33949, 0.87948], \"tcp_roll_pitch_yaw\": [-0.00085, -0.64806, 6e-05], \"tcp_rotation_matrix\": [[0.78142, 0.00368, 0.624], [0.03536, -0.99864, -0.03839], [0.623, 0.05206, -0.78048]], \"simulated_seconds_remaining\": 29.832, \"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": 0.78,
      "y": 0.34,
      "z": 0.99,
      "pitch": -0.65
    },
    "note": "I split the upward repositioning into a smaller step to stay within the arm’s reachable poses."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 18, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.34287, 0.59199, 0.21178, -1.13815, -0.58921, 2.24889, 0.71377], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.78063, 0.34007, 0.98911], \"tcp_roll_pitch_yaw\": [-0.00058, -0.65034, -0.0], \"tcp_rotation_matrix\": [[0.77999, 0.00366, 0.62578], [0.0353, -0.99865, -0.03816], [0.6248, 0.05185, -0.77906]], \"simulated_seconds_remaining\": 28.71, \"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": 0.64,
      "y": 0.5,
      "z": 1.06,
      "pitch": -0.35
    },
    "note": "The exterior view places the potato left of the dish; I shift laterally and make the wrist more vertical above it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 19, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.34287, 0.59199, 0.21178, -1.13815, -0.58921, 2.24889, 0.71377], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.78063, 0.34007, 0.98911], \"tcp_roll_pitch_yaw\": [-0.00058, -0.65034, -0.0], \"tcp_rotation_matrix\": [[0.77999, 0.00366, 0.62578], [0.0353, -0.99865, -0.03816], [0.6248, 0.05185, -0.77906]], \"simulated_seconds_remaining\": 28.71, \"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": 0.86,
      "y": 0.36,
      "z": 1.02,
      "pitch": -0.95
    },
    "note": "The potato sits just beyond the fingertips in the exterior view; I increase forward reach with a stronger wrist tilt."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 20, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.4229, 0.84867, 0.09518, -0.78376, -0.75465, 2.40802, 0.80507], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.85931, 0.35977, 1.01943], \"tcp_roll_pitch_yaw\": [-0.00069, -0.94665, -1e-05], \"tcp_rotation_matrix\": [[0.56357, -0.01175, 0.82599], [0.0353, -0.99864, -0.03828], [0.82532, 0.05073, -0.56239]], \"simulated_seconds_remaining\": 27.852, \"calls_remaining_including_this\": 38}"
      },
      {
        "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 potato is now visible near the fingertips in the wrist view. I’m aligning the open jaws around it.


{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.86,
      "y": 0.39,
      "z": 1.1,
      "pitch": -1.15
    },
    "note": "The brown potato appears just above and left of the jaw opening; I raise and shift slightly left to center it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 21, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.4229, 0.84867, 0.09518, -0.78376, -0.75465, 2.40802, 0.80507], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.85931, 0.35977, 1.01943], \"tcp_roll_pitch_yaw\": [-0.00069, -0.94665, -1e-05], \"tcp_rotation_matrix\": [[0.56357, -0.01175, 0.82599], [0.0353, -0.99864, -0.03828], [0.82532, 0.05073, -0.56239]], \"simulated_seconds_remaining\": 27.852, \"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": 0.84,
      "y": 0.38,
      "z": 1.06,
      "pitch": -1.08
    },
    "note": "I use a smaller upward alignment step after the larger motion was rejected."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 22, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.49033, 0.73243, 0.0081, -0.93546, -0.89305, 2.50848, 0.98916], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.84034, 0.37973, 1.05934], \"tcp_roll_pitch_yaw\": [-0.00067, -1.07739, 0.00013], \"tcp_rotation_matrix\": [[0.45116, -0.0181, 0.89226], [0.03536, -0.99865, -0.03814], [0.89174, 0.04876, -0.44991]], \"simulated_seconds_remaining\": 27.258, \"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": {
      "x": 0.88,
      "y": 0.38,
      "z": 1.1
    },
    "note": "I advance the open fingers toward the brown object while keeping the wrist angle fixed for a clear alignment check."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 23, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.49033, 0.73243, 0.0081, -0.93546, -0.89305, 2.50848, 0.98916], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.84034, 0.37973, 1.05934], \"tcp_roll_pitch_yaw\": [-0.00067, -1.07739, 0.00013], \"tcp_rotation_matrix\": [[0.45116, -0.0181, 0.89226], [0.03536, -0.99865, -0.03814], [0.89174, 0.04876, -0.44991]], \"simulated_seconds_remaining\": 27.258, \"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": 0.84,
      "y": 0.38,
      "z": 1.04,
      "pitch": -1.35,
      "yaw": 0.35
    },
    "note": "I align the tilted gripper with the diagonal reach toward the potato to gain room for the final approach."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 24, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.49033, 0.73243, 0.0081, -0.93546, -0.89305, 2.50848, 0.98916], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.84034, 0.37973, 1.05934], \"tcp_roll_pitch_yaw\": [-0.00067, -1.07739, 0.00013], \"tcp_rotation_matrix\": [[0.45116, -0.0181, 0.89226], [0.03536, -0.99865, -0.03814], [0.89174, 0.04876, -0.44991]], \"simulated_seconds_remaining\": 27.258, \"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": 0.75,
      "y": 0.32,
      "z": 1.06,
      "pitch": -0.9,
      "yaw": 0.3
    },
    "note": "I retract slightly to give the joints room to align the gripper diagonally toward the potato."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 25, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.16075, 0.28841, 0.27749, -1.59824, -0.52811, 2.75938, 0.47629], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.75082, 0.32034, 1.06019], \"tcp_roll_pitch_yaw\": [-0.00063, -0.90154, 0.29711], \"tcp_rotation_matrix\": [[0.56358, 0.28339, 0.77593], [0.20947, -0.95764, 0.19761], [0.79906, 0.05117, -0.59906]], \"simulated_seconds_remaining\": 26.268, \"calls_remaining_including_this\": 33}"
      },
      {
        "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": 0.8,
      "y": 0.34,
      "z": 1.01,
      "pitch": -1.15
    },
    "note": "I approach the potato’s height with the fingers angled forward and the arm aligned along the reach."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 26, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.16075, 0.28841, 0.27749, -1.59824, -0.52811, 2.75938, 0.47629], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.75082, 0.32034, 1.06019], \"tcp_roll_pitch_yaw\": [-0.00063, -0.90154, 0.29711], \"tcp_rotation_matrix\": [[0.56358, 0.28339, 0.77593], [0.20947, -0.95764, 0.19761], [0.79906, 0.05117, -0.59906]], \"simulated_seconds_remaining\": 26.268, \"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": 0.8,
      "y": 0.34,
      "z": 1.02,
      "pitch": -1.1,
      "yaw": 0,
      "roll": -0.4
    },
    "note": "The wrist joint is limiting the approach; I roll the gripper slightly while keeping the fingers directed toward the potato."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 27, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.63201, 0.70027, -0.05559, -1.03951, -1.16788, 2.10812, 1.28609], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.79978, 0.34014, 1.01987], \"tcp_roll_pitch_yaw\": [-0.39782, -1.09803, 0.0024], \"tcp_rotation_matrix\": [[0.44645, -0.35823, 0.81997], [0.0433, -0.90664, -0.41968], [0.89376, 0.22287, -0.38926]], \"simulated_seconds_remaining\": 25.014, \"calls_remaining_including_this\": 31}"
      },
      {
        "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": 0.89,
      "y": 0.38,
      "z": 1.04,
      "pitch": -1.3
    },
    "note": "The revised wrist posture is reachable; I extend the open jaws toward the potato visible beyond the dish."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 28, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.63201, 0.70027, -0.05559, -1.03951, -1.16788, 2.10812, 1.28609], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.79978, 0.34014, 1.01987], \"tcp_roll_pitch_yaw\": [-0.39782, -1.09803, 0.0024], \"tcp_rotation_matrix\": [[0.44645, -0.35823, 0.81997], [0.0433, -0.90664, -0.41968], [0.89376, 0.22287, -0.38926]], \"simulated_seconds_remaining\": 25.014, \"calls_remaining_including_this\": 30}"
      },
      {
        "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": 0.845,
      "y": 0.36,
      "z": 1.03,
      "pitch": -1.2
    },
    "note": "I split the extension into a smaller step to avoid a large joint change."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 29, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.63201, 0.70027, -0.05559, -1.03951, -1.16788, 2.10812, 1.28609], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.79978, 0.34014, 1.01987], \"tcp_roll_pitch_yaw\": [-0.39782, -1.09803, 0.0024], \"tcp_rotation_matrix\": [[0.44645, -0.35823, 0.81997], [0.0433, -0.90664, -0.41968], [0.89376, 0.22287, -0.38926]], \"simulated_seconds_remaining\": 25.014, \"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": 0.845,
      "y": 0.36,
      "z": 1.03
    },
    "note": "I retain the reachable wrist orientation and make only the short translation toward the potato."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 30, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.63201, 0.70027, -0.05559, -1.03951, -1.16788, 2.10812, 1.28609], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.79978, 0.34014, 1.01987], \"tcp_roll_pitch_yaw\": [-0.39782, -1.09803, 0.0024], \"tcp_rotation_matrix\": [[0.44645, -0.35823, 0.81997], [0.0433, -0.90664, -0.41968], [0.89376, 0.22287, -0.38926]], \"simulated_seconds_remaining\": 25.014, \"calls_remaining_including_this\": 28}"
      },
      {
        "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": 0.86,
      "y": 0.36,
      "z": 1.02,
      "roll": 0,
      "pitch": -0.95,
      "yaw": 0
    },
    "note": "I return to the earlier extended posture, which reached closer to the potato successfully."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 31, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.38449, 0.85552, 0.1834, -0.77656, -0.84282, 2.38839, 0.83112], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.85948, 0.3597, 1.01982], \"tcp_roll_pitch_yaw\": [-0.00371, -0.95112, -0.00089], \"tcp_rotation_matrix\": [[0.55999, -0.0153, 0.82836], [0.03488, -0.99851, -0.04203], [0.82777, 0.05243, -0.55862]], \"simulated_seconds_remaining\": 24.156, \"calls_remaining_including_this\": 27}"
      },
      {
        "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": 0.9,
      "y": 0.36,
      "z": 0.99
    },
    "note": "The potato remains just beyond the finger opening; I advance four centimeters and lower slightly toward it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 32, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.38449, 0.85552, 0.1834, -0.77656, -0.84282, 2.38839, 0.83112], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.85948, 0.3597, 1.01982], \"tcp_roll_pitch_yaw\": [-0.00371, -0.95112, -0.00089], \"tcp_rotation_matrix\": [[0.55999, -0.0153, 0.82836], [0.03488, -0.99851, -0.04203], [0.82777, 0.05243, -0.55862]], \"simulated_seconds_remaining\": 24.156, \"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"
}

The potato is still beyond the current grasp position. I’m checking a more extended wrist posture because the arm has rejected several closer targets.


{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.84,
      "y": 0.32,
      "z": 1,
      "pitch": -1.25,
      "yaw": -0.3
    },
    "note": "I reduce lateral extension and turn the wrist to allow a more horizontal reach toward the potato."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 33, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.59848, 0.70761, -0.15185, -1.12662, -1.30338, 2.37519, 1.5854], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.84015, 0.32054, 0.99989], \"tcp_roll_pitch_yaw\": [-0.00737, -1.24635, -0.2935], \"tcp_rotation_matrix\": [[0.29265, -0.31995, 0.9011], [-0.05139, -0.94626, -0.3193], [0.95484, 0.04713, -0.29337]], \"simulated_seconds_remaining\": 23.298, \"calls_remaining_including_this\": 25}"
      },
      {
        "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": 0.84,
      "y": 0.35,
      "z": 1.04
    },
    "note": "The potato appears above and right of the gap between the fingers; I make a small vertical and lateral alignment adjustment."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 34, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.60454, 0.77653, -0.10728, -0.9358, -1.21963, 2.29141, 1.44407], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.83997, 0.34945, 1.03916], \"tcp_roll_pitch_yaw\": [-0.0068, -1.24647, -0.29389], \"tcp_rotation_matrix\": [[0.29251, -0.31981, 0.9012], [-0.05149, -0.94632, -0.31911], [0.95488, 0.04694, -0.29327]], \"simulated_seconds_remaining\": 22.638, \"calls_remaining_including_this\": 24}"
      },
      {
        "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": 0.88,
      "y": 0.35,
      "z": 1.03,
      "pitch": -1.4,
      "yaw": -0.4
    },
    "note": "I extend toward the potato with the fingers almost horizontal, using the reachable wrist direction."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 35, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.60454, 0.77653, -0.10728, -0.9358, -1.21963, 2.29141, 1.44407], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.83997, 0.34945, 1.03916], \"tcp_roll_pitch_yaw\": [-0.0068, -1.24647, -0.29389], \"tcp_rotation_matrix\": [[0.29251, -0.31981, 0.9012], [-0.05149, -0.94632, -0.31911], [0.95488, 0.04694, -0.29327]], \"simulated_seconds_remaining\": 22.638, \"calls_remaining_including_this\": 23}"
      },
      {
        "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": 0.86,
      "y": 0.31,
      "z": 1.06
    },
    "note": "The exterior view places the potato close to the forward fingertips; I make a small inward and upward correction before grasping."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 36, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.5384, 0.76652, -0.10049, -0.91405, -1.1897, 2.3382, 1.38066], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.85952, 0.31086, 1.05953], \"tcp_roll_pitch_yaw\": [-0.00668, -1.24659, -0.29431], \"tcp_rotation_matrix\": [[0.29236, -0.32011, 0.90114], [-0.05157, -0.94622, -0.31939], [0.95492, 0.0469, -0.29315]], \"simulated_seconds_remaining\": 22.044, \"calls_remaining_including_this\": 22}"
      },
      {
        "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 fingertips are near the potato in the exterior view; I close the jaws and check whether the object is secured."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 37, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.5384, 0.76652, -0.10049, -0.91405, -1.1897, 2.3382, 1.38066], \"gripper_open\": 0.0, \"tcp_xyz\": [0.85952, 0.31085, 1.05953], \"tcp_roll_pitch_yaw\": [-0.00668, -1.24659, -0.29431], \"tcp_rotation_matrix\": [[0.29236, -0.32011, 0.90114], [-0.05157, -0.94622, -0.31939], [0.95492, 0.0469, -0.29315]], \"simulated_seconds_remaining\": 21.12, \"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": 0.8,
      "y": 0.31,
      "z": 1.16,
      "gripper": 1,
      "pitch": -1.1
    },
    "note": "The jaws closed fully without securing the potato. I reopen and raise for another approach above the object."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 38, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.52838, 0.60618, 0.01633, -0.88397, -0.98575, 2.13735, 1.09596], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.80062, 0.31005, 1.15917], \"tcp_roll_pitch_yaw\": [-0.00578, -1.10205, -0.29507], \"tcp_rotation_matrix\": [[0.42095, -0.31329, 0.85126], [-0.09091, -0.94831, -0.30405], [0.90252, 0.0506, -0.42767]], \"simulated_seconds_remaining\": 20.064, \"calls_remaining_including_this\": 20}"
      },
      {
        "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"
}

The first grasp was empty. I’m repositioning from above to improve the final alignment.


{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.76,
      "y": 0.44,
      "z": 1.1,
      "roll": 0.5,
      "pitch": -0.85,
      "yaw": 0
    },
    "note": "The potato is left of the current wrist position; I shift left and tilt the fingers along that reach."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 39, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.14894, 0.53804, 0.51107, -1.22193, -0.36469, 2.65729, 0.46214], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.76027, 0.43931, 1.10007], \"tcp_roll_pitch_yaw\": [0.49711, -0.85065, -0.00175], \"tcp_rotation_matrix\": [[0.62972, 0.35364, 0.69166], [0.01798, -0.89677, 0.44214], [0.77661, -0.26599, -0.57107]], \"simulated_seconds_remaining\": 18.678, \"calls_remaining_including_this\": 19}"
      },
      {
        "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": 0.73,
      "y": 0.4,
      "z": 1.06,
      "roll": 0.3,
      "pitch": -0.45
    },
    "note": "I reduce the tilt and lower toward the potato’s visible position, keeping the jaws open."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 40, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.23433, 0.63328, 0.4775, -0.89587, -0.32011, 2.01968, 0.5201], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.73044, 0.40043, 1.06042], \"tcp_roll_pitch_yaw\": [0.30191, -0.45403, -0.0015], \"tcp_rotation_matrix\": [[0.8828, 0.14351, 0.44729], [0.02492, -0.96516, 0.26048], [0.46909, -0.2188, -0.85562]], \"simulated_seconds_remaining\": 17.754, \"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": 0.68,
      "y": 0.35,
      "z": 1.06
    },
    "note": "The brown object is now low and left in the wrist view; I draw back and shift right to center it beneath the fingers."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 41, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.03305, 0.30897, 0.5298, -1.39378, -0.17346, 2.20543, 0.47198], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.68091, 0.35087, 1.06019], \"tcp_roll_pitch_yaw\": [0.30195, -0.45423, -0.00149], \"tcp_rotation_matrix\": [[0.88271, 0.14358, 0.44746], [0.02493, -0.96515, 0.26052], [0.46927, -0.21881, -0.85552]], \"simulated_seconds_remaining\": 16.962, \"calls_remaining_including_this\": 17}"
      },
      {
        "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": 0.83,
      "y": 0.39,
      "z": 1.06,
      "roll": 0.4,
      "pitch": -0.8
    },
    "note": "The exterior view shows the potato farther forward than the current grasp point; I move directly toward it with a diagonal wrist tilt."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 42, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.19446, 0.7574, 0.44434, -0.89672, -0.37992, 2.48299, 0.39452], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.82907, 0.38975, 1.05974], \"tcp_roll_pitch_yaw\": [0.39914, -0.79732, -0.00123], \"tcp_rotation_matrix\": [[0.67169, 0.27514, 0.68785], [0.02196, -0.93546, 0.35274], [0.74051, -0.22183, -0.63438]], \"simulated_seconds_remaining\": 15.642, \"calls_remaining_including_this\": 16}"
      },
      {
        "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 now shows the jaws aligned with the potato; I close them to attempt the grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 43, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.19446, 0.7574, 0.44434, -0.89672, -0.37992, 2.48299, 0.39452], \"gripper_open\": 0.0, \"tcp_xyz\": [0.82909, 0.38975, 1.05974], \"tcp_roll_pitch_yaw\": [0.39915, -0.79736, -0.00124], \"tcp_rotation_matrix\": [[0.67166, 0.27515, 0.68787], [0.02195, -0.93546, 0.35275], [0.74053, -0.22183, -0.63435]], \"simulated_seconds_remaining\": 14.718, \"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": {
      "z": 0.98,
      "gripper": 1
    },
    "note": "The jaws closed empty, so I reopen and lower beneath the previous approach height to reach the potato."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 44, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.16036, 0.73779, 0.41543, -1.131, -0.41304, 2.6938, 0.45385], \"gripper_open\": 0.9965, \"tcp_xyz\": [0.8291, 0.38973, 0.98089], \"tcp_roll_pitch_yaw\": [0.39893, -0.79707, -0.0011], \"tcp_rotation_matrix\": [[0.67188, 0.27506, 0.68769], [0.02206, -0.9355, 0.35263], [0.74034, -0.22176, -0.63461]], \"simulated_seconds_remaining\": 13.794, \"calls_remaining_including_this\": 14}"
      },
      {
        "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": 0.87,
      "y": 0.24,
      "z": 0.99
    },
    "note": "The potato remains left of the finger gap in the wrist view; I shift right across the table and advance slightly to center it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 45, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [-0.14783, 0.71839, 0.58509, -1.19852, -0.27144, 2.69019, 0.14996], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.86974, 0.24105, 0.98991], \"tcp_roll_pitch_yaw\": [0.39888, -0.79707, -0.00144], \"tcp_rotation_matrix\": [[0.67188, 0.27472, 0.68783], [0.02183, -0.93561, 0.35236], [0.74034, -0.22173, -0.63462]], \"simulated_seconds_remaining\": 12.474, \"calls_remaining_including_this\": 13}"
      },
      {
        "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": "give_up",
  "arguments": {
    "reason": "I could not reliably align a grasp on the potato. Both grasp attempts closed empty, and repeated closer approaches encountered reach limits."
  },
  "result": null,
  "error": {
    "message": "tool call error: tool call failed for `robot/give_up`\n\nCaused by:\n    Mcp error: -32602: Unexpected argument"
  },
  "status": "failed"
}

{
  "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 potato: both grasp attempts closed empty, and closer approaches repeatedly reached joint limits."
  },
  "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 potato after two grasp attempts. The episode ended without completing the placement.

TURN USAGE
{
  "input_tokens": 1246402,
  "cached_input_tokens": 1170432,
  "cache_write_input_tokens": 0,
  "output_tokens": 11746,
  "reasoning_output_tokens": 5920
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      -0.01291,
      -0.81824,
      0.01639,
      -2.31736,
      -0.02561,
      1.52564,
      -0.03786
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.29774,
      -0.0058,
      1.03956
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99906,
        0.03431,
        0.02636
      ],
      [
        0.03529,
        -0.99867,
        -0.03758
      ],
      [
        0.02503,
        0.03848,
        -0.99895
      ]
    ],
    "simulated_seconds_remaining": 45.012,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 28.623304476961493,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48,
                    "y": 0.2,
                    "z": 1.02,
                    "gripper": 1
                  },
                  "note": "The brown potato is at the back left; I move above that area to obtain a closer wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 32,
    "motion_seconds": 2.112,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.05391,
      -0.14745,
      0.33172,
      -1.81002,
      0.00317,
      1.68078,
      0.34725
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.47908,
      0.199,
      1.02003
    ],
    "tcp_roll_pitch_yaw": [
      -5e-05,
      0.00016,
      0.00012
    ],
    "tcp_rotation_matrix": [
      [
        0.99906,
        0.03443,
        0.0262
      ],
      [
        0.03541,
        -0.99866,
        -0.03763
      ],
      [
        0.02487,
        0.03853,
        -0.99895
      ]
    ],
    "simulated_seconds_remaining": 42.9,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 8.007306228391826,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.66,
                    "y": 0.4,
                    "z": 1.02
                  },
                  "note": "The wrist view shows the knife and round red object, while the potato remains farther toward the table’s back left; I shift toward it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 3,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.05391,
      -0.14745,
      0.33172,
      -1.81002,
      0.00317,
      1.68078,
      0.34725
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.47908,
      0.199,
      1.02003
    ],
    "tcp_roll_pitch_yaw": [
      -5e-05,
      0.00016,
      0.00012
    ],
    "tcp_rotation_matrix": [
      [
        0.99906,
        0.03443,
        0.0262
      ],
      [
        0.03541,
        -0.99866,
        -0.03763
      ],
      [
        0.02487,
        0.03853,
        -0.99895
      ]
    ],
    "simulated_seconds_remaining": 42.9,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 7.406588772311807,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.56,
                    "y": 0.3,
                    "z": 0.96
                  },
                  "note": "The longer reach was rejected without movement; I take a shorter step and lower slightly for a clearer view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.1568,
      0.24916,
      0.40951,
      -1.49816,
      -0.14588,
      1.72803,
      0.54265
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.55922,
      0.29908,
      0.96043
    ],
    "tcp_roll_pitch_yaw": [
      -0.00011,
      0.00041,
      0.00022
    ],
    "tcp_rotation_matrix": [
      [
        0.99907,
        0.03455,
        0.02595
      ],
      [
        0.03551,
        -0.99866,
        -0.03769
      ],
      [
        0.02462,
        0.03858,
        -0.99895
      ]
    ],
    "simulated_seconds_remaining": 41.646,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 14.615291642956436,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.46,
                    "y": 0.48,
                    "z": 1
                  },
                  "note": "The potato is beyond the white rectangular dish in the exterior view; I shift left across the table while drawing the arm back slightly."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 26,
    "motion_seconds": 1.7160000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.46242,
      0.42829,
      0.5092,
      -1.16101,
      -0.24734,
      1.5265,
      0.8892
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.46051,
      0.47898,
      0.99975
    ],
    "tcp_roll_pitch_yaw": [
      -4e-05,
      0.00045,
      0.00055
    ],
    "tcp_rotation_matrix": [
      [
        0.99906,
        0.03488,
        0.02593
      ],
      [
        0.03584,
        -0.99865,
        -0.03761
      ],
      [
        0.02458,
        0.03851,
        -0.99896
      ]
    ],
    "simulated_seconds_remaining": 39.93,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 9.40778380073607,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.62,
                    "y": 0.48,
                    "z": 0.9
                  },
                  "note": "The gripper is in front of the potato in the exterior view; I advance across the table and lower the camera."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 6,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.46242,
      0.42829,
      0.5092,
      -1.16101,
      -0.24734,
      1.5265,
      0.8892
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.46051,
      0.47898,
      0.99975
    ],
    "tcp_roll_pitch_yaw": [
      -4e-05,
      0.00045,
      0.00055
    ],
    "tcp_rotation_matrix": [
      [
        0.99906,
        0.03488,
        0.02593
      ],
      [
        0.03584,
        -0.99865,
        -0.03761
      ],
      [
        0.02458,
        0.03851,
        -0.99896
      ]
    ],
    "simulated_seconds_remaining": 39.93,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 6.007465280592442,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.54,
                    "y": 0.46,
                    "z": 0.92
                  },
                  "note": "The reach was rejected; I use a smaller forward step with less lateral extension."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.41743,
      0.57198,
      0.46318,
      -1.14234,
      -0.28989,
      1.65106,
      0.80644
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.53915,
      0.46011,
      0.92075
    ],
    "tcp_roll_pitch_yaw": [
      -0.00026,
      0.00067,
      0.00036
    ],
    "tcp_rotation_matrix": [
      [
        0.99907,
        0.03469,
        0.0257
      ],
      [
        0.03565,
        -0.99865,
        -0.03784
      ],
      [
        0.02435,
        0.03872,
        -0.99895
      ]
    ],
    "simulated_seconds_remaining": 38.874,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 16.413626907393336,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.64,
                    "y": 0.4,
                    "z": 0.84
                  },
                  "note": "The potato remains farther back on the table; I extend forward while reducing the lateral reach."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.34366,
      0.77075,
      0.40352,
      -1.01134,
      -0.32708,
      1.72922,
      0.66009
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.63912,
      0.40041,
      0.84059
    ],
    "tcp_roll_pitch_yaw": [
      -0.00045,
      0.00086,
      0.00013
    ],
    "tcp_rotation_matrix": [
      [
        0.99908,
        0.03447,
        0.0255
      ],
      [
        0.03542,
        -0.99865,
        -0.03803
      ],
      [
        0.02416,
        0.0389,
        -0.99895
      ]
    ],
    "simulated_seconds_remaining": 37.62,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 8.006785019300878,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.74,
                    "y": 0.4,
                    "z": 0.84
                  },
                  "note": "I advance straight toward the far side, keeping height fixed so the camera displacement clarifies the potato’s position."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 9,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.34366,
      0.77075,
      0.40352,
      -1.01134,
      -0.32708,
      1.72922,
      0.66009
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.63912,
      0.40041,
      0.84059
    ],
    "tcp_roll_pitch_yaw": [
      -0.00045,
      0.00086,
      0.00013
    ],
    "tcp_rotation_matrix": [
      [
        0.99908,
        0.03447,
        0.0255
      ],
      [
        0.03542,
        -0.99865,
        -0.03803
      ],
      [
        0.02416,
        0.0389,
        -0.99895
      ]
    ],
    "simulated_seconds_remaining": 37.62,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 17.815509090200067,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.68,
                    "y": 0.38,
                    "z": 0.86
                  },
                  "note": "The straight extension exceeded the current reach; I shorten the step and bring the arm inward."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 10,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.34366,
      0.77075,
      0.40352,
      -1.01134,
      -0.32708,
      1.72922,
      0.66009
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.63912,
      0.40041,
      0.84059
    ],
    "tcp_roll_pitch_yaw": [
      -0.00045,
      0.00086,
      0.00013
    ],
    "tcp_rotation_matrix": [
      [
        0.99908,
        0.03447,
        0.0255
      ],
      [
        0.03542,
        -0.99865,
        -0.03803
      ],
      [
        0.02416,
        0.0389,
        -0.99895
      ]
    ],
    "simulated_seconds_remaining": 37.62,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 9.6076077260077,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.44,
                    "y": 0.4,
                    "z": 0.94
                  },
                  "note": "The current approach is near the arm’s reach limit. I retract and raise to re-establish a usable overhead view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 27,
    "motion_seconds": 1.782,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.2578,
      0.12736,
      0.5294,
      -1.71131,
      -0.11246,
      1.81133,
      0.77609
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44114,
      0.40013,
      0.93954
    ],
    "tcp_roll_pitch_yaw": [
      -0.00033,
      0.00065,
      0.00037
    ],
    "tcp_rotation_matrix": [
      [
        0.99907,
        0.03471,
        0.02572
      ],
      [
        0.03567,
        -0.99864,
        -0.0379
      ],
      [
        0.02437,
        0.03878,
        -0.99895
      ]
    ],
    "simulated_seconds_remaining": 35.838,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 15.612463909201324,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.44,
                    "y": 0.4,
                    "z": 0.74
                  },
                  "note": "I lower vertically over the clear table edge to gauge the surface height and improve object visibility."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 25,
    "motion_seconds": 1.6500000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.28535,
      0.31089,
      0.49113,
      -2.00945,
      -0.2477,
      2.26249,
      0.88238
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.43996,
      0.39992,
      0.74119
    ],
    "tcp_roll_pitch_yaw": [
      -0.00054,
      0.00093,
      0.00033
    ],
    "tcp_rotation_matrix": [
      [
        0.99907,
        0.03467,
        0.02544
      ],
      [
        0.03563,
        -0.99864,
        -0.03811
      ],
      [
        0.02408,
        0.03898,
        -0.99895
      ]
    ],
    "simulated_seconds_remaining": 34.188,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 9.80836960207671,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.68,
                    "y": 0.25,
                    "z": 0.8
                  },
                  "note": "The exterior view places the potato deeper across the table; I move forward and inward with clearance above the surface."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 34,
    "motion_seconds": 2.244,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.10784,
      0.62614,
      0.35617,
      -1.35047,
      -0.26968,
      1.94238,
      0.46374
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.67896,
      0.25055,
      0.79971
    ],
    "tcp_roll_pitch_yaw": [
      -0.00058,
      0.00089,
      7e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99908,
        0.03441,
        0.02546
      ],
      [
        0.03537,
        -0.99865,
        -0.03816
      ],
      [
        0.02412,
        0.03902,
        -0.99895
      ]
    ],
    "simulated_seconds_remaining": 31.944,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 11.809381230734289,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.78,
                    "y": 0.25,
                    "z": 0.78,
                    "pitch": 0.35
                  },
                  "note": "The phone is now visible beside the gripper, confirming progress across the table; I extend with a slight wrist tilt."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 14,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.10784,
      0.62614,
      0.35617,
      -1.35047,
      -0.26968,
      1.94238,
      0.46374
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.67896,
      0.25055,
      0.79971
    ],
    "tcp_roll_pitch_yaw": [
      -0.00058,
      0.00089,
      7e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99908,
        0.03441,
        0.02546
      ],
      [
        0.03537,
        -0.99865,
        -0.03816
      ],
      [
        0.02412,
        0.03902,
        -0.99895
      ]
    ],
    "simulated_seconds_remaining": 31.944,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 6.0050644697621465,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.75,
                    "y": 0.25,
                    "z": 0.82,
                    "pitch": -0.4
                  },
                  "note": "The previous tilt was unreachable; I angle the fingers forward to extend the grasp point toward the potato."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.14416,
      0.56415,
      0.26711,
      -1.51003,
      -0.47697,
      2.39657,
      0.61576
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.74929,
      0.2499,
      0.81967
    ],
    "tcp_roll_pitch_yaw": [
      -0.00087,
      -0.39574,
      -0.0001
    ],
    "tcp_rotation_matrix": [
      [
        0.91221,
        0.01639,
        0.40939
      ],
      [
        0.03522,
        -0.99864,
        -0.03849
      ],
      [
        0.4082,
        0.04953,
        -0.91155
      ]
    ],
    "simulated_seconds_remaining": 31.086,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 9.808006566017866,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.84,
                    "y": 0.34,
                    "z": 0.88,
                    "pitch": -0.65
                  },
                  "note": "The potato is past the rectangular dish toward the back left; I continue the tilted approach above that side."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.34866,
      0.87974,
      0.17571,
      -0.92704,
      -0.61261,
      2.33668,
      0.70811
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.83934,
      0.33949,
      0.87948
    ],
    "tcp_roll_pitch_yaw": [
      -0.00085,
      -0.64806,
      6e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.78142,
        0.00368,
        0.624
      ],
      [
        0.03536,
        -0.99864,
        -0.03839
      ],
      [
        0.623,
        0.05206,
        -0.78048
      ]
    ],
    "simulated_seconds_remaining": 29.832,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 13.611213934607804,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.78,
                    "y": 0.34,
                    "z": 1.1,
                    "pitch": -0.65
                  },
                  "note": "The close view shows the sides of the cup and dish; I raise the grasp point above their rims to regain an overhead approach."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 17,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.34866,
      0.87974,
      0.17571,
      -0.92704,
      -0.61261,
      2.33668,
      0.70811
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.83934,
      0.33949,
      0.87948
    ],
    "tcp_roll_pitch_yaw": [
      -0.00085,
      -0.64806,
      6e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.78142,
        0.00368,
        0.624
      ],
      [
        0.03536,
        -0.99864,
        -0.03839
      ],
      [
        0.623,
        0.05206,
        -0.78048
      ]
    ],
    "simulated_seconds_remaining": 29.832,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 6.405020805075765,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.78,
                    "y": 0.34,
                    "z": 0.99,
                    "pitch": -0.65
                  },
                  "note": "I split the upward repositioning into a smaller step to stay within the arm’s reachable poses."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.34287,
      0.59199,
      0.21178,
      -1.13815,
      -0.58921,
      2.24889,
      0.71377
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.78063,
      0.34007,
      0.98911
    ],
    "tcp_roll_pitch_yaw": [
      -0.00058,
      -0.65034,
      -0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.77999,
        0.00366,
        0.62578
      ],
      [
        0.0353,
        -0.99865,
        -0.03816
      ],
      [
        0.6248,
        0.05185,
        -0.77906
      ]
    ],
    "simulated_seconds_remaining": 28.71,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 8.005768198519945,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.64,
                    "y": 0.5,
                    "z": 1.06,
                    "pitch": -0.35
                  },
                  "note": "The exterior view places the potato left of the dish; I shift laterally and make the wrist more vertical above it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 19,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.34287,
      0.59199,
      0.21178,
      -1.13815,
      -0.58921,
      2.24889,
      0.71377
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.78063,
      0.34007,
      0.98911
    ],
    "tcp_roll_pitch_yaw": [
      -0.00058,
      -0.65034,
      -0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.77999,
        0.00366,
        0.62578
      ],
      [
        0.0353,
        -0.99865,
        -0.03816
      ],
      [
        0.6248,
        0.05185,
        -0.77906
      ]
    ],
    "simulated_seconds_remaining": 28.71,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 16.414216920733452,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.86,
                    "y": 0.36,
                    "z": 1.02,
                    "pitch": -0.95
                  },
                  "note": "The potato sits just beyond the fingertips in the exterior view; I increase forward reach with a stronger wrist tilt."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 20,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.4229,
      0.84867,
      0.09518,
      -0.78376,
      -0.75465,
      2.40802,
      0.80507
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.85931,
      0.35977,
      1.01943
    ],
    "tcp_roll_pitch_yaw": [
      -0.00069,
      -0.94665,
      -1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.56357,
        -0.01175,
        0.82599
      ],
      [
        0.0353,
        -0.99864,
        -0.03828
      ],
      [
        0.82532,
        0.05073,
        -0.56239
      ]
    ],
    "simulated_seconds_remaining": 27.852,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 21.21719149593264,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.86,
                    "y": 0.39,
                    "z": 1.1,
                    "pitch": -1.15
                  },
                  "note": "The brown potato appears just above and left of the jaw opening; I raise and shift slightly left to center it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 21,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.4229,
      0.84867,
      0.09518,
      -0.78376,
      -0.75465,
      2.40802,
      0.80507
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.85931,
      0.35977,
      1.01943
    ],
    "tcp_roll_pitch_yaw": [
      -0.00069,
      -0.94665,
      -1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.56357,
        -0.01175,
        0.82599
      ],
      [
        0.0353,
        -0.99864,
        -0.03828
      ],
      [
        0.82532,
        0.05073,
        -0.56239
      ]
    ],
    "simulated_seconds_remaining": 27.852,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 7.806740282103419,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.84,
                    "y": 0.38,
                    "z": 1.06,
                    "pitch": -1.08
                  },
                  "note": "I use a smaller upward alignment step after the larger motion was rejected."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 22,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.49033,
      0.73243,
      0.0081,
      -0.93546,
      -0.89305,
      2.50848,
      0.98916
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.84034,
      0.37973,
      1.05934
    ],
    "tcp_roll_pitch_yaw": [
      -0.00067,
      -1.07739,
      0.00013
    ],
    "tcp_rotation_matrix": [
      [
        0.45116,
        -0.0181,
        0.89226
      ],
      [
        0.03536,
        -0.99865,
        -0.03814
      ],
      [
        0.89174,
        0.04876,
        -0.44991
      ]
    ],
    "simulated_seconds_remaining": 27.258,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 11.609822223894298,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.88,
                    "y": 0.38,
                    "z": 1.1
                  },
                  "note": "I advance the open fingers toward the brown object while keeping the wrist angle fixed for a clear alignment check."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 23,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.49033,
      0.73243,
      0.0081,
      -0.93546,
      -0.89305,
      2.50848,
      0.98916
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.84034,
      0.37973,
      1.05934
    ],
    "tcp_roll_pitch_yaw": [
      -0.00067,
      -1.07739,
      0.00013
    ],
    "tcp_rotation_matrix": [
      [
        0.45116,
        -0.0181,
        0.89226
      ],
      [
        0.03536,
        -0.99865,
        -0.03814
      ],
      [
        0.89174,
        0.04876,
        -0.44991
      ]
    ],
    "simulated_seconds_remaining": 27.258,
    "calls_remaining_including_this": 35
  },
  "api_seconds": 15.012955480255187,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.84,
                    "y": 0.38,
                    "z": 1.04,
                    "pitch": -1.35,
                    "yaw": 0.35
                  },
                  "note": "I align the tilted gripper with the diagonal reach toward the potato to gain room for the final approach."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 24,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.49033,
      0.73243,
      0.0081,
      -0.93546,
      -0.89305,
      2.50848,
      0.98916
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.84034,
      0.37973,
      1.05934
    ],
    "tcp_roll_pitch_yaw": [
      -0.00067,
      -1.07739,
      0.00013
    ],
    "tcp_rotation_matrix": [
      [
        0.45116,
        -0.0181,
        0.89226
      ],
      [
        0.03536,
        -0.99865,
        -0.03814
      ],
      [
        0.89174,
        0.04876,
        -0.44991
      ]
    ],
    "simulated_seconds_remaining": 27.258,
    "calls_remaining_including_this": 34
  },
  "api_seconds": 7.607397947460413,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.75,
                    "y": 0.32,
                    "z": 1.06,
                    "pitch": -0.9,
                    "yaw": 0.3
                  },
                  "note": "I retract slightly to give the joints room to align the gripper diagonally toward the potato."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 25,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.16075,
      0.28841,
      0.27749,
      -1.59824,
      -0.52811,
      2.75938,
      0.47629
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.75082,
      0.32034,
      1.06019
    ],
    "tcp_roll_pitch_yaw": [
      -0.00063,
      -0.90154,
      0.29711
    ],
    "tcp_rotation_matrix": [
      [
        0.56358,
        0.28339,
        0.77593
      ],
      [
        0.20947,
        -0.95764,
        0.19761
      ],
      [
        0.79906,
        0.05117,
        -0.59906
      ]
    ],
    "simulated_seconds_remaining": 26.268,
    "calls_remaining_including_this": 33
  },
  "api_seconds": 16.21461659669876,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.8,
                    "y": 0.34,
                    "z": 1.01,
                    "pitch": -1.15
                  },
                  "note": "I approach the potato’s height with the fingers angled forward and the arm aligned along the reach."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 26,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.16075,
      0.28841,
      0.27749,
      -1.59824,
      -0.52811,
      2.75938,
      0.47629
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.75082,
      0.32034,
      1.06019
    ],
    "tcp_roll_pitch_yaw": [
      -0.00063,
      -0.90154,
      0.29711
    ],
    "tcp_rotation_matrix": [
      [
        0.56358,
        0.28339,
        0.77593
      ],
      [
        0.20947,
        -0.95764,
        0.19761
      ],
      [
        0.79906,
        0.05117,
        -0.59906
      ]
    ],
    "simulated_seconds_remaining": 26.268,
    "calls_remaining_including_this": 32
  },
  "api_seconds": 19.81714576203376,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.8,
                    "y": 0.34,
                    "z": 1.02,
                    "pitch": -1.1,
                    "yaw": 0,
                    "roll": -0.4
                  },
                  "note": "The wrist joint is limiting the approach; I roll the gripper slightly while keeping the fingers directed toward the potato."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 27,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.63201,
      0.70027,
      -0.05559,
      -1.03951,
      -1.16788,
      2.10812,
      1.28609
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.79978,
      0.34014,
      1.01987
    ],
    "tcp_roll_pitch_yaw": [
      -0.39782,
      -1.09803,
      0.0024
    ],
    "tcp_rotation_matrix": [
      [
        0.44645,
        -0.35823,
        0.81997
      ],
      [
        0.0433,
        -0.90664,
        -0.41968
      ],
      [
        0.89376,
        0.22287,
        -0.38926
      ]
    ],
    "simulated_seconds_remaining": 25.014,
    "calls_remaining_including_this": 31
  },
  "api_seconds": 7.606913942843676,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.89,
                    "y": 0.38,
                    "z": 1.04,
                    "pitch": -1.3
                  },
                  "note": "The revised wrist posture is reachable; I extend the open jaws toward the potato visible beyond the dish."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 28,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.63201,
      0.70027,
      -0.05559,
      -1.03951,
      -1.16788,
      2.10812,
      1.28609
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.79978,
      0.34014,
      1.01987
    ],
    "tcp_roll_pitch_yaw": [
      -0.39782,
      -1.09803,
      0.0024
    ],
    "tcp_rotation_matrix": [
      [
        0.44645,
        -0.35823,
        0.81997
      ],
      [
        0.0433,
        -0.90664,
        -0.41968
      ],
      [
        0.89376,
        0.22287,
        -0.38926
      ]
    ],
    "simulated_seconds_remaining": 25.014,
    "calls_remaining_including_this": 30
  },
  "api_seconds": 6.405960855074227,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.845,
                    "y": 0.36,
                    "z": 1.03,
                    "pitch": -1.2
                  },
                  "note": "I split the extension into a smaller step to avoid a large joint change."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 29,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.63201,
      0.70027,
      -0.05559,
      -1.03951,
      -1.16788,
      2.10812,
      1.28609
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.79978,
      0.34014,
      1.01987
    ],
    "tcp_roll_pitch_yaw": [
      -0.39782,
      -1.09803,
      0.0024
    ],
    "tcp_rotation_matrix": [
      [
        0.44645,
        -0.35823,
        0.81997
      ],
      [
        0.0433,
        -0.90664,
        -0.41968
      ],
      [
        0.89376,
        0.22287,
        -0.38926
      ]
    ],
    "simulated_seconds_remaining": 25.014,
    "calls_remaining_including_this": 29
  },
  "api_seconds": 7.006226892583072,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.845,
                    "y": 0.36,
                    "z": 1.03
                  },
                  "note": "I retain the reachable wrist orientation and make only the short translation toward the potato."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 30,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.63201,
      0.70027,
      -0.05559,
      -1.03951,
      -1.16788,
      2.10812,
      1.28609
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.79978,
      0.34014,
      1.01987
    ],
    "tcp_roll_pitch_yaw": [
      -0.39782,
      -1.09803,
      0.0024
    ],
    "tcp_rotation_matrix": [
      [
        0.44645,
        -0.35823,
        0.81997
      ],
      [
        0.0433,
        -0.90664,
        -0.41968
      ],
      [
        0.89376,
        0.22287,
        -0.38926
      ]
    ],
    "simulated_seconds_remaining": 25.014,
    "calls_remaining_including_this": 28
  },
  "api_seconds": 8.007634175941348,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.86,
                    "y": 0.36,
                    "z": 1.02,
                    "roll": 0,
                    "pitch": -0.95,
                    "yaw": 0
                  },
                  "note": "I return to the earlier extended posture, which reached closer to the potato successfully."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 31,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.38449,
      0.85552,
      0.1834,
      -0.77656,
      -0.84282,
      2.38839,
      0.83112
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.85948,
      0.3597,
      1.01982
    ],
    "tcp_roll_pitch_yaw": [
      -0.00371,
      -0.95112,
      -0.00089
    ],
    "tcp_rotation_matrix": [
      [
        0.55999,
        -0.0153,
        0.82836
      ],
      [
        0.03488,
        -0.99851,
        -0.04203
      ],
      [
        0.82777,
        0.05243,
        -0.55862
      ]
    ],
    "simulated_seconds_remaining": 24.156,
    "calls_remaining_including_this": 27
  },
  "api_seconds": 6.606257339939475,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.9,
                    "y": 0.36,
                    "z": 0.99
                  },
                  "note": "The potato remains just beyond the finger opening; I advance four centimeters and lower slightly toward it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 32,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.38449,
      0.85552,
      0.1834,
      -0.77656,
      -0.84282,
      2.38839,
      0.83112
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.85948,
      0.3597,
      1.01982
    ],
    "tcp_roll_pitch_yaw": [
      -0.00371,
      -0.95112,
      -0.00089
    ],
    "tcp_rotation_matrix": [
      [
        0.55999,
        -0.0153,
        0.82836
      ],
      [
        0.03488,
        -0.99851,
        -0.04203
      ],
      [
        0.82777,
        0.05243,
        -0.55862
      ]
    ],
    "simulated_seconds_remaining": 24.156,
    "calls_remaining_including_this": 26
  },
  "api_seconds": 8.20702609885484,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.84,
                    "y": 0.32,
                    "z": 1,
                    "pitch": -1.25,
                    "yaw": -0.3
                  },
                  "note": "I reduce lateral extension and turn the wrist to allow a more horizontal reach toward the potato."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 33,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.59848,
      0.70761,
      -0.15185,
      -1.12662,
      -1.30338,
      2.37519,
      1.5854
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.84015,
      0.32054,
      0.99989
    ],
    "tcp_roll_pitch_yaw": [
      -0.00737,
      -1.24635,
      -0.2935
    ],
    "tcp_rotation_matrix": [
      [
        0.29265,
        -0.31995,
        0.9011
      ],
      [
        -0.05139,
        -0.94626,
        -0.3193
      ],
      [
        0.95484,
        0.04713,
        -0.29337
      ]
    ],
    "simulated_seconds_remaining": 23.298,
    "calls_remaining_including_this": 25
  },
  "api_seconds": 20.016717271879315,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.84,
                    "y": 0.35,
                    "z": 1.04
                  },
                  "note": "The potato appears above and right of the gap between the fingers; I make a small vertical and lateral alignment adjustment."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 34,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.60454,
      0.77653,
      -0.10728,
      -0.9358,
      -1.21963,
      2.29141,
      1.44407
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.83997,
      0.34945,
      1.03916
    ],
    "tcp_roll_pitch_yaw": [
      -0.0068,
      -1.24647,
      -0.29389
    ],
    "tcp_rotation_matrix": [
      [
        0.29251,
        -0.31981,
        0.9012
      ],
      [
        -0.05149,
        -0.94632,
        -0.31911
      ],
      [
        0.95488,
        0.04694,
        -0.29327
      ]
    ],
    "simulated_seconds_remaining": 22.638,
    "calls_remaining_including_this": 24
  },
  "api_seconds": 13.81315946392715,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.88,
                    "y": 0.35,
                    "z": 1.03,
                    "pitch": -1.4,
                    "yaw": -0.4
                  },
                  "note": "I extend toward the potato with the fingers almost horizontal, using the reachable wrist direction."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 35,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.60454,
      0.77653,
      -0.10728,
      -0.9358,
      -1.21963,
      2.29141,
      1.44407
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.83997,
      0.34945,
      1.03916
    ],
    "tcp_roll_pitch_yaw": [
      -0.0068,
      -1.24647,
      -0.29389
    ],
    "tcp_rotation_matrix": [
      [
        0.29251,
        -0.31981,
        0.9012
      ],
      [
        -0.05149,
        -0.94632,
        -0.31911
      ],
      [
        0.95488,
        0.04694,
        -0.29327
      ]
    ],
    "simulated_seconds_remaining": 22.638,
    "calls_remaining_including_this": 23
  },
  "api_seconds": 13.010752209462225,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.86,
                    "y": 0.31,
                    "z": 1.06
                  },
                  "note": "The exterior view places the potato close to the forward fingertips; I make a small inward and upward correction before grasping."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 36,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.5384,
      0.76652,
      -0.10049,
      -0.91405,
      -1.1897,
      2.3382,
      1.38066
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.85952,
      0.31086,
      1.05953
    ],
    "tcp_roll_pitch_yaw": [
      -0.00668,
      -1.24659,
      -0.29431
    ],
    "tcp_rotation_matrix": [
      [
        0.29236,
        -0.32011,
        0.90114
      ],
      [
        -0.05157,
        -0.94622,
        -0.31939
      ],
      [
        0.95492,
        0.0469,
        -0.29315
      ]
    ],
    "simulated_seconds_remaining": 22.044,
    "calls_remaining_including_this": 22
  },
  "api_seconds": 6.606225744821131,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The fingertips are near the potato in the exterior view; I close the jaws and check whether the object is secured."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 37,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.5384,
      0.76652,
      -0.10049,
      -0.91405,
      -1.1897,
      2.3382,
      1.38066
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.85952,
      0.31085,
      1.05953
    ],
    "tcp_roll_pitch_yaw": [
      -0.00668,
      -1.24659,
      -0.29431
    ],
    "tcp_rotation_matrix": [
      [
        0.29236,
        -0.32011,
        0.90114
      ],
      [
        -0.05157,
        -0.94622,
        -0.31939
      ],
      [
        0.95492,
        0.0469,
        -0.29315
      ]
    ],
    "simulated_seconds_remaining": 21.12,
    "calls_remaining_including_this": 21
  },
  "api_seconds": 13.41092055849731,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.8,
                    "y": 0.31,
                    "z": 1.16,
                    "gripper": 1,
                    "pitch": -1.1
                  },
                  "note": "The jaws closed fully without securing the potato. I reopen and raise for another approach above the object."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 38,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.52838,
      0.60618,
      0.01633,
      -0.88397,
      -0.98575,
      2.13735,
      1.09596
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.80062,
      0.31005,
      1.15917
    ],
    "tcp_roll_pitch_yaw": [
      -0.00578,
      -1.10205,
      -0.29507
    ],
    "tcp_rotation_matrix": [
      [
        0.42095,
        -0.31329,
        0.85126
      ],
      [
        -0.09091,
        -0.94831,
        -0.30405
      ],
      [
        0.90252,
        0.0506,
        -0.42767
      ]
    ],
    "simulated_seconds_remaining": 20.064,
    "calls_remaining_including_this": 20
  },
  "api_seconds": 32.42495851684362,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.76,
                    "y": 0.44,
                    "z": 1.1,
                    "roll": 0.5,
                    "pitch": -0.85,
                    "yaw": 0
                  },
                  "note": "The potato is left of the current wrist position; I shift left and tilt the fingers along that reach."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 39,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.14894,
      0.53804,
      0.51107,
      -1.22193,
      -0.36469,
      2.65729,
      0.46214
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.76027,
      0.43931,
      1.10007
    ],
    "tcp_roll_pitch_yaw": [
      0.49711,
      -0.85065,
      -0.00175
    ],
    "tcp_rotation_matrix": [
      [
        0.62972,
        0.35364,
        0.69166
      ],
      [
        0.01798,
        -0.89677,
        0.44214
      ],
      [
        0.77661,
        -0.26599,
        -0.57107
      ]
    ],
    "simulated_seconds_remaining": 18.678,
    "calls_remaining_including_this": 19
  },
  "api_seconds": 19.422661315649748,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.73,
                    "y": 0.4,
                    "z": 1.06,
                    "roll": 0.3,
                    "pitch": -0.45
                  },
                  "note": "I reduce the tilt and lower toward the potato’s visible position, keeping the jaws open."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 40,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.23433,
      0.63328,
      0.4775,
      -0.89587,
      -0.32011,
      2.01968,
      0.5201
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.73044,
      0.40043,
      1.06042
    ],
    "tcp_roll_pitch_yaw": [
      0.30191,
      -0.45403,
      -0.0015
    ],
    "tcp_rotation_matrix": [
      [
        0.8828,
        0.14351,
        0.44729
      ],
      [
        0.02492,
        -0.96516,
        0.26048
      ],
      [
        0.46909,
        -0.2188,
        -0.85562
      ]
    ],
    "simulated_seconds_remaining": 17.754,
    "calls_remaining_including_this": 18
  },
  "api_seconds": 13.611167469993234,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.68,
                    "y": 0.35,
                    "z": 1.06
                  },
                  "note": "The brown object is now low and left in the wrist view; I draw back and shift right to center it beneath the fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 41,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.03305,
      0.30897,
      0.5298,
      -1.39378,
      -0.17346,
      2.20543,
      0.47198
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.68091,
      0.35087,
      1.06019
    ],
    "tcp_roll_pitch_yaw": [
      0.30195,
      -0.45423,
      -0.00149
    ],
    "tcp_rotation_matrix": [
      [
        0.88271,
        0.14358,
        0.44746
      ],
      [
        0.02493,
        -0.96515,
        0.26052
      ],
      [
        0.46927,
        -0.21881,
        -0.85552
      ]
    ],
    "simulated_seconds_remaining": 16.962,
    "calls_remaining_including_this": 17
  },
  "api_seconds": 18.214711889624596,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.83,
                    "y": 0.39,
                    "z": 1.06,
                    "roll": 0.4,
                    "pitch": -0.8
                  },
                  "note": "The exterior view shows the potato farther forward than the current grasp point; I move directly toward it with a diagonal wrist tilt."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 42,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.19446,
      0.7574,
      0.44434,
      -0.89672,
      -0.37992,
      2.48299,
      0.39452
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.82907,
      0.38975,
      1.05974
    ],
    "tcp_roll_pitch_yaw": [
      0.39914,
      -0.79732,
      -0.00123
    ],
    "tcp_rotation_matrix": [
      [
        0.67169,
        0.27514,
        0.68785
      ],
      [
        0.02196,
        -0.93546,
        0.35274
      ],
      [
        0.74051,
        -0.22183,
        -0.63438
      ]
    ],
    "simulated_seconds_remaining": 15.642,
    "calls_remaining_including_this": 16
  },
  "api_seconds": 8.006903193891048,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The exterior view now shows the jaws aligned with the potato; I close them to attempt the grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 43,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.19446,
      0.7574,
      0.44434,
      -0.89672,
      -0.37992,
      2.48299,
      0.39452
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.82909,
      0.38975,
      1.05974
    ],
    "tcp_roll_pitch_yaw": [
      0.39915,
      -0.79736,
      -0.00124
    ],
    "tcp_rotation_matrix": [
      [
        0.67166,
        0.27515,
        0.68787
      ],
      [
        0.02195,
        -0.93546,
        0.35275
      ],
      [
        0.74053,
        -0.22183,
        -0.63435
      ]
    ],
    "simulated_seconds_remaining": 14.718,
    "calls_remaining_including_this": 15
  },
  "api_seconds": 6.405563075095415,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.98,
                    "gripper": 1
                  },
                  "note": "The jaws closed empty, so I reopen and lower beneath the previous approach height to reach the potato."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 44,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.16036,
      0.73779,
      0.41543,
      -1.131,
      -0.41304,
      2.6938,
      0.45385
    ],
    "gripper_open": 0.9965,
    "tcp_xyz": [
      0.8291,
      0.38973,
      0.98089
    ],
    "tcp_roll_pitch_yaw": [
      0.39893,
      -0.79707,
      -0.0011
    ],
    "tcp_rotation_matrix": [
      [
        0.67188,
        0.27506,
        0.68769
      ],
      [
        0.02206,
        -0.9355,
        0.35263
      ],
      [
        0.74034,
        -0.22176,
        -0.63461
      ]
    ],
    "simulated_seconds_remaining": 13.794,
    "calls_remaining_including_this": 14
  },
  "api_seconds": 8.407158950343728,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.87,
                    "y": 0.24,
                    "z": 0.99
                  },
                  "note": "The potato remains left of the finger gap in the wrist view; I shift right across the table and advance slightly to center it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 45,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      -0.14783,
      0.71839,
      0.58509,
      -1.19852,
      -0.27144,
      2.69019,
      0.14996
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.86974,
      0.24105,
      0.98991
    ],
    "tcp_roll_pitch_yaw": [
      0.39888,
      -0.79707,
      -0.00144
    ],
    "tcp_rotation_matrix": [
      [
        0.67188,
        0.27472,
        0.68783
      ],
      [
        0.02183,
        -0.93561,
        0.35236
      ],
      [
        0.74034,
        -0.22173,
        -0.63462
      ]
    ],
    "simulated_seconds_remaining": 12.474,
    "calls_remaining_including_this": 13
  },
  "api_seconds": 19.41599326301366,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "give_up",
                "args": {
                  "note": "I could not secure the potato: both grasp attempts closed empty, and closer approaches repeatedly reached joint limits."
                }
              }
            }
          ]
        }
      }
    ]
  }
}

========================================================================
GPT-Astra / Pick & place / 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,
  "status": "completed",
  "success": true,
  "oracle_success": true,
  "action_decisions": 23,
  "wall_seconds": 365.77,
  "usage": {
    "input_tokens": 452435,
    "cached_input_tokens": 407808,
    "cache_write_input_tokens": 0,
    "output_tokens": 5463,
    "reasoning_output_tokens": 2937
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick-and-place 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 45 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 and grasp the requested object, lift it, move it to the named receptacle, and release it in or on that receptacle. Complete the entire pick-and-place 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 guide the gripper through the pick and placement.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [-0.03693, -0.76496, -0.02487, -2.38161, -0.02473, 1.57844, -0.02577], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.30511, -0.02469, 0.99765], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.99886, -0.02797, -0.0387], [-0.0282, -0.99959, -0.00541], [-0.03853, 0.00649, -0.99924]], \"simulated_seconds_remaining\": 45.012, \"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 bowl and a white tissue are on the table ahead. I move above the table to bring both 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": {
    "targets": {
      "x": 0.48,
      "y": 0,
      "z": 0.88,
      "gripper": 1
    },
    "note": "The bowl and white tissue are ahead on the table. I move over the table for a clearer wrist view."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [-0.01276, -0.19543, 0.01412, -2.21721, -0.00287, 1.98284, 0.03033], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.47885, -0.00015, 0.88066], \"tcp_roll_pitch_yaw\": [-1e-05, 0.00025, 2e-05], \"tcp_rotation_matrix\": [[0.99885, -0.02795, -0.03895], [-0.02818, -0.99959, -0.00541], [-0.03879, 0.0065, -0.99923]], \"simulated_seconds_remaining\": 43.296, \"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": 0.65,
      "y": 0.12,
      "z": 0.98
    },
    "note": "The objects remain toward the far side of the wrist view. I advance and shift left while keeping height to center the tabletop."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [0.10364, 0.38939, 0.1049, -1.2145, -0.03724, 1.56266, 0.2299], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.64903, 0.11937, 0.97938], \"tcp_roll_pitch_yaw\": [2e-05, 0.00028, 0.00016], \"tcp_rotation_matrix\": [[0.99885, -0.02782, -0.03897], [-0.02805, -0.99959, -0.00539], [-0.03881, 0.00648, -0.99923]], \"simulated_seconds_remaining\": 41.448, \"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": 0.73,
      "y": 0.16,
      "z": 0.82
    },
    "note": "The tissue pack is visible left of the bowl. I approach above its white center, lowering for more precise alignment."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [0.15478, 0.75538, 0.10148, -1.03111, -0.06685, 1.74385, 0.2709], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.72934, 0.15971, 0.82094], \"tcp_roll_pitch_yaw\": [-5e-05, 0.00068, 0.0002], \"tcp_rotation_matrix\": [[0.99884, -0.02777, -0.03938], [-0.02801, -0.99959, -0.00547], [-0.03921, 0.00656, -0.99921]], \"simulated_seconds_remaining\": 39.93, \"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": 0.68,
      "z": 0.82
    },
    "note": "The tissue is above and left of the finger opening. I make a small backward adjustment to establish accurate lateral alignment."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [0.14496, 0.54381, 0.11156, -1.38361, -0.05625, 1.88468, 0.28794], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.68141, 0.15978, 0.82016], \"tcp_roll_pitch_yaw\": [-0.0, 0.00059, 0.00028], \"tcp_rotation_matrix\": [[0.99884, -0.02769, -0.03928], [-0.02792, -0.9996, -0.00542], [-0.03912, 0.00651, -0.99921]], \"simulated_seconds_remaining\": 39.336, \"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": {
      "x": 0.65,
      "y": 0.09
    },
    "note": "The backward adjustment brought the tissue closer to the fingers. I shift right and slightly back to center its narrow middle between the jaws."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [0.06615, 0.38672, 0.09416, -1.61402, -0.0349, 1.96927, 0.18995], \"gripper_open\": 0.9982, \"tcp_xyz\": [0.65186, 0.09672, 0.8259], \"tcp_roll_pitch_yaw\": [0.0044, -0.00907, 0.00615], \"tcp_rotation_matrix\": [[0.99932, -0.02184, -0.02963], [-0.02189, -0.99976, -0.00119], [-0.0296, 0.00184, -0.99956]], \"simulated_seconds_remaining\": 38.544, \"calls_remaining_including_this\": 52}"
      },
      {
        "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": 0.94
    },
    "note": "The tissue pack shifted during the lateral approach, indicating contact. I lift clear to reassess its position before grasping."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [0.06896, 0.35407, 0.09711, -1.3729, -0.03031, 1.6963, 0.18667], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.65192, 0.09673, 0.93884], \"tcp_roll_pitch_yaw\": [0.00445, -0.00946, 0.00615], \"tcp_rotation_matrix\": [[0.99933, -0.02184, -0.02924], [-0.02189, -0.99976, -0.00114], [-0.02921, 0.00178, -0.99957]], \"simulated_seconds_remaining\": 37.488, \"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": 0.59,
      "y": 0.17
    },
    "note": "The tissue is now lying lengthwise ahead of the gripper. I align from above by moving back and left while maintaining clearance."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [0.14396, 0.19389, 0.14716, -1.60099, -0.02138, 1.7645, 0.31478], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.59083, 0.16915, 0.93889], \"tcp_roll_pitch_yaw\": [0.00451, -0.00952, 0.00646], \"tcp_rotation_matrix\": [[0.99934, -0.02153, -0.02918], [-0.02157, -0.99977, -0.00108], [-0.02915, 0.00171, -0.99957]], \"simulated_seconds_remaining\": 36.564, \"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": 0.54,
      "y": 0.05
    },
    "note": "The tissue remains left of the jaw gap. I shift right with clearance and move slightly back to place the tissue beneath the grasp point."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [0.03476, -0.03672, 0.05771, -1.89153, 0.00384, 1.82576, 0.1132], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.54053, 0.05106, 0.93893], \"tcp_roll_pitch_yaw\": [0.00449, -0.00957, 0.0062], \"tcp_rotation_matrix\": [[0.99934, -0.02179, -0.02913], [-0.02183, -0.99976, -0.0011], [-0.02909, 0.00173, -0.99958]], \"simulated_seconds_remaining\": 35.376, \"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": 0.515,
      "y": 0.02,
      "z": 0.88
    },
    "note": "The tissue pack is nearly centered between the jaws. I make a small alignment correction and descend toward its upper surface."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [0.0097, -0.09182, 0.02913, -2.10493, 0.00295, 1.98376, 0.05938], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.51541, 0.02049, 0.88095], \"tcp_roll_pitch_yaw\": [0.00448, -0.00933, 0.0061], \"tcp_rotation_matrix\": [[0.99933, -0.0219, -0.02937], [-0.02194, -0.99976, -0.00111], [-0.02934, 0.00175, -0.99957]], \"simulated_seconds_remaining\": 34.584, \"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": {
      "z": 0.79
    },
    "note": "The tissue is centered in the open gripper. I lower vertically so the fingers can close around its sides."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 11, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [0.00994, 0.00179, 0.02977, -2.23738, 1e-05, 2.20942, 0.06163], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.51533, 0.02048, 0.79114], \"tcp_roll_pitch_yaw\": [0.00447, -0.00897, 0.0061], \"tcp_rotation_matrix\": [[0.99932, -0.0219, -0.02972], [-0.02194, -0.99976, -0.00112], [-0.02969, 0.00177, -0.99956]], \"simulated_seconds_remaining\": 33.66, \"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": 0
    },
    "note": "The pack is inside the jaw opening at grasp height. I close the fingers to secure it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 12, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [0.00994, 0.00179, 0.02977, -2.23738, 1e-05, 2.20942, 0.06163], \"gripper_open\": 0.0, \"tcp_xyz\": [0.51533, 0.02048, 0.79113], \"tcp_roll_pitch_yaw\": [0.00447, -0.00898, 0.0061], \"tcp_rotation_matrix\": [[0.99932, -0.0219, -0.02972], [-0.02194, -0.99976, -0.00112], [-0.02969, 0.00177, -0.99956]], \"simulated_seconds_remaining\": 32.736, \"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": 0.745,
      "x": 0.535,
      "y": -0.005
    },
    "note": "The fingers closed fully without gripping, so the pack is below the grasp point. I reopen, correct the small offset, and lower to the pack."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 13, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [-0.01035, 0.09723, 0.01359, -2.20505, 0.00055, 2.27699, 0.0134], \"gripper_open\": 1.0, \"tcp_xyz\": [0.53499, 0.00198, 0.76025], \"tcp_roll_pitch_yaw\": [0.00751, -0.01343, 0.01737], \"tcp_rotation_matrix\": [[0.99962, -0.0106, -0.02531], [-0.01056, -0.99994, 0.00166], [-0.02532, -0.00139, -0.99968]], \"simulated_seconds_remaining\": 31.812, \"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": 0.84,
      "x": 0.56,
      "y": 0.035
    },
    "note": "The approach met contact before reaching the requested height, and the pack is right of center. I lift slightly and center the pack more accurately."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 14, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [0.02097, 0.07225, 0.04037, -2.01837, 0.00033, 2.0657, 0.07159], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.55973, 0.03459, 0.83899], \"tcp_roll_pitch_yaw\": [0.00753, -0.01374, 0.01746], \"tcp_rotation_matrix\": [[0.99963, -0.0105, -0.025], [-0.01046, -0.99994, 0.00168], [-0.02502, -0.00142, -0.99969]], \"simulated_seconds_remaining\": 30.888, \"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": 0.575,
      "y": 0.05,
      "z": 0.766
    },
    "note": "The tissue pack is aligned with the open jaws. I descend with a small correction so both fingers straddle its narrow sides."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 15, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [0.03666, 0.20077, 0.05027, -2.04368, -0.00777, 2.21906, 0.10125], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.57465, 0.04975, 0.76713], \"tcp_roll_pitch_yaw\": [0.00751, -0.01338, 0.01752], \"tcp_rotation_matrix\": [[0.99962, -0.01045, -0.02536], [-0.01041, -0.99994, 0.00165], [-0.02538, -0.00139, -0.99968]], \"simulated_seconds_remaining\": 30.096, \"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": {
      "gripper": 0
    },
    "note": "The fingers now straddle the tissue pack at its sides. I close to grasp it before lifting."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 16, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [0.03842, 0.19517, 0.0528, -2.03852, -0.00585, 2.22073, 0.10119], \"gripper_open\": 0.4944, \"tcp_xyz\": [0.57789, 0.05281, 0.77275], \"tcp_roll_pitch_yaw\": [0.01009, -0.02567, 0.02052], \"tcp_rotation_matrix\": [[0.99989, -0.00736, -0.01313], [-0.0073, -0.99996, 0.00441], [-0.01317, -0.00431, -0.9999]], \"simulated_seconds_remaining\": 29.172, \"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": {
      "z": 0.97
    },
    "note": "The fingers stopped partway closed around the pack, indicating a grasp. I lift it clear of the table to verify it is secured."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 17, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [0.03688, 0.06575, 0.05384, -1.69491, 0.00215, 1.74732, 0.09756], \"gripper_open\": 0.1426, \"tcp_xyz\": [0.57784, 0.05282, 0.96834], \"tcp_roll_pitch_yaw\": [0.01012, -0.02511, 0.02051], \"tcp_rotation_matrix\": [[0.99988, -0.00737, -0.0137], [-0.00731, -0.99996, 0.00443], [-0.01373, -0.00433, -0.9999]], \"simulated_seconds_remaining\": 27.588, \"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"
}

The tissue is lifted securely. I’m moving it over the bowl and will lower it before releasing.


{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.64,
      "y": -0.25,
      "z": 0.99
    },
    "note": "The lifted tissue remains between the fingers. The bowl was to its right in the wrist view, so I carry the tissue rightward toward the bowl."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 18, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [-0.28611, 0.49813, -0.13171, -1.02704, 0.06153, 1.50613, -0.3913], \"gripper_open\": 0.1427, \"tcp_xyz\": [0.63962, -0.2488, 0.9893], \"tcp_roll_pitch_yaw\": [0.01051, -0.02401, 0.02019], \"tcp_rotation_matrix\": [[0.99986, -0.00769, -0.0148], [-0.00762, -0.99996, 0.0048], [-0.01484, -0.00468, -0.99988]], \"simulated_seconds_remaining\": 25.212, \"calls_remaining_including_this\": 40}"
      },
      {
        "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": 0.3,
      "z": 1.03
    },
    "note": "The exterior view shows the bowl remains across the tabletop to the left. I correct the transfer direction while keeping the tissue elevated."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 19, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [0.31188, 0.26149, 0.22303, -1.28257, -0.04545, 1.52658, 0.53344], \"gripper_open\": 0.1426, \"tcp_xyz\": [0.5501, 0.29879, 1.02943], \"tcp_roll_pitch_yaw\": [0.01023, -0.02308, 0.02055], \"tcp_rotation_matrix\": [[0.99985, -0.00734, -0.01572], [-0.00727, -0.99996, 0.0045], [-0.01576, -0.00438, -0.99987]], \"simulated_seconds_remaining\": 21.186, \"calls_remaining_including_this\": 39}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 61, \"motion_seconds\": 4.026, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "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": 0.4,
      "z": 1.03
    },
    "note": "The bowl is clearly visible ahead and to the right of the held tissue in the wrist image. I shift back and left to bring it beneath the tissue."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 20, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [0.44321, 0.11362, 0.32278, -1.48419, -0.02164, 1.58294, 0.77153], \"gripper_open\": 0.1426, \"tcp_xyz\": [0.43088, 0.39922, 1.02964], \"tcp_roll_pitch_yaw\": [0.00985, -0.02236, 0.02092], \"tcp_rotation_matrix\": [[0.99984, -0.00698, -0.01644], [-0.00691, -0.99997, 0.0041], [-0.01647, -0.00398, -0.99986]], \"simulated_seconds_remaining\": 19.866, \"calls_remaining_including_this\": 38}"
      },
      {
        "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": 0.41,
      "y": 0.435,
      "z": 0.9
    },
    "note": "The bowl is directly beneath the held pack and mostly occluded. I refine the alignment and lower toward the bowl rim."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 21, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [0.48499, 0.08452, 0.35671, -1.76783, -0.02963, 1.90699, 0.84473], \"gripper_open\": 0.1844, \"tcp_xyz\": [0.40749, 0.4442, 0.93975], \"tcp_roll_pitch_yaw\": [0.04997, -0.07905, 0.02923], \"tcp_rotation_matrix\": [[0.99923, 0.00474, 0.03893], [0.00296, -0.99895, 0.04567], [0.03911, -0.04552, -0.9982]], \"simulated_seconds_remaining\": 18.678, \"calls_remaining_including_this\": 37}"
      },
      {
        "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": 0.39,
      "y": 0.53,
      "z": 1.02
    },
    "note": "The exterior view shows the tissue overlaps the bowl but sits toward its right edge. I lift slightly and shift left to center it over the bowl."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 22, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [0.61596, 0.31306, 0.40868, -1.27462, -0.13089, 1.62213, 1.00195], \"gripper_open\": 0.1426, \"tcp_xyz\": [0.3901, 0.52906, 1.01865], \"tcp_roll_pitch_yaw\": [0.04949, -0.07843, 0.02952], \"tcp_rotation_matrix\": [[0.99925, 0.00496, 0.03832], [0.00323, -0.99897, 0.04518], [0.0385, -0.04503, -0.99824]], \"simulated_seconds_remaining\": 17.622, \"calls_remaining_including_this\": 36}"
      },
      {
        "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": 0.37,
      "y": 0.485,
      "z": 0.96
    },
    "note": "The bowl is visible just left of the tissue in the wrist view, and the exterior view shows a small overshoot. I move halfway back and lower for a centered placement."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 23, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [0.54598, 0.11234, 0.39754, -1.68253, -0.04935, 1.84396, 0.94785], \"gripper_open\": 0.1427, \"tcp_xyz\": [0.37027, 0.48566, 0.96056], \"tcp_roll_pitch_yaw\": [0.04874, -0.07761, 0.02959], \"tcp_rotation_matrix\": [[0.99928, 0.00494, 0.03752], [0.00327, -0.99901, 0.04442], [0.03771, -0.04426, -0.99831]], \"simulated_seconds_remaining\": 16.83, \"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": {
      "gripper": 1
    },
    "note": "The tissue now overlaps the bowl center in the exterior view. I open the fingers to place it onto the bowl."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "Episode ended. Do not call more tools. Return a brief final response."
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

Placed the tissue on the bowl.

TURN USAGE
{
  "input_tokens": 452435,
  "cached_input_tokens": 407808,
  "cache_write_input_tokens": 0,
  "output_tokens": 5463,
  "reasoning_output_tokens": 2937
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      -0.03693,
      -0.76496,
      -0.02487,
      -2.38161,
      -0.02473,
      1.57844,
      -0.02577
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.30511,
      -0.02469,
      0.99765
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99886,
        -0.02797,
        -0.0387
      ],
      [
        -0.0282,
        -0.99959,
        -0.00541
      ],
      [
        -0.03853,
        0.00649,
        -0.99924
      ]
    ],
    "simulated_seconds_remaining": 45.012,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 27.621318438090384,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48,
                    "y": 0,
                    "z": 0.88,
                    "gripper": 1
                  },
                  "note": "The bowl and white tissue are ahead on the table. I move over the table for a clearer wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 26,
    "motion_seconds": 1.7160000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      -0.01276,
      -0.19543,
      0.01412,
      -2.21721,
      -0.00287,
      1.98284,
      0.03033
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.47885,
      -0.00015,
      0.88066
    ],
    "tcp_roll_pitch_yaw": [
      -1e-05,
      0.00025,
      2e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99885,
        -0.02795,
        -0.03895
      ],
      [
        -0.02818,
        -0.99959,
        -0.00541
      ],
      [
        -0.03879,
        0.0065,
        -0.99923
      ]
    ],
    "simulated_seconds_remaining": 43.296,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 7.406125933863223,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.65,
                    "y": 0.12,
                    "z": 0.98
                  },
                  "note": "The objects remain toward the far side of the wrist view. I advance and shift left while keeping height to center the tabletop."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 28,
    "motion_seconds": 1.848,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      0.10364,
      0.38939,
      0.1049,
      -1.2145,
      -0.03724,
      1.56266,
      0.2299
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.64903,
      0.11937,
      0.97938
    ],
    "tcp_roll_pitch_yaw": [
      2e-05,
      0.00028,
      0.00016
    ],
    "tcp_rotation_matrix": [
      [
        0.99885,
        -0.02782,
        -0.03897
      ],
      [
        -0.02805,
        -0.99959,
        -0.00539
      ],
      [
        -0.03881,
        0.00648,
        -0.99923
      ]
    ],
    "simulated_seconds_remaining": 41.448,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 13.611482234671712,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.73,
                    "y": 0.16,
                    "z": 0.82
                  },
                  "note": "The tissue pack is visible left of the bowl. I approach above its white center, lowering for more precise alignment."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      0.15478,
      0.75538,
      0.10148,
      -1.03111,
      -0.06685,
      1.74385,
      0.2709
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.72934,
      0.15971,
      0.82094
    ],
    "tcp_roll_pitch_yaw": [
      -5e-05,
      0.00068,
      0.0002
    ],
    "tcp_rotation_matrix": [
      [
        0.99884,
        -0.02777,
        -0.03938
      ],
      [
        -0.02801,
        -0.99959,
        -0.00547
      ],
      [
        -0.03921,
        0.00656,
        -0.99921
      ]
    ],
    "simulated_seconds_remaining": 39.93,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 9.209478622302413,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.68,
                    "z": 0.82
                  },
                  "note": "The tissue is above and left of the finger opening. I make a small backward adjustment to establish accurate lateral alignment."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      0.14496,
      0.54381,
      0.11156,
      -1.38361,
      -0.05625,
      1.88468,
      0.28794
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.68141,
      0.15978,
      0.82016
    ],
    "tcp_roll_pitch_yaw": [
      -0.0,
      0.00059,
      0.00028
    ],
    "tcp_rotation_matrix": [
      [
        0.99884,
        -0.02769,
        -0.03928
      ],
      [
        -0.02792,
        -0.9996,
        -0.00542
      ],
      [
        -0.03912,
        0.00651,
        -0.99921
      ]
    ],
    "simulated_seconds_remaining": 39.336,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 11.809733342379332,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.65,
                    "y": 0.09
                  },
                  "note": "The backward adjustment brought the tissue closer to the fingers. I shift right and slightly back to center its narrow middle between the jaws."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      0.06615,
      0.38672,
      0.09416,
      -1.61402,
      -0.0349,
      1.96927,
      0.18995
    ],
    "gripper_open": 0.9982,
    "tcp_xyz": [
      0.65186,
      0.09672,
      0.8259
    ],
    "tcp_roll_pitch_yaw": [
      0.0044,
      -0.00907,
      0.00615
    ],
    "tcp_rotation_matrix": [
      [
        0.99932,
        -0.02184,
        -0.02963
      ],
      [
        -0.02189,
        -0.99976,
        -0.00119
      ],
      [
        -0.0296,
        0.00184,
        -0.99956
      ]
    ],
    "simulated_seconds_remaining": 38.544,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 8.607358576729894,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.94
                  },
                  "note": "The tissue pack shifted during the lateral approach, indicating contact. I lift clear to reassess its position before grasping."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      0.06896,
      0.35407,
      0.09711,
      -1.3729,
      -0.03031,
      1.6963,
      0.18667
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.65192,
      0.09673,
      0.93884
    ],
    "tcp_roll_pitch_yaw": [
      0.00445,
      -0.00946,
      0.00615
    ],
    "tcp_rotation_matrix": [
      [
        0.99933,
        -0.02184,
        -0.02924
      ],
      [
        -0.02189,
        -0.99976,
        -0.00114
      ],
      [
        -0.02921,
        0.00178,
        -0.99957
      ]
    ],
    "simulated_seconds_remaining": 37.488,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 9.007438050583005,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.59,
                    "y": 0.17
                  },
                  "note": "The tissue is now lying lengthwise ahead of the gripper. I align from above by moving back and left while maintaining clearance."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      0.14396,
      0.19389,
      0.14716,
      -1.60099,
      -0.02138,
      1.7645,
      0.31478
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.59083,
      0.16915,
      0.93889
    ],
    "tcp_roll_pitch_yaw": [
      0.00451,
      -0.00952,
      0.00646
    ],
    "tcp_rotation_matrix": [
      [
        0.99934,
        -0.02153,
        -0.02918
      ],
      [
        -0.02157,
        -0.99977,
        -0.00108
      ],
      [
        -0.02915,
        0.00171,
        -0.99957
      ]
    ],
    "simulated_seconds_remaining": 36.564,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 11.809935880824924,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.54,
                    "y": 0.05
                  },
                  "note": "The tissue remains left of the jaw gap. I shift right with clearance and move slightly back to place the tissue beneath the grasp point."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      0.03476,
      -0.03672,
      0.05771,
      -1.89153,
      0.00384,
      1.82576,
      0.1132
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.54053,
      0.05106,
      0.93893
    ],
    "tcp_roll_pitch_yaw": [
      0.00449,
      -0.00957,
      0.0062
    ],
    "tcp_rotation_matrix": [
      [
        0.99934,
        -0.02179,
        -0.02913
      ],
      [
        -0.02183,
        -0.99976,
        -0.0011
      ],
      [
        -0.02909,
        0.00173,
        -0.99958
      ]
    ],
    "simulated_seconds_remaining": 35.376,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 6.405518204905093,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.515,
                    "y": 0.02,
                    "z": 0.88
                  },
                  "note": "The tissue pack is nearly centered between the jaws. I make a small alignment correction and descend toward its upper surface."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      0.0097,
      -0.09182,
      0.02913,
      -2.10493,
      0.00295,
      1.98376,
      0.05938
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.51541,
      0.02049,
      0.88095
    ],
    "tcp_roll_pitch_yaw": [
      0.00448,
      -0.00933,
      0.0061
    ],
    "tcp_rotation_matrix": [
      [
        0.99933,
        -0.0219,
        -0.02937
      ],
      [
        -0.02194,
        -0.99976,
        -0.00111
      ],
      [
        -0.02934,
        0.00175,
        -0.99957
      ]
    ],
    "simulated_seconds_remaining": 34.584,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 10.208469485864043,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.79
                  },
                  "note": "The tissue is centered in the open gripper. I lower vertically so the fingers can close around its sides."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      0.00994,
      0.00179,
      0.02977,
      -2.23738,
      1e-05,
      2.20942,
      0.06163
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.51533,
      0.02048,
      0.79114
    ],
    "tcp_roll_pitch_yaw": [
      0.00447,
      -0.00897,
      0.0061
    ],
    "tcp_rotation_matrix": [
      [
        0.99932,
        -0.0219,
        -0.02972
      ],
      [
        -0.02194,
        -0.99976,
        -0.00112
      ],
      [
        -0.02969,
        0.00177,
        -0.99956
      ]
    ],
    "simulated_seconds_remaining": 33.66,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 8.006450622342527,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The pack is inside the jaw opening at grasp height. I close the fingers to secure it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      0.00994,
      0.00179,
      0.02977,
      -2.23738,
      1e-05,
      2.20942,
      0.06163
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.51533,
      0.02048,
      0.79113
    ],
    "tcp_roll_pitch_yaw": [
      0.00447,
      -0.00898,
      0.0061
    ],
    "tcp_rotation_matrix": [
      [
        0.99932,
        -0.0219,
        -0.02972
      ],
      [
        -0.02194,
        -0.99976,
        -0.00112
      ],
      [
        -0.02969,
        0.00177,
        -0.99956
      ]
    ],
    "simulated_seconds_remaining": 32.736,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 7.806795304641128,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 1,
                    "z": 0.745,
                    "x": 0.535,
                    "y": -0.005
                  },
                  "note": "The fingers closed fully without gripping, so the pack is below the grasp point. I reopen, correct the small offset, and lower to the pack."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      -0.01035,
      0.09723,
      0.01359,
      -2.20505,
      0.00055,
      2.27699,
      0.0134
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.53499,
      0.00198,
      0.76025
    ],
    "tcp_roll_pitch_yaw": [
      0.00751,
      -0.01343,
      0.01737
    ],
    "tcp_rotation_matrix": [
      [
        0.99962,
        -0.0106,
        -0.02531
      ],
      [
        -0.01056,
        -0.99994,
        0.00166
      ],
      [
        -0.02532,
        -0.00139,
        -0.99968
      ]
    ],
    "simulated_seconds_remaining": 31.812,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 13.410949503071606,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.84,
                    "x": 0.56,
                    "y": 0.035
                  },
                  "note": "The approach met contact before reaching the requested height, and the pack is right of center. I lift slightly and center the pack more accurately."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      0.02097,
      0.07225,
      0.04037,
      -2.01837,
      0.00033,
      2.0657,
      0.07159
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.55973,
      0.03459,
      0.83899
    ],
    "tcp_roll_pitch_yaw": [
      0.00753,
      -0.01374,
      0.01746
    ],
    "tcp_rotation_matrix": [
      [
        0.99963,
        -0.0105,
        -0.025
      ],
      [
        -0.01046,
        -0.99994,
        0.00168
      ],
      [
        -0.02502,
        -0.00142,
        -0.99969
      ]
    ],
    "simulated_seconds_remaining": 30.888,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 9.007149825803936,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.575,
                    "y": 0.05,
                    "z": 0.766
                  },
                  "note": "The tissue pack is aligned with the open jaws. I descend with a small correction so both fingers straddle its narrow sides."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      0.03666,
      0.20077,
      0.05027,
      -2.04368,
      -0.00777,
      2.21906,
      0.10125
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.57465,
      0.04975,
      0.76713
    ],
    "tcp_roll_pitch_yaw": [
      0.00751,
      -0.01338,
      0.01752
    ],
    "tcp_rotation_matrix": [
      [
        0.99962,
        -0.01045,
        -0.02536
      ],
      [
        -0.01041,
        -0.99994,
        0.00165
      ],
      [
        -0.02538,
        -0.00139,
        -0.99968
      ]
    ],
    "simulated_seconds_remaining": 30.096,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 7.405742046423256,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The fingers now straddle the tissue pack at its sides. I close to grasp it before lifting."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      0.03842,
      0.19517,
      0.0528,
      -2.03852,
      -0.00585,
      2.22073,
      0.10119
    ],
    "gripper_open": 0.4944,
    "tcp_xyz": [
      0.57789,
      0.05281,
      0.77275
    ],
    "tcp_roll_pitch_yaw": [
      0.01009,
      -0.02567,
      0.02052
    ],
    "tcp_rotation_matrix": [
      [
        0.99989,
        -0.00736,
        -0.01313
      ],
      [
        -0.0073,
        -0.99996,
        0.00441
      ],
      [
        -0.01317,
        -0.00431,
        -0.9999
      ]
    ],
    "simulated_seconds_remaining": 29.172,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 5.80517238099128,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.97
                  },
                  "note": "The fingers stopped partway closed around the pack, indicating a grasp. I lift it clear of the table to verify it is secured."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 24,
    "motion_seconds": 1.584,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      0.03688,
      0.06575,
      0.05384,
      -1.69491,
      0.00215,
      1.74732,
      0.09756
    ],
    "gripper_open": 0.1426,
    "tcp_xyz": [
      0.57784,
      0.05282,
      0.96834
    ],
    "tcp_roll_pitch_yaw": [
      0.01012,
      -0.02511,
      0.02051
    ],
    "tcp_rotation_matrix": [
      [
        0.99988,
        -0.00737,
        -0.0137
      ],
      [
        -0.00731,
        -0.99996,
        0.00443
      ],
      [
        -0.01373,
        -0.00433,
        -0.9999
      ]
    ],
    "simulated_seconds_remaining": 27.588,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 21.42039213888347,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.64,
                    "y": -0.25,
                    "z": 0.99
                  },
                  "note": "The lifted tissue remains between the fingers. The bowl was to its right in the wrist view, so I carry the tissue rightward toward the bowl."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 36,
    "motion_seconds": 2.3760000000000003,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      -0.28611,
      0.49813,
      -0.13171,
      -1.02704,
      0.06153,
      1.50613,
      -0.3913
    ],
    "gripper_open": 0.1427,
    "tcp_xyz": [
      0.63962,
      -0.2488,
      0.9893
    ],
    "tcp_roll_pitch_yaw": [
      0.01051,
      -0.02401,
      0.02019
    ],
    "tcp_rotation_matrix": [
      [
        0.99986,
        -0.00769,
        -0.0148
      ],
      [
        -0.00762,
        -0.99996,
        0.0048
      ],
      [
        -0.01484,
        -0.00468,
        -0.99988
      ]
    ],
    "simulated_seconds_remaining": 25.212,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 23.42172414623201,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.55,
                    "y": 0.3,
                    "z": 1.03
                  },
                  "note": "The exterior view shows the bowl remains across the tabletop to the left. I correct the transfer direction while keeping the tissue elevated."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 61,
    "motion_seconds": 4.026,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 19,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      0.31188,
      0.26149,
      0.22303,
      -1.28257,
      -0.04545,
      1.52658,
      0.53344
    ],
    "gripper_open": 0.1426,
    "tcp_xyz": [
      0.5501,
      0.29879,
      1.02943
    ],
    "tcp_roll_pitch_yaw": [
      0.01023,
      -0.02308,
      0.02055
    ],
    "tcp_rotation_matrix": [
      [
        0.99985,
        -0.00734,
        -0.01572
      ],
      [
        -0.00727,
        -0.99996,
        0.0045
      ],
      [
        -0.01576,
        -0.00438,
        -0.99987
      ]
    ],
    "simulated_seconds_remaining": 21.186,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 9.007551140151918,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.43,
                    "y": 0.4,
                    "z": 1.03
                  },
                  "note": "The bowl is clearly visible ahead and to the right of the held tissue in the wrist image. I shift back and left to bring it beneath the tissue."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 20,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      0.44321,
      0.11362,
      0.32278,
      -1.48419,
      -0.02164,
      1.58294,
      0.77153
    ],
    "gripper_open": 0.1426,
    "tcp_xyz": [
      0.43088,
      0.39922,
      1.02964
    ],
    "tcp_roll_pitch_yaw": [
      0.00985,
      -0.02236,
      0.02092
    ],
    "tcp_rotation_matrix": [
      [
        0.99984,
        -0.00698,
        -0.01644
      ],
      [
        -0.00691,
        -0.99997,
        0.0041
      ],
      [
        -0.01647,
        -0.00398,
        -0.99986
      ]
    ],
    "simulated_seconds_remaining": 19.866,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 9.407799527980387,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.41,
                    "y": 0.435,
                    "z": 0.9
                  },
                  "note": "The bowl is directly beneath the held pack and mostly occluded. I refine the alignment and lower toward the bowl rim."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 21,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      0.48499,
      0.08452,
      0.35671,
      -1.76783,
      -0.02963,
      1.90699,
      0.84473
    ],
    "gripper_open": 0.1844,
    "tcp_xyz": [
      0.40749,
      0.4442,
      0.93975
    ],
    "tcp_roll_pitch_yaw": [
      0.04997,
      -0.07905,
      0.02923
    ],
    "tcp_rotation_matrix": [
      [
        0.99923,
        0.00474,
        0.03893
      ],
      [
        0.00296,
        -0.99895,
        0.04567
      ],
      [
        0.03911,
        -0.04552,
        -0.9982
      ]
    ],
    "simulated_seconds_remaining": 18.678,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 22.418874273076653,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.39,
                    "y": 0.53,
                    "z": 1.02
                  },
                  "note": "The exterior view shows the tissue overlaps the bowl but sits toward its right edge. I lift slightly and shift left to center it over the bowl."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 22,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      0.61596,
      0.31306,
      0.40868,
      -1.27462,
      -0.13089,
      1.62213,
      1.00195
    ],
    "gripper_open": 0.1426,
    "tcp_xyz": [
      0.3901,
      0.52906,
      1.01865
    ],
    "tcp_roll_pitch_yaw": [
      0.04949,
      -0.07843,
      0.02952
    ],
    "tcp_rotation_matrix": [
      [
        0.99925,
        0.00496,
        0.03832
      ],
      [
        0.00323,
        -0.99897,
        0.04518
      ],
      [
        0.0385,
        -0.04503,
        -0.99824
      ]
    ],
    "simulated_seconds_remaining": 17.622,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 10.408125311136246,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.37,
                    "y": 0.485,
                    "z": 0.96
                  },
                  "note": "The bowl is visible just left of the tissue in the wrist view, and the exterior view shows a small overshoot. I move halfway back and lower for a centered placement."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 23,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      0.54598,
      0.11234,
      0.39754,
      -1.68253,
      -0.04935,
      1.84396,
      0.94785
    ],
    "gripper_open": 0.1427,
    "tcp_xyz": [
      0.37027,
      0.48566,
      0.96056
    ],
    "tcp_roll_pitch_yaw": [
      0.04874,
      -0.07761,
      0.02959
    ],
    "tcp_rotation_matrix": [
      [
        0.99928,
        0.00494,
        0.03752
      ],
      [
        0.00327,
        -0.99901,
        0.04442
      ],
      [
        0.03771,
        -0.04426,
        -0.99831
      ]
    ],
    "simulated_seconds_remaining": 16.83,
    "calls_remaining_including_this": 35
  },
  "api_seconds": 7.605988839641213,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 1
                  },
                  "note": "The tissue now overlaps the bowl center in the exterior view. I open the fingers to place it onto the bowl."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

========================================================================
GPT-Astra / Pick & place / 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,
  "status": "completed",
  "success": false,
  "oracle_success": false,
  "action_decisions": 39,
  "wall_seconds": 473.67,
  "usage": {
    "input_tokens": 919955,
    "cached_input_tokens": 861184,
    "cache_write_input_tokens": 0,
    "output_tokens": 7620,
    "reasoning_output_tokens": 3521
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick-and-place 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 45 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 and grasp the requested object, lift it, move it to the named receptacle, and release it in or on that receptacle. Complete the entire pick-and-place 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 guide the pick and placement.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"pick up the candle and place it on the bowl.\", \"joint_positions\": [0.01245, -0.78556, -0.00272, -2.37598, -0.03781, 1.60358, -0.001], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.31192, -0.00669, 1.00905], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.99983, 0.01226, 0.01355], [0.01274, -0.99928, -0.03572], [0.0131, 0.03588, -0.99927]], \"simulated_seconds_remaining\": 45.012, \"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": 0.86,
    "note": "The candle appears to be the short green cylinder beside the tall bottle; the gold bowl is nearby. I am moving closer above the table to align 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": 0.46,
      "y": 0,
      "z": 0.86
    },
    "note": "The candle appears to be the short green cylinder beside the tall bottle, with the gold bowl nearby. Moving closer above the table to align the grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"pick up the candle and place it on the bowl.\", \"joint_positions\": [0.01396, -0.27675, 0.0023, -2.36409, -0.04091, 2.09966, 0.02409], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.45901, -5e-05, 0.86085], \"tcp_roll_pitch_yaw\": [-1e-05, 0.0003, -0.0], \"tcp_rotation_matrix\": [[0.99984, 0.01227, 0.01325], [0.01274, -0.99928, -0.03573], [0.0128, 0.03589, -0.99927]], \"simulated_seconds_remaining\": 43.296, \"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": 0.34,
      "y": 0.12,
      "z": 0.87
    },
    "note": "The candle is partly hidden by the fingers at the bottom of the wrist view. I am shifting back and left to bring its top into view."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"pick up the candle and place it on the bowl.\", \"joint_positions\": [0.15733, -0.60775, 0.18301, -2.60751, 0.07286, 2.00848, 0.26465], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.34093, 0.11913, 0.86996], \"tcp_roll_pitch_yaw\": [-4e-05, 0.00021, 0.00019], \"tcp_rotation_matrix\": [[0.99983, 0.01246, 0.01334], [0.01294, -0.99928, -0.03576], [0.01289, 0.03592, -0.99927]], \"simulated_seconds_remaining\": 41.844, \"calls_remaining_including_this\": 55}"
      },
      {
        "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": 0.1,
      "z": 0.9
    },
    "note": "Both views place the candle farther forward than the current grasp point. Moving above it with clearance over the neighboring bottle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"pick up the candle and place it on the bowl.\", \"joint_positions\": [0.05863, 0.14836, 0.12941, -1.76893, -0.06037, 1.92188, 0.19455], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.59867, 0.10005, 0.8998], \"tcp_roll_pitch_yaw\": [-4e-05, 0.00029, 0.00011], \"tcp_rotation_matrix\": [[0.99984, 0.01238, 0.01326], [0.01285, -0.99928, -0.03576], [0.01281, 0.03592, -0.99927]], \"simulated_seconds_remaining\": 39.798, \"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": 0.6,
      "y": 0.125,
      "z": 0.79
    },
    "note": "The green candle is visible just right of the wrist image center. I am centering it between the open fingers and lowering toward its sides."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"pick up the candle and place it on the bowl.\", \"joint_positions\": [0.08643, 0.25463, 0.14004, -1.91005, -0.08815, 2.16523, 0.2586], \"gripper_open\": 0.9969, \"tcp_xyz\": [0.59992, 0.12466, 0.79114], \"tcp_roll_pitch_yaw\": [-0.00014, 0.00062, 9e-05], \"tcp_rotation_matrix\": [[0.99984, 0.01237, 0.01293], [0.01283, -0.99927, -0.03585], [0.01248, 0.03601, -0.99927]], \"simulated_seconds_remaining\": 38.742, \"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": 0.61,
      "y": 0.13,
      "z": 0.755
    },
    "note": "The candle top is centered between the fingertips. Lowering slightly so the jaws can grip its cylindrical sides."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"pick up the candle and place it on the bowl.\", \"joint_positions\": [0.09345, 0.29038, 0.13592, -1.88987, -0.10508, 2.17204, 0.27645], \"gripper_open\": 1.0, \"tcp_xyz\": [0.60563, 0.12525, 0.77901], \"tcp_roll_pitch_yaw\": [-0.01151, 0.00569, -0.00564], \"tcp_rotation_matrix\": [[0.99995, 0.0069, 0.0076], [0.00725, -0.99886, -0.04726], [0.00727, 0.04731, -0.99885]], \"simulated_seconds_remaining\": 38.214, \"calls_remaining_including_this\": 52}"
      },
      {
        "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 candle sits between the jaws and the descent has reached contact height. Closing the gripper to secure it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"pick up the candle and place it on the bowl.\", \"joint_positions\": [0.08938, 0.27782, 0.13079, -1.88364, -0.10827, 2.16786, 0.27745], \"gripper_open\": 0.7557, \"tcp_xyz\": [0.60997, 0.11937, 0.78914], \"tcp_roll_pitch_yaw\": [-0.01399, -0.00973, -0.01428], \"tcp_rotation_matrix\": [[0.99974, -0.00249, 0.02255], [-0.00135, -0.99875, -0.05002], [0.02264, 0.04998, -0.99849]], \"simulated_seconds_remaining\": 37.29, \"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": {
      "z": 0.96
    },
    "note": "The jaws stopped against an object. Lifting vertically to check whether the candle is held and clear the table."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"pick up the candle and place it on the bowl.\", \"joint_positions\": [0.08955, 0.18172, 0.13883, -1.57566, -0.08039, 1.76621, 0.2431], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.61003, 0.11938, 0.95883], \"tcp_roll_pitch_yaw\": [-0.01392, -0.0101, -0.01428], \"tcp_rotation_matrix\": [[0.99973, -0.0025, 0.02292], [-0.00135, -0.99875, -0.04995], [0.02301, 0.04991, -0.99849]], \"simulated_seconds_remaining\": 35.838, \"calls_remaining_including_this\": 50}"
      },
      {
        "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": 0.65,
      "y": 0.1,
      "z": 0.86,
      "roll": 0,
      "pitch": 0,
      "yaw": 0,
      "gripper": 1
    },
    "note": "The candle remained on the table. I am adjusting the approach forward and slightly right so the fingers straddle its body more accurately."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"pick up the candle and place it on the bowl.\", \"joint_positions\": [0.06217, 0.32907, 0.12067, -1.61734, -0.08253, 1.9498, 0.1944], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.64945, 0.10017, 0.86107], \"tcp_roll_pitch_yaw\": [-0.00025, 0.00026, -0.00029], \"tcp_rotation_matrix\": [[0.99984, 0.01199, 0.01328], [0.01246, -0.99928, -0.03597], [0.01284, 0.03613, -0.99926]], \"simulated_seconds_remaining\": 34.848, \"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": {
      "z": 0.8,
      "gripper": 1
    },
    "note": "The candle is now aligned within the gap ahead of the fingertips. Lowering to grip near its middle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"pick up the candle and place it on the bowl.\", \"joint_positions\": [0.06275, 0.3743, 0.11702, -1.7072, -0.09234, 2.08395, 0.20453], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.64938, 0.10015, 0.80105], \"tcp_roll_pitch_yaw\": [-0.00031, 0.00061, -0.00029], \"tcp_rotation_matrix\": [[0.99984, 0.01199, 0.01293], [0.01245, -0.99927, -0.03603], [0.01249, 0.03618, -0.99927]], \"simulated_seconds_remaining\": 34.122, \"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": {
      "z": 0.775,
      "gripper": 0
    },
    "note": "The candle is centered laterally between the jaws. Closing around its sides at this corrected position."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 11, \"instruction\": \"pick up the candle and place it on the bowl.\", \"joint_positions\": [0.05697, 0.36505, 0.10686, -1.71812, -0.10289, 2.14175, 0.20911], \"gripper_open\": 0.028, \"tcp_xyz\": [0.66278, 0.09089, 0.80745], \"tcp_roll_pitch_yaw\": [-0.00158, -0.05642, -0.01192], \"tcp_rotation_matrix\": [[0.99759, -0.00178, 0.06942], [0.00087, -0.99927, -0.03812], [0.06944, 0.03809, -0.99686]], \"simulated_seconds_remaining\": 33.198, \"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": 0.615,
      "y": 0.09,
      "z": 0.87,
      "roll": 0,
      "pitch": 0,
      "yaw": 0,
      "gripper": 1
    },
    "note": "The fingers closed short of the candle. Its body is just beyond the grasp point, so I am reopening and moving back to align with the center of the jaws."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 12, \"instruction\": \"pick up the candle and place it on the bowl.\", \"joint_positions\": [0.04936, 0.21056, 0.11917, -1.76416, -0.06816, 1.98096, 0.18042], \"gripper_open\": 0.9965, \"tcp_xyz\": [0.61572, 0.09004, 0.86927], \"tcp_roll_pitch_yaw\": [1e-05, -0.00109, -0.00015], \"tcp_rotation_matrix\": [[0.99982, 0.01208, 0.01463], [0.01259, -0.99928, -0.03571], [0.01419, 0.03589, -0.99926]], \"simulated_seconds_remaining\": 32.274, \"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": {
      "z": 0.81,
      "gripper": 1
    },
    "note": "The candle is lined up with the jaw gap. Lowering until its sides lie between the fingertips."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 13, \"instruction\": \"pick up the candle and place it on the bowl.\", \"joint_positions\": [0.05026, 0.25754, 0.11644, -1.85142, -0.07854, 2.1142, 0.19083], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.61565, 0.09002, 0.8112], \"tcp_roll_pitch_yaw\": [-5e-05, -0.0007, -0.00016], \"tcp_rotation_matrix\": [[0.99983, 0.01208, 0.01424], [0.01258, -0.99928, -0.03577], [0.0138, 0.03594, -0.99926]], \"simulated_seconds_remaining\": 31.614, \"calls_remaining_including_this\": 45}"
      },
      {
        "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 candle's body now lies centrally between the fingers. Closing without further descent to avoid the tabletop."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 14, \"instruction\": \"pick up the candle and place it on the bowl.\", \"joint_positions\": [0.05026, 0.25754, 0.11644, -1.85142, -0.07854, 2.1142, 0.19083], \"gripper_open\": 0.0, \"tcp_xyz\": [0.61565, 0.09002, 0.81119], \"tcp_roll_pitch_yaw\": [-5e-05, -0.00071, -0.00016], \"tcp_rotation_matrix\": [[0.99983, 0.01208, 0.01425], [0.01258, -0.99928, -0.03577], [0.01381, 0.03594, -0.99926]], \"simulated_seconds_remaining\": 30.69, \"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,
      "z": 0.765
    },
    "note": "The jaws closed fully, indicating the grasp was above the candle. Reopening and lowering around the visible cylinder."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 15, \"instruction\": \"pick up the candle and place it on the bowl.\", \"joint_positions\": [0.05419, 0.29182, 0.11526, -1.88715, -0.09191, 2.21544, 0.20196], \"gripper_open\": 1.0, \"tcp_xyz\": [0.62344, 0.09336, 0.78288], \"tcp_roll_pitch_yaw\": [0.00232, -0.03263, 0.0039], \"tcp_rotation_matrix\": [[0.99882, 0.01506, 0.04627], [0.0166, -0.99931, -0.03322], [0.04574, 0.03395, -0.99838]], \"simulated_seconds_remaining\": 29.766, \"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": 0.59,
      "y": 0.09,
      "z": 0.8,
      "roll": 0,
      "pitch": 0,
      "yaw": 0,
      "gripper": 1
    },
    "note": "The descent is meeting contact before the candle is enclosed. Shifting the open jaws slightly back to clear its rim and align with its sides."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 16, \"instruction\": \"pick up the candle and place it on the bowl.\", \"joint_positions\": [0.0499, 0.19935, 0.11995, -1.96492, -0.07427, 2.17032, 0.19644], \"gripper_open\": 0.9967, \"tcp_xyz\": [0.59118, 0.09014, 0.79954], \"tcp_roll_pitch_yaw\": [0.0001, -0.00133, 0.00017], \"tcp_rotation_matrix\": [[0.99981, 0.01239, 0.01488], [0.01291, -0.99928, -0.03561], [0.01443, 0.0358, -0.99925]], \"simulated_seconds_remaining\": 29.238, \"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": {
      "z": 0.755,
      "gripper": 1
    },
    "note": "The candle now sits deeper within the open jaw gap. Lowering along this adjusted approach."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 17, \"instruction\": \"pick up the candle and place it on the bowl.\", \"joint_positions\": [0.05202, 0.25522, 0.11638, -2.00735, -0.08727, 2.26756, 0.20769], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.5911, 0.09012, 0.75608], \"tcp_roll_pitch_yaw\": [5e-05, -0.00099, 0.00016], \"tcp_rotation_matrix\": [[0.99982, 0.01239, 0.01454], [0.0129, -0.99928, -0.03566], [0.01409, 0.03584, -0.99926]], \"simulated_seconds_remaining\": 28.644, \"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": {
      "gripper": 0
    },
    "note": "The fingers have descended beside the candle without obstruction. Closing to grasp its body."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 18, \"instruction\": \"pick up the candle and place it on the bowl.\", \"joint_positions\": [0.05221, 0.25508, 0.11663, -2.0074, -0.08719, 2.26742, 0.20768], \"gripper_open\": 0.0001, \"tcp_xyz\": [0.59102, 0.09038, 0.75612], \"tcp_roll_pitch_yaw\": [0.00014, -0.00093, 0.00055], \"tcp_rotation_matrix\": [[0.99981, 0.01278, 0.01449], [0.01329, -0.99928, -0.03557], [0.01403, 0.03575, -0.99926]], \"simulated_seconds_remaining\": 27.72, \"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": {
      "z": 0.91,
      "gripper": 0
    },
    "note": "Lifting with the close command maintained to verify whether the candle has been secured."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 19, \"instruction\": \"pick up the candle and place it on the bowl.\", \"joint_positions\": [0.04852, 0.11438, 0.12386, -1.79057, -0.05481, 1.91221, 0.17664], \"gripper_open\": 0.0, \"tcp_xyz\": [0.5911, 0.0904, 0.90881], \"tcp_roll_pitch_yaw\": [0.00019, -0.00131, 0.00055], \"tcp_rotation_matrix\": [[0.99981, 0.01277, 0.01488], [0.01329, -0.99928, -0.03552], [0.01442, 0.03571, -0.99926]], \"simulated_seconds_remaining\": 26.4, \"calls_remaining_including_this\": 39}"
      },
      {
        "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": 0.13,
      "z": 0.8,
      "roll": 0,
      "pitch": 0,
      "yaw": 0,
      "gripper": 1
    },
    "note": "The candle stayed on the table. Returning to the earlier lateral alignment where the jaws met resistance, then I will keep the gripper explicitly closed during lifting."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 20, \"instruction\": \"pick up the candle and place it on the bowl.\", \"joint_positions\": [0.09087, 0.27448, 0.1422, -1.85467, -0.08997, 2.12949, 0.26272], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.6097, 0.12957, 0.8011], \"tcp_roll_pitch_yaw\": [-6e-05, 0.00035, 9e-05], \"tcp_rotation_matrix\": [[0.99984, 0.01237, 0.0132], [0.01283, -0.99928, -0.03578], [0.01275, 0.03594, -0.99927]], \"simulated_seconds_remaining\": 25.344, \"calls_remaining_including_this\": 38}"
      },
      {
        "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": 0.775,
      "gripper": 0
    },
    "note": "Closing around the candle at the earlier contact alignment, with the candle under the left side of the wrist view."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 21, \"instruction\": \"pick up the candle and place it on the bowl.\", \"joint_positions\": [0.09665, 0.25609, 0.14639, -1.86477, -0.095, 2.18945, 0.269], \"gripper_open\": 0.0004, \"tcp_xyz\": [0.62151, 0.13891, 0.81384], \"tcp_roll_pitch_yaw\": [0.01294, -0.06693, 0.00869], \"tcp_rotation_matrix\": [[0.99656, 0.01939, 0.08056], [0.02123, -0.99953, -0.02208], [0.0801, 0.02372, -0.9965]], \"simulated_seconds_remaining\": 24.42, \"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": {
      "z": 0.9,
      "gripper": 1,
      "roll": 0,
      "pitch": 0,
      "yaw": 0
    },
    "note": "The candle has tilted during contact. Raising and opening the gripper to see its updated position before approaching again."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 22, \"instruction\": \"pick up the candle and place it on the bowl.\", \"joint_positions\": [0.10033, 0.24675, 0.15057, -1.63834, -0.07857, 1.88727, 0.25798], \"gripper_open\": 0.9965, \"tcp_xyz\": [0.62159, 0.13893, 0.89894], \"tcp_roll_pitch_yaw\": [0.00027, -0.00133, 0.00013], \"tcp_rotation_matrix\": [[0.99981, 0.01235, 0.01488], [0.01287, -0.99929, -0.03545], [0.01443, 0.03563, -0.99926]], \"simulated_seconds_remaining\": 23.496, \"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": 0.625,
      "y": 0.09,
      "z": 0.8,
      "gripper": 1
    },
    "note": "The candle is upright again. Aligning its bright circular top with the center of the fingertips for a narrower approach."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 23, \"instruction\": \"pick up the candle and place it on the bowl.\", \"joint_positions\": [0.0486, 0.29508, 0.11776, -1.82489, -0.08419, 2.12525, 0.1927], \"gripper_open\": 0.9967, \"tcp_xyz\": [0.62493, 0.09054, 0.80106], \"tcp_roll_pitch_yaw\": [0.00024, -0.00111, 7e-05], \"tcp_rotation_matrix\": [[0.99982, 0.0123, 0.01466], [0.01281, -0.99929, -0.03548], [0.01421, 0.03566, -0.99926]], \"simulated_seconds_remaining\": 22.44, \"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": {
      "x": 0.65,
      "z": 0.75,
      "gripper": 1
    },
    "note": "The candle is centered in the gap. Moving slightly forward while descending to keep its body between the fingertips."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 24, \"instruction\": \"pick up the candle and place it on the bowl.\", \"joint_positions\": [0.05864, 0.36905, 0.11676, -1.75181, -0.10204, 2.19843, 0.19923], \"gripper_open\": 1.0, \"tcp_xyz\": [0.66266, 0.10057, 0.79483], \"tcp_roll_pitch_yaw\": [0.00829, -0.07385, 0.01185], \"tcp_rotation_matrix\": [[0.99591, 0.02204, 0.08757], [0.02443, -0.99935, -0.0264], [0.08694, 0.02843, -0.99581]], \"simulated_seconds_remaining\": 21.78, \"calls_remaining_including_this\": 34}"
      },
      {
        "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": 0.585,
      "y": 0.13,
      "z": 0.85,
      "roll": 0,
      "pitch": 0,
      "yaw": 0,
      "gripper": 1
    },
    "note": "The forward approach continues to contact the candle with a fingertip. Moving back and left to place it farther inside the gripper opening."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 25, \"instruction\": \"pick up the candle and place it on the bowl.\", \"joint_positions\": [0.09049, 0.15936, 0.14894, -1.88556, -0.06933, 2.04817, 0.25642], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.58602, 0.12972, 0.84942], \"tcp_roll_pitch_yaw\": [0.00018, -0.00119, 0.0003], \"tcp_rotation_matrix\": [[0.99981, 0.01252, 0.01475], [0.01304, -0.99928, -0.03554], [0.01429, 0.03572, -0.99926]], \"simulated_seconds_remaining\": 20.79, \"calls_remaining_including_this\": 33}"
      },
      {
        "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": 0.74,
      "gripper": 1
    },
    "note": "The candle is aligned deeper between the jaws. Lowering vertically to enclose its sides."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 26, \"instruction\": \"pick up the candle and place it on the bowl.\", \"joint_positions\": [0.09593, 0.28542, 0.13999, -2.00673, -0.10303, 2.29276, 0.28542], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.58594, 0.12969, 0.74112], \"tcp_roll_pitch_yaw\": [0.0001, -0.00083, 0.00029], \"tcp_rotation_matrix\": [[0.99982, 0.01252, 0.01439], [0.01303, -0.99928, -0.03562], [0.01393, 0.0358, -0.99926]], \"simulated_seconds_remaining\": 19.734, \"calls_remaining_including_this\": 32}"
      },
      {
        "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 now down beside the candle. Closing at this deeper position."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 27, \"instruction\": \"pick up the candle and place it on the bowl.\", \"joint_positions\": [0.09593, 0.28542, 0.13999, -2.00673, -0.10303, 2.29276, 0.28542], \"gripper_open\": 0.0, \"tcp_xyz\": [0.58594, 0.12969, 0.74111], \"tcp_roll_pitch_yaw\": [0.0001, -0.00084, 0.00029], \"tcp_rotation_matrix\": [[0.99982, 0.01252, 0.01439], [0.01303, -0.99928, -0.03561], [0.01394, 0.0358, -0.99926]], \"simulated_seconds_remaining\": 18.81, \"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": 0.6,
      "y": 0.05,
      "z": 0.84,
      "gripper": 1
    },
    "note": "The exterior view shows the grasp is offset to the left of the candle. Moving right across the table and reopening for a corrected grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 28, \"instruction\": \"pick up the candle and place it on the bowl.\", \"joint_positions\": [0.00559, 0.16924, 0.09706, -1.89968, -0.06091, 2.07828, 0.11792], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.59991, 0.05079, 0.83902], \"tcp_roll_pitch_yaw\": [0.00011, -0.00104, 0.00011], \"tcp_rotation_matrix\": [[0.99982, 0.01234, 0.01459], [0.01285, -0.99928, -0.0356], [0.01414, 0.03579, -0.99926]], \"simulated_seconds_remaining\": 17.688, \"calls_remaining_including_this\": 30}"
      },
      {
        "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": 0.745,
      "gripper": 1
    },
    "note": "The exterior alignment is closer to the candle center. Lowering the open jaws around it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 29, \"instruction\": \"pick up the candle and place it on the bowl.\", \"joint_positions\": [0.01937, 0.21053, 0.10523, -1.98922, -0.07985, 2.28836, 0.13929], \"gripper_open\": 1.0, \"tcp_xyz\": [0.61343, 0.06682, 0.79325], \"tcp_roll_pitch_yaw\": [0.0069, -0.08104, 0.02051], \"tcp_rotation_matrix\": [[0.99502, 0.03037, 0.09498], [0.03306, -0.99909, -0.02688], [0.09408, 0.02989, -0.99512]], \"simulated_seconds_remaining\": 16.764, \"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,
      "y": 0.09,
      "z": 0.79,
      "roll": 0,
      "pitch": 0,
      "yaw": 0,
      "gripper": 1
    },
    "note": "The right finger touched the candle. Shifting left slightly to center it before lowering the last few centimeters."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 30, \"instruction\": \"pick up the candle and place it on the bowl.\", \"joint_positions\": [0.04783, 0.2353, 0.11919, -1.9408, -0.0798, 2.18338, 0.19582], \"gripper_open\": 0.9968, \"tcp_xyz\": [0.60047, 0.08944, 0.79014], \"tcp_roll_pitch_yaw\": [0.00037, -0.00281, 0.00097], \"tcp_rotation_matrix\": [[0.99978, 0.01313, 0.01639], [0.01371, -0.99928, -0.03534], [0.01591, 0.03555, -0.99924]], \"simulated_seconds_remaining\": 16.302, \"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": {
      "z": 0.74,
      "gripper": 0
    },
    "note": "The candle is centered within the opening. Closing while descending a small amount to catch its sides."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 31, \"instruction\": \"pick up the candle and place it on the bowl.\", \"joint_positions\": [0.05075, 0.30081, 0.1143, -1.98417, -0.09493, 2.29128, 0.20873], \"gripper_open\": 0.0, \"tcp_xyz\": [0.60042, 0.08943, 0.741], \"tcp_roll_pitch_yaw\": [0.00034, -0.00262, 0.00097], \"tcp_rotation_matrix\": [[0.99978, 0.01313, 0.0162], [0.0137, -0.99928, -0.03536], [0.01572, 0.03558, -0.99924]], \"simulated_seconds_remaining\": 15.378, \"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": {
      "gripper": 1,
      "z": 0.69
    },
    "note": "The jaws are still closing freely. Lowering further with the fingers open to reach the candle's body below its top."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 32, \"instruction\": \"pick up the candle and place it on the bowl.\", \"joint_positions\": [0.05821, 0.35148, 0.11067, -2.00062, -0.11156, 2.39142, 0.2223], \"gripper_open\": 1.0, \"tcp_xyz\": [0.60885, 0.09444, 0.71248], \"tcp_roll_pitch_yaw\": [0.00504, -0.03607, 0.00719], \"tcp_rotation_matrix\": [[0.99859, 0.01833, 0.0498], [0.01986, -0.99934, -0.03033], [0.04921, 0.03127, -0.9983]], \"simulated_seconds_remaining\": 14.454, \"calls_remaining_including_this\": 26}"
      },
      {
        "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 fingers have reached the lower part of the candle. Closing now to secure it before lifting."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 33, \"instruction\": \"pick up the candle and place it on the bowl.\", \"joint_positions\": [0.06239, 0.34346, 0.1168, -1.99714, -0.10955, 2.39001, 0.22189], \"gripper_open\": 0.7889, \"tcp_xyz\": [0.61064, 0.10135, 0.71889], \"tcp_roll_pitch_yaw\": [0.00913, -0.04576, 0.01578], \"tcp_rotation_matrix\": [[0.99786, 0.02679, 0.05967], [0.02837, -0.99927, -0.02566], [0.05894, 0.0273, -0.99789]], \"simulated_seconds_remaining\": 13.53, \"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": {
      "z": 0.92,
      "gripper": 0
    },
    "note": "The gripper has stopped partly closed against the object. Lifting while maintaining the close command."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 34, \"instruction\": \"pick up the candle and place it on the bowl.\", \"joint_positions\": [0.05396, 0.14193, 0.13225, -1.74042, -0.0587, 1.93498, 0.17622], \"gripper_open\": 0.0, \"tcp_xyz\": [0.61071, 0.10137, 0.91882], \"tcp_roll_pitch_yaw\": [0.00918, -0.04615, 0.01578], \"tcp_rotation_matrix\": [[0.99784, 0.02679, 0.06006], [0.02837, -0.99927, -0.0256], [0.05933, 0.02725, -0.99787]], \"simulated_seconds_remaining\": 11.88, \"calls_remaining_including_this\": 24}"
      },
      {
        "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": 0.64,
      "y": 0,
      "z": 0.77,
      "roll": 0,
      "pitch": 0,
      "yaw": 0,
      "gripper": 1
    },
    "note": "The candle is still on the table. Moving farther right based on the exterior view to place the grasp point directly over its center."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 35, \"instruction\": \"pick up the candle and place it on the bowl.\", \"joint_positions\": [-0.04003, 0.24454, 0.06562, -1.81065, -0.06994, 2.18981, 0.04185], \"gripper_open\": 1.0, \"tcp_xyz\": [0.65743, 0.00527, 0.84651], \"tcp_roll_pitch_yaw\": [-0.00327, -0.12325, 0.00733], \"tcp_rotation_matrix\": [[0.99052, 0.01468, 0.13656], [0.02005, -0.99908, -0.03798], [0.13587, 0.04036, -0.9899]], \"simulated_seconds_remaining\": 10.362, \"calls_remaining_including_this\": 23}"
      },
      {
        "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": 0.55,
      "y": 0.1,
      "z": 0.78,
      "roll": 0,
      "pitch": 0,
      "yaw": 0,
      "gripper": 1
    },
    "note": "The bottle obstructs the right approach. Moving back toward the candle with the open jaws clear of the bottle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 36, \"instruction\": \"pick up the candle and place it on the bowl.\", \"joint_positions\": [0.06112, 0.10727, 0.1401, -2.11994, -0.06952, 2.59662, 0.22299], \"gripper_open\": 1.0, \"tcp_xyz\": [0.63491, 0.12581, 0.83756], \"tcp_roll_pitch_yaw\": [0.08391, -0.35546, 0.0067], \"tcp_rotation_matrix\": [[0.93232, 0.03489, 0.35996], [0.01785, -0.99856, 0.05057], [0.3612, -0.04072, -0.9316]], \"simulated_seconds_remaining\": 9.042, \"calls_remaining_including_this\": 22}"
      },
      {
        "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": 0.98,
      "gripper": 1,
      "roll": 0,
      "pitch": 0,
      "yaw": 0
    },
    "note": "The arm is being deflected by contact. Raising vertically to clear the objects and restore the grasp orientation."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 37, \"instruction\": \"pick up the candle and place it on the bowl.\", \"joint_positions\": [0.08884, 0.28409, 0.14783, -1.38184, -0.07957, 1.67086, 0.22566], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.63509, 0.12587, 0.97909], \"tcp_roll_pitch_yaw\": [0.00073, -0.0031, 0.0002], \"tcp_rotation_matrix\": [[0.99979, 0.01235, 0.01665], [0.01293, -0.9993, -0.03498], [0.0162, 0.03519, -0.99925]], \"simulated_seconds_remaining\": 7.788, \"calls_remaining_including_this\": 21}"
      },
      {
        "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": 0.66,
      "y": 0.2,
      "z": 0.79,
      "gripper": 1
    },
    "note": "The white cylinder with the dark central wick is now clearly visible beside the displaced green item. Positioning the jaws around this candle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 38, \"instruction\": \"pick up the candle and place it on the bowl.\", \"joint_positions\": [0.17091, 0.49127, 0.16476, -1.55655, -0.13018, 2.04332, 0.36281], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.65975, 0.19954, 0.79107], \"tcp_roll_pitch_yaw\": [0.00065, -0.00272, 0.00029], \"tcp_rotation_matrix\": [[0.99979, 0.01246, 0.01628], [0.01303, -0.9993, -0.03507], [0.01583, 0.03527, -0.99925]], \"simulated_seconds_remaining\": 6.138, \"calls_remaining_including_this\": 20}"
      },
      {
        "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": 0.53,
      "y": 0.025,
      "z": 0.85,
      "gripper": 1
    },
    "note": "The white candle moved left in the wrist view, so I am correcting right and back to center it beneath the gripper."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 39, \"instruction\": \"pick up the candle and place it on the bowl.\", \"joint_positions\": [-0.0172, -0.05043, 0.0793, -2.14963, -0.03741, 2.11331, 0.0685], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.53085, 0.026, 0.84973], \"tcp_roll_pitch_yaw\": [0.00064, -0.00291, 0.00016], \"tcp_rotation_matrix\": [[0.99979, 0.01232, 0.01646], [0.01289, -0.9993, -0.03507], [0.01602, 0.03528, -0.99925]], \"simulated_seconds_remaining\": 4.356, \"calls_remaining_including_this\": 19}"
      },
      {
        "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": "give_up",
  "arguments": {
    "note": "I could not establish a secure grasp of the candle, and too little simulated motion time remains to complete the placement safely."
  },
  "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 candle and place it on the bowl before the motion time ran out.

TURN USAGE
{
  "input_tokens": 919955,
  "cached_input_tokens": 861184,
  "cache_write_input_tokens": 0,
  "output_tokens": 7620,
  "reasoning_output_tokens": 3521
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "pick up the candle and place it on the bowl.",
    "joint_positions": [
      0.01245,
      -0.78556,
      -0.00272,
      -2.37598,
      -0.03781,
      1.60358,
      -0.001
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.31192,
      -0.00669,
      1.00905
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99983,
        0.01226,
        0.01355
      ],
      [
        0.01274,
        -0.99928,
        -0.03572
      ],
      [
        0.0131,
        0.03588,
        -0.99927
      ]
    ],
    "simulated_seconds_remaining": 45.012,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 26.22130494751036,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.46,
                    "y": 0,
                    "z": 0.86
                  },
                  "note": "The candle appears to be the short green cylinder beside the tall bottle, with the gold bowl nearby. Moving closer above the table to align the grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 26,
    "motion_seconds": 1.7160000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "pick up the candle and place it on the bowl.",
    "joint_positions": [
      0.01396,
      -0.27675,
      0.0023,
      -2.36409,
      -0.04091,
      2.09966,
      0.02409
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.45901,
      -5e-05,
      0.86085
    ],
    "tcp_roll_pitch_yaw": [
      -1e-05,
      0.0003,
      -0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99984,
        0.01227,
        0.01325
      ],
      [
        0.01274,
        -0.99928,
        -0.03573
      ],
      [
        0.0128,
        0.03589,
        -0.99927
      ]
    ],
    "simulated_seconds_remaining": 43.296,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 10.609644101932645,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.34,
                    "y": 0.12,
                    "z": 0.87
                  },
                  "note": "The candle is partly hidden by the fingers at the bottom of the wrist view. I am shifting back and left to bring its top into view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 22,
    "motion_seconds": 1.452,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "pick up the candle and place it on the bowl.",
    "joint_positions": [
      0.15733,
      -0.60775,
      0.18301,
      -2.60751,
      0.07286,
      2.00848,
      0.26465
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.34093,
      0.11913,
      0.86996
    ],
    "tcp_roll_pitch_yaw": [
      -4e-05,
      0.00021,
      0.00019
    ],
    "tcp_rotation_matrix": [
      [
        0.99983,
        0.01246,
        0.01334
      ],
      [
        0.01294,
        -0.99928,
        -0.03576
      ],
      [
        0.01289,
        0.03592,
        -0.99927
      ]
    ],
    "simulated_seconds_remaining": 41.844,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 11.61012021638453,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.6,
                    "y": 0.1,
                    "z": 0.9
                  },
                  "note": "Both views place the candle farther forward than the current grasp point. Moving above it with clearance over the neighboring bottle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 31,
    "motion_seconds": 2.0460000000000003,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "pick up the candle and place it on the bowl.",
    "joint_positions": [
      0.05863,
      0.14836,
      0.12941,
      -1.76893,
      -0.06037,
      1.92188,
      0.19455
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.59867,
      0.10005,
      0.8998
    ],
    "tcp_roll_pitch_yaw": [
      -4e-05,
      0.00029,
      0.00011
    ],
    "tcp_rotation_matrix": [
      [
        0.99984,
        0.01238,
        0.01326
      ],
      [
        0.01285,
        -0.99928,
        -0.03576
      ],
      [
        0.01281,
        0.03592,
        -0.99927
      ]
    ],
    "simulated_seconds_remaining": 39.798,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 11.009902879595757,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.6,
                    "y": 0.125,
                    "z": 0.79
                  },
                  "note": "The green candle is visible just right of the wrist image center. I am centering it between the open fingers and lowering toward its sides."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "pick up the candle and place it on the bowl.",
    "joint_positions": [
      0.08643,
      0.25463,
      0.14004,
      -1.91005,
      -0.08815,
      2.16523,
      0.2586
    ],
    "gripper_open": 0.9969,
    "tcp_xyz": [
      0.59992,
      0.12466,
      0.79114
    ],
    "tcp_roll_pitch_yaw": [
      -0.00014,
      0.00062,
      9e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99984,
        0.01237,
        0.01293
      ],
      [
        0.01283,
        -0.99927,
        -0.03585
      ],
      [
        0.01248,
        0.03601,
        -0.99927
      ]
    ],
    "simulated_seconds_remaining": 38.742,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 9.009287714026868,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.61,
                    "y": 0.13,
                    "z": 0.755
                  },
                  "note": "The candle top is centered between the fingertips. Lowering slightly so the jaws can grip its cylindrical sides."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 8,
    "motion_seconds": 0.528,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "pick up the candle and place it on the bowl.",
    "joint_positions": [
      0.09345,
      0.29038,
      0.13592,
      -1.88987,
      -0.10508,
      2.17204,
      0.27645
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.60563,
      0.12525,
      0.77901
    ],
    "tcp_roll_pitch_yaw": [
      -0.01151,
      0.00569,
      -0.00564
    ],
    "tcp_rotation_matrix": [
      [
        0.99995,
        0.0069,
        0.0076
      ],
      [
        0.00725,
        -0.99886,
        -0.04726
      ],
      [
        0.00727,
        0.04731,
        -0.99885
      ]
    ],
    "simulated_seconds_remaining": 38.214,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 5.805746553465724,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The candle sits between the jaws and the descent has reached contact height. Closing the gripper to secure it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "pick up the candle and place it on the bowl.",
    "joint_positions": [
      0.08938,
      0.27782,
      0.13079,
      -1.88364,
      -0.10827,
      2.16786,
      0.27745
    ],
    "gripper_open": 0.7557,
    "tcp_xyz": [
      0.60997,
      0.11937,
      0.78914
    ],
    "tcp_roll_pitch_yaw": [
      -0.01399,
      -0.00973,
      -0.01428
    ],
    "tcp_rotation_matrix": [
      [
        0.99974,
        -0.00249,
        0.02255
      ],
      [
        -0.00135,
        -0.99875,
        -0.05002
      ],
      [
        0.02264,
        0.04998,
        -0.99849
      ]
    ],
    "simulated_seconds_remaining": 37.29,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 6.80597035959363,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.96
                  },
                  "note": "The jaws stopped against an object. Lifting vertically to check whether the candle is held and clear the table."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 22,
    "motion_seconds": 1.452,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "pick up the candle and place it on the bowl.",
    "joint_positions": [
      0.08955,
      0.18172,
      0.13883,
      -1.57566,
      -0.08039,
      1.76621,
      0.2431
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.61003,
      0.11938,
      0.95883
    ],
    "tcp_roll_pitch_yaw": [
      -0.01392,
      -0.0101,
      -0.01428
    ],
    "tcp_rotation_matrix": [
      [
        0.99973,
        -0.0025,
        0.02292
      ],
      [
        -0.00135,
        -0.99875,
        -0.04995
      ],
      [
        0.02301,
        0.04991,
        -0.99849
      ]
    ],
    "simulated_seconds_remaining": 35.838,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 20.816978163085878,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.65,
                    "y": 0.1,
                    "z": 0.86,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 0,
                    "gripper": 1
                  },
                  "note": "The candle remained on the table. I am adjusting the approach forward and slightly right so the fingers straddle its body more accurately."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "pick up the candle and place it on the bowl.",
    "joint_positions": [
      0.06217,
      0.32907,
      0.12067,
      -1.61734,
      -0.08253,
      1.9498,
      0.1944
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.64945,
      0.10017,
      0.86107
    ],
    "tcp_roll_pitch_yaw": [
      -0.00025,
      0.00026,
      -0.00029
    ],
    "tcp_rotation_matrix": [
      [
        0.99984,
        0.01199,
        0.01328
      ],
      [
        0.01246,
        -0.99928,
        -0.03597
      ],
      [
        0.01284,
        0.03613,
        -0.99926
      ]
    ],
    "simulated_seconds_remaining": 34.848,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 9.408176025375724,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.8,
                    "gripper": 1
                  },
                  "note": "The candle is now aligned within the gap ahead of the fingertips. Lowering to grip near its middle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "pick up the candle and place it on the bowl.",
    "joint_positions": [
      0.06275,
      0.3743,
      0.11702,
      -1.7072,
      -0.09234,
      2.08395,
      0.20453
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.64938,
      0.10015,
      0.80105
    ],
    "tcp_roll_pitch_yaw": [
      -0.00031,
      0.00061,
      -0.00029
    ],
    "tcp_rotation_matrix": [
      [
        0.99984,
        0.01199,
        0.01293
      ],
      [
        0.01245,
        -0.99927,
        -0.03603
      ],
      [
        0.01249,
        0.03618,
        -0.99927
      ]
    ],
    "simulated_seconds_remaining": 34.122,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 5.404998128302395,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.775,
                    "gripper": 0
                  },
                  "note": "The candle is centered laterally between the jaws. Closing around its sides at this corrected position."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "pick up the candle and place it on the bowl.",
    "joint_positions": [
      0.05697,
      0.36505,
      0.10686,
      -1.71812,
      -0.10289,
      2.14175,
      0.20911
    ],
    "gripper_open": 0.028,
    "tcp_xyz": [
      0.66278,
      0.09089,
      0.80745
    ],
    "tcp_roll_pitch_yaw": [
      -0.00158,
      -0.05642,
      -0.01192
    ],
    "tcp_rotation_matrix": [
      [
        0.99759,
        -0.00178,
        0.06942
      ],
      [
        0.00087,
        -0.99927,
        -0.03812
      ],
      [
        0.06944,
        0.03809,
        -0.99686
      ]
    ],
    "simulated_seconds_remaining": 33.198,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 9.008112841285765,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.615,
                    "y": 0.09,
                    "z": 0.87,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 0,
                    "gripper": 1
                  },
                  "note": "The fingers closed short of the candle. Its body is just beyond the grasp point, so I am reopening and moving back to align with the center of the jaws."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "pick up the candle and place it on the bowl.",
    "joint_positions": [
      0.04936,
      0.21056,
      0.11917,
      -1.76416,
      -0.06816,
      1.98096,
      0.18042
    ],
    "gripper_open": 0.9965,
    "tcp_xyz": [
      0.61572,
      0.09004,
      0.86927
    ],
    "tcp_roll_pitch_yaw": [
      1e-05,
      -0.00109,
      -0.00015
    ],
    "tcp_rotation_matrix": [
      [
        0.99982,
        0.01208,
        0.01463
      ],
      [
        0.01259,
        -0.99928,
        -0.03571
      ],
      [
        0.01419,
        0.03589,
        -0.99926
      ]
    ],
    "simulated_seconds_remaining": 32.274,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 7.807139100506902,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.81,
                    "gripper": 1
                  },
                  "note": "The candle is lined up with the jaw gap. Lowering until its sides lie between the fingertips."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "pick up the candle and place it on the bowl.",
    "joint_positions": [
      0.05026,
      0.25754,
      0.11644,
      -1.85142,
      -0.07854,
      2.1142,
      0.19083
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.61565,
      0.09002,
      0.8112
    ],
    "tcp_roll_pitch_yaw": [
      -5e-05,
      -0.0007,
      -0.00016
    ],
    "tcp_rotation_matrix": [
      [
        0.99983,
        0.01208,
        0.01424
      ],
      [
        0.01258,
        -0.99928,
        -0.03577
      ],
      [
        0.0138,
        0.03594,
        -0.99926
      ]
    ],
    "simulated_seconds_remaining": 31.614,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 8.607404722832143,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The candle's body now lies centrally between the fingers. Closing without further descent to avoid the tabletop."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "pick up the candle and place it on the bowl.",
    "joint_positions": [
      0.05026,
      0.25754,
      0.11644,
      -1.85142,
      -0.07854,
      2.1142,
      0.19083
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.61565,
      0.09002,
      0.81119
    ],
    "tcp_roll_pitch_yaw": [
      -5e-05,
      -0.00071,
      -0.00016
    ],
    "tcp_rotation_matrix": [
      [
        0.99983,
        0.01208,
        0.01425
      ],
      [
        0.01258,
        -0.99928,
        -0.03577
      ],
      [
        0.01381,
        0.03594,
        -0.99926
      ]
    ],
    "simulated_seconds_remaining": 30.69,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 8.607281791977584,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 1,
                    "z": 0.765
                  },
                  "note": "The jaws closed fully, indicating the grasp was above the candle. Reopening and lowering around the visible cylinder."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "pick up the candle and place it on the bowl.",
    "joint_positions": [
      0.05419,
      0.29182,
      0.11526,
      -1.88715,
      -0.09191,
      2.21544,
      0.20196
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.62344,
      0.09336,
      0.78288
    ],
    "tcp_roll_pitch_yaw": [
      0.00232,
      -0.03263,
      0.0039
    ],
    "tcp_rotation_matrix": [
      [
        0.99882,
        0.01506,
        0.04627
      ],
      [
        0.0166,
        -0.99931,
        -0.03322
      ],
      [
        0.04574,
        0.03395,
        -0.99838
      ]
    ],
    "simulated_seconds_remaining": 29.766,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 13.210692850872874,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.59,
                    "y": 0.09,
                    "z": 0.8,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 0,
                    "gripper": 1
                  },
                  "note": "The descent is meeting contact before the candle is enclosed. Shifting the open jaws slightly back to clear its rim and align with its sides."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 8,
    "motion_seconds": 0.528,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "pick up the candle and place it on the bowl.",
    "joint_positions": [
      0.0499,
      0.19935,
      0.11995,
      -1.96492,
      -0.07427,
      2.17032,
      0.19644
    ],
    "gripper_open": 0.9967,
    "tcp_xyz": [
      0.59118,
      0.09014,
      0.79954
    ],
    "tcp_roll_pitch_yaw": [
      0.0001,
      -0.00133,
      0.00017
    ],
    "tcp_rotation_matrix": [
      [
        0.99981,
        0.01239,
        0.01488
      ],
      [
        0.01291,
        -0.99928,
        -0.03561
      ],
      [
        0.01443,
        0.0358,
        -0.99925
      ]
    ],
    "simulated_seconds_remaining": 29.238,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 8.007120362482965,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.755,
                    "gripper": 1
                  },
                  "note": "The candle now sits deeper within the open jaw gap. Lowering along this adjusted approach."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "pick up the candle and place it on the bowl.",
    "joint_positions": [
      0.05202,
      0.25522,
      0.11638,
      -2.00735,
      -0.08727,
      2.26756,
      0.20769
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.5911,
      0.09012,
      0.75608
    ],
    "tcp_roll_pitch_yaw": [
      5e-05,
      -0.00099,
      0.00016
    ],
    "tcp_rotation_matrix": [
      [
        0.99982,
        0.01239,
        0.01454
      ],
      [
        0.0129,
        -0.99928,
        -0.03566
      ],
      [
        0.01409,
        0.03584,
        -0.99926
      ]
    ],
    "simulated_seconds_remaining": 28.644,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 4.6040399530902505,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The fingers have descended beside the candle without obstruction. Closing to grasp its body."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "pick up the candle and place it on the bowl.",
    "joint_positions": [
      0.05221,
      0.25508,
      0.11663,
      -2.0074,
      -0.08719,
      2.26742,
      0.20768
    ],
    "gripper_open": 0.0001,
    "tcp_xyz": [
      0.59102,
      0.09038,
      0.75612
    ],
    "tcp_roll_pitch_yaw": [
      0.00014,
      -0.00093,
      0.00055
    ],
    "tcp_rotation_matrix": [
      [
        0.99981,
        0.01278,
        0.01449
      ],
      [
        0.01329,
        -0.99928,
        -0.03557
      ],
      [
        0.01403,
        0.03575,
        -0.99926
      ]
    ],
    "simulated_seconds_remaining": 27.72,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 7.005732658319175,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.91,
                    "gripper": 0
                  },
                  "note": "Lifting with the close command maintained to verify whether the candle has been secured."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 19,
  "state": {
    "instruction": "pick up the candle and place it on the bowl.",
    "joint_positions": [
      0.04852,
      0.11438,
      0.12386,
      -1.79057,
      -0.05481,
      1.91221,
      0.17664
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.5911,
      0.0904,
      0.90881
    ],
    "tcp_roll_pitch_yaw": [
      0.00019,
      -0.00131,
      0.00055
    ],
    "tcp_rotation_matrix": [
      [
        0.99981,
        0.01277,
        0.01488
      ],
      [
        0.01329,
        -0.99928,
        -0.03552
      ],
      [
        0.01442,
        0.03571,
        -0.99926
      ]
    ],
    "simulated_seconds_remaining": 26.4,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 15.213170979171991,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.61,
                    "y": 0.13,
                    "z": 0.8,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 0,
                    "gripper": 1
                  },
                  "note": "The candle stayed on the table. Returning to the earlier lateral alignment where the jaws met resistance, then I will keep the gripper explicitly closed during lifting."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 20,
  "state": {
    "instruction": "pick up the candle and place it on the bowl.",
    "joint_positions": [
      0.09087,
      0.27448,
      0.1422,
      -1.85467,
      -0.08997,
      2.12949,
      0.26272
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.6097,
      0.12957,
      0.8011
    ],
    "tcp_roll_pitch_yaw": [
      -6e-05,
      0.00035,
      9e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99984,
        0.01237,
        0.0132
      ],
      [
        0.01283,
        -0.99928,
        -0.03578
      ],
      [
        0.01275,
        0.03594,
        -0.99927
      ]
    ],
    "simulated_seconds_remaining": 25.344,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 5.205197184346616,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.775,
                    "gripper": 0
                  },
                  "note": "Closing around the candle at the earlier contact alignment, with the candle under the left side of the wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 21,
  "state": {
    "instruction": "pick up the candle and place it on the bowl.",
    "joint_positions": [
      0.09665,
      0.25609,
      0.14639,
      -1.86477,
      -0.095,
      2.18945,
      0.269
    ],
    "gripper_open": 0.0004,
    "tcp_xyz": [
      0.62151,
      0.13891,
      0.81384
    ],
    "tcp_roll_pitch_yaw": [
      0.01294,
      -0.06693,
      0.00869
    ],
    "tcp_rotation_matrix": [
      [
        0.99656,
        0.01939,
        0.08056
      ],
      [
        0.02123,
        -0.99953,
        -0.02208
      ],
      [
        0.0801,
        0.02372,
        -0.9965
      ]
    ],
    "simulated_seconds_remaining": 24.42,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 6.405550303868949,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.9,
                    "gripper": 1,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 0
                  },
                  "note": "The candle has tilted during contact. Raising and opening the gripper to see its updated position before approaching again."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 22,
  "state": {
    "instruction": "pick up the candle and place it on the bowl.",
    "joint_positions": [
      0.10033,
      0.24675,
      0.15057,
      -1.63834,
      -0.07857,
      1.88727,
      0.25798
    ],
    "gripper_open": 0.9965,
    "tcp_xyz": [
      0.62159,
      0.13893,
      0.89894
    ],
    "tcp_roll_pitch_yaw": [
      0.00027,
      -0.00133,
      0.00013
    ],
    "tcp_rotation_matrix": [
      [
        0.99981,
        0.01235,
        0.01488
      ],
      [
        0.01287,
        -0.99929,
        -0.03545
      ],
      [
        0.01443,
        0.03563,
        -0.99926
      ]
    ],
    "simulated_seconds_remaining": 23.496,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 27.222646983340383,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.625,
                    "y": 0.09,
                    "z": 0.8,
                    "gripper": 1
                  },
                  "note": "The candle is upright again. Aligning its bright circular top with the center of the fingertips for a narrower approach."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 23,
  "state": {
    "instruction": "pick up the candle and place it on the bowl.",
    "joint_positions": [
      0.0486,
      0.29508,
      0.11776,
      -1.82489,
      -0.08419,
      2.12525,
      0.1927
    ],
    "gripper_open": 0.9967,
    "tcp_xyz": [
      0.62493,
      0.09054,
      0.80106
    ],
    "tcp_roll_pitch_yaw": [
      0.00024,
      -0.00111,
      7e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99982,
        0.0123,
        0.01466
      ],
      [
        0.01281,
        -0.99929,
        -0.03548
      ],
      [
        0.01421,
        0.03566,
        -0.99926
      ]
    ],
    "simulated_seconds_remaining": 22.44,
    "calls_remaining_including_this": 35
  },
  "api_seconds": 6.6047537587583065,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.65,
                    "z": 0.75,
                    "gripper": 1
                  },
                  "note": "The candle is centered in the gap. Moving slightly forward while descending to keep its body between the fingertips."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 24,
  "state": {
    "instruction": "pick up the candle and place it on the bowl.",
    "joint_positions": [
      0.05864,
      0.36905,
      0.11676,
      -1.75181,
      -0.10204,
      2.19843,
      0.19923
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.66266,
      0.10057,
      0.79483
    ],
    "tcp_roll_pitch_yaw": [
      0.00829,
      -0.07385,
      0.01185
    ],
    "tcp_rotation_matrix": [
      [
        0.99591,
        0.02204,
        0.08757
      ],
      [
        0.02443,
        -0.99935,
        -0.0264
      ],
      [
        0.08694,
        0.02843,
        -0.99581
      ]
    ],
    "simulated_seconds_remaining": 21.78,
    "calls_remaining_including_this": 34
  },
  "api_seconds": 11.009718539193273,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.585,
                    "y": 0.13,
                    "z": 0.85,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 0,
                    "gripper": 1
                  },
                  "note": "The forward approach continues to contact the candle with a fingertip. Moving back and left to place it farther inside the gripper opening."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 25,
  "state": {
    "instruction": "pick up the candle and place it on the bowl.",
    "joint_positions": [
      0.09049,
      0.15936,
      0.14894,
      -1.88556,
      -0.06933,
      2.04817,
      0.25642
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.58602,
      0.12972,
      0.84942
    ],
    "tcp_roll_pitch_yaw": [
      0.00018,
      -0.00119,
      0.0003
    ],
    "tcp_rotation_matrix": [
      [
        0.99981,
        0.01252,
        0.01475
      ],
      [
        0.01304,
        -0.99928,
        -0.03554
      ],
      [
        0.01429,
        0.03572,
        -0.99926
      ]
    ],
    "simulated_seconds_remaining": 20.79,
    "calls_remaining_including_this": 33
  },
  "api_seconds": 4.604504723101854,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.74,
                    "gripper": 1
                  },
                  "note": "The candle is aligned deeper between the jaws. Lowering vertically to enclose its sides."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 26,
  "state": {
    "instruction": "pick up the candle and place it on the bowl.",
    "joint_positions": [
      0.09593,
      0.28542,
      0.13999,
      -2.00673,
      -0.10303,
      2.29276,
      0.28542
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.58594,
      0.12969,
      0.74112
    ],
    "tcp_roll_pitch_yaw": [
      0.0001,
      -0.00083,
      0.00029
    ],
    "tcp_rotation_matrix": [
      [
        0.99982,
        0.01252,
        0.01439
      ],
      [
        0.01303,
        -0.99928,
        -0.03562
      ],
      [
        0.01393,
        0.0358,
        -0.99926
      ]
    ],
    "simulated_seconds_remaining": 19.734,
    "calls_remaining_including_this": 32
  },
  "api_seconds": 4.8045307490974665,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The fingers are now down beside the candle. Closing at this deeper position."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 27,
  "state": {
    "instruction": "pick up the candle and place it on the bowl.",
    "joint_positions": [
      0.09593,
      0.28542,
      0.13999,
      -2.00673,
      -0.10303,
      2.29276,
      0.28542
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.58594,
      0.12969,
      0.74111
    ],
    "tcp_roll_pitch_yaw": [
      0.0001,
      -0.00084,
      0.00029
    ],
    "tcp_rotation_matrix": [
      [
        0.99982,
        0.01252,
        0.01439
      ],
      [
        0.01303,
        -0.99928,
        -0.03561
      ],
      [
        0.01394,
        0.0358,
        -0.99926
      ]
    ],
    "simulated_seconds_remaining": 18.81,
    "calls_remaining_including_this": 31
  },
  "api_seconds": 16.413908357731998,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.6,
                    "y": 0.05,
                    "z": 0.84,
                    "gripper": 1
                  },
                  "note": "The exterior view shows the grasp is offset to the left of the candle. Moving right across the table and reopening for a corrected grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 28,
  "state": {
    "instruction": "pick up the candle and place it on the bowl.",
    "joint_positions": [
      0.00559,
      0.16924,
      0.09706,
      -1.89968,
      -0.06091,
      2.07828,
      0.11792
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.59991,
      0.05079,
      0.83902
    ],
    "tcp_roll_pitch_yaw": [
      0.00011,
      -0.00104,
      0.00011
    ],
    "tcp_rotation_matrix": [
      [
        0.99982,
        0.01234,
        0.01459
      ],
      [
        0.01285,
        -0.99928,
        -0.0356
      ],
      [
        0.01414,
        0.03579,
        -0.99926
      ]
    ],
    "simulated_seconds_remaining": 17.688,
    "calls_remaining_including_this": 30
  },
  "api_seconds": 5.205120998434722,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.745,
                    "gripper": 1
                  },
                  "note": "The exterior alignment is closer to the candle center. Lowering the open jaws around it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 29,
  "state": {
    "instruction": "pick up the candle and place it on the bowl.",
    "joint_positions": [
      0.01937,
      0.21053,
      0.10523,
      -1.98922,
      -0.07985,
      2.28836,
      0.13929
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.61343,
      0.06682,
      0.79325
    ],
    "tcp_roll_pitch_yaw": [
      0.0069,
      -0.08104,
      0.02051
    ],
    "tcp_rotation_matrix": [
      [
        0.99502,
        0.03037,
        0.09498
      ],
      [
        0.03306,
        -0.99909,
        -0.02688
      ],
      [
        0.09408,
        0.02989,
        -0.99512
      ]
    ],
    "simulated_seconds_remaining": 16.764,
    "calls_remaining_including_this": 29
  },
  "api_seconds": 8.209792625159025,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.6,
                    "y": 0.09,
                    "z": 0.79,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 0,
                    "gripper": 1
                  },
                  "note": "The right finger touched the candle. Shifting left slightly to center it before lowering the last few centimeters."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 7,
    "motion_seconds": 0.462,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 30,
  "state": {
    "instruction": "pick up the candle and place it on the bowl.",
    "joint_positions": [
      0.04783,
      0.2353,
      0.11919,
      -1.9408,
      -0.0798,
      2.18338,
      0.19582
    ],
    "gripper_open": 0.9968,
    "tcp_xyz": [
      0.60047,
      0.08944,
      0.79014
    ],
    "tcp_roll_pitch_yaw": [
      0.00037,
      -0.00281,
      0.00097
    ],
    "tcp_rotation_matrix": [
      [
        0.99978,
        0.01313,
        0.01639
      ],
      [
        0.01371,
        -0.99928,
        -0.03534
      ],
      [
        0.01591,
        0.03555,
        -0.99924
      ]
    ],
    "simulated_seconds_remaining": 16.302,
    "calls_remaining_including_this": 28
  },
  "api_seconds": 5.005029685795307,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.74,
                    "gripper": 0
                  },
                  "note": "The candle is centered within the opening. Closing while descending a small amount to catch its sides."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 31,
  "state": {
    "instruction": "pick up the candle and place it on the bowl.",
    "joint_positions": [
      0.05075,
      0.30081,
      0.1143,
      -1.98417,
      -0.09493,
      2.29128,
      0.20873
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.60042,
      0.08943,
      0.741
    ],
    "tcp_roll_pitch_yaw": [
      0.00034,
      -0.00262,
      0.00097
    ],
    "tcp_rotation_matrix": [
      [
        0.99978,
        0.01313,
        0.0162
      ],
      [
        0.0137,
        -0.99928,
        -0.03536
      ],
      [
        0.01572,
        0.03558,
        -0.99924
      ]
    ],
    "simulated_seconds_remaining": 15.378,
    "calls_remaining_including_this": 27
  },
  "api_seconds": 8.206856573931873,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 1,
                    "z": 0.69
                  },
                  "note": "The jaws are still closing freely. Lowering further with the fingers open to reach the candle's body below its top."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 32,
  "state": {
    "instruction": "pick up the candle and place it on the bowl.",
    "joint_positions": [
      0.05821,
      0.35148,
      0.11067,
      -2.00062,
      -0.11156,
      2.39142,
      0.2223
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.60885,
      0.09444,
      0.71248
    ],
    "tcp_roll_pitch_yaw": [
      0.00504,
      -0.03607,
      0.00719
    ],
    "tcp_rotation_matrix": [
      [
        0.99859,
        0.01833,
        0.0498
      ],
      [
        0.01986,
        -0.99934,
        -0.03033
      ],
      [
        0.04921,
        0.03127,
        -0.9983
      ]
    ],
    "simulated_seconds_remaining": 14.454,
    "calls_remaining_including_this": 26
  },
  "api_seconds": 4.604624153114855,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The open fingers have reached the lower part of the candle. Closing now to secure it before lifting."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 33,
  "state": {
    "instruction": "pick up the candle and place it on the bowl.",
    "joint_positions": [
      0.06239,
      0.34346,
      0.1168,
      -1.99714,
      -0.10955,
      2.39001,
      0.22189
    ],
    "gripper_open": 0.7889,
    "tcp_xyz": [
      0.61064,
      0.10135,
      0.71889
    ],
    "tcp_roll_pitch_yaw": [
      0.00913,
      -0.04576,
      0.01578
    ],
    "tcp_rotation_matrix": [
      [
        0.99786,
        0.02679,
        0.05967
      ],
      [
        0.02837,
        -0.99927,
        -0.02566
      ],
      [
        0.05894,
        0.0273,
        -0.99789
      ]
    ],
    "simulated_seconds_remaining": 13.53,
    "calls_remaining_including_this": 25
  },
  "api_seconds": 4.605698194354773,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.92,
                    "gripper": 0
                  },
                  "note": "The gripper has stopped partly closed against the object. Lifting while maintaining the close command."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 25,
    "motion_seconds": 1.6500000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 34,
  "state": {
    "instruction": "pick up the candle and place it on the bowl.",
    "joint_positions": [
      0.05396,
      0.14193,
      0.13225,
      -1.74042,
      -0.0587,
      1.93498,
      0.17622
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.61071,
      0.10137,
      0.91882
    ],
    "tcp_roll_pitch_yaw": [
      0.00918,
      -0.04615,
      0.01578
    ],
    "tcp_rotation_matrix": [
      [
        0.99784,
        0.02679,
        0.06006
      ],
      [
        0.02837,
        -0.99927,
        -0.0256
      ],
      [
        0.05933,
        0.02725,
        -0.99787
      ]
    ],
    "simulated_seconds_remaining": 11.88,
    "calls_remaining_including_this": 24
  },
  "api_seconds": 14.613998371176422,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.64,
                    "y": 0,
                    "z": 0.77,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 0,
                    "gripper": 1
                  },
                  "note": "The candle is still on the table. Moving farther right based on the exterior view to place the grasp point directly over its center."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 35,
  "state": {
    "instruction": "pick up the candle and place it on the bowl.",
    "joint_positions": [
      -0.04003,
      0.24454,
      0.06562,
      -1.81065,
      -0.06994,
      2.18981,
      0.04185
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.65743,
      0.00527,
      0.84651
    ],
    "tcp_roll_pitch_yaw": [
      -0.00327,
      -0.12325,
      0.00733
    ],
    "tcp_rotation_matrix": [
      [
        0.99052,
        0.01468,
        0.13656
      ],
      [
        0.02005,
        -0.99908,
        -0.03798
      ],
      [
        0.13587,
        0.04036,
        -0.9899
      ]
    ],
    "simulated_seconds_remaining": 10.362,
    "calls_remaining_including_this": 23
  },
  "api_seconds": 8.006822414696217,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.55,
                    "y": 0.1,
                    "z": 0.78,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 0,
                    "gripper": 1
                  },
                  "note": "The bottle obstructs the right approach. Moving back toward the candle with the open jaws clear of the bottle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 36,
  "state": {
    "instruction": "pick up the candle and place it on the bowl.",
    "joint_positions": [
      0.06112,
      0.10727,
      0.1401,
      -2.11994,
      -0.06952,
      2.59662,
      0.22299
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.63491,
      0.12581,
      0.83756
    ],
    "tcp_roll_pitch_yaw": [
      0.08391,
      -0.35546,
      0.0067
    ],
    "tcp_rotation_matrix": [
      [
        0.93232,
        0.03489,
        0.35996
      ],
      [
        0.01785,
        -0.99856,
        0.05057
      ],
      [
        0.3612,
        -0.04072,
        -0.9316
      ]
    ],
    "simulated_seconds_remaining": 9.042,
    "calls_remaining_including_this": 22
  },
  "api_seconds": 6.205198066309094,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.98,
                    "gripper": 1,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 0
                  },
                  "note": "The arm is being deflected by contact. Raising vertically to clear the objects and restore the grasp orientation."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 37,
  "state": {
    "instruction": "pick up the candle and place it on the bowl.",
    "joint_positions": [
      0.08884,
      0.28409,
      0.14783,
      -1.38184,
      -0.07957,
      1.67086,
      0.22566
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.63509,
      0.12587,
      0.97909
    ],
    "tcp_roll_pitch_yaw": [
      0.00073,
      -0.0031,
      0.0002
    ],
    "tcp_rotation_matrix": [
      [
        0.99979,
        0.01235,
        0.01665
      ],
      [
        0.01293,
        -0.9993,
        -0.03498
      ],
      [
        0.0162,
        0.03519,
        -0.99925
      ]
    ],
    "simulated_seconds_remaining": 7.788,
    "calls_remaining_including_this": 21
  },
  "api_seconds": 12.811865165829659,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.66,
                    "y": 0.2,
                    "z": 0.79,
                    "gripper": 1
                  },
                  "note": "The white cylinder with the dark central wick is now clearly visible beside the displaced green item. Positioning the jaws around this candle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 25,
    "motion_seconds": 1.6500000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 38,
  "state": {
    "instruction": "pick up the candle and place it on the bowl.",
    "joint_positions": [
      0.17091,
      0.49127,
      0.16476,
      -1.55655,
      -0.13018,
      2.04332,
      0.36281
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.65975,
      0.19954,
      0.79107
    ],
    "tcp_roll_pitch_yaw": [
      0.00065,
      -0.00272,
      0.00029
    ],
    "tcp_rotation_matrix": [
      [
        0.99979,
        0.01246,
        0.01628
      ],
      [
        0.01303,
        -0.9993,
        -0.03507
      ],
      [
        0.01583,
        0.03527,
        -0.99925
      ]
    ],
    "simulated_seconds_remaining": 6.138,
    "calls_remaining_including_this": 20
  },
  "api_seconds": 9.007057394832373,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.53,
                    "y": 0.025,
                    "z": 0.85,
                    "gripper": 1
                  },
                  "note": "The white candle moved left in the wrist view, so I am correcting right and back to center it beneath the gripper."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 27,
    "motion_seconds": 1.782,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 39,
  "state": {
    "instruction": "pick up the candle and place it on the bowl.",
    "joint_positions": [
      -0.0172,
      -0.05043,
      0.0793,
      -2.14963,
      -0.03741,
      2.11331,
      0.0685
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.53085,
      0.026,
      0.84973
    ],
    "tcp_roll_pitch_yaw": [
      0.00064,
      -0.00291,
      0.00016
    ],
    "tcp_rotation_matrix": [
      [
        0.99979,
        0.01232,
        0.01646
      ],
      [
        0.01289,
        -0.9993,
        -0.03507
      ],
      [
        0.01602,
        0.03528,
        -0.99925
      ]
    ],
    "simulated_seconds_remaining": 4.356,
    "calls_remaining_including_this": 19
  },
  "api_seconds": 5.605010396800935,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "give_up",
                "args": {
                  "note": "I could not establish a secure grasp of the candle, and too little simulated motion time remains to complete the placement safely."
                }
              }
            }
          ]
        }
      }
    ]
  }
}

========================================================================
GPT-Astra / Pick & place / 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,
  "status": "completed",
  "success": true,
  "oracle_success": true,
  "action_decisions": 20,
  "wall_seconds": 250.04,
  "usage": {
    "input_tokens": 382337,
    "cached_input_tokens": 333056,
    "cache_write_input_tokens": 0,
    "output_tokens": 4375,
    "reasoning_output_tokens": 2179
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick-and-place 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 45 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 and grasp the requested object, lift it, move it to the named receptacle, and release it in or on that receptacle. Complete the entire pick-and-place 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 views to guide each motion.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"pick up the spoon and place it on the bowl.\", \"joint_positions\": [0.03951, -0.79494, 0.03372, -2.37529, -0.01172, 1.61656, -0.02672], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.31385, 0.01923, 1.01335], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.99523, 0.08979, 0.0381], [0.09107, -0.99528, -0.03342], [0.03492, 0.03673, -0.99871]], \"simulated_seconds_remaining\": 45.012, \"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": 0.89,
    "gripper": 1,
    "note": "The spoon is visible under the wrist, with its handle extending toward the gripper. I lower the open gripper to refine 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": 0.89,
      "gripper": 1
    },
    "note": "The spoon lies beneath the wrist with its handle extending toward the fingers. I lower the open gripper to refine alignment."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"pick up the spoon and place it on the bowl.\", \"joint_positions\": [0.04282, -0.81613, 0.0383, -2.69958, -0.00862, 1.91922, -0.01826], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.3138, 0.01923, 0.89124], \"tcp_roll_pitch_yaw\": [-3e-05, 0.0003, -0.0], \"tcp_rotation_matrix\": [[0.99524, 0.0898, 0.0378], [0.09108, -0.99528, -0.03345], [0.03462, 0.03673, -0.99873]], \"simulated_seconds_remaining\": 43.89, \"calls_remaining_including_this\": 56}"
      },
      {
        "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": 0.815
    },
    "note": "The spoon handle is between the visible finger sides, but below their tips. I descend toward the tabletop for a handle grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"pick up the spoon and place it on the bowl.\", \"joint_positions\": [0.04295, -0.7501, 0.04331, -2.85754, -0.00795, 2.14277, -0.01127], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.31373, 0.01922, 0.81624], \"tcp_roll_pitch_yaw\": [-6e-05, 0.00064, -0.0], \"tcp_rotation_matrix\": [[0.99525, 0.08981, 0.03746], [0.09107, -0.99528, -0.03348], [0.03428, 0.03673, -0.99874]], \"simulated_seconds_remaining\": 43.098, \"calls_remaining_including_this\": 55}"
      },
      {
        "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": 0.785,
      "gripper": 0
    },
    "note": "The spoon handle is now occluded between the jaws near the tabletop. I close the fingers around it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"pick up the spoon and place it on the bowl.\", \"joint_positions\": [0.04195, -0.6989, 0.04605, -2.90952, -0.00855, 2.24581, -0.00766], \"gripper_open\": 0.0, \"tcp_xyz\": [0.3137, 0.01922, 0.7861], \"tcp_roll_pitch_yaw\": [-7e-05, 0.00073, -0.0], \"tcp_rotation_matrix\": [[0.99526, 0.08981, 0.03737], [0.09107, -0.99528, -0.03349], [0.03418, 0.03673, -0.99874]], \"simulated_seconds_remaining\": 42.174, \"calls_remaining_including_this\": 54}"
      },
      {
        "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": 0.95
    },
    "note": "The jaws fully closed, so the grasp may have missed the thin handle. I lift to check whether the spoon comes with the gripper."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"pick up the spoon and place it on the bowl.\", \"joint_positions\": [0.04149, -0.8218, 0.03569, -2.5561, -0.00995, 1.77, -0.02256], \"gripper_open\": 0.0, \"tcp_xyz\": [0.31378, 0.01923, 0.94873], \"tcp_roll_pitch_yaw\": [-4e-05, 0.00044, -0.0], \"tcp_rotation_matrix\": [[0.99525, 0.08981, 0.03766], [0.09107, -0.99528, -0.03346], [0.03448, 0.03673, -0.99873]], \"simulated_seconds_remaining\": 40.788, \"calls_remaining_including_this\": 53}"
      },
      {
        "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": 0.36,
      "z": 0.96,
      "gripper": 1
    },
    "note": "The exterior view still shows the spoon on the counter. I reopen and shift forward to expose its handle for a better aligned grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"pick up the spoon and place it on the bowl.\", \"joint_positions\": [0.03482, -0.66654, 0.03327, -2.43353, -0.01555, 1.80276, -0.02596], \"gripper_open\": 0.9965, \"tcp_xyz\": [0.359, 0.01922, 0.95974], \"tcp_roll_pitch_yaw\": [-4e-05, 0.00048, -1e-05], \"tcp_rotation_matrix\": [[0.99525, 0.0898, 0.03762], [0.09106, -0.99528, -0.03345], [0.03444, 0.03672, -0.99873]], \"simulated_seconds_remaining\": 39.864, \"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": 0.34,
      "y": 0.04,
      "z": 0.86
    },
    "note": "The spoon handle runs diagonally through the open jaws. I shift slightly back and left while lowering to center the handle between the fingers."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"pick up the spoon and place it on the bowl.\", \"joint_positions\": [0.05992, -0.68814, 0.07438, -2.69916, 0.01071, 2.04553, 0.0228], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.34019, 0.03974, 0.86119], \"tcp_roll_pitch_yaw\": [-9e-05, 0.00076, 3e-05], \"tcp_rotation_matrix\": [[0.99526, 0.08985, 0.03734], [0.09111, -0.99528, -0.0335], [0.03416, 0.03675, -0.99874]], \"simulated_seconds_remaining\": 38.874, \"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": 0.38,
      "y": 0.035,
      "z": 0.775
    },
    "note": "The spoon bowl is clear between the fingers. I advance as I descend so its neck stays centered instead of slipping behind the jaws."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"pick up the spoon and place it on the bowl.\", \"joint_positions\": [0.03731, -0.42129, 0.07544, -2.73759, -0.0091, 2.35058, 0.02234], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.37937, 0.03505, 0.77612], \"tcp_roll_pitch_yaw\": [-0.00012, 0.00112, -1e-05], \"tcp_rotation_matrix\": [[0.99527, 0.08983, 0.03698], [0.09107, -0.99528, -0.03354], [0.0338, 0.03675, -0.99875]], \"simulated_seconds_remaining\": 37.95, \"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": 0.405,
      "y": 0.055,
      "z": 0.775
    },
    "note": "The spoon bowl sits right and low in the wrist view. I translate across the tabletop to bring the neck into the center of the open fingers."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"pick up the spoon and place it on the bowl.\", \"joint_positions\": [0.04875, -0.32963, 0.10399, -2.65868, -0.00717, 2.36236, 0.06203], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.40414, 0.05434, 0.77504], \"tcp_roll_pitch_yaw\": [-0.00014, 0.00113, 6e-05], \"tcp_rotation_matrix\": [[0.99526, 0.0899, 0.03698], [0.09114, -0.99527, -0.03356], [0.03378, 0.03677, -0.99875]], \"simulated_seconds_remaining\": 37.422, \"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": 0.418,
      "y": 0.057,
      "z": 0.747
    },
    "note": "The spoon neck is centered between the jaws. I lower the final few centimeters, compensating forward for the wrist camera angle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"pick up the spoon and place it on the bowl.\", \"joint_positions\": [0.04458, -0.23631, 0.11269, -2.63899, -0.01951, 2.44847, 0.07568], \"gripper_open\": 1.0, \"tcp_xyz\": [0.4214, 0.05924, 0.75306], \"tcp_roll_pitch_yaw\": [0.00177, -0.01164, 0.00338], \"tcp_rotation_matrix\": [[0.99444, 0.09274, 0.04983], [0.09438, -0.99504, -0.03148], [0.04667, 0.03601, -0.99826]], \"simulated_seconds_remaining\": 36.894, \"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"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The fingertips have reached the tabletop and the spoon neck lies between them. I close the gripper to secure it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 11, \"instruction\": \"pick up the spoon and place it on the bowl.\", \"joint_positions\": [0.04986, -0.24382, 0.11823, -2.62979, -0.01592, 2.45183, 0.07556], \"gripper_open\": 0.7696, \"tcp_xyz\": [0.42709, 0.06495, 0.76042], \"tcp_roll_pitch_yaw\": [0.00511, -0.0313, 0.01186], \"tcp_rotation_matrix\": [[0.99249, 0.10056, 0.06967], [0.10267, -0.99434, -0.02749], [0.06652, 0.03444, -0.99719]], \"simulated_seconds_remaining\": 35.97, \"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": {
      "z": 0.92,
      "gripper": 0
    },
    "note": "The fingers remain separated around the spoon. I lift vertically with the gripper closed to verify that it is held."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 12, \"instruction\": \"pick up the spoon and place it on the bowl.\", \"joint_positions\": [0.05824, -0.44543, 0.0991, -2.37742, 0.00559, 1.99914, 0.04504], \"gripper_open\": 0.0, \"tcp_xyz\": [0.42717, 0.06496, 0.91879], \"tcp_roll_pitch_yaw\": [0.00515, -0.03164, 0.01186], \"tcp_rotation_matrix\": [[0.99247, 0.10055, 0.07001], [0.10267, -0.99434, -0.02745], [0.06686, 0.03443, -0.99717]], \"simulated_seconds_remaining\": 34.584, \"calls_remaining_including_this\": 46}"
      },
      {
        "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"
}

The spoon slipped during the first lift. I’m adjusting the grasp to put its narrow neck directly between the fingertips.


{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.48,
      "y": 0.055,
      "z": 0.785,
      "roll": 0,
      "pitch": 0,
      "yaw": 0,
      "gripper": 1
    },
    "note": "The spoon remains visible below the wrist. I move forward and reopen, aiming its narrow neck at the fingertip line."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 13, \"instruction\": \"pick up the spoon and place it on the bowl.\", \"joint_positions\": [0.03103, -0.12358, 0.09686, -2.41562, -0.03578, 2.32584, 0.06076], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.47944, 0.05506, 0.78614], \"tcp_roll_pitch_yaw\": [2e-05, 4e-05, 6e-05], \"tcp_rotation_matrix\": [[0.99523, 0.08986, 0.03806], [0.09114, -0.99528, -0.0334], [0.03488, 0.03671, -0.99872]], \"simulated_seconds_remaining\": 33.33, \"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": 0.489,
      "z": 0.768
    },
    "note": "The spoon neck is aligned with the fingertip line. I lower slightly while keeping that neck centered."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 14, \"instruction\": \"pick up the spoon and place it on the bowl.\", \"joint_positions\": [0.02871, -0.07007, 0.09667, -2.40423, -0.04454, 2.36744, 0.06593], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.4883, 0.05505, 0.76917], \"tcp_roll_pitch_yaw\": [1e-05, 0.00021, 5e-05], \"tcp_rotation_matrix\": [[0.99523, 0.08985, 0.03789], [0.09112, -0.99528, -0.03341], [0.03471, 0.0367, -0.99872]], \"simulated_seconds_remaining\": 32.868, \"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": {
      "gripper": 0
    },
    "note": "The spoon handle crosses the center between the fingertips at table height. I close around the handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 15, \"instruction\": \"pick up the spoon and place it on the bowl.\", \"joint_positions\": [0.02872, -0.0701, 0.09668, -2.40421, -0.04453, 2.36743, 0.06593], \"gripper_open\": 0.0894, \"tcp_xyz\": [0.48832, 0.05506, 0.76919], \"tcp_roll_pitch_yaw\": [2e-05, 0.00016, 6e-05], \"tcp_rotation_matrix\": [[0.99523, 0.08985, 0.03794], [0.09113, -0.99528, -0.0334], [0.03476, 0.0367, -0.99872]], \"simulated_seconds_remaining\": 31.944, \"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": {
      "z": 0.96
    },
    "note": "The fingers stopped slightly apart around the handle. I lift the spoon clear of the counter."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 16, \"instruction\": \"pick up the spoon and place it on the bowl.\", \"joint_positions\": [0.03157, -0.24875, 0.08895, -2.08648, -0.01652, 1.8726, 0.03213], \"gripper_open\": 0.0893, \"tcp_xyz\": [0.48837, 0.05507, 0.95873], \"tcp_roll_pitch_yaw\": [4e-05, -5e-05, 6e-05], \"tcp_rotation_matrix\": [[0.99522, 0.08985, 0.03815], [0.09113, -0.99528, -0.03337], [0.03497, 0.03669, -0.99871]], \"simulated_seconds_remaining\": 30.36, \"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": 0.38,
      "y": -0.15,
      "z": 1
    },
    "note": "The spoon stays fixed in the gripper during the lift. I carry it toward the shallow white bowl on the right side of the exterior view."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 17, \"instruction\": \"pick up the spoon and place it on the bowl.\", \"joint_positions\": [-0.12044, -0.5246, -0.18786, -2.22179, -0.11678, 1.7499, -0.35786], \"gripper_open\": 0.0893, \"tcp_xyz\": [0.38061, -0.14889, 0.99975], \"tcp_roll_pitch_yaw\": [0.00011, -3e-05, -0.00019], \"tcp_rotation_matrix\": [[0.99525, 0.0896, 0.03813], [0.09088, -0.9953, -0.03332], [0.03496, 0.03663, -0.99872]], \"simulated_seconds_remaining\": 28.512, \"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": {
      "x": 0.34,
      "y": -0.29,
      "z": 0.98
    },
    "note": "The bowl is visible left of the spoon in the wrist view. I shift sideways and slightly back to center the held spoon over its opening."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 18, \"instruction\": \"pick up the spoon and place it on the bowl.\", \"joint_positions\": [-0.20354, -0.44441, -0.41192, -2.17681, -0.18518, 1.81214, -0.63363], \"gripper_open\": 0.0893, \"tcp_xyz\": [0.34032, -0.28874, 0.98011], \"tcp_roll_pitch_yaw\": [0.00025, 0.0001, -0.00044], \"tcp_rotation_matrix\": [[0.99527, 0.08936, 0.03799], [0.09063, -0.99533, -0.03319], [0.03485, 0.03648, -0.99873]], \"simulated_seconds_remaining\": 27.258, \"calls_remaining_including_this\": 40}"
      },
      {
        "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": 0.305,
      "y": -0.385,
      "z": 0.94
    },
    "note": "The bowl opening is now beside the spoon. I continue the small alignment shift and lower toward the bowl."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 19, \"instruction\": \"pick up the spoon and place it on the bowl.\", \"joint_positions\": [-0.24431, -0.31572, -0.58828, -2.14372, -0.17954, 1.92383, -0.84533], \"gripper_open\": 0.0894, \"tcp_xyz\": [0.30534, -0.3839, 0.94037], \"tcp_roll_pitch_yaw\": [0.00043, 0.00026, -0.00066], \"tcp_rotation_matrix\": [[0.9953, 0.08914, 0.03781], [0.0904, -0.99536, -0.03302], [0.0347, 0.03628, -0.99874]], \"simulated_seconds_remaining\": 26.202, \"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": 0.35,
      "y": -0.385,
      "z": 0.85
    },
    "note": "The bowl opening is centered under the gripper. I lower the spoon toward the rim while shifting forward to keep it over the bowl."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 20, \"instruction\": \"pick up the spoon and place it on the bowl.\", \"joint_positions\": [-0.203, -0.1342, -0.61577, -2.22219, -0.08729, 2.16034, -0.8597], \"gripper_open\": 0.0894, \"tcp_xyz\": [0.34941, -0.38488, 0.85099], \"tcp_roll_pitch_yaw\": [0.00066, 0.00066, -0.00053], \"tcp_rotation_matrix\": [[0.9953, 0.08929, 0.03743], [0.09053, -0.99535, -0.03278], [0.03433, 0.03601, -0.99876]], \"simulated_seconds_remaining\": 25.212, \"calls_remaining_including_this\": 38}"
      },
      {
        "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": 1
    },
    "note": "The spoon is directly over the bowl opening, with both ends within its rim. I open the gripper to place it in the bowl."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "Episode ended. Do not call more tools. Return a brief final response."
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

Placed the spoon in the bowl.

TURN USAGE
{
  "input_tokens": 382337,
  "cached_input_tokens": 333056,
  "cache_write_input_tokens": 0,
  "output_tokens": 4375,
  "reasoning_output_tokens": 2179
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "pick up the spoon and place it on the bowl.",
    "joint_positions": [
      0.03951,
      -0.79494,
      0.03372,
      -2.37529,
      -0.01172,
      1.61656,
      -0.02672
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.31385,
      0.01923,
      1.01335
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99523,
        0.08979,
        0.0381
      ],
      [
        0.09107,
        -0.99528,
        -0.03342
      ],
      [
        0.03492,
        0.03673,
        -0.99871
      ]
    ],
    "simulated_seconds_remaining": 45.012,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 29.02249297313392,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.89,
                    "gripper": 1
                  },
                  "note": "The spoon lies beneath the wrist with its handle extending toward the fingers. I lower the open gripper to refine alignment."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "pick up the spoon and place it on the bowl.",
    "joint_positions": [
      0.04282,
      -0.81613,
      0.0383,
      -2.69958,
      -0.00862,
      1.91922,
      -0.01826
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.3138,
      0.01923,
      0.89124
    ],
    "tcp_roll_pitch_yaw": [
      -3e-05,
      0.0003,
      -0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99524,
        0.0898,
        0.0378
      ],
      [
        0.09108,
        -0.99528,
        -0.03345
      ],
      [
        0.03462,
        0.03673,
        -0.99873
      ]
    ],
    "simulated_seconds_remaining": 43.89,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 8.206027529202402,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.815
                  },
                  "note": "The spoon handle is between the visible finger sides, but below their tips. I descend toward the tabletop for a handle grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "pick up the spoon and place it on the bowl.",
    "joint_positions": [
      0.04295,
      -0.7501,
      0.04331,
      -2.85754,
      -0.00795,
      2.14277,
      -0.01127
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.31373,
      0.01922,
      0.81624
    ],
    "tcp_roll_pitch_yaw": [
      -6e-05,
      0.00064,
      -0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99525,
        0.08981,
        0.03746
      ],
      [
        0.09107,
        -0.99528,
        -0.03348
      ],
      [
        0.03428,
        0.03673,
        -0.99874
      ]
    ],
    "simulated_seconds_remaining": 43.098,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 6.806901481933892,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.785,
                    "gripper": 0
                  },
                  "note": "The spoon handle is now occluded between the jaws near the tabletop. I close the fingers around it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "pick up the spoon and place it on the bowl.",
    "joint_positions": [
      0.04195,
      -0.6989,
      0.04605,
      -2.90952,
      -0.00855,
      2.24581,
      -0.00766
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.3137,
      0.01922,
      0.7861
    ],
    "tcp_roll_pitch_yaw": [
      -7e-05,
      0.00073,
      -0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99526,
        0.08981,
        0.03737
      ],
      [
        0.09107,
        -0.99528,
        -0.03349
      ],
      [
        0.03418,
        0.03673,
        -0.99874
      ]
    ],
    "simulated_seconds_remaining": 42.174,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 4.604585533030331,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.95
                  },
                  "note": "The jaws fully closed, so the grasp may have missed the thin handle. I lift to check whether the spoon comes with the gripper."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "pick up the spoon and place it on the bowl.",
    "joint_positions": [
      0.04149,
      -0.8218,
      0.03569,
      -2.5561,
      -0.00995,
      1.77,
      -0.02256
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.31378,
      0.01923,
      0.94873
    ],
    "tcp_roll_pitch_yaw": [
      -4e-05,
      0.00044,
      -0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99525,
        0.08981,
        0.03766
      ],
      [
        0.09107,
        -0.99528,
        -0.03346
      ],
      [
        0.03448,
        0.03673,
        -0.99873
      ]
    ],
    "simulated_seconds_remaining": 40.788,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 7.206686985678971,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.36,
                    "z": 0.96,
                    "gripper": 1
                  },
                  "note": "The exterior view still shows the spoon on the counter. I reopen and shift forward to expose its handle for a better aligned grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "pick up the spoon and place it on the bowl.",
    "joint_positions": [
      0.03482,
      -0.66654,
      0.03327,
      -2.43353,
      -0.01555,
      1.80276,
      -0.02596
    ],
    "gripper_open": 0.9965,
    "tcp_xyz": [
      0.359,
      0.01922,
      0.95974
    ],
    "tcp_roll_pitch_yaw": [
      -4e-05,
      0.00048,
      -1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99525,
        0.0898,
        0.03762
      ],
      [
        0.09106,
        -0.99528,
        -0.03345
      ],
      [
        0.03444,
        0.03672,
        -0.99873
      ]
    ],
    "simulated_seconds_remaining": 39.864,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 10.209521164186299,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.34,
                    "y": 0.04,
                    "z": 0.86
                  },
                  "note": "The spoon handle runs diagonally through the open jaws. I shift slightly back and left while lowering to center the handle between the fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "pick up the spoon and place it on the bowl.",
    "joint_positions": [
      0.05992,
      -0.68814,
      0.07438,
      -2.69916,
      0.01071,
      2.04553,
      0.0228
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.34019,
      0.03974,
      0.86119
    ],
    "tcp_roll_pitch_yaw": [
      -9e-05,
      0.00076,
      3e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99526,
        0.08985,
        0.03734
      ],
      [
        0.09111,
        -0.99528,
        -0.0335
      ],
      [
        0.03416,
        0.03675,
        -0.99874
      ]
    ],
    "simulated_seconds_remaining": 38.874,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 8.607520867139101,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.38,
                    "y": 0.035,
                    "z": 0.775
                  },
                  "note": "The spoon bowl is clear between the fingers. I advance as I descend so its neck stays centered instead of slipping behind the jaws."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "pick up the spoon and place it on the bowl.",
    "joint_positions": [
      0.03731,
      -0.42129,
      0.07544,
      -2.73759,
      -0.0091,
      2.35058,
      0.02234
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.37937,
      0.03505,
      0.77612
    ],
    "tcp_roll_pitch_yaw": [
      -0.00012,
      0.00112,
      -1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99527,
        0.08983,
        0.03698
      ],
      [
        0.09107,
        -0.99528,
        -0.03354
      ],
      [
        0.0338,
        0.03675,
        -0.99875
      ]
    ],
    "simulated_seconds_remaining": 37.95,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 10.610016757622361,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.405,
                    "y": 0.055,
                    "z": 0.775
                  },
                  "note": "The spoon bowl sits right and low in the wrist view. I translate across the tabletop to bring the neck into the center of the open fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 8,
    "motion_seconds": 0.528,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "pick up the spoon and place it on the bowl.",
    "joint_positions": [
      0.04875,
      -0.32963,
      0.10399,
      -2.65868,
      -0.00717,
      2.36236,
      0.06203
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.40414,
      0.05434,
      0.77504
    ],
    "tcp_roll_pitch_yaw": [
      -0.00014,
      0.00113,
      6e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99526,
        0.0899,
        0.03698
      ],
      [
        0.09114,
        -0.99527,
        -0.03356
      ],
      [
        0.03378,
        0.03677,
        -0.99875
      ]
    ],
    "simulated_seconds_remaining": 37.422,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 9.608051240444183,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.418,
                    "y": 0.057,
                    "z": 0.747
                  },
                  "note": "The spoon neck is centered between the jaws. I lower the final few centimeters, compensating forward for the wrist camera angle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 8,
    "motion_seconds": 0.528,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "pick up the spoon and place it on the bowl.",
    "joint_positions": [
      0.04458,
      -0.23631,
      0.11269,
      -2.63899,
      -0.01951,
      2.44847,
      0.07568
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.4214,
      0.05924,
      0.75306
    ],
    "tcp_roll_pitch_yaw": [
      0.00177,
      -0.01164,
      0.00338
    ],
    "tcp_rotation_matrix": [
      [
        0.99444,
        0.09274,
        0.04983
      ],
      [
        0.09438,
        -0.99504,
        -0.03148
      ],
      [
        0.04667,
        0.03601,
        -0.99826
      ]
    ],
    "simulated_seconds_remaining": 36.894,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 4.804576573893428,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The fingertips have reached the tabletop and the spoon neck lies between them. I close the gripper to secure it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "pick up the spoon and place it on the bowl.",
    "joint_positions": [
      0.04986,
      -0.24382,
      0.11823,
      -2.62979,
      -0.01592,
      2.45183,
      0.07556
    ],
    "gripper_open": 0.7696,
    "tcp_xyz": [
      0.42709,
      0.06495,
      0.76042
    ],
    "tcp_roll_pitch_yaw": [
      0.00511,
      -0.0313,
      0.01186
    ],
    "tcp_rotation_matrix": [
      [
        0.99249,
        0.10056,
        0.06967
      ],
      [
        0.10267,
        -0.99434,
        -0.02749
      ],
      [
        0.06652,
        0.03444,
        -0.99719
      ]
    ],
    "simulated_seconds_remaining": 35.97,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 5.204957005567849,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.92,
                    "gripper": 0
                  },
                  "note": "The fingers remain separated around the spoon. I lift vertically with the gripper closed to verify that it is held."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "pick up the spoon and place it on the bowl.",
    "joint_positions": [
      0.05824,
      -0.44543,
      0.0991,
      -2.37742,
      0.00559,
      1.99914,
      0.04504
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.42717,
      0.06496,
      0.91879
    ],
    "tcp_roll_pitch_yaw": [
      0.00515,
      -0.03164,
      0.01186
    ],
    "tcp_rotation_matrix": [
      [
        0.99247,
        0.10055,
        0.07001
      ],
      [
        0.10267,
        -0.99434,
        -0.02745
      ],
      [
        0.06686,
        0.03443,
        -0.99717
      ]
    ],
    "simulated_seconds_remaining": 34.584,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 12.409751034341753,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48,
                    "y": 0.055,
                    "z": 0.785,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 0,
                    "gripper": 1
                  },
                  "note": "The spoon remains visible below the wrist. I move forward and reopen, aiming its narrow neck at the fingertip line."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "pick up the spoon and place it on the bowl.",
    "joint_positions": [
      0.03103,
      -0.12358,
      0.09686,
      -2.41562,
      -0.03578,
      2.32584,
      0.06076
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.47944,
      0.05506,
      0.78614
    ],
    "tcp_roll_pitch_yaw": [
      2e-05,
      4e-05,
      6e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99523,
        0.08986,
        0.03806
      ],
      [
        0.09114,
        -0.99528,
        -0.0334
      ],
      [
        0.03488,
        0.03671,
        -0.99872
      ]
    ],
    "simulated_seconds_remaining": 33.33,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 6.205502321012318,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.489,
                    "z": 0.768
                  },
                  "note": "The spoon neck is aligned with the fingertip line. I lower slightly while keeping that neck centered."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 7,
    "motion_seconds": 0.462,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "pick up the spoon and place it on the bowl.",
    "joint_positions": [
      0.02871,
      -0.07007,
      0.09667,
      -2.40423,
      -0.04454,
      2.36744,
      0.06593
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.4883,
      0.05505,
      0.76917
    ],
    "tcp_roll_pitch_yaw": [
      1e-05,
      0.00021,
      5e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99523,
        0.08985,
        0.03789
      ],
      [
        0.09112,
        -0.99528,
        -0.03341
      ],
      [
        0.03471,
        0.0367,
        -0.99872
      ]
    ],
    "simulated_seconds_remaining": 32.868,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 3.603615471161902,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The spoon handle crosses the center between the fingertips at table height. I close around the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "pick up the spoon and place it on the bowl.",
    "joint_positions": [
      0.02872,
      -0.0701,
      0.09668,
      -2.40421,
      -0.04453,
      2.36743,
      0.06593
    ],
    "gripper_open": 0.0894,
    "tcp_xyz": [
      0.48832,
      0.05506,
      0.76919
    ],
    "tcp_roll_pitch_yaw": [
      2e-05,
      0.00016,
      6e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99523,
        0.08985,
        0.03794
      ],
      [
        0.09113,
        -0.99528,
        -0.0334
      ],
      [
        0.03476,
        0.0367,
        -0.99872
      ]
    ],
    "simulated_seconds_remaining": 31.944,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 3.803862306289375,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.96
                  },
                  "note": "The fingers stopped slightly apart around the handle. I lift the spoon clear of the counter."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 24,
    "motion_seconds": 1.584,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "pick up the spoon and place it on the bowl.",
    "joint_positions": [
      0.03157,
      -0.24875,
      0.08895,
      -2.08648,
      -0.01652,
      1.8726,
      0.03213
    ],
    "gripper_open": 0.0893,
    "tcp_xyz": [
      0.48837,
      0.05507,
      0.95873
    ],
    "tcp_roll_pitch_yaw": [
      4e-05,
      -5e-05,
      6e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99522,
        0.08985,
        0.03815
      ],
      [
        0.09113,
        -0.99528,
        -0.03337
      ],
      [
        0.03497,
        0.03669,
        -0.99871
      ]
    ],
    "simulated_seconds_remaining": 30.36,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 15.21286251116544,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.38,
                    "y": -0.15,
                    "z": 1
                  },
                  "note": "The spoon stays fixed in the gripper during the lift. I carry it toward the shallow white bowl on the right side of the exterior view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 28,
    "motion_seconds": 1.848,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "pick up the spoon and place it on the bowl.",
    "joint_positions": [
      -0.12044,
      -0.5246,
      -0.18786,
      -2.22179,
      -0.11678,
      1.7499,
      -0.35786
    ],
    "gripper_open": 0.0893,
    "tcp_xyz": [
      0.38061,
      -0.14889,
      0.99975
    ],
    "tcp_roll_pitch_yaw": [
      0.00011,
      -3e-05,
      -0.00019
    ],
    "tcp_rotation_matrix": [
      [
        0.99525,
        0.0896,
        0.03813
      ],
      [
        0.09088,
        -0.9953,
        -0.03332
      ],
      [
        0.03496,
        0.03663,
        -0.99872
      ]
    ],
    "simulated_seconds_remaining": 28.512,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 14.010958961211145,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.34,
                    "y": -0.29,
                    "z": 0.98
                  },
                  "note": "The bowl is visible left of the spoon in the wrist view. I shift sideways and slightly back to center the held spoon over its opening."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "pick up the spoon and place it on the bowl.",
    "joint_positions": [
      -0.20354,
      -0.44441,
      -0.41192,
      -2.17681,
      -0.18518,
      1.81214,
      -0.63363
    ],
    "gripper_open": 0.0893,
    "tcp_xyz": [
      0.34032,
      -0.28874,
      0.98011
    ],
    "tcp_roll_pitch_yaw": [
      0.00025,
      0.0001,
      -0.00044
    ],
    "tcp_rotation_matrix": [
      [
        0.99527,
        0.08936,
        0.03799
      ],
      [
        0.09063,
        -0.99533,
        -0.03319
      ],
      [
        0.03485,
        0.03648,
        -0.99873
      ]
    ],
    "simulated_seconds_remaining": 27.258,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 8.8068692618981,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.305,
                    "y": -0.385,
                    "z": 0.94
                  },
                  "note": "The bowl opening is now beside the spoon. I continue the small alignment shift and lower toward the bowl."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 19,
  "state": {
    "instruction": "pick up the spoon and place it on the bowl.",
    "joint_positions": [
      -0.24431,
      -0.31572,
      -0.58828,
      -2.14372,
      -0.17954,
      1.92383,
      -0.84533
    ],
    "gripper_open": 0.0894,
    "tcp_xyz": [
      0.30534,
      -0.3839,
      0.94037
    ],
    "tcp_roll_pitch_yaw": [
      0.00043,
      0.00026,
      -0.00066
    ],
    "tcp_rotation_matrix": [
      [
        0.9953,
        0.08914,
        0.03781
      ],
      [
        0.0904,
        -0.99536,
        -0.03302
      ],
      [
        0.0347,
        0.03628,
        -0.99874
      ]
    ],
    "simulated_seconds_remaining": 26.202,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 10.209305880591273,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.35,
                    "y": -0.385,
                    "z": 0.85
                  },
                  "note": "The bowl opening is centered under the gripper. I lower the spoon toward the rim while shifting forward to keep it over the bowl."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 20,
  "state": {
    "instruction": "pick up the spoon and place it on the bowl.",
    "joint_positions": [
      -0.203,
      -0.1342,
      -0.61577,
      -2.22219,
      -0.08729,
      2.16034,
      -0.8597
    ],
    "gripper_open": 0.0894,
    "tcp_xyz": [
      0.34941,
      -0.38488,
      0.85099
    ],
    "tcp_roll_pitch_yaw": [
      0.00066,
      0.00066,
      -0.00053
    ],
    "tcp_rotation_matrix": [
      [
        0.9953,
        0.08929,
        0.03743
      ],
      [
        0.09053,
        -0.99535,
        -0.03278
      ],
      [
        0.03433,
        0.03601,
        -0.99876
      ]
    ],
    "simulated_seconds_remaining": 25.212,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 6.205914382822812,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 1
                  },
                  "note": "The spoon is directly over the bowl opening, with both ends within its rim. I open the gripper to place it in the bowl."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

========================================================================
GPT-Astra / Pick & place / 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,
  "status": "completed",
  "success": true,
  "oracle_success": true,
  "action_decisions": 29,
  "wall_seconds": 429.47,
  "usage": {
    "input_tokens": 628815,
    "cached_input_tokens": 604160,
    "cache_write_input_tokens": 0,
    "output_tokens": 6695,
    "reasoning_output_tokens": 3660
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick-and-place 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 45 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 and grasp the requested object, lift it, move it to the named receptacle, and release it in or on that receptacle. Complete the entire pick-and-place 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 object and place it in the requested receptacle.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"pick up the ladle and place it on the bowl.\", \"joint_positions\": [-0.02353, -0.81357, 0.00374, -2.37073, -0.01129, 1.57695, -0.04729], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.3029, -0.00902, 1.01756], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.99947, 0.02617, 0.01949], [0.02645, -0.99955, -0.01442], [0.0191, 0.01492, -0.99971]], \"simulated_seconds_remaining\": 45.012, \"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": 0.1,
    "z": 0.96,
    "note": "The ladle lies left of the bowl on the worktop. I am moving above the utensils to get a clearer overhead 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": 0.45,
      "y": 0.1,
      "z": 0.96
    },
    "note": "The ladle lies left of the bowl on the worktop. I am moving above the utensils to get a clearer overhead view."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"pick up the ladle and place it on the bowl.\", \"joint_positions\": [0.0223, -0.33685, 0.17801, -2.15839, 0.04224, 1.84247, 0.15357], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.44896, 0.09925, 0.96033], \"tcp_roll_pitch_yaw\": [-6e-05, 0.00019, 8e-05], \"tcp_rotation_matrix\": [[0.99947, 0.02625, 0.0193], [0.02653, -0.99954, -0.01447], [0.01891, 0.01498, -0.99971]], \"simulated_seconds_remaining\": 43.428, \"calls_remaining_including_this\": 56}"
      },
      {
        "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": {
      "z": 0.84
    },
    "note": "The ladle scoop is visible below the bowl, with its handle extending toward the lower left. I am lowering for a precise handle grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"pick up the ladle and place it on the bowl.\", \"joint_positions\": [0.0239, -0.26052, 0.19386, -2.39638, 0.03773, 2.15569, 0.16477], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.44889, 0.09923, 0.84118], \"tcp_roll_pitch_yaw\": [-0.00011, 0.00053, 8e-05], \"tcp_rotation_matrix\": [[0.99948, 0.02625, 0.01896], [0.02653, -0.99954, -0.01453], [0.01857, 0.01502, -0.99971]], \"simulated_seconds_remaining\": 42.306, \"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": {
      "x": 0.43,
      "y": 0.19,
      "z": 0.84,
      "yaw": -0.55
    },
    "note": "The handle extends diagonally away from the scoop. I am shifting toward its middle and aligning the jaws across it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"pick up the ladle and place it on the bowl.\", \"joint_positions\": [0.03768, -0.22769, 0.37302, -2.3505, 0.06924, 2.13617, 0.8837], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.43012, 0.1894, 0.84001], \"tcp_roll_pitch_yaw\": [-0.00013, 0.00051, -0.54522], \"tcp_rotation_matrix\": [[0.86829, -0.49599, 0.00868], [-0.49571, -0.8682, -0.02228], [0.01859, 0.01504, -0.99971]], \"simulated_seconds_remaining\": 41.25, \"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,
      "y": 0.02,
      "z": 0.88,
      "yaw": 0
    },
    "note": "The handle slipped out of the wrist view during alignment. I am recentering the ladle before descending."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"pick up the ladle and place it on the bowl.\", \"joint_positions\": [-0.06455, -0.17347, 0.10772, -2.20816, 0.00362, 2.05362, 0.01718], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.49952, 0.02086, 0.87967], \"tcp_roll_pitch_yaw\": [-0.0001, 0.00088, -0.00348], \"tcp_rotation_matrix\": [[0.99957, 0.02271, 0.01855], [0.02298, -0.99963, -0.01459], [0.01821, 0.01501, -0.99972]], \"simulated_seconds_remaining\": 39.732, \"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": 0.485,
      "y": -0.035,
      "z": 0.81,
      "yaw": 0.65
    },
    "note": "The ladle handle is below and left of its metal scoop. I am centering the handle between the fingers and turning the gripper to cross it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"pick up the ladle and place it on the bowl.\", \"joint_positions\": [-0.06543, -0.14239, -0.0064, -2.36474, 0.00051, 2.24573, -0.74378], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.48505, -0.03469, 0.81038], \"tcp_roll_pitch_yaw\": [3e-05, 0.00101, 0.64529], \"tcp_rotation_matrix\": [[0.78261, 0.62208, 0.02342], [0.62226, -0.78281, -0.00038], [0.0181, 0.01486, -0.99973]], \"simulated_seconds_remaining\": 38.544, \"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"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "z": 0.84,
      "yaw": -0.9
    },
    "note": "The handle is visible across the open fingers. I am rotating so the jaws close across its narrow width."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"pick up the ladle and place it on the bowl.\", \"joint_positions\": [-0.17504, -0.16584, 0.11007, -2.30229, -0.00618, 2.13934, 0.80597], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.48506, -0.03469, 0.83993], \"tcp_roll_pitch_yaw\": [5e-05, 0.00099, -0.89534], \"tcp_rotation_matrix\": [[0.64557, -0.7637, 0.00035], [-0.76349, -0.6454, -0.02341], [0.01811, 0.01485, -0.99973]], \"simulated_seconds_remaining\": 36.168, \"calls_remaining_including_this\": 51}"
      },
      {
        "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": 0.498,
      "y": -0.024,
      "z": 0.755
    },
    "note": "The handle now runs lengthwise between the fingers. I am lowering onto its middle with a small lateral correction."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"pick up the ladle and place it on the bowl.\", \"joint_positions\": [-0.16475, -0.06899, 0.12858, -2.35549, -0.03031, 2.34294, 0.84802], \"gripper_open\": 1.0, \"tcp_xyz\": [0.50651, -0.02343, 0.78741], \"tcp_roll_pitch_yaw\": [0.0366, -0.0404, -0.89012], \"tcp_rotation_matrix\": [[0.64796, -0.75969, 0.05489], [-0.75927, -0.64996, -0.03256], [0.06041, -0.02058, -0.99796]], \"simulated_seconds_remaining\": 35.31, \"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": {
      "gripper": 0
    },
    "note": "The handle is centered in the jaw gap at the worktop. I am closing the fingers around it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"pick up the ladle and place it on the bowl.\", \"joint_positions\": [-0.16475, -0.06899, 0.12858, -2.35549, -0.03031, 2.34294, 0.84802], \"gripper_open\": 0.0, \"tcp_xyz\": [0.50652, -0.02343, 0.78741], \"tcp_roll_pitch_yaw\": [0.03661, -0.04042, -0.89012], \"tcp_rotation_matrix\": [[0.64796, -0.75969, 0.05492], [-0.75927, -0.64996, -0.03256], [0.06043, -0.0206, -0.99796]], \"simulated_seconds_remaining\": 34.386, \"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": 0.94,
      "roll": 0,
      "pitch": 0
    },
    "note": "The fingers have closed on the narrow handle. I am lifting to check that the ladle is held securely."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"pick up the ladle and place it on the bowl.\", \"joint_positions\": [-0.16459, -0.17252, 0.12073, -2.0504, -0.00371, 1.88212, 0.81933], \"gripper_open\": 0.0, \"tcp_xyz\": [0.50661, -0.02343, 0.93879], \"tcp_roll_pitch_yaw\": [0.0006, -0.00061, -0.89012], \"tcp_rotation_matrix\": [[0.64953, -0.76034, 0.00191], [-0.76008, -0.64937, -0.02432], [0.01973, 0.01434, -0.9997]], \"simulated_seconds_remaining\": 33.066, \"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": {
      "x": 0.48,
      "y": 0.012,
      "z": 0.83,
      "gripper": 1
    },
    "note": "The scoop became smaller as I lifted, so the ladle remained on the table. I am reopening and moving farther along the handle for another grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 11, \"instruction\": \"pick up the ladle and place it on the bowl.\", \"joint_positions\": [-0.13336, -0.17402, 0.16319, -2.33339, 0.00454, 2.16255, 0.88861], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.48024, 0.01162, 0.83116], \"tcp_roll_pitch_yaw\": [0.00034, -0.00041, -0.89003], \"tcp_rotation_matrix\": [[0.6496, -0.76028, 0.00159], [-0.76003, -0.64944, -0.02432], [0.01952, 0.0146, -0.9997]], \"simulated_seconds_remaining\": 32.01, \"calls_remaining_including_this\": 47}"
      },
      {
        "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": 0.532,
      "y": -0.057,
      "z": 0.8
    },
    "note": "The open jaws are still too close to the scoop. I am shifting down the handle so its straight section crosses the jaw tips."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 12, \"instruction\": \"pick up the ladle and place it on the bowl.\", \"joint_positions\": [-0.1946, 0.01683, 0.10011, -2.19558, -0.03234, 2.21809, 0.78686], \"gripper_open\": 1.0, \"tcp_xyz\": [0.53151, -0.05525, 0.80245], \"tcp_roll_pitch_yaw\": [0.0018, -0.00192, -0.88822], \"tcp_rotation_matrix\": [[0.65093, -0.75913, 0.00371], [-0.75885, -0.65081, -0.02457], [0.02107, 0.01318, -0.99969]], \"simulated_seconds_remaining\": 31.086, \"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": 0.541,
      "y": -0.049,
      "z": 0.775
    },
    "note": "The straight handle lies between the open fingers. I am making the final small alignment and lowering to grip height."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 13, \"instruction\": \"pick up the ladle and place it on the bowl.\", \"joint_positions\": [-0.19161, 0.03703, 0.10024, -2.18548, -0.04409, 2.22064, 0.80647], \"gripper_open\": 1.0, \"tcp_xyz\": [0.53427, -0.05543, 0.79643], \"tcp_roll_pitch_yaw\": [-0.00819, -0.00232, -0.89757], \"tcp_rotation_matrix\": [[0.64395, -0.76505, -0.00408], [-0.76477, -0.64355, -0.03114], [0.0212, 0.02317, -0.99951]], \"simulated_seconds_remaining\": 30.558, \"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 handle crosses the jaw gap near its middle. I am closing the gripper for the second grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 14, \"instruction\": \"pick up the ladle and place it on the bowl.\", \"joint_positions\": [-0.19161, 0.03702, 0.10024, -2.18548, -0.04409, 2.22064, 0.80647], \"gripper_open\": 0.0, \"tcp_xyz\": [0.53427, -0.05544, 0.79644], \"tcp_roll_pitch_yaw\": [-0.00819, -0.00232, -0.89758], \"tcp_rotation_matrix\": [[0.64395, -0.76506, -0.00408], [-0.76477, -0.64354, -0.03115], [0.02121, 0.02317, -0.99951]], \"simulated_seconds_remaining\": 29.634, \"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": {
      "z": 0.9
    },
    "note": "I am lifting briefly to verify whether the second grasp captured the handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 15, \"instruction\": \"pick up the ladle and place it on the bowl.\", \"joint_positions\": [-0.19199, -0.06027, 0.0996, -2.02823, -0.02756, 1.96731, 0.78929], \"gripper_open\": 0.0, \"tcp_xyz\": [0.53436, -0.05544, 0.89882], \"tcp_roll_pitch_yaw\": [-0.00794, -0.00259, -0.89757], \"tcp_rotation_matrix\": [[0.64394, -0.76507, -0.00371], [-0.76477, -0.64354, -0.03119], [0.02148, 0.02292, -0.99951]], \"simulated_seconds_remaining\": 28.644, \"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": 0.554,
      "y": -0.039,
      "z": 0.86,
      "gripper": 1,
      "roll": 0,
      "pitch": 0
    },
    "note": "The ladle is still on the table. I am correcting the sideways offset while above the nearby bottle, then will descend again."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 16, \"instruction\": \"pick up the ladle and place it on the bowl.\", \"joint_positions\": [-0.17672, 0.01727, 0.11583, -2.03591, -0.02969, 2.055, 0.82409], \"gripper_open\": 0.9965, \"tcp_xyz\": [0.55355, -0.03933, 0.86077], \"tcp_roll_pitch_yaw\": [-0.00028, 5e-05, -0.89753], \"tcp_rotation_matrix\": [[0.6439, -0.76511, 0.00063], [-0.76488, -0.64372, -0.02436], [0.01904, 0.0152, -0.9997]], \"simulated_seconds_remaining\": 27.72, \"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": 0.546,
      "y": -0.045,
      "z": 0.76
    },
    "note": "The handle is now centered between the jaws. I am lowering vertically to capture it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 17, \"instruction\": \"pick up the ladle and place it on the bowl.\", \"joint_positions\": [-0.17306, 0.00075, 0.11977, -2.16941, -0.044, 2.30688, 0.82936], \"gripper_open\": 1.0, \"tcp_xyz\": [0.56817, -0.03624, 0.83298], \"tcp_roll_pitch_yaw\": [0.09358, -0.09719, -0.88459], \"tcp_rotation_matrix\": [[0.64795, -0.74967, 0.13474], [-0.75242, -0.65748, -0.03974], [0.11838, -0.07563, -0.99008]], \"simulated_seconds_remaining\": 26.73, \"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": {
      "x": 0.482,
      "y": 0.047,
      "z": 0.89,
      "roll": 0,
      "pitch": 0
    },
    "note": "The nearby bottle is obstructing the open jaw at the handle. I am moving to the ladle scoop, which offers more clearance for a grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 18, \"instruction\": \"pick up the ladle and place it on the bowl.\", \"joint_positions\": [-0.09944, -0.21607, 0.19371, -2.2198, 0.0185, 2.00816, 0.94012], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.48291, 0.04625, 0.88951], \"tcp_roll_pitch_yaw\": [0.00113, -0.00113, -0.88437], \"tcp_rotation_matrix\": [[0.65387, -0.7566, 0.00279], [-0.75633, -0.65373, -0.02437], [0.02026, 0.01383, -0.9997]], \"simulated_seconds_remaining\": 25.542, \"calls_remaining_including_this\": 40}"
      },
      {
        "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": 0.478,
      "y": 0.03,
      "z": 0.8
    },
    "note": "The metal scoop is clear of the bottle and fits within the open jaws. I am lowering around its sides."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 19, \"instruction\": \"pick up the ladle and place it on the bowl.\", \"joint_positions\": [-0.11343, -0.13875, 0.18384, -2.37856, 0.00102, 2.24289, 0.92617], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.478, 0.0302, 0.80114], \"tcp_roll_pitch_yaw\": [0.00086, -0.00092, -0.88442], \"tcp_rotation_matrix\": [[0.65384, -0.75663, 0.00244], [-0.75637, -0.65369, -0.02438], [0.02004, 0.01409, -0.9997]], \"simulated_seconds_remaining\": 24.618, \"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": 0
    },
    "note": "The scoop is centered directly between the fingertips. I am closing around its sides."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 20, \"instruction\": \"pick up the ladle and place it on the bowl.\", \"joint_positions\": [-0.11343, -0.13875, 0.18384, -2.37856, 0.00102, 2.24289, 0.92617], \"gripper_open\": 0.0, \"tcp_xyz\": [0.478, 0.0302, 0.80113], \"tcp_roll_pitch_yaw\": [0.00086, -0.00092, -0.88442], \"tcp_rotation_matrix\": [[0.65384, -0.75663, 0.00245], [-0.75637, -0.65369, -0.02438], [0.02004, 0.01409, -0.9997]], \"simulated_seconds_remaining\": 23.694, \"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": {
      "z": 0.735,
      "gripper": 1
    },
    "note": "The jaws closed fully, indicating the scoop was below their gripping surfaces. I am reopening and lowering further around it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 21, \"instruction\": \"pick up the ladle and place it on the bowl.\", \"joint_positions\": [-0.1159, -0.03808, 0.18862, -2.43777, -0.02921, 2.41293, 0.95029], \"gripper_open\": 1.0, \"tcp_xyz\": [0.48112, 0.03058, 0.7435], \"tcp_roll_pitch_yaw\": [0.00948, -0.00959, -0.8822], \"tcp_rotation_matrix\": [[0.65525, -0.75527, 0.01466], [-0.75486, -0.65539, -0.02558], [0.02893, 0.0057, -0.99957]], \"simulated_seconds_remaining\": 22.77, \"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 fingers now flank the scoop at its rim height. I am closing to secure the ladle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 22, \"instruction\": \"pick up the ladle and place it on the bowl.\", \"joint_positions\": [-0.11536, -0.04501, 0.18923, -2.43347, -0.02901, 2.41113, 0.9504], \"gripper_open\": 0.8356, \"tcp_xyz\": [0.48385, 0.03114, 0.7484], \"tcp_roll_pitch_yaw\": [0.01637, -0.01597, -0.8814], \"tcp_rotation_matrix\": [[0.65562, -0.75471, 0.02406], [-0.75426, -0.65606, -0.02611], [0.03549, -0.00102, -0.99937]], \"simulated_seconds_remaining\": 21.846, \"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": {
      "z": 0.94
    },
    "note": "The gripper remains partly open against the scoop, consistent with a grasp. I am lifting the ladle clear of the table."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 23, \"instruction\": \"pick up the ladle and place it on the bowl.\", \"joint_positions\": [-0.11194, -0.25817, 0.17173, -2.14085, 0.01721, 1.90922, 0.90441], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.48393, 0.03115, 0.93878], \"tcp_roll_pitch_yaw\": [0.01665, -0.01619, -0.88141], \"tcp_rotation_matrix\": [[0.6556, -0.75471, 0.02441], [-0.75426, -0.65606, -0.02611], [0.03572, -0.00129, -0.99936]], \"simulated_seconds_remaining\": 20.262, \"calls_remaining_including_this\": 35}"
      },
      {
        "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": 0.478,
      "y": 0.03,
      "z": 0.735,
      "gripper": 1,
      "roll": 0,
      "pitch": 0
    },
    "note": "The gripper reopened during the lift. I am returning to the scoop and will explicitly maintain closure while carrying it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 24, \"instruction\": \"pick up the ladle and place it on the bowl.\", \"joint_positions\": [-0.11576, -0.03736, 0.18807, -2.43664, -0.02908, 2.41173, 0.94663], \"gripper_open\": 1.0, \"tcp_xyz\": [0.48125, 0.03043, 0.74351], \"tcp_roll_pitch_yaw\": [0.00886, -0.00893, -0.87906], \"tcp_rotation_matrix\": [[0.65764, -0.7532, 0.01385], [-0.7528, -0.65776, -0.02543], [0.02826, 0.0063, -0.99958]], \"simulated_seconds_remaining\": 18.612, \"calls_remaining_including_this\": 34}"
      },
      {
        "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": {
      "gripper": 0
    },
    "note": "The scoop is again between the fingers at rim height. I am securing it before lifting."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 25, \"instruction\": \"pick up the ladle and place it on the bowl.\", \"joint_positions\": [-0.11504, -0.04439, 0.18891, -2.43206, -0.02876, 2.41019, 0.94674], \"gripper_open\": 0.8276, \"tcp_xyz\": [0.48419, 0.03121, 0.74861], \"tcp_roll_pitch_yaw\": [0.01631, -0.01568, -0.87794], \"tcp_rotation_matrix\": [[0.65823, -0.75243, 0.02391], [-0.75199, -0.65867, -0.02585], [0.0352, -0.00096, -0.99938]], \"simulated_seconds_remaining\": 17.688, \"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": 0.94,
      "gripper": 0
    },
    "note": "The jaws have contacted the scoop. I am lifting while explicitly keeping the gripper closed."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 26, \"instruction\": \"pick up the ladle and place it on the bowl.\", \"joint_positions\": [-0.1117, -0.257, 0.17154, -2.13967, 0.01725, 1.90904, 0.90104], \"gripper_open\": 0.6716, \"tcp_xyz\": [0.48426, 0.03122, 0.93877], \"tcp_roll_pitch_yaw\": [0.01656, -0.01588, -0.87794], \"tcp_rotation_matrix\": [[0.65822, -0.75243, 0.02424], [-0.75199, -0.65867, -0.02584], [0.03541, -0.00122, -0.99937]], \"simulated_seconds_remaining\": 16.104, \"calls_remaining_including_this\": 32}"
      },
      {
        "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": 0.37,
      "y": 0.17,
      "z": 0.96,
      "gripper": 0
    },
    "note": "The ladle is lifted and remains between the fingers. I am carrying it over the bowl visible ahead in the wrist view."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 27, \"instruction\": \"pick up the ladle and place it on the bowl.\", \"joint_positions\": [0.02803, -0.52543, 0.34165, -2.29541, 0.14047, 1.80805, 1.14705], \"gripper_open\": 0.6713, \"tcp_xyz\": [0.37082, 0.16907, 0.95988], \"tcp_roll_pitch_yaw\": [0.01662, -0.01598, -0.87771], \"tcp_rotation_matrix\": [[0.6584, -0.75228, 0.02435], [-0.75183, -0.65885, -0.02587], [0.03551, -0.00127, -0.99937]], \"simulated_seconds_remaining\": 14.586, \"calls_remaining_including_this\": 31}"
      },
      {
        "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": 0.325,
      "y": 0.2,
      "z": 0.87,
      "gripper": 0
    },
    "note": "The bowl is just beyond the held scoop. I am centering the scoop over its opening and lowering toward the rim."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 28, \"instruction\": \"pick up the ladle and place it on the bowl.\", \"joint_positions\": [0.09573, -0.58587, 0.42836, -2.55259, 0.21883, 2.01047, 1.21854], \"gripper_open\": 0.6713, \"tcp_xyz\": [0.32552, 0.19962, 0.87107], \"tcp_roll_pitch_yaw\": [0.01639, -0.01594, -0.87759], \"tcp_rotation_matrix\": [[0.65849, -0.7522, 0.02415], [-0.75175, -0.65893, -0.02599], [0.03546, -0.00104, -0.99937]], \"simulated_seconds_remaining\": 13.596, \"calls_remaining_including_this\": 30}"
      },
      {
        "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": 0.815,
      "gripper": 0
    },
    "note": "The ladle scoop is centered over the bowl. I am lowering it gently onto the bowl before releasing."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 29, \"instruction\": \"pick up the ladle and place it on the bowl.\", \"joint_positions\": [0.09498, -0.52053, 0.46505, -2.64988, 0.23172, 2.17218, 1.226], \"gripper_open\": 0.6713, \"tcp_xyz\": [0.32548, 0.1996, 0.81616], \"tcp_roll_pitch_yaw\": [0.01621, -0.01588, -0.87759], \"tcp_rotation_matrix\": [[0.65849, -0.75221, 0.02397], [-0.75176, -0.65893, -0.02606], [0.0354, -0.00086, -0.99937]], \"simulated_seconds_remaining\": 12.672, \"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": 1
    },
    "note": "The ladle is positioned on the bowl. I am opening the fingers to release 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"
}

Placed the ladle on the bowl.

TURN USAGE
{
  "input_tokens": 628815,
  "cached_input_tokens": 604160,
  "cache_write_input_tokens": 0,
  "output_tokens": 6695,
  "reasoning_output_tokens": 3660
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "pick up the ladle and place it on the bowl.",
    "joint_positions": [
      -0.02353,
      -0.81357,
      0.00374,
      -2.37073,
      -0.01129,
      1.57695,
      -0.04729
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.3029,
      -0.00902,
      1.01756
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99947,
        0.02617,
        0.01949
      ],
      [
        0.02645,
        -0.99955,
        -0.01442
      ],
      [
        0.0191,
        0.01492,
        -0.99971
      ]
    ],
    "simulated_seconds_remaining": 45.012,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 29.42482686135918,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.45,
                    "y": 0.1,
                    "z": 0.96
                  },
                  "note": "The ladle lies left of the bowl on the worktop. I am moving above the utensils to get a clearer overhead view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 24,
    "motion_seconds": 1.584,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "pick up the ladle and place it on the bowl.",
    "joint_positions": [
      0.0223,
      -0.33685,
      0.17801,
      -2.15839,
      0.04224,
      1.84247,
      0.15357
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44896,
      0.09925,
      0.96033
    ],
    "tcp_roll_pitch_yaw": [
      -6e-05,
      0.00019,
      8e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99947,
        0.02625,
        0.0193
      ],
      [
        0.02653,
        -0.99954,
        -0.01447
      ],
      [
        0.01891,
        0.01498,
        -0.99971
      ]
    ],
    "simulated_seconds_remaining": 43.428,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 8.209869913756847,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.84
                  },
                  "note": "The ladle scoop is visible below the bowl, with its handle extending toward the lower left. I am lowering for a precise handle grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "pick up the ladle and place it on the bowl.",
    "joint_positions": [
      0.0239,
      -0.26052,
      0.19386,
      -2.39638,
      0.03773,
      2.15569,
      0.16477
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44889,
      0.09923,
      0.84118
    ],
    "tcp_roll_pitch_yaw": [
      -0.00011,
      0.00053,
      8e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99948,
        0.02625,
        0.01896
      ],
      [
        0.02653,
        -0.99954,
        -0.01453
      ],
      [
        0.01857,
        0.01502,
        -0.99971
      ]
    ],
    "simulated_seconds_remaining": 42.306,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 17.015276202932,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.43,
                    "y": 0.19,
                    "z": 0.84,
                    "yaw": -0.55
                  },
                  "note": "The handle extends diagonally away from the scoop. I am shifting toward its middle and aligning the jaws across it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "pick up the ladle and place it on the bowl.",
    "joint_positions": [
      0.03768,
      -0.22769,
      0.37302,
      -2.3505,
      0.06924,
      2.13617,
      0.8837
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.43012,
      0.1894,
      0.84001
    ],
    "tcp_roll_pitch_yaw": [
      -0.00013,
      0.00051,
      -0.54522
    ],
    "tcp_rotation_matrix": [
      [
        0.86829,
        -0.49599,
        0.00868
      ],
      [
        -0.49571,
        -0.8682,
        -0.02228
      ],
      [
        0.01859,
        0.01504,
        -0.99971
      ]
    ],
    "simulated_seconds_remaining": 41.25,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 10.60985270421952,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.5,
                    "y": 0.02,
                    "z": 0.88,
                    "yaw": 0
                  },
                  "note": "The handle slipped out of the wrist view during alignment. I am recentering the ladle before descending."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "pick up the ladle and place it on the bowl.",
    "joint_positions": [
      -0.06455,
      -0.17347,
      0.10772,
      -2.20816,
      0.00362,
      2.05362,
      0.01718
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.49952,
      0.02086,
      0.87967
    ],
    "tcp_roll_pitch_yaw": [
      -0.0001,
      0.00088,
      -0.00348
    ],
    "tcp_rotation_matrix": [
      [
        0.99957,
        0.02271,
        0.01855
      ],
      [
        0.02298,
        -0.99963,
        -0.01459
      ],
      [
        0.01821,
        0.01501,
        -0.99972
      ]
    ],
    "simulated_seconds_remaining": 39.732,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 10.808996902778745,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.485,
                    "y": -0.035,
                    "z": 0.81,
                    "yaw": 0.65
                  },
                  "note": "The ladle handle is below and left of its metal scoop. I am centering the handle between the fingers and turning the gripper to cross it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "pick up the ladle and place it on the bowl.",
    "joint_positions": [
      -0.06543,
      -0.14239,
      -0.0064,
      -2.36474,
      0.00051,
      2.24573,
      -0.74378
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.48505,
      -0.03469,
      0.81038
    ],
    "tcp_roll_pitch_yaw": [
      3e-05,
      0.00101,
      0.64529
    ],
    "tcp_rotation_matrix": [
      [
        0.78261,
        0.62208,
        0.02342
      ],
      [
        0.62226,
        -0.78281,
        -0.00038
      ],
      [
        0.0181,
        0.01486,
        -0.99973
      ]
    ],
    "simulated_seconds_remaining": 38.544,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 17.61530956160277,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.84,
                    "yaw": -0.9
                  },
                  "note": "The handle is visible across the open fingers. I am rotating so the jaws close across its narrow width."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 36,
    "motion_seconds": 2.3760000000000003,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "pick up the ladle and place it on the bowl.",
    "joint_positions": [
      -0.17504,
      -0.16584,
      0.11007,
      -2.30229,
      -0.00618,
      2.13934,
      0.80597
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.48506,
      -0.03469,
      0.83993
    ],
    "tcp_roll_pitch_yaw": [
      5e-05,
      0.00099,
      -0.89534
    ],
    "tcp_rotation_matrix": [
      [
        0.64557,
        -0.7637,
        0.00035
      ],
      [
        -0.76349,
        -0.6454,
        -0.02341
      ],
      [
        0.01811,
        0.01485,
        -0.99973
      ]
    ],
    "simulated_seconds_remaining": 36.168,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 11.209241978824139,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.498,
                    "y": -0.024,
                    "z": 0.755
                  },
                  "note": "The handle now runs lengthwise between the fingers. I am lowering onto its middle with a small lateral correction."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "pick up the ladle and place it on the bowl.",
    "joint_positions": [
      -0.16475,
      -0.06899,
      0.12858,
      -2.35549,
      -0.03031,
      2.34294,
      0.84802
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.50651,
      -0.02343,
      0.78741
    ],
    "tcp_roll_pitch_yaw": [
      0.0366,
      -0.0404,
      -0.89012
    ],
    "tcp_rotation_matrix": [
      [
        0.64796,
        -0.75969,
        0.05489
      ],
      [
        -0.75927,
        -0.64996,
        -0.03256
      ],
      [
        0.06041,
        -0.02058,
        -0.99796
      ]
    ],
    "simulated_seconds_remaining": 35.31,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 7.406229984015226,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The handle is centered in the jaw gap at the worktop. I am closing the fingers around it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "pick up the ladle and place it on the bowl.",
    "joint_positions": [
      -0.16475,
      -0.06899,
      0.12858,
      -2.35549,
      -0.03031,
      2.34294,
      0.84802
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.50652,
      -0.02343,
      0.78741
    ],
    "tcp_roll_pitch_yaw": [
      0.03661,
      -0.04042,
      -0.89012
    ],
    "tcp_rotation_matrix": [
      [
        0.64796,
        -0.75969,
        0.05492
      ],
      [
        -0.75927,
        -0.64996,
        -0.03256
      ],
      [
        0.06043,
        -0.0206,
        -0.99796
      ]
    ],
    "simulated_seconds_remaining": 34.386,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 5.804965506307781,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.94,
                    "roll": 0,
                    "pitch": 0
                  },
                  "note": "The fingers have closed on the narrow handle. I am lifting to check that the ladle is held securely."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "pick up the ladle and place it on the bowl.",
    "joint_positions": [
      -0.16459,
      -0.17252,
      0.12073,
      -2.0504,
      -0.00371,
      1.88212,
      0.81933
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.50661,
      -0.02343,
      0.93879
    ],
    "tcp_roll_pitch_yaw": [
      0.0006,
      -0.00061,
      -0.89012
    ],
    "tcp_rotation_matrix": [
      [
        0.64953,
        -0.76034,
        0.00191
      ],
      [
        -0.76008,
        -0.64937,
        -0.02432
      ],
      [
        0.01973,
        0.01434,
        -0.9997
      ]
    ],
    "simulated_seconds_remaining": 33.066,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 24.220721795223653,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48,
                    "y": 0.012,
                    "z": 0.83,
                    "gripper": 1
                  },
                  "note": "The scoop became smaller as I lifted, so the ladle remained on the table. I am reopening and moving farther along the handle for another grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "pick up the ladle and place it on the bowl.",
    "joint_positions": [
      -0.13336,
      -0.17402,
      0.16319,
      -2.33339,
      0.00454,
      2.16255,
      0.88861
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.48024,
      0.01162,
      0.83116
    ],
    "tcp_roll_pitch_yaw": [
      0.00034,
      -0.00041,
      -0.89003
    ],
    "tcp_rotation_matrix": [
      [
        0.6496,
        -0.76028,
        0.00159
      ],
      [
        -0.76003,
        -0.64944,
        -0.02432
      ],
      [
        0.01952,
        0.0146,
        -0.9997
      ]
    ],
    "simulated_seconds_remaining": 32.01,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 24.821036140434444,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.532,
                    "y": -0.057,
                    "z": 0.8
                  },
                  "note": "The open jaws are still too close to the scoop. I am shifting down the handle so its straight section crosses the jaw tips."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "pick up the ladle and place it on the bowl.",
    "joint_positions": [
      -0.1946,
      0.01683,
      0.10011,
      -2.19558,
      -0.03234,
      2.21809,
      0.78686
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.53151,
      -0.05525,
      0.80245
    ],
    "tcp_roll_pitch_yaw": [
      0.0018,
      -0.00192,
      -0.88822
    ],
    "tcp_rotation_matrix": [
      [
        0.65093,
        -0.75913,
        0.00371
      ],
      [
        -0.75885,
        -0.65081,
        -0.02457
      ],
      [
        0.02107,
        0.01318,
        -0.99969
      ]
    ],
    "simulated_seconds_remaining": 31.086,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 8.20742508675903,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.541,
                    "y": -0.049,
                    "z": 0.775
                  },
                  "note": "The straight handle lies between the open fingers. I am making the final small alignment and lowering to grip height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 8,
    "motion_seconds": 0.528,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "pick up the ladle and place it on the bowl.",
    "joint_positions": [
      -0.19161,
      0.03703,
      0.10024,
      -2.18548,
      -0.04409,
      2.22064,
      0.80647
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.53427,
      -0.05543,
      0.79643
    ],
    "tcp_roll_pitch_yaw": [
      -0.00819,
      -0.00232,
      -0.89757
    ],
    "tcp_rotation_matrix": [
      [
        0.64395,
        -0.76505,
        -0.00408
      ],
      [
        -0.76477,
        -0.64355,
        -0.03114
      ],
      [
        0.0212,
        0.02317,
        -0.99951
      ]
    ],
    "simulated_seconds_remaining": 30.558,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 6.605693031102419,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The handle crosses the jaw gap near its middle. I am closing the gripper for the second grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "pick up the ladle and place it on the bowl.",
    "joint_positions": [
      -0.19161,
      0.03702,
      0.10024,
      -2.18548,
      -0.04409,
      2.22064,
      0.80647
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.53427,
      -0.05544,
      0.79644
    ],
    "tcp_roll_pitch_yaw": [
      -0.00819,
      -0.00232,
      -0.89758
    ],
    "tcp_rotation_matrix": [
      [
        0.64395,
        -0.76506,
        -0.00408
      ],
      [
        -0.76477,
        -0.64354,
        -0.03115
      ],
      [
        0.02121,
        0.02317,
        -0.99951
      ]
    ],
    "simulated_seconds_remaining": 29.634,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 9.812594151124358,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.9
                  },
                  "note": "I am lifting briefly to verify whether the second grasp captured the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "pick up the ladle and place it on the bowl.",
    "joint_positions": [
      -0.19199,
      -0.06027,
      0.0996,
      -2.02823,
      -0.02756,
      1.96731,
      0.78929
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.53436,
      -0.05544,
      0.89882
    ],
    "tcp_roll_pitch_yaw": [
      -0.00794,
      -0.00259,
      -0.89757
    ],
    "tcp_rotation_matrix": [
      [
        0.64394,
        -0.76507,
        -0.00371
      ],
      [
        -0.76477,
        -0.64354,
        -0.03119
      ],
      [
        0.02148,
        0.02292,
        -0.99951
      ]
    ],
    "simulated_seconds_remaining": 28.644,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 14.014405251480639,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.554,
                    "y": -0.039,
                    "z": 0.86,
                    "gripper": 1,
                    "roll": 0,
                    "pitch": 0
                  },
                  "note": "The ladle is still on the table. I am correcting the sideways offset while above the nearby bottle, then will descend again."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "pick up the ladle and place it on the bowl.",
    "joint_positions": [
      -0.17672,
      0.01727,
      0.11583,
      -2.03591,
      -0.02969,
      2.055,
      0.82409
    ],
    "gripper_open": 0.9965,
    "tcp_xyz": [
      0.55355,
      -0.03933,
      0.86077
    ],
    "tcp_roll_pitch_yaw": [
      -0.00028,
      5e-05,
      -0.89753
    ],
    "tcp_rotation_matrix": [
      [
        0.6439,
        -0.76511,
        0.00063
      ],
      [
        -0.76488,
        -0.64372,
        -0.02436
      ],
      [
        0.01904,
        0.0152,
        -0.9997
      ]
    ],
    "simulated_seconds_remaining": 27.72,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 8.007321370765567,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.546,
                    "y": -0.045,
                    "z": 0.76
                  },
                  "note": "The handle is now centered between the jaws. I am lowering vertically to capture it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "pick up the ladle and place it on the bowl.",
    "joint_positions": [
      -0.17306,
      0.00075,
      0.11977,
      -2.16941,
      -0.044,
      2.30688,
      0.82936
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.56817,
      -0.03624,
      0.83298
    ],
    "tcp_roll_pitch_yaw": [
      0.09358,
      -0.09719,
      -0.88459
    ],
    "tcp_rotation_matrix": [
      [
        0.64795,
        -0.74967,
        0.13474
      ],
      [
        -0.75242,
        -0.65748,
        -0.03974
      ],
      [
        0.11838,
        -0.07563,
        -0.99008
      ]
    ],
    "simulated_seconds_remaining": 26.73,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 21.217413131147623,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.482,
                    "y": 0.047,
                    "z": 0.89,
                    "roll": 0,
                    "pitch": 0
                  },
                  "note": "The nearby bottle is obstructing the open jaw at the handle. I am moving to the ladle scoop, which offers more clearance for a grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "pick up the ladle and place it on the bowl.",
    "joint_positions": [
      -0.09944,
      -0.21607,
      0.19371,
      -2.2198,
      0.0185,
      2.00816,
      0.94012
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.48291,
      0.04625,
      0.88951
    ],
    "tcp_roll_pitch_yaw": [
      0.00113,
      -0.00113,
      -0.88437
    ],
    "tcp_rotation_matrix": [
      [
        0.65387,
        -0.7566,
        0.00279
      ],
      [
        -0.75633,
        -0.65373,
        -0.02437
      ],
      [
        0.02026,
        0.01383,
        -0.9997
      ]
    ],
    "simulated_seconds_remaining": 25.542,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 8.00725632533431,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.478,
                    "y": 0.03,
                    "z": 0.8
                  },
                  "note": "The metal scoop is clear of the bottle and fits within the open jaws. I am lowering around its sides."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 19,
  "state": {
    "instruction": "pick up the ladle and place it on the bowl.",
    "joint_positions": [
      -0.11343,
      -0.13875,
      0.18384,
      -2.37856,
      0.00102,
      2.24289,
      0.92617
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.478,
      0.0302,
      0.80114
    ],
    "tcp_roll_pitch_yaw": [
      0.00086,
      -0.00092,
      -0.88442
    ],
    "tcp_rotation_matrix": [
      [
        0.65384,
        -0.75663,
        0.00244
      ],
      [
        -0.75637,
        -0.65369,
        -0.02438
      ],
      [
        0.02004,
        0.01409,
        -0.9997
      ]
    ],
    "simulated_seconds_remaining": 24.618,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 6.005391675978899,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The scoop is centered directly between the fingertips. I am closing around its sides."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 20,
  "state": {
    "instruction": "pick up the ladle and place it on the bowl.",
    "joint_positions": [
      -0.11343,
      -0.13875,
      0.18384,
      -2.37856,
      0.00102,
      2.24289,
      0.92617
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.478,
      0.0302,
      0.80113
    ],
    "tcp_roll_pitch_yaw": [
      0.00086,
      -0.00092,
      -0.88442
    ],
    "tcp_rotation_matrix": [
      [
        0.65384,
        -0.75663,
        0.00245
      ],
      [
        -0.75637,
        -0.65369,
        -0.02438
      ],
      [
        0.02004,
        0.01409,
        -0.9997
      ]
    ],
    "simulated_seconds_remaining": 23.694,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 12.41298963315785,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.735,
                    "gripper": 1
                  },
                  "note": "The jaws closed fully, indicating the scoop was below their gripping surfaces. I am reopening and lowering further around it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 21,
  "state": {
    "instruction": "pick up the ladle and place it on the bowl.",
    "joint_positions": [
      -0.1159,
      -0.03808,
      0.18862,
      -2.43777,
      -0.02921,
      2.41293,
      0.95029
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.48112,
      0.03058,
      0.7435
    ],
    "tcp_roll_pitch_yaw": [
      0.00948,
      -0.00959,
      -0.8822
    ],
    "tcp_rotation_matrix": [
      [
        0.65525,
        -0.75527,
        0.01466
      ],
      [
        -0.75486,
        -0.65539,
        -0.02558
      ],
      [
        0.02893,
        0.0057,
        -0.99957
      ]
    ],
    "simulated_seconds_remaining": 22.77,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 5.605106581002474,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The fingers now flank the scoop at its rim height. I am closing to secure the ladle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 22,
  "state": {
    "instruction": "pick up the ladle and place it on the bowl.",
    "joint_positions": [
      -0.11536,
      -0.04501,
      0.18923,
      -2.43347,
      -0.02901,
      2.41113,
      0.9504
    ],
    "gripper_open": 0.8356,
    "tcp_xyz": [
      0.48385,
      0.03114,
      0.7484
    ],
    "tcp_roll_pitch_yaw": [
      0.01637,
      -0.01597,
      -0.8814
    ],
    "tcp_rotation_matrix": [
      [
        0.65562,
        -0.75471,
        0.02406
      ],
      [
        -0.75426,
        -0.65606,
        -0.02611
      ],
      [
        0.03549,
        -0.00102,
        -0.99937
      ]
    ],
    "simulated_seconds_remaining": 21.846,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 6.4056074023246765,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.94
                  },
                  "note": "The gripper remains partly open against the scoop, consistent with a grasp. I am lifting the ladle clear of the table."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 24,
    "motion_seconds": 1.584,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 23,
  "state": {
    "instruction": "pick up the ladle and place it on the bowl.",
    "joint_positions": [
      -0.11194,
      -0.25817,
      0.17173,
      -2.14085,
      0.01721,
      1.90922,
      0.90441
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.48393,
      0.03115,
      0.93878
    ],
    "tcp_roll_pitch_yaw": [
      0.01665,
      -0.01619,
      -0.88141
    ],
    "tcp_rotation_matrix": [
      [
        0.6556,
        -0.75471,
        0.02441
      ],
      [
        -0.75426,
        -0.65606,
        -0.02611
      ],
      [
        0.03572,
        -0.00129,
        -0.99936
      ]
    ],
    "simulated_seconds_remaining": 20.262,
    "calls_remaining_including_this": 35
  },
  "api_seconds": 10.009263332933187,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.478,
                    "y": 0.03,
                    "z": 0.735,
                    "gripper": 1,
                    "roll": 0,
                    "pitch": 0
                  },
                  "note": "The gripper reopened during the lift. I am returning to the scoop and will explicitly maintain closure while carrying it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 25,
    "motion_seconds": 1.6500000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 24,
  "state": {
    "instruction": "pick up the ladle and place it on the bowl.",
    "joint_positions": [
      -0.11576,
      -0.03736,
      0.18807,
      -2.43664,
      -0.02908,
      2.41173,
      0.94663
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.48125,
      0.03043,
      0.74351
    ],
    "tcp_roll_pitch_yaw": [
      0.00886,
      -0.00893,
      -0.87906
    ],
    "tcp_rotation_matrix": [
      [
        0.65764,
        -0.7532,
        0.01385
      ],
      [
        -0.7528,
        -0.65776,
        -0.02543
      ],
      [
        0.02826,
        0.0063,
        -0.99958
      ]
    ],
    "simulated_seconds_remaining": 18.612,
    "calls_remaining_including_this": 34
  },
  "api_seconds": 4.6047729309648275,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The scoop is again between the fingers at rim height. I am securing it before lifting."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 25,
  "state": {
    "instruction": "pick up the ladle and place it on the bowl.",
    "joint_positions": [
      -0.11504,
      -0.04439,
      0.18891,
      -2.43206,
      -0.02876,
      2.41019,
      0.94674
    ],
    "gripper_open": 0.8276,
    "tcp_xyz": [
      0.48419,
      0.03121,
      0.74861
    ],
    "tcp_roll_pitch_yaw": [
      0.01631,
      -0.01568,
      -0.87794
    ],
    "tcp_rotation_matrix": [
      [
        0.65823,
        -0.75243,
        0.02391
      ],
      [
        -0.75199,
        -0.65867,
        -0.02585
      ],
      [
        0.0352,
        -0.00096,
        -0.99938
      ]
    ],
    "simulated_seconds_remaining": 17.688,
    "calls_remaining_including_this": 33
  },
  "api_seconds": 4.6045711021870375,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.94,
                    "gripper": 0
                  },
                  "note": "The jaws have contacted the scoop. I am lifting while explicitly keeping the gripper closed."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 24,
    "motion_seconds": 1.584,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 26,
  "state": {
    "instruction": "pick up the ladle and place it on the bowl.",
    "joint_positions": [
      -0.1117,
      -0.257,
      0.17154,
      -2.13967,
      0.01725,
      1.90904,
      0.90104
    ],
    "gripper_open": 0.6716,
    "tcp_xyz": [
      0.48426,
      0.03122,
      0.93877
    ],
    "tcp_roll_pitch_yaw": [
      0.01656,
      -0.01588,
      -0.87794
    ],
    "tcp_rotation_matrix": [
      [
        0.65822,
        -0.75243,
        0.02424
      ],
      [
        -0.75199,
        -0.65867,
        -0.02584
      ],
      [
        0.03541,
        -0.00122,
        -0.99937
      ]
    ],
    "simulated_seconds_remaining": 16.104,
    "calls_remaining_including_this": 32
  },
  "api_seconds": 16.013905237428844,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.37,
                    "y": 0.17,
                    "z": 0.96,
                    "gripper": 0
                  },
                  "note": "The ladle is lifted and remains between the fingers. I am carrying it over the bowl visible ahead in the wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 27,
  "state": {
    "instruction": "pick up the ladle and place it on the bowl.",
    "joint_positions": [
      0.02803,
      -0.52543,
      0.34165,
      -2.29541,
      0.14047,
      1.80805,
      1.14705
    ],
    "gripper_open": 0.6713,
    "tcp_xyz": [
      0.37082,
      0.16907,
      0.95988
    ],
    "tcp_roll_pitch_yaw": [
      0.01662,
      -0.01598,
      -0.87771
    ],
    "tcp_rotation_matrix": [
      [
        0.6584,
        -0.75228,
        0.02435
      ],
      [
        -0.75183,
        -0.65885,
        -0.02587
      ],
      [
        0.03551,
        -0.00127,
        -0.99937
      ]
    ],
    "simulated_seconds_remaining": 14.586,
    "calls_remaining_including_this": 31
  },
  "api_seconds": 7.807306637056172,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.325,
                    "y": 0.2,
                    "z": 0.87,
                    "gripper": 0
                  },
                  "note": "The bowl is just beyond the held scoop. I am centering the scoop over its opening and lowering toward the rim."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 28,
  "state": {
    "instruction": "pick up the ladle and place it on the bowl.",
    "joint_positions": [
      0.09573,
      -0.58587,
      0.42836,
      -2.55259,
      0.21883,
      2.01047,
      1.21854
    ],
    "gripper_open": 0.6713,
    "tcp_xyz": [
      0.32552,
      0.19962,
      0.87107
    ],
    "tcp_roll_pitch_yaw": [
      0.01639,
      -0.01594,
      -0.87759
    ],
    "tcp_rotation_matrix": [
      [
        0.65849,
        -0.7522,
        0.02415
      ],
      [
        -0.75175,
        -0.65893,
        -0.02599
      ],
      [
        0.03546,
        -0.00104,
        -0.99937
      ]
    ],
    "simulated_seconds_remaining": 13.596,
    "calls_remaining_including_this": 30
  },
  "api_seconds": 7.21277139429003,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.815,
                    "gripper": 0
                  },
                  "note": "The ladle scoop is centered over the bowl. I am lowering it gently onto the bowl before releasing."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 29,
  "state": {
    "instruction": "pick up the ladle and place it on the bowl.",
    "joint_positions": [
      0.09498,
      -0.52053,
      0.46505,
      -2.64988,
      0.23172,
      2.17218,
      1.226
    ],
    "gripper_open": 0.6713,
    "tcp_xyz": [
      0.32548,
      0.1996,
      0.81616
    ],
    "tcp_roll_pitch_yaw": [
      0.01621,
      -0.01588,
      -0.87759
    ],
    "tcp_rotation_matrix": [
      [
        0.65849,
        -0.75221,
        0.02397
      ],
      [
        -0.75176,
        -0.65893,
        -0.02606
      ],
      [
        0.0354,
        -0.00086,
        -0.99937
      ]
    ],
    "simulated_seconds_remaining": 12.672,
    "calls_remaining_including_this": 29
  },
  "api_seconds": 5.204863187856972,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 1
                  },
                  "note": "The ladle is positioned on the bowl. I am opening the fingers to release it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

========================================================================
GPT-Astra / Pick & place / 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,
  "status": "completed",
  "success": true,
  "oracle_success": true,
  "action_decisions": 18,
  "wall_seconds": 254.08,
  "usage": {
    "input_tokens": 335092,
    "cached_input_tokens": 307584,
    "cache_write_input_tokens": 0,
    "output_tokens": 3859,
    "reasoning_output_tokens": 1815
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick-and-place 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 45 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 and grasp the requested object, lift it, move it to the named receptacle, and release it in or on that receptacle. Complete the entire pick-and-place 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 guide the pick and place.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [-0.01274, -0.82535, -0.03708, -2.37754, 0.01777, 1.57173, 0.01821], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.29916, -0.00953, 1.01739], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.99823, -0.05571, 0.02088], [-0.05659, -0.99742, 0.04423], [0.01836, -0.04534, -0.9988]], \"simulated_seconds_remaining\": 45.012, \"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": 0.89,
    "gripper": 1,
    "note": "The tissue sits beside the dark bowl on the white table. I lower the open gripper to get a clearer view and align over the tissue."
  },
  "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": 0.89,
      "gripper": 1
    },
    "note": "The tissue is beside the dark bowl on the table. I lower the open gripper for a clearer view before aligning the grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [-0.01708, -0.85872, -0.04205, -2.71855, 0.01396, 1.87884, 0.00724], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.29911, -0.00953, 0.89129], \"tcp_roll_pitch_yaw\": [1e-05, 0.0003, 1e-05], \"tcp_rotation_matrix\": [[0.99823, -0.05571, 0.02058], [-0.05658, -0.99742, 0.04424], [0.01806, -0.04533, -0.99881]], \"simulated_seconds_remaining\": 43.89, \"calls_remaining_including_this\": 56}"
      },
      {
        "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": 0.2,
      "z": 0.91
    },
    "note": "The tissue moved below the wrist image as I descended, so I shift backward to bring it beneath the gripper while staying above the table."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [-0.03771, -1.25951, -0.04476, -2.83203, 0.00266, 1.59135, 0.00435], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.2013, -0.00953, 0.90983], \"tcp_roll_pitch_yaw\": [-0.0, 4e-05, -0.0], \"tcp_rotation_matrix\": [[0.99823, -0.05571, 0.02084], [-0.05659, -0.99742, 0.04423], [0.01832, -0.04533, -0.9988]], \"simulated_seconds_remaining\": 42.9, \"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": 0.43,
      "z": 0.94
    },
    "note": "The wrist view shows the objects shifted farther down after moving backward. I move forward to center the tissue, with extra clearance."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [0.00028, -0.42631, -0.04044, -2.29756, 0.02977, 1.89057, 0.01042], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.42866, -0.00953, 0.9398], \"tcp_roll_pitch_yaw\": [0.0, 0.00012, -0.0], \"tcp_rotation_matrix\": [[0.99823, -0.05571, 0.02076], [-0.05659, -0.99742, 0.04423], [0.01824, -0.04533, -0.99881]], \"simulated_seconds_remaining\": 41.052, \"calls_remaining_including_this\": 54}"
      },
      {
        "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": 0.46,
      "y": 0.015,
      "z": 0.83
    },
    "note": "The white tissue and its rectangular pack are now between the fingers in the wrist view. I approach vertically, with a small forward and left correction."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [0.02388, -0.24722, -0.01053, -2.4173, 0.05083, 2.1905, 0.0407], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.45956, 0.01473, 0.83116], \"tcp_roll_pitch_yaw\": [-2e-05, 0.00049, 6e-05], \"tcp_rotation_matrix\": [[0.99824, -0.05567, 0.02039], [-0.05653, -0.99742, 0.04422], [0.01787, -0.04529, -0.99881]], \"simulated_seconds_remaining\": 39.996, \"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": 0.48,
      "z": 0.775,
      "yaw": 1
    },
    "note": "The tissue pack is directly below the gripper. I turn the fingers across its narrow dimension and lower toward the exposed tissue for a secure grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [0.10132, -0.09012, -0.0885, -2.36775, 0.04505, 2.28016, -0.95324], \"gripper_open\": 1.0, \"tcp_xyz\": [0.48787, 0.01381, 0.78671], \"tcp_roll_pitch_yaw\": [-0.02299, -0.01559, 0.99284], \"tcp_rotation_matrix\": [[0.59214, 0.80583, 0.00211], [0.80506, -0.59169, 0.04215], [0.03522, -0.02326, -0.99911]], \"simulated_seconds_remaining\": 38.346, \"calls_remaining_including_this\": 52}"
      },
      {
        "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": 0.84,
      "yaw": -0.55
    },
    "note": "The rotated view shows the pack spanning the finger opening. I raise slightly and rotate the other way so the jaws close across the pack's short side."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [-0.0026, -0.18659, 0.03076, -2.33581, 0.00466, 2.19153, 0.62632], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.48788, 0.01382, 0.83987], \"tcp_roll_pitch_yaw\": [-0.02297, -0.01563, -0.54532], \"tcp_rotation_matrix\": [[0.82396, -0.56508, 0.04225], [-0.56556, -0.82471, -0.00074], [0.03526, -0.02328, -0.99911]], \"simulated_seconds_remaining\": 35.97, \"calls_remaining_including_this\": 51}"
      },
      {
        "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": 0.453,
      "y": 0.032,
      "z": 0.78,
      "yaw": -1.03,
      "roll": 0,
      "pitch": 0
    },
    "note": "The pack is visible lengthwise between the jaws but slightly ahead of the grasp center. I correct backward and left, finish aligning its narrow side, and descend."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [-0.02749, -0.208, 0.09857, -2.52178, 0.03113, 2.37127, 1.12828], \"gripper_open\": 1.0, \"tcp_xyz\": [0.45573, 0.03256, 0.78325], \"tcp_roll_pitch_yaw\": [0.00675, -0.00395, -1.02421], \"tcp_rotation_matrix\": [[0.47036, -0.88066, 0.05646], [-0.8822, -0.47085, 0.00529], [0.02193, -0.05229, -0.99839]], \"simulated_seconds_remaining\": 35.046, \"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": 0.481,
      "y": 0.016,
      "z": 0.775
    },
    "note": "The tissue pack is aligned lengthwise, but sits to the right of the jaw center. I shift the open gripper sideways over its middle before closing."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [-0.04592, -0.12464, 0.0791, -2.45557, 0.0194, 2.38779, 1.09957], \"gripper_open\": 0.9967, \"tcp_xyz\": [0.48014, 0.01653, 0.77526], \"tcp_roll_pitch_yaw\": [0.00671, -0.00389, -1.02431], \"tcp_rotation_matrix\": [[0.47028, -0.88072, 0.05639], [-0.88225, -0.47076, 0.00531], [0.02187, -0.05225, -0.99839]], \"simulated_seconds_remaining\": 34.518, \"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": 0.52,
      "z": 0.8
    },
    "note": "The pack remains right of the grasp center. I make a small forward correction with clearance and check the resulting alignment."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [-0.0484, -0.05247, 0.07853, -2.30199, 0.01042, 2.30637, 1.10387], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.51896, 0.01653, 0.79936], \"tcp_roll_pitch_yaw\": [0.00685, -0.00396, -1.02433], \"tcp_rotation_matrix\": [[0.47026, -0.88072, 0.05654], [-0.88226, -0.47074, 0.00532], [0.02193, -0.05238, -0.99839]], \"simulated_seconds_remaining\": 33.924, \"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": 0.494,
      "y": 0.035,
      "z": 0.758
    },
    "note": "The tissue now sits slightly left and ahead of the finger midpoint. I center it with a small backward-left move and lower the jaws around the pack."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 11, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [-0.03132, -0.05758, 0.09759, -2.41655, 0.00887, 2.42555, 1.14227], \"gripper_open\": 1.0, \"tcp_xyz\": [0.49755, 0.03303, 0.76342], \"tcp_roll_pitch_yaw\": [0.01472, -0.00943, -1.02639], \"tcp_rotation_matrix\": [[0.46825, -0.88112, 0.0661], [-0.88318, -0.469, 0.00461], [0.02694, -0.06054, -0.9978]], \"simulated_seconds_remaining\": 33.264, \"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 tissue pack is centered between the fingertips at table height. I close the jaws to grasp it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 12, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [-0.03244, -0.06467, 0.09614, -2.41373, 0.00802, 2.42151, 1.14223], \"gripper_open\": 0.8503, \"tcp_xyz\": [0.49897, 0.03168, 0.76774], \"tcp_roll_pitch_yaw\": [0.01936, -0.01317, -1.02836], \"tcp_rotation_matrix\": [[0.46639, -0.88165, 0.072], [-0.88406, -0.46736, 0.00368], [0.03041, -0.06537, -0.9974]], \"simulated_seconds_remaining\": 32.34, \"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": {
      "z": 0.92
    },
    "note": "The jaws stopped against the tissue pack rather than closing fully. I lift vertically to verify that it is held securely."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 13, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [-0.03191, -0.2377, 0.08855, -2.18739, 0.02284, 2.02301, 1.13003], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.49905, 0.03169, 0.9188], \"tcp_roll_pitch_yaw\": [0.01968, -0.01334, -1.02837], \"tcp_rotation_matrix\": [[0.46637, -0.88162, 0.07236], [-0.88406, -0.46736, 0.00369], [0.03056, -0.06569, -0.99737]], \"simulated_seconds_remaining\": 31.02, \"calls_remaining_including_this\": 45}"
      },
      {
        "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": 0.765,
      "gripper": 1
    },
    "note": "The pack stayed on the table as the gripper reopened during the lift. I return to the same aligned grasp position."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 14, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [-0.03259, -0.06192, 0.0963, -2.41514, 0.00767, 2.42563, 1.1425], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.49896, 0.03168, 0.76621], \"tcp_roll_pitch_yaw\": [0.01934, -0.01316, -1.02837], \"tcp_rotation_matrix\": [[0.46638, -0.88165, 0.07198], [-0.88406, -0.46736, 0.00368], [0.0304, -0.06535, -0.9974]], \"simulated_seconds_remaining\": 29.7, \"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": {
      "gripper": 0
    },
    "note": "The jaws again straddle the pack. I close them and will maintain the close command throughout the lift."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 15, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [-0.03387, -0.0692, 0.09466, -2.4125, 0.00674, 2.42126, 1.14242], \"gripper_open\": 0.7356, \"tcp_xyz\": [0.50023, 0.03012, 0.77052], \"tcp_roll_pitch_yaw\": [0.02368, -0.0168, -1.03061], \"tcp_rotation_matrix\": [[0.46428, -0.88229, 0.07756], [-0.88505, -0.4655, 0.00263], [0.03378, -0.06987, -0.99698]], \"simulated_seconds_remaining\": 28.776, \"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": {
      "z": 0.93,
      "gripper": 0
    },
    "note": "The fingers are in contact with the pack. I lift while explicitly keeping the gripper closed."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 16, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [-0.03336, -0.24266, 0.08679, -2.16884, 0.02148, 2.00417, 1.12995], \"gripper_open\": 0.2254, \"tcp_xyz\": [0.50015, 0.03012, 0.92844], \"tcp_roll_pitch_yaw\": [0.02327, -0.01653, -1.03062], \"tcp_rotation_matrix\": [[0.46428, -0.88233, 0.07707], [-0.88505, -0.46548, 0.00265], [0.03354, -0.06944, -0.99702]], \"simulated_seconds_remaining\": 27.39, \"calls_remaining_including_this\": 42}"
      },
      {
        "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": 0.36,
      "y": 0.15,
      "z": 0.95,
      "gripper": 0
    },
    "note": "The tissue pack lifted clear of the table and remains between the jaws. I carry it toward the dark bowl, keeping it above the rim."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 17, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [0.09954, -0.61548, 0.24968, -2.41625, 0.12856, 1.8874, 1.36074], \"gripper_open\": 0.2253, \"tcp_xyz\": [0.3609, 0.14915, 0.9496], \"tcp_roll_pitch_yaw\": [0.02266, -0.01641, -1.03041], \"tcp_rotation_matrix\": [[0.46447, -0.88228, 0.07649], [-0.88496, -0.46567, 0.00245], [0.03346, -0.06883, -0.99707]], \"simulated_seconds_remaining\": 25.872, \"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": 0.335,
      "y": 0.135,
      "z": 0.87,
      "gripper": 0
    },
    "note": "The pack is above the bowl, with the bowl slightly left in the wrist view. I correct the horizontal alignment and lower toward the rim."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 18, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [0.12029, -0.68832, 0.2534, -2.64672, 0.15573, 2.15689, 1.3423], \"gripper_open\": 0.2233, \"tcp_xyz\": [0.36145, 0.1435, 0.89295], \"tcp_roll_pitch_yaw\": [0.1316, -0.04773, -1.03062], \"tcp_rotation_matrix\": [[0.46235, -0.86721, 0.18489], [-0.88477, -0.46494, 0.03179], [0.05839, -0.17828, -0.98225]], \"simulated_seconds_remaining\": 24.948, \"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": 1
    },
    "note": "The pack has reached the bowl and the motion stopped as it made contact. I open the fingers to leave the tissue on the bowl."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "Episode ended. Do not call more tools. Return a brief final response."
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

Placed the tissue on the bowl.

TURN USAGE
{
  "input_tokens": 335092,
  "cached_input_tokens": 307584,
  "cache_write_input_tokens": 0,
  "output_tokens": 3859,
  "reasoning_output_tokens": 1815
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      -0.01274,
      -0.82535,
      -0.03708,
      -2.37754,
      0.01777,
      1.57173,
      0.01821
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.29916,
      -0.00953,
      1.01739
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99823,
        -0.05571,
        0.02088
      ],
      [
        -0.05659,
        -0.99742,
        0.04423
      ],
      [
        0.01836,
        -0.04534,
        -0.9988
      ]
    ],
    "simulated_seconds_remaining": 45.012,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 24.620385232381523,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.89,
                    "gripper": 1
                  },
                  "note": "The tissue is beside the dark bowl on the table. I lower the open gripper for a clearer view before aligning the grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      -0.01708,
      -0.85872,
      -0.04205,
      -2.71855,
      0.01396,
      1.87884,
      0.00724
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.29911,
      -0.00953,
      0.89129
    ],
    "tcp_roll_pitch_yaw": [
      1e-05,
      0.0003,
      1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99823,
        -0.05571,
        0.02058
      ],
      [
        -0.05658,
        -0.99742,
        0.04424
      ],
      [
        0.01806,
        -0.04533,
        -0.99881
      ]
    ],
    "simulated_seconds_remaining": 43.89,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 8.007017903029919,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.2,
                    "z": 0.91
                  },
                  "note": "The tissue moved below the wrist image as I descended, so I shift backward to bring it beneath the gripper while staying above the table."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      -0.03771,
      -1.25951,
      -0.04476,
      -2.83203,
      0.00266,
      1.59135,
      0.00435
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.2013,
      -0.00953,
      0.90983
    ],
    "tcp_roll_pitch_yaw": [
      -0.0,
      4e-05,
      -0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99823,
        -0.05571,
        0.02084
      ],
      [
        -0.05659,
        -0.99742,
        0.04423
      ],
      [
        0.01832,
        -0.04533,
        -0.9988
      ]
    ],
    "simulated_seconds_remaining": 42.9,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 8.807469951920211,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.43,
                    "z": 0.94
                  },
                  "note": "The wrist view shows the objects shifted farther down after moving backward. I move forward to center the tissue, with extra clearance."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 28,
    "motion_seconds": 1.848,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      0.00028,
      -0.42631,
      -0.04044,
      -2.29756,
      0.02977,
      1.89057,
      0.01042
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.42866,
      -0.00953,
      0.9398
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.00012,
      -0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99823,
        -0.05571,
        0.02076
      ],
      [
        -0.05659,
        -0.99742,
        0.04423
      ],
      [
        0.01824,
        -0.04533,
        -0.99881
      ]
    ],
    "simulated_seconds_remaining": 41.052,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 11.810465044341981,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.46,
                    "y": 0.015,
                    "z": 0.83
                  },
                  "note": "The white tissue and its rectangular pack are now between the fingers in the wrist view. I approach vertically, with a small forward and left correction."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      0.02388,
      -0.24722,
      -0.01053,
      -2.4173,
      0.05083,
      2.1905,
      0.0407
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.45956,
      0.01473,
      0.83116
    ],
    "tcp_roll_pitch_yaw": [
      -2e-05,
      0.00049,
      6e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99824,
        -0.05567,
        0.02039
      ],
      [
        -0.05653,
        -0.99742,
        0.04422
      ],
      [
        0.01787,
        -0.04529,
        -0.99881
      ]
    ],
    "simulated_seconds_remaining": 39.996,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 19.416330998763442,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48,
                    "z": 0.775,
                    "yaw": 1
                  },
                  "note": "The tissue pack is directly below the gripper. I turn the fingers across its narrow dimension and lower toward the exposed tissue for a secure grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 25,
    "motion_seconds": 1.6500000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      0.10132,
      -0.09012,
      -0.0885,
      -2.36775,
      0.04505,
      2.28016,
      -0.95324
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.48787,
      0.01381,
      0.78671
    ],
    "tcp_roll_pitch_yaw": [
      -0.02299,
      -0.01559,
      0.99284
    ],
    "tcp_rotation_matrix": [
      [
        0.59214,
        0.80583,
        0.00211
      ],
      [
        0.80506,
        -0.59169,
        0.04215
      ],
      [
        0.03522,
        -0.02326,
        -0.99911
      ]
    ],
    "simulated_seconds_remaining": 38.346,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 7.807358765043318,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.84,
                    "yaw": -0.55
                  },
                  "note": "The rotated view shows the pack spanning the finger opening. I raise slightly and rotate the other way so the jaws close across the pack's short side."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 36,
    "motion_seconds": 2.3760000000000003,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      -0.0026,
      -0.18659,
      0.03076,
      -2.33581,
      0.00466,
      2.19153,
      0.62632
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.48788,
      0.01382,
      0.83987
    ],
    "tcp_roll_pitch_yaw": [
      -0.02297,
      -0.01563,
      -0.54532
    ],
    "tcp_rotation_matrix": [
      [
        0.82396,
        -0.56508,
        0.04225
      ],
      [
        -0.56556,
        -0.82471,
        -0.00074
      ],
      [
        0.03526,
        -0.02328,
        -0.99911
      ]
    ],
    "simulated_seconds_remaining": 35.97,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 16.014275331050158,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.453,
                    "y": 0.032,
                    "z": 0.78,
                    "yaw": -1.03,
                    "roll": 0,
                    "pitch": 0
                  },
                  "note": "The pack is visible lengthwise between the jaws but slightly ahead of the grasp center. I correct backward and left, finish aligning its narrow side, and descend."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      -0.02749,
      -0.208,
      0.09857,
      -2.52178,
      0.03113,
      2.37127,
      1.12828
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.45573,
      0.03256,
      0.78325
    ],
    "tcp_roll_pitch_yaw": [
      0.00675,
      -0.00395,
      -1.02421
    ],
    "tcp_rotation_matrix": [
      [
        0.47036,
        -0.88066,
        0.05646
      ],
      [
        -0.8822,
        -0.47085,
        0.00529
      ],
      [
        0.02193,
        -0.05229,
        -0.99839
      ]
    ],
    "simulated_seconds_remaining": 35.046,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 19.01556782145053,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.481,
                    "y": 0.016,
                    "z": 0.775
                  },
                  "note": "The tissue pack is aligned lengthwise, but sits to the right of the jaw center. I shift the open gripper sideways over its middle before closing."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 8,
    "motion_seconds": 0.528,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      -0.04592,
      -0.12464,
      0.0791,
      -2.45557,
      0.0194,
      2.38779,
      1.09957
    ],
    "gripper_open": 0.9967,
    "tcp_xyz": [
      0.48014,
      0.01653,
      0.77526
    ],
    "tcp_roll_pitch_yaw": [
      0.00671,
      -0.00389,
      -1.02431
    ],
    "tcp_rotation_matrix": [
      [
        0.47028,
        -0.88072,
        0.05639
      ],
      [
        -0.88225,
        -0.47076,
        0.00531
      ],
      [
        0.02187,
        -0.05225,
        -0.99839
      ]
    ],
    "simulated_seconds_remaining": 34.518,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 6.005464434623718,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.52,
                    "z": 0.8
                  },
                  "note": "The pack remains right of the grasp center. I make a small forward correction with clearance and check the resulting alignment."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      -0.0484,
      -0.05247,
      0.07853,
      -2.30199,
      0.01042,
      2.30637,
      1.10387
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.51896,
      0.01653,
      0.79936
    ],
    "tcp_roll_pitch_yaw": [
      0.00685,
      -0.00396,
      -1.02433
    ],
    "tcp_rotation_matrix": [
      [
        0.47026,
        -0.88072,
        0.05654
      ],
      [
        -0.88226,
        -0.47074,
        0.00532
      ],
      [
        0.02193,
        -0.05238,
        -0.99839
      ]
    ],
    "simulated_seconds_remaining": 33.924,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 13.210439593531191,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.494,
                    "y": 0.035,
                    "z": 0.758
                  },
                  "note": "The tissue now sits slightly left and ahead of the finger midpoint. I center it with a small backward-left move and lower the jaws around the pack."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      -0.03132,
      -0.05758,
      0.09759,
      -2.41655,
      0.00887,
      2.42555,
      1.14227
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.49755,
      0.03303,
      0.76342
    ],
    "tcp_roll_pitch_yaw": [
      0.01472,
      -0.00943,
      -1.02639
    ],
    "tcp_rotation_matrix": [
      [
        0.46825,
        -0.88112,
        0.0661
      ],
      [
        -0.88318,
        -0.469,
        0.00461
      ],
      [
        0.02694,
        -0.06054,
        -0.9978
      ]
    ],
    "simulated_seconds_remaining": 33.264,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 5.404901130124927,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The tissue pack is centered between the fingertips at table height. I close the jaws to grasp it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      -0.03244,
      -0.06467,
      0.09614,
      -2.41373,
      0.00802,
      2.42151,
      1.14223
    ],
    "gripper_open": 0.8503,
    "tcp_xyz": [
      0.49897,
      0.03168,
      0.76774
    ],
    "tcp_roll_pitch_yaw": [
      0.01936,
      -0.01317,
      -1.02836
    ],
    "tcp_rotation_matrix": [
      [
        0.46639,
        -0.88165,
        0.072
      ],
      [
        -0.88406,
        -0.46736,
        0.00368
      ],
      [
        0.03041,
        -0.06537,
        -0.9974
      ]
    ],
    "simulated_seconds_remaining": 32.34,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 4.404330112040043,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.92
                  },
                  "note": "The jaws stopped against the tissue pack rather than closing fully. I lift vertically to verify that it is held securely."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      -0.03191,
      -0.2377,
      0.08855,
      -2.18739,
      0.02284,
      2.02301,
      1.13003
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.49905,
      0.03169,
      0.9188
    ],
    "tcp_roll_pitch_yaw": [
      0.01968,
      -0.01334,
      -1.02837
    ],
    "tcp_rotation_matrix": [
      [
        0.46637,
        -0.88162,
        0.07236
      ],
      [
        -0.88406,
        -0.46736,
        0.00369
      ],
      [
        0.03056,
        -0.06569,
        -0.99737
      ]
    ],
    "simulated_seconds_remaining": 31.02,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 6.605564285069704,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.765,
                    "gripper": 1
                  },
                  "note": "The pack stayed on the table as the gripper reopened during the lift. I return to the same aligned grasp position."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      -0.03259,
      -0.06192,
      0.0963,
      -2.41514,
      0.00767,
      2.42563,
      1.1425
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.49896,
      0.03168,
      0.76621
    ],
    "tcp_roll_pitch_yaw": [
      0.01934,
      -0.01316,
      -1.02837
    ],
    "tcp_rotation_matrix": [
      [
        0.46638,
        -0.88165,
        0.07198
      ],
      [
        -0.88406,
        -0.46736,
        0.00368
      ],
      [
        0.0304,
        -0.06535,
        -0.9974
      ]
    ],
    "simulated_seconds_remaining": 29.7,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 6.2054019290953875,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The jaws again straddle the pack. I close them and will maintain the close command throughout the lift."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      -0.03387,
      -0.0692,
      0.09466,
      -2.4125,
      0.00674,
      2.42126,
      1.14242
    ],
    "gripper_open": 0.7356,
    "tcp_xyz": [
      0.50023,
      0.03012,
      0.77052
    ],
    "tcp_roll_pitch_yaw": [
      0.02368,
      -0.0168,
      -1.03061
    ],
    "tcp_rotation_matrix": [
      [
        0.46428,
        -0.88229,
        0.07756
      ],
      [
        -0.88505,
        -0.4655,
        0.00263
      ],
      [
        0.03378,
        -0.06987,
        -0.99698
      ]
    ],
    "simulated_seconds_remaining": 28.776,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 6.205374816432595,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.93,
                    "gripper": 0
                  },
                  "note": "The fingers are in contact with the pack. I lift while explicitly keeping the gripper closed."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      -0.03336,
      -0.24266,
      0.08679,
      -2.16884,
      0.02148,
      2.00417,
      1.12995
    ],
    "gripper_open": 0.2254,
    "tcp_xyz": [
      0.50015,
      0.03012,
      0.92844
    ],
    "tcp_roll_pitch_yaw": [
      0.02327,
      -0.01653,
      -1.03062
    ],
    "tcp_rotation_matrix": [
      [
        0.46428,
        -0.88233,
        0.07707
      ],
      [
        -0.88505,
        -0.46548,
        0.00265
      ],
      [
        0.03354,
        -0.06944,
        -0.99702
      ]
    ],
    "simulated_seconds_remaining": 27.39,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 24.024123730137944,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.36,
                    "y": 0.15,
                    "z": 0.95,
                    "gripper": 0
                  },
                  "note": "The tissue pack lifted clear of the table and remains between the jaws. I carry it toward the dark bowl, keeping it above the rim."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      0.09954,
      -0.61548,
      0.24968,
      -2.41625,
      0.12856,
      1.8874,
      1.36074
    ],
    "gripper_open": 0.2253,
    "tcp_xyz": [
      0.3609,
      0.14915,
      0.9496
    ],
    "tcp_roll_pitch_yaw": [
      0.02266,
      -0.01641,
      -1.03041
    ],
    "tcp_rotation_matrix": [
      [
        0.46447,
        -0.88228,
        0.07649
      ],
      [
        -0.88496,
        -0.46567,
        0.00245
      ],
      [
        0.03346,
        -0.06883,
        -0.99707
      ]
    ],
    "simulated_seconds_remaining": 25.872,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 15.414008843712509,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.335,
                    "y": 0.135,
                    "z": 0.87,
                    "gripper": 0
                  },
                  "note": "The pack is above the bowl, with the bowl slightly left in the wrist view. I correct the horizontal alignment and lower toward the rim."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      0.12029,
      -0.68832,
      0.2534,
      -2.64672,
      0.15573,
      2.15689,
      1.3423
    ],
    "gripper_open": 0.2233,
    "tcp_xyz": [
      0.36145,
      0.1435,
      0.89295
    ],
    "tcp_roll_pitch_yaw": [
      0.1316,
      -0.04773,
      -1.03062
    ],
    "tcp_rotation_matrix": [
      [
        0.46235,
        -0.86721,
        0.18489
      ],
      [
        -0.88477,
        -0.46494,
        0.03179
      ],
      [
        0.05839,
        -0.17828,
        -0.98225
      ]
    ],
    "simulated_seconds_remaining": 24.948,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 5.0050148675218225,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 1
                  },
                  "note": "The pack has reached the bowl and the motion stopped as it made contact. I open the fingers to leave the tissue on the bowl."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

========================================================================
GPT-Astra / Pick & place / 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,
  "status": "completed",
  "success": false,
  "oracle_success": false,
  "action_decisions": 43,
  "wall_seconds": 497.68,
  "usage": {
    "input_tokens": 1068224,
    "cached_input_tokens": 991488,
    "cache_write_input_tokens": 0,
    "output_tokens": 7650,
    "reasoning_output_tokens": 3119
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick-and-place 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 45 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 and grasp the requested object, lift it, move it to the named receptacle, and release it in or on that receptacle. Complete the entire pick-and-place 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 pick and place the object.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"pick up the apple and place it on the bowl.\", \"joint_positions\": [0.03368, -0.78373, -0.01934, -2.40121, 0.01668, 1.54926, -0.0009], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.29261, 0.00917, 0.99222], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.99743, 0.02009, -0.06884], [0.02213, -0.99934, 0.02893], [-0.06821, -0.03037, -0.99721]], \"simulated_seconds_remaining\": 45.012, \"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": 0.36,
    "y": -0.04,
    "z": 0.84,
    "gripper": 1,
    "note": "The apple is to the right of the open gripper in the wrist view, with the bowl beside it. I am moving closer above the apple to refine 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": 0.36,
      "y": -0.04,
      "z": 0.84,
      "gripper": 1
    },
    "note": "The apple lies right of the gripper in the wrist view. I am approaching above it to refine alignment."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"pick up the apple and place it on the bowl.\", \"joint_positions\": [-0.00205, -0.50944, -0.11291, -2.60074, -0.03663, 2.02191, -0.10268], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.35941, -0.03962, 0.8411], \"tcp_roll_pitch_yaw\": [4e-05, 0.00034, -4e-05], \"tcp_rotation_matrix\": [[0.9974, 0.02004, -0.06918], [0.02209, -0.99934, 0.02897], [-0.06856, -0.03042, -0.99718]], \"simulated_seconds_remaining\": 43.56, \"calls_remaining_including_this\": 56}"
      },
      {
        "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": 0.3,
      "y": -0.08,
      "z": 0.84
    },
    "note": "The apple remains right of the grasp center in both views. I am shifting laterally at the same height to center it before descending."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"pick up the apple and place it on the bowl.\", \"joint_positions\": [-0.07649, -0.69614, -0.17642, -2.72955, -0.10692, 1.96495, -0.18439], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.30104, -0.07933, 0.84005], \"tcp_roll_pitch_yaw\": [7e-05, 0.00028, -0.00017], \"tcp_rotation_matrix\": [[0.99741, 0.01991, -0.06912], [0.02196, -0.99934, 0.02901], [-0.0685, -0.03045, -0.99719]], \"simulated_seconds_remaining\": 42.768, \"calls_remaining_including_this\": 55}"
      },
      {
        "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": 0.26,
      "y": 0.04,
      "z": 0.84
    },
    "note": "The apple is to the right and slightly beyond the finger gap. I am shifting left across the table and slightly back to bring it between the fingers."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"pick up the apple and place it on the bowl.\", \"joint_positions\": [0.07701, -0.89282, 0.03565, -2.8497, 0.06674, 1.89047, 0.05422], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.26046, 0.03874, 0.84002], \"tcp_roll_pitch_yaw\": [1e-05, 0.00024, 1e-05], \"tcp_rotation_matrix\": [[0.99741, 0.0201, -0.06908], [0.02214, -0.99934, 0.02893], [-0.06845, -0.03039, -0.99719]], \"simulated_seconds_remaining\": 41.646, \"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": 0.43,
      "y": 0.07,
      "z": 0.88
    },
    "note": "The apple passed below the wrist camera while the gripper stayed above the table. I am moving forward and slightly higher to recover a centered view."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"pick up the apple and place it on the bowl.\", \"joint_positions\": [0.07326, -0.31245, 0.06279, -2.33151, 0.06158, 1.95418, 0.08634], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.42869, 0.06976, 0.87969], \"tcp_roll_pitch_yaw\": [1e-05, 0.00026, 0.0], \"tcp_rotation_matrix\": [[0.99741, 0.02009, -0.0691], [0.02213, -0.99934, 0.02894], [-0.06847, -0.03039, -0.99719]], \"simulated_seconds_remaining\": 40.194, \"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": {
      "z": 0.77
    },
    "note": "The apple is clearly visible just ahead of the open fingers, and the bowl is beside it. I am lowering the gripper to measure the remaining alignment at grasp height."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"pick up the apple and place it on the bowl.\", \"joint_positions\": [0.0726, -0.23739, 0.06645, -2.47248, 0.06078, 2.25754, 0.07895], \"gripper_open\": 1.0, \"tcp_xyz\": [0.44779, 0.06917, 0.80768], \"tcp_roll_pitch_yaw\": [0.00534, -0.08719, -0.00243], \"tcp_rotation_matrix\": [[0.99962, 0.0207, 0.01833], [0.02006, -0.99921, 0.03421], [0.01902, -0.03383, -0.99925]], \"simulated_seconds_remaining\": 39.138, \"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": 0.414,
      "y": 0.08,
      "z": 0.81,
      "roll": 0,
      "pitch": 0,
      "yaw": 0
    },
    "note": "The apple is slightly ahead of the finger gap and the descent met contact. I am correcting backward and left at this height so the fingers can straddle it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"pick up the apple and place it on the bowl.\", \"joint_positions\": [0.08767, -0.27749, 0.08085, -2.48621, 0.07365, 2.14736, 0.10148], \"gripper_open\": 0.9967, \"tcp_xyz\": [0.41489, 0.07977, 0.80996], \"tcp_roll_pitch_yaw\": [0.00015, -0.00235, 2e-05], \"tcp_rotation_matrix\": [[0.99758, 0.02018, -0.06649], [0.02215, -0.99933, 0.02908], [-0.06586, -0.03048, -0.99736]], \"simulated_seconds_remaining\": 38.61, \"calls_remaining_including_this\": 51}"
      },
      {
        "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": {
      "z": 0.76
    },
    "note": "The apple is now centered laterally between the open fingers. I am lowering a short distance to surround its sides."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"pick up the apple and place it on the bowl.\", \"joint_positions\": [0.08731, -0.28648, 0.08349, -2.52415, 0.07152, 2.29175, 0.09906], \"gripper_open\": 1.0, \"tcp_xyz\": [0.43729, 0.08148, 0.80953], \"tcp_roll_pitch_yaw\": [0.00992, -0.11745, -0.00057], \"tcp_rotation_matrix\": [[0.99853, 0.0241, 0.04847], [0.02223, -0.999, 0.03879], [0.04936, -0.03766, -0.99807]], \"simulated_seconds_remaining\": 37.95, \"calls_remaining_including_this\": 50}"
      },
      {
        "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": 0.39,
      "y": 0.04,
      "z": 0.87,
      "roll": 0,
      "pitch": 0,
      "yaw": 0
    },
    "note": "One finger is contacting the apple before the grasp point can descend. I am lifting and shifting the gap over the apple to clear that contact."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"pick up the apple and place it on the bowl.\", \"joint_positions\": [0.05416, -0.43598, 0.02672, -2.47004, 0.04937, 1.96901, 0.03631], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.39066, 0.04046, 0.86937], \"tcp_roll_pitch_yaw\": [0.00014, -0.00175, -9e-05], \"tcp_rotation_matrix\": [[0.99755, 0.02005, -0.06709], [0.02204, -0.99933, 0.02907], [-0.06646, -0.03048, -0.99732]], \"simulated_seconds_remaining\": 37.092, \"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": 0.38,
      "y": 0.03,
      "z": 0.775
    },
    "note": "The apple now sits within the open finger gap. I am descending with a small centering correction to grasp its sides."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"pick up the apple and place it on the bowl.\", \"joint_positions\": [0.05138, -0.36204, 0.01958, -2.63659, 0.13424, 2.23417, 0.0071], \"gripper_open\": 1.0, \"tcp_xyz\": [0.38732, 0.04654, 0.78772], \"tcp_roll_pitch_yaw\": [0.06483, -0.02197, -0.0466], \"tcp_rotation_matrix\": [[0.9988, -0.02422, -0.0426], [-0.02005, -0.99522, 0.09556], [-0.04471, -0.09459, -0.99451]], \"simulated_seconds_remaining\": 36.168, \"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": {
      "gripper": 0
    },
    "note": "The apple fills the gap between the fingers at the current height. I am closing the gripper around it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 11, \"instruction\": \"pick up the apple and place it on the bowl.\", \"joint_positions\": [0.05458, -0.37084, 0.0223, -2.62716, 0.13819, 2.234, 0.00616], \"gripper_open\": 0.8353, \"tcp_xyz\": [0.39226, 0.0497, 0.7952], \"tcp_roll_pitch_yaw\": [0.06912, -0.03971, -0.04272], \"tcp_rotation_matrix\": [[0.99951, -0.01849, -0.02517], [-0.01591, -0.99497, 0.0989], [-0.02687, -0.09845, -0.99478]], \"simulated_seconds_remaining\": 35.244, \"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": {
      "z": 0.94
    },
    "note": "The fingers have closed against the apple. I am lifting vertically to verify that it is held securely."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 12, \"instruction\": \"pick up the apple and place it on the bowl.\", \"joint_positions\": [0.04609, -0.5033, 0.01628, -2.35774, 0.11214, 1.83397, 0.0472], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.39234, 0.04971, 0.93875], \"tcp_roll_pitch_yaw\": [0.06917, -0.04005, -0.04273], \"tcp_rotation_matrix\": [[0.99952, -0.01847, -0.02483], [-0.01592, -0.99497, 0.09893], [-0.02654, -0.09849, -0.99478]], \"simulated_seconds_remaining\": 33.99, \"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": 0.387,
      "y": 0.046,
      "z": 0.789,
      "roll": 0,
      "pitch": 0,
      "yaw": 0,
      "gripper": 1
    },
    "note": "The apple remained on the table because the gripper reopened during the lift. I am returning to the aligned grasp pose before closing and maintaining the close command."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 13, \"instruction\": \"pick up the apple and place it on the bowl.\", \"joint_positions\": [0.04716, -0.34647, 0.05254, -2.607, 0.06629, 2.19415, 0.03469], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.38697, 0.04603, 0.79021], \"tcp_roll_pitch_yaw\": [0.00056, -3e-05, -0.00036], \"tcp_rotation_matrix\": [[0.99743, 0.01973, -0.0688], [0.02181, -0.99933, 0.02951], [-0.06818, -0.03094, -0.99719]], \"simulated_seconds_remaining\": 32.67, \"calls_remaining_including_this\": 45}"
      },
      {
        "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 apple is centered between the fingers again. I am closing around its sides."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 14, \"instruction\": \"pick up the apple and place it on the bowl.\", \"joint_positions\": [0.04752, -0.35029, 0.05273, -2.60329, 0.06683, 2.19367, 0.03448], \"gripper_open\": 0.8273, \"tcp_xyz\": [0.38892, 0.04652, 0.79321], \"tcp_roll_pitch_yaw\": [0.00144, -0.00703, 0.00012], \"tcp_rotation_matrix\": [[0.99788, 0.02044, -0.06183], [0.02235, -0.99929, 0.03035], [-0.06117, -0.03167, -0.99762]], \"simulated_seconds_remaining\": 31.746, \"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": {
      "z": 0.96,
      "gripper": 0
    },
    "note": "The fingers are pressed against the apple. I am lifting while explicitly keeping the gripper closed."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 15, \"instruction\": \"pick up the apple and place it on the bowl.\", \"joint_positions\": [0.04408, -0.48321, 0.04275, -2.28, 0.05593, 1.73797, 0.04899], \"gripper_open\": 0.0, \"tcp_xyz\": [0.389, 0.04653, 0.95872], \"tcp_roll_pitch_yaw\": [0.00148, -0.00736, 0.00012], \"tcp_rotation_matrix\": [[0.9979, 0.02044, -0.0615], [0.02235, -0.99929, 0.03039], [-0.06084, -0.0317, -0.99764]], \"simulated_seconds_remaining\": 30.36, \"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": {
      "x": 0.35,
      "y": 0.015,
      "z": 0.79,
      "gripper": 1,
      "roll": 0,
      "pitch": 0,
      "yaw": 0
    },
    "note": "The apple slipped free during lifting, indicating the fingers caught its edge. I am repositioning the grasp deeper around the apple before trying again."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 16, \"instruction\": \"pick up the apple and place it on the bowl.\", \"joint_positions\": [0.01998, -0.47754, 0.00586, -2.71612, 0.04039, 2.16975, -0.01994], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.35023, 0.01523, 0.79122], \"tcp_roll_pitch_yaw\": [1e-05, 0.00028, -3e-05], \"tcp_rotation_matrix\": [[0.99741, 0.02006, -0.06912], [0.0221, -0.99934, 0.02894], [-0.06849, -0.03039, -0.99719]], \"simulated_seconds_remaining\": 28.908, \"calls_remaining_including_this\": 42}"
      },
      {
        "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": {
      "z": 0.755,
      "gripper": 1
    },
    "note": "The apple is now deeper within the finger gap. I am lowering slightly so the jaws grip below its widest part."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 17, \"instruction\": \"pick up the apple and place it on the bowl.\", \"joint_positions\": [0.02148, -0.40846, 0.00596, -2.76185, 0.04386, 2.2842, -0.02409], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.35015, 0.01523, 0.75614], \"tcp_roll_pitch_yaw\": [1e-05, 0.00059, -2e-05], \"tcp_rotation_matrix\": [[0.99738, 0.02005, -0.06943], [0.02211, -0.99934, 0.02893], [-0.06881, -0.03039, -0.99717]], \"simulated_seconds_remaining\": 28.38, \"calls_remaining_including_this\": 41}"
      },
      {
        "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 fingers have descended alongside the apple without obstruction. I am closing at this lower grasp height."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 18, \"instruction\": \"pick up the apple and place it on the bowl.\", \"joint_positions\": [0.02148, -0.40846, 0.00596, -2.76185, 0.04386, 2.2842, -0.02409], \"gripper_open\": 0.0, \"tcp_xyz\": [0.35015, 0.01523, 0.75613], \"tcp_roll_pitch_yaw\": [1e-05, 0.00059, -2e-05], \"tcp_rotation_matrix\": [[0.99739, 0.02005, -0.06943], [0.02211, -0.99934, 0.02893], [-0.0688, -0.03039, -0.99717]], \"simulated_seconds_remaining\": 27.456, \"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": 0.416,
      "y": 0.03,
      "z": 0.79,
      "gripper": 1
    },
    "note": "The jaws closed fully, so this grasp missed the apple. I am moving forward to align the apple with the finger tips rather than the palm."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 19, \"instruction\": \"pick up the apple and place it on the bowl.\", \"joint_positions\": [0.03283, -0.26023, 0.02298, -2.52651, 0.04769, 2.19806, 0.00439], \"gripper_open\": 0.9965, \"tcp_xyz\": [0.41512, 0.0298, 0.78955], \"tcp_roll_pitch_yaw\": [1e-05, 0.00049, -0.0], \"tcp_rotation_matrix\": [[0.99739, 0.02007, -0.06933], [0.02212, -0.99934, 0.02893], [-0.06871, -0.03039, -0.99717]], \"simulated_seconds_remaining\": 26.532, \"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": 0.447,
      "y": 0.055,
      "z": 0.79,
      "gripper": 1
    },
    "note": "The apple shifted slightly on the table and is right of the finger-tip center. I am making a small forward and left correction."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 20, \"instruction\": \"pick up the apple and place it on the bowl.\", \"joint_positions\": [0.05333, -0.16259, 0.0513, -2.42379, 0.05451, 2.19457, 0.04909], \"gripper_open\": 0.9969, \"tcp_xyz\": [0.4461, 0.05434, 0.78999], \"tcp_roll_pitch_yaw\": [-1e-05, 0.00055, 0.00014], \"tcp_rotation_matrix\": [[0.99738, 0.02021, -0.0694], [0.02226, -0.99933, 0.0289], [-0.06877, -0.03037, -0.99717]], \"simulated_seconds_remaining\": 25.938, \"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": {
      "z": 0.745,
      "gripper": 1
    },
    "note": "The apple is centered across the jaws. I am lowering to engage its sides with the finger tips."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 21, \"instruction\": \"pick up the apple and place it on the bowl.\", \"joint_positions\": [0.05396, -0.08735, 0.05278, -2.46931, 0.05537, 2.31495, 0.04624], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.44602, 0.05434, 0.74614], \"tcp_roll_pitch_yaw\": [-4e-05, 0.00088, 0.00014], \"tcp_rotation_matrix\": [[0.99736, 0.02021, -0.06972], [0.02227, -0.99933, 0.02888], [-0.06909, -0.03035, -0.99715]], \"simulated_seconds_remaining\": 25.344, \"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": {
      "gripper": 0
    },
    "note": "The fingers now extend beside the apple near the tabletop. I am closing to capture it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 22, \"instruction\": \"pick up the apple and place it on the bowl.\", \"joint_positions\": [0.05396, -0.08735, 0.05278, -2.46931, 0.05537, 2.31495, 0.04624], \"gripper_open\": 0.0, \"tcp_xyz\": [0.44602, 0.05434, 0.74613], \"tcp_roll_pitch_yaw\": [-4e-05, 0.00087, 0.00014], \"tcp_rotation_matrix\": [[0.99736, 0.02021, -0.06972], [0.02227, -0.99933, 0.02888], [-0.06909, -0.03035, -0.99715]], \"simulated_seconds_remaining\": 24.42, \"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": {
      "z": 0.89,
      "gripper": 1
    },
    "note": "The jaws closed empty and the apple rolled beside them. I am lifting to locate its new position clearly."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 23, \"instruction\": \"pick up the apple and place it on the bowl.\", \"joint_positions\": [0.05179, -0.2707, 0.04731, -2.26735, 0.05143, 1.93015, 0.056], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.44612, 0.05435, 0.88877], \"tcp_roll_pitch_yaw\": [-0.0, 0.00051, 0.00014], \"tcp_rotation_matrix\": [[0.99739, 0.02021, -0.06936], [0.02226, -0.99933, 0.02891], [-0.06873, -0.03038, -0.99717]], \"simulated_seconds_remaining\": 23.166, \"calls_remaining_including_this\": 35}"
      },
      {
        "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,
      "y": 0.04,
      "z": 0.89,
      "gripper": 1
    },
    "note": "The apple is visible ahead of the bowl. I am aligning farther forward so it will remain between the finger tips during descent."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 24, \"instruction\": \"pick up the apple and place it on the bowl.\", \"joint_positions\": [0.0347, -0.08569, 0.02836, -2.06729, 0.03788, 1.91383, 0.02773], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.50873, 0.04025, 0.88994], \"tcp_roll_pitch_yaw\": [1e-05, 0.00059, 5e-05], \"tcp_rotation_matrix\": [[0.99738, 0.02012, -0.06944], [0.02218, -0.99934, 0.02893], [-0.06881, -0.0304, -0.99717]], \"simulated_seconds_remaining\": 22.44, \"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": {
      "z": 0.775,
      "gripper": 1
    },
    "note": "The apple is aligned with the center of the finger tips from above. I am descending to its midsection."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 25, \"instruction\": \"pick up the apple and place it on the bowl.\", \"joint_positions\": [0.04135, 0.01973, 0.0368, -2.22042, 0.05489, 2.21892, 0.02011], \"gripper_open\": 1.0, \"tcp_xyz\": [0.52131, 0.04948, 0.79012], \"tcp_roll_pitch_yaw\": [0.01396, -0.045, 0.00175], \"tcp_rotation_matrix\": [[0.99943, 0.02381, -0.02401], [0.02483, -0.99878, 0.0428], [-0.02296, -0.04337, -0.9988]], \"simulated_seconds_remaining\": 21.384, \"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 apple is now centered at the finger tips instead of beneath the palm. I am closing around it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 26, \"instruction\": \"pick up the apple and place it on the bowl.\", \"joint_positions\": [0.04251, 0.01551, 0.03831, -2.2156, 0.05604, 2.22086, 0.02008], \"gripper_open\": 0.9072, \"tcp_xyz\": [0.52431, 0.05126, 0.79462], \"tcp_roll_pitch_yaw\": [0.01544, -0.05603, 0.00367], \"tcp_rotation_matrix\": [[0.99957, 0.02629, -0.01309], [0.02685, -0.99866, 0.04427], [-0.01191, -0.0446, -0.99893]], \"simulated_seconds_remaining\": 20.46, \"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": {
      "z": 0.9,
      "gripper": 0
    },
    "note": "The gripper is stopped against the apple. I am lifting with the close command maintained to check the grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 27, \"instruction\": \"pick up the apple and place it on the bowl.\", \"joint_positions\": [0.04072, -0.08497, 0.03628, -2.0554, 0.05216, 1.96073, 0.0302], \"gripper_open\": 0.0, \"tcp_xyz\": [0.5244, 0.05127, 0.8988], \"tcp_roll_pitch_yaw\": [0.01547, -0.0564, 0.00366], \"tcp_rotation_matrix\": [[0.99957, 0.0263, -0.01271], [0.02684, -0.99866, 0.0443], [-0.01153, -0.04462, -0.99894]], \"simulated_seconds_remaining\": 19.47, \"calls_remaining_including_this\": 31}"
      },
      {
        "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": 0.5,
      "y": 0.05,
      "z": 0.8,
      "roll": 0,
      "pitch": 0,
      "yaw": 0,
      "gripper": 1
    },
    "note": "The apple remains on the table. I am adjusting the grasp point a little backward to place the jaws around its widest section."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 28, \"instruction\": \"pick up the apple and place it on the bowl.\", \"joint_positions\": [0.04389, -0.02482, 0.04137, -2.23431, 0.04265, 2.14329, 0.0397], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.50025, 0.05001, 0.80114], \"tcp_roll_pitch_yaw\": [0.00017, -0.0004, 6e-05], \"tcp_rotation_matrix\": [[0.99745, 0.02017, -0.06844], [0.0222, -0.99933, 0.0291], [-0.06781, -0.03054, -0.99723]], \"simulated_seconds_remaining\": 18.48, \"calls_remaining_including_this\": 30}"
      },
      {
        "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 apple center is aligned with the finger tips. I am closing at this corrected position."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 29, \"instruction\": \"pick up the apple and place it on the bowl.\", \"joint_positions\": [0.04613, -0.03214, 0.0442, -2.22685, 0.04495, 2.145, 0.03948], \"gripper_open\": 0.5881, \"tcp_xyz\": [0.50438, 0.05329, 0.80817], \"tcp_roll_pitch_yaw\": [0.00301, -0.01671, 0.00392], \"tcp_rotation_matrix\": [[0.99833, 0.02457, -0.0523], [0.02625, -0.99915, 0.03173], [-0.05148, -0.03305, -0.99813]], \"simulated_seconds_remaining\": 17.556, \"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": {
      "z": 0.88,
      "gripper": 0
    },
    "note": "The jaws have partially closed around the apple. I am making a short lift to confirm that this grasp holds."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 30, \"instruction\": \"pick up the apple and place it on the bowl.\", \"joint_positions\": [0.04508, -0.10171, 0.04271, -2.11731, 0.04391, 1.96623, 0.04411], \"gripper_open\": 0.0, \"tcp_xyz\": [0.50444, 0.0533, 0.87905], \"tcp_roll_pitch_yaw\": [0.00304, -0.01698, 0.00392], \"tcp_rotation_matrix\": [[0.99834, 0.02457, -0.05203], [0.02625, -0.99915, 0.03175], [-0.0512, -0.03306, -0.99814]], \"simulated_seconds_remaining\": 16.632, \"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": 0.52,
      "y": 0.05,
      "z": 0.755,
      "roll": 0,
      "pitch": 0,
      "yaw": 0,
      "gripper": 1
    },
    "note": "The shallow grasp slipped off the apple. I am lowering the grasp and compensating forward so the jaws capture its middle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 31, \"instruction\": \"pick up the apple and place it on the bowl.\", \"joint_positions\": [0.04758, 0.07993, 0.04695, -2.19872, 0.04659, 2.38322, 0.03728], \"gripper_open\": 1.0, \"tcp_xyz\": [0.56471, 0.05939, 0.78319], \"tcp_roll_pitch_yaw\": [0.01674, -0.17022, -0.0009], \"tcp_rotation_matrix\": [[0.99452, 0.02688, 0.10102], [0.02237, -0.99871, 0.04553], [0.10211, -0.04302, -0.99384]], \"simulated_seconds_remaining\": 15.51, \"calls_remaining_including_this\": 27}"
      },
      {
        "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": 0.89,
      "yaw": 1.57,
      "pitch": 0,
      "roll": 0,
      "gripper": 1
    },
    "note": "The apple is too broad for the current approach and is deflecting the fingers. I am lifting and rotating the jaws to approach across its narrower side."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 32, \"instruction\": \"pick up the apple and place it on the bowl.\", \"joint_positions\": [0.02739, 0.06528, 0.10604, -1.89277, -0.07531, 1.91906, -1.42617], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.56473, 0.05942, 0.88975], \"tcp_roll_pitch_yaw\": [-0.0005, -0.00043, 1.56538], \"tcp_rotation_matrix\": [[-0.01669, 0.99945, -0.0288], [0.99756, 0.01469, -0.06826], [-0.0678, -0.02987, -0.99725]], \"simulated_seconds_remaining\": 13.134, \"calls_remaining_including_this\": 26}"
      },
      {
        "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": 0.765,
      "gripper": 1
    },
    "note": "The rotated jaws are centered over the apple. I am lowering to grasp from this perpendicular direction."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 33, \"instruction\": \"pick up the apple and place it on the bowl.\", \"joint_positions\": [0.03223, 0.1343, 0.10651, -2.04917, -0.10063, 2.21122, -1.39397], \"gripper_open\": 1.0, \"tcp_xyz\": [0.57788, 0.06574, 0.8032], \"tcp_roll_pitch_yaw\": [-0.06865, -0.00732, 1.57192], \"tcp_rotation_matrix\": [[-0.01851, 0.99904, 0.03962], [0.99789, 0.02093, -0.0615], [-0.06227, 0.0384, -0.99732]], \"simulated_seconds_remaining\": 12.012, \"calls_remaining_including_this\": 25}"
      },
      {
        "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": 0.548,
      "y": 0.04,
      "z": 0.79,
      "roll": 0,
      "pitch": 0,
      "gripper": 1
    },
    "note": "The rotated view shows the apple right of the gap. I am centering the jaws around it with a short sideways correction."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 34, \"instruction\": \"pick up the apple and place it on the bowl.\", \"joint_positions\": [0.00992, 0.09221, 0.09152, -2.10204, -0.09062, 2.17834, -1.44042], \"gripper_open\": 1.0, \"tcp_xyz\": [0.55402, 0.04214, 0.80012], \"tcp_roll_pitch_yaw\": [-0.02198, -0.00192, 1.57347], \"tcp_rotation_matrix\": [[-0.02329, 0.99971, -0.00682], [0.9975, 0.02278, -0.06694], [-0.06677, -0.00836, -0.99773]], \"simulated_seconds_remaining\": 11.418, \"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": {
      "x": 0.531,
      "y": 0.035,
      "z": 0.79,
      "gripper": 1
    },
    "note": "The apple is still slightly right of center. I am making the final lateral correction before closing."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 35, \"instruction\": \"pick up the apple and place it on the bowl.\", \"joint_positions\": [0.00453, 0.03282, 0.08795, -2.18788, -0.08705, 2.22016, -1.44949], \"gripper_open\": 1.0, \"tcp_xyz\": [0.53563, 0.03641, 0.7979], \"tcp_roll_pitch_yaw\": [-0.03629, -0.00286, 1.57471], \"tcp_rotation_matrix\": [[-0.02354, 0.99969, 0.00753], [0.99753, 0.02398, -0.06596], [-0.06612, 0.00596, -0.99779]], \"simulated_seconds_remaining\": 10.956, \"calls_remaining_including_this\": 23}"
      },
      {
        "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 apple sits between the rotated jaws. I am closing to secure it from the new direction."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 36, \"instruction\": \"pick up the apple and place it on the bowl.\", \"joint_positions\": [0.00384, 0.01855, 0.08708, -2.17245, -0.08773, 2.28928, -1.44948], \"gripper_open\": 0.0005, \"tcp_xyz\": [0.56109, 0.03903, 0.81973], \"tcp_roll_pitch_yaw\": [-0.13406, -0.01301, 1.57898], \"tcp_rotation_matrix\": [[-0.02097, 0.99424, 0.10508], [0.99812, 0.02688, -0.05507], [-0.05758, 0.10372, -0.99294]], \"simulated_seconds_remaining\": 10.032, \"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": {
      "x": 0.53,
      "y": 0,
      "z": 0.735,
      "roll": 0,
      "pitch": 0,
      "gripper": 1
    },
    "note": "The jaws again slid over the apple. I am moving the grasp lower and slightly back to capture it beneath the upper curve."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 37, \"instruction\": \"pick up the apple and place it on the bowl.\", \"joint_positions\": [-0.0356, 0.01945, 0.04781, -2.22228, -0.10794, 2.33144, -1.50465], \"gripper_open\": 1.0, \"tcp_xyz\": [0.5524, -0.00705, 0.80074], \"tcp_roll_pitch_yaw\": [-0.12253, 0.00716, 1.57052], \"tcp_rotation_matrix\": [[-0.01335, 0.99556, 0.09315], [0.9969, 0.02047, -0.07597], [-0.07754, 0.09185, -0.99275]], \"simulated_seconds_remaining\": 9.108, \"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": 0.51,
      "y": 0.005,
      "z": 0.805,
      "roll": 0,
      "pitch": 0,
      "gripper": 1
    },
    "note": "The apple is right of the open jaws after contact. I am shifting the gap directly across its center."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 38, \"instruction\": \"pick up the apple and place it on the bowl.\", \"joint_positions\": [-0.02376, -0.03069, 0.05956, -2.2392, -0.08068, 2.17827, -1.50882], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.51093, 0.00478, 0.80494], \"tcp_roll_pitch_yaw\": [-0.00273, 0.00014, 1.57059], \"tcp_rotation_matrix\": [[-0.02173, 0.99942, -0.02622], [0.99742, 0.01988, -0.06898], [-0.06842, -0.02765, -0.99727]], \"simulated_seconds_remaining\": 8.514, \"calls_remaining_including_this\": 20}"
      },
      {
        "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 apple is centered between the tips with the wrist level. I am closing around it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 39, \"instruction\": \"pick up the apple and place it on the bowl.\", \"joint_positions\": [-0.02444, -0.03464, 0.05867, -2.23581, -0.08132, 2.17796, -1.50899], \"gripper_open\": 0.5714, \"tcp_xyz\": [0.51271, 0.00392, 0.80843], \"tcp_roll_pitch_yaw\": [-0.00972, 0.00063, 1.56956], \"tcp_rotation_matrix\": [[-0.02022, 0.99961, -0.01931], [0.99741, 0.01884, -0.06944], [-0.06905, -0.02067, -0.9974]], \"simulated_seconds_remaining\": 7.59, \"calls_remaining_including_this\": 19}"
      },
      {
        "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": 0.85,
      "gripper": 0
    },
    "note": "The jaws have closed partway against the apple. I am lifting a small distance while maintaining pressure."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 40, \"instruction\": \"pick up the apple and place it on the bowl.\", \"joint_positions\": [-0.02366, -0.08021, 0.05873, -2.1783, -0.07322, 2.07547, -1.51937], \"gripper_open\": 0.0, \"tcp_xyz\": [0.51274, 0.00392, 0.84916], \"tcp_roll_pitch_yaw\": [-0.00988, 0.00062, 1.56956], \"tcp_rotation_matrix\": [[-0.02022, 0.99961, -0.01916], [0.99741, 0.01884, -0.06944], [-0.06905, -0.02051, -0.9974]], \"simulated_seconds_remaining\": 6.666, \"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": 0.49,
      "y": -0.045,
      "z": 0.75,
      "gripper": 1
    },
    "note": "The grasp is still too high on the apple. I am approaching its side at a lower height with open fingers."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 41, \"instruction\": \"pick up the apple and place it on the bowl.\", \"joint_positions\": [-0.074, -0.01215, 0.00464, -2.36593, -0.09938, 2.38571, -1.58527], \"gripper_open\": 0.9997, \"tcp_xyz\": [0.50402, -0.04654, 0.75912], \"tcp_roll_pitch_yaw\": [-0.05979, 0.00142, 1.568], \"tcp_rotation_matrix\": [[-0.01522, 0.99942, 0.03052], [0.99737, 0.01734, -0.07035], [-0.07083, 0.02937, -0.99706]], \"simulated_seconds_remaining\": 5.61, \"calls_remaining_including_this\": 17}"
      },
      {
        "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,
      "z": 0.75,
      "gripper": 1
    },
    "note": "The open fingers reached the lower height beside the apple. I am sliding them forward around its center."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 42, \"instruction\": \"pick up the apple and place it on the bowl.\", \"joint_positions\": [-0.02952, 0.00082, 0.04982, -2.37372, -0.10569, 2.40204, -1.48926], \"gripper_open\": 0.9985, \"tcp_xyz\": [0.50441, -0.00154, 0.75068], \"tcp_roll_pitch_yaw\": [-0.06094, 0.00149, 1.56764], \"tcp_rotation_matrix\": [[-0.01478, 0.99939, 0.03164], [0.99737, 0.01698, -0.07043], [-0.07092, 0.03051, -0.99701]], \"simulated_seconds_remaining\": 5.016, \"calls_remaining_including_this\": 16}"
      },
      {
        "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": 0.04,
      "z": 0.775,
      "gripper": 0
    },
    "note": "The apple is within the finger gap at the lower approach. I am closing while moving slightly forward to retain it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 43, \"instruction\": \"pick up the apple and place it on the bowl.\", \"joint_positions\": [0.01126, -0.03283, 0.09171, -2.34196, -0.09726, 2.33134, -1.41744], \"gripper_open\": 0.0, \"tcp_xyz\": [0.50446, 0.03907, 0.77453], \"tcp_roll_pitch_yaw\": [-0.06108, 0.00152, 1.56762], \"tcp_rotation_matrix\": [[-0.01475, 0.99939, 0.03178], [0.99737, 0.01696, -0.07045], [-0.07095, 0.03066, -0.99701]], \"simulated_seconds_remaining\": 4.092, \"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": "give_up",
  "arguments": {
    "note": "I could not establish a secure grasp of the apple. It remains on the table, and the remaining motion time is insufficient to complete a verified pick and placement."
  },
  "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 apple in the gripper. It remains on the table; the placement was not completed.

TURN USAGE
{
  "input_tokens": 1068224,
  "cached_input_tokens": 991488,
  "cache_write_input_tokens": 0,
  "output_tokens": 7650,
  "reasoning_output_tokens": 3119
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "pick up the apple and place it on the bowl.",
    "joint_positions": [
      0.03368,
      -0.78373,
      -0.01934,
      -2.40121,
      0.01668,
      1.54926,
      -0.0009
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.29261,
      0.00917,
      0.99222
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99743,
        0.02009,
        -0.06884
      ],
      [
        0.02213,
        -0.99934,
        0.02893
      ],
      [
        -0.06821,
        -0.03037,
        -0.99721
      ]
    ],
    "simulated_seconds_remaining": 45.012,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 40.03355138935149,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.36,
                    "y": -0.04,
                    "z": 0.84,
                    "gripper": 1
                  },
                  "note": "The apple lies right of the gripper in the wrist view. I am approaching above it to refine alignment."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 22,
    "motion_seconds": 1.452,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "pick up the apple and place it on the bowl.",
    "joint_positions": [
      -0.00205,
      -0.50944,
      -0.11291,
      -2.60074,
      -0.03663,
      2.02191,
      -0.10268
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.35941,
      -0.03962,
      0.8411
    ],
    "tcp_roll_pitch_yaw": [
      4e-05,
      0.00034,
      -4e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.9974,
        0.02004,
        -0.06918
      ],
      [
        0.02209,
        -0.99934,
        0.02897
      ],
      [
        -0.06856,
        -0.03042,
        -0.99718
      ]
    ],
    "simulated_seconds_remaining": 43.56,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 16.81414886750281,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.3,
                    "y": -0.08,
                    "z": 0.84
                  },
                  "note": "The apple remains right of the grasp center in both views. I am shifting laterally at the same height to center it before descending."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "pick up the apple and place it on the bowl.",
    "joint_positions": [
      -0.07649,
      -0.69614,
      -0.17642,
      -2.72955,
      -0.10692,
      1.96495,
      -0.18439
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.30104,
      -0.07933,
      0.84005
    ],
    "tcp_roll_pitch_yaw": [
      7e-05,
      0.00028,
      -0.00017
    ],
    "tcp_rotation_matrix": [
      [
        0.99741,
        0.01991,
        -0.06912
      ],
      [
        0.02196,
        -0.99934,
        0.02901
      ],
      [
        -0.0685,
        -0.03045,
        -0.99719
      ]
    ],
    "simulated_seconds_remaining": 42.768,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 14.813053788617253,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.26,
                    "y": 0.04,
                    "z": 0.84
                  },
                  "note": "The apple is to the right and slightly beyond the finger gap. I am shifting left across the table and slightly back to bring it between the fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "pick up the apple and place it on the bowl.",
    "joint_positions": [
      0.07701,
      -0.89282,
      0.03565,
      -2.8497,
      0.06674,
      1.89047,
      0.05422
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.26046,
      0.03874,
      0.84002
    ],
    "tcp_roll_pitch_yaw": [
      1e-05,
      0.00024,
      1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99741,
        0.0201,
        -0.06908
      ],
      [
        0.02214,
        -0.99934,
        0.02893
      ],
      [
        -0.06845,
        -0.03039,
        -0.99719
      ]
    ],
    "simulated_seconds_remaining": 41.646,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 9.611116054467857,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.43,
                    "y": 0.07,
                    "z": 0.88
                  },
                  "note": "The apple passed below the wrist camera while the gripper stayed above the table. I am moving forward and slightly higher to recover a centered view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 22,
    "motion_seconds": 1.452,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "pick up the apple and place it on the bowl.",
    "joint_positions": [
      0.07326,
      -0.31245,
      0.06279,
      -2.33151,
      0.06158,
      1.95418,
      0.08634
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.42869,
      0.06976,
      0.87969
    ],
    "tcp_roll_pitch_yaw": [
      1e-05,
      0.00026,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99741,
        0.02009,
        -0.0691
      ],
      [
        0.02213,
        -0.99934,
        0.02894
      ],
      [
        -0.06847,
        -0.03039,
        -0.99719
      ]
    ],
    "simulated_seconds_remaining": 40.194,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 7.6157777067273855,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.77
                  },
                  "note": "The apple is clearly visible just ahead of the open fingers, and the bowl is beside it. I am lowering the gripper to measure the remaining alignment at grasp height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "pick up the apple and place it on the bowl.",
    "joint_positions": [
      0.0726,
      -0.23739,
      0.06645,
      -2.47248,
      0.06078,
      2.25754,
      0.07895
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.44779,
      0.06917,
      0.80768
    ],
    "tcp_roll_pitch_yaw": [
      0.00534,
      -0.08719,
      -0.00243
    ],
    "tcp_rotation_matrix": [
      [
        0.99962,
        0.0207,
        0.01833
      ],
      [
        0.02006,
        -0.99921,
        0.03421
      ],
      [
        0.01902,
        -0.03383,
        -0.99925
      ]
    ],
    "simulated_seconds_remaining": 39.138,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 9.608667557127774,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.414,
                    "y": 0.08,
                    "z": 0.81,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 0
                  },
                  "note": "The apple is slightly ahead of the finger gap and the descent met contact. I am correcting backward and left at this height so the fingers can straddle it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 8,
    "motion_seconds": 0.528,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "pick up the apple and place it on the bowl.",
    "joint_positions": [
      0.08767,
      -0.27749,
      0.08085,
      -2.48621,
      0.07365,
      2.14736,
      0.10148
    ],
    "gripper_open": 0.9967,
    "tcp_xyz": [
      0.41489,
      0.07977,
      0.80996
    ],
    "tcp_roll_pitch_yaw": [
      0.00015,
      -0.00235,
      2e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99758,
        0.02018,
        -0.06649
      ],
      [
        0.02215,
        -0.99933,
        0.02908
      ],
      [
        -0.06586,
        -0.03048,
        -0.99736
      ]
    ],
    "simulated_seconds_remaining": 38.61,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 6.005700361914933,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.76
                  },
                  "note": "The apple is now centered laterally between the open fingers. I am lowering a short distance to surround its sides."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "pick up the apple and place it on the bowl.",
    "joint_positions": [
      0.08731,
      -0.28648,
      0.08349,
      -2.52415,
      0.07152,
      2.29175,
      0.09906
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.43729,
      0.08148,
      0.80953
    ],
    "tcp_roll_pitch_yaw": [
      0.00992,
      -0.11745,
      -0.00057
    ],
    "tcp_rotation_matrix": [
      [
        0.99853,
        0.0241,
        0.04847
      ],
      [
        0.02223,
        -0.999,
        0.03879
      ],
      [
        0.04936,
        -0.03766,
        -0.99807
      ]
    ],
    "simulated_seconds_remaining": 37.95,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 14.01446053571999,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.39,
                    "y": 0.04,
                    "z": 0.87,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 0
                  },
                  "note": "One finger is contacting the apple before the grasp point can descend. I am lifting and shifting the gap over the apple to clear that contact."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "pick up the apple and place it on the bowl.",
    "joint_positions": [
      0.05416,
      -0.43598,
      0.02672,
      -2.47004,
      0.04937,
      1.96901,
      0.03631
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.39066,
      0.04046,
      0.86937
    ],
    "tcp_roll_pitch_yaw": [
      0.00014,
      -0.00175,
      -9e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99755,
        0.02005,
        -0.06709
      ],
      [
        0.02204,
        -0.99933,
        0.02907
      ],
      [
        -0.06646,
        -0.03048,
        -0.99732
      ]
    ],
    "simulated_seconds_remaining": 37.092,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 5.605003375560045,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.38,
                    "y": 0.03,
                    "z": 0.775
                  },
                  "note": "The apple now sits within the open finger gap. I am descending with a small centering correction to grasp its sides."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "pick up the apple and place it on the bowl.",
    "joint_positions": [
      0.05138,
      -0.36204,
      0.01958,
      -2.63659,
      0.13424,
      2.23417,
      0.0071
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.38732,
      0.04654,
      0.78772
    ],
    "tcp_roll_pitch_yaw": [
      0.06483,
      -0.02197,
      -0.0466
    ],
    "tcp_rotation_matrix": [
      [
        0.9988,
        -0.02422,
        -0.0426
      ],
      [
        -0.02005,
        -0.99522,
        0.09556
      ],
      [
        -0.04471,
        -0.09459,
        -0.99451
      ]
    ],
    "simulated_seconds_remaining": 36.168,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 5.204763680696487,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The apple fills the gap between the fingers at the current height. I am closing the gripper around it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "pick up the apple and place it on the bowl.",
    "joint_positions": [
      0.05458,
      -0.37084,
      0.0223,
      -2.62716,
      0.13819,
      2.234,
      0.00616
    ],
    "gripper_open": 0.8353,
    "tcp_xyz": [
      0.39226,
      0.0497,
      0.7952
    ],
    "tcp_roll_pitch_yaw": [
      0.06912,
      -0.03971,
      -0.04272
    ],
    "tcp_rotation_matrix": [
      [
        0.99951,
        -0.01849,
        -0.02517
      ],
      [
        -0.01591,
        -0.99497,
        0.0989
      ],
      [
        -0.02687,
        -0.09845,
        -0.99478
      ]
    ],
    "simulated_seconds_remaining": 35.244,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 5.805430728942156,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.94
                  },
                  "note": "The fingers have closed against the apple. I am lifting vertically to verify that it is held securely."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "pick up the apple and place it on the bowl.",
    "joint_positions": [
      0.04609,
      -0.5033,
      0.01628,
      -2.35774,
      0.11214,
      1.83397,
      0.0472
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.39234,
      0.04971,
      0.93875
    ],
    "tcp_roll_pitch_yaw": [
      0.06917,
      -0.04005,
      -0.04273
    ],
    "tcp_rotation_matrix": [
      [
        0.99952,
        -0.01847,
        -0.02483
      ],
      [
        -0.01592,
        -0.99497,
        0.09893
      ],
      [
        -0.02654,
        -0.09849,
        -0.99478
      ]
    ],
    "simulated_seconds_remaining": 33.99,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 10.40821556467563,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.387,
                    "y": 0.046,
                    "z": 0.789,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 0,
                    "gripper": 1
                  },
                  "note": "The apple remained on the table because the gripper reopened during the lift. I am returning to the aligned grasp pose before closing and maintaining the close command."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "pick up the apple and place it on the bowl.",
    "joint_positions": [
      0.04716,
      -0.34647,
      0.05254,
      -2.607,
      0.06629,
      2.19415,
      0.03469
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.38697,
      0.04603,
      0.79021
    ],
    "tcp_roll_pitch_yaw": [
      0.00056,
      -3e-05,
      -0.00036
    ],
    "tcp_rotation_matrix": [
      [
        0.99743,
        0.01973,
        -0.0688
      ],
      [
        0.02181,
        -0.99933,
        0.02951
      ],
      [
        -0.06818,
        -0.03094,
        -0.99719
      ]
    ],
    "simulated_seconds_remaining": 32.67,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 5.8063530921936035,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The apple is centered between the fingers again. I am closing around its sides."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "pick up the apple and place it on the bowl.",
    "joint_positions": [
      0.04752,
      -0.35029,
      0.05273,
      -2.60329,
      0.06683,
      2.19367,
      0.03448
    ],
    "gripper_open": 0.8273,
    "tcp_xyz": [
      0.38892,
      0.04652,
      0.79321
    ],
    "tcp_roll_pitch_yaw": [
      0.00144,
      -0.00703,
      0.00012
    ],
    "tcp_rotation_matrix": [
      [
        0.99788,
        0.02044,
        -0.06183
      ],
      [
        0.02235,
        -0.99929,
        0.03035
      ],
      [
        -0.06117,
        -0.03167,
        -0.99762
      ]
    ],
    "simulated_seconds_remaining": 31.746,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 7.408200505189598,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.96,
                    "gripper": 0
                  },
                  "note": "The fingers are pressed against the apple. I am lifting while explicitly keeping the gripper closed."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "pick up the apple and place it on the bowl.",
    "joint_positions": [
      0.04408,
      -0.48321,
      0.04275,
      -2.28,
      0.05593,
      1.73797,
      0.04899
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.389,
      0.04653,
      0.95872
    ],
    "tcp_roll_pitch_yaw": [
      0.00148,
      -0.00736,
      0.00012
    ],
    "tcp_rotation_matrix": [
      [
        0.9979,
        0.02044,
        -0.0615
      ],
      [
        0.02235,
        -0.99929,
        0.03039
      ],
      [
        -0.06084,
        -0.0317,
        -0.99764
      ]
    ],
    "simulated_seconds_remaining": 30.36,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 10.811490381136537,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.35,
                    "y": 0.015,
                    "z": 0.79,
                    "gripper": 1,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 0
                  },
                  "note": "The apple slipped free during lifting, indicating the fingers caught its edge. I am repositioning the grasp deeper around the apple before trying again."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 22,
    "motion_seconds": 1.452,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "pick up the apple and place it on the bowl.",
    "joint_positions": [
      0.01998,
      -0.47754,
      0.00586,
      -2.71612,
      0.04039,
      2.16975,
      -0.01994
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.35023,
      0.01523,
      0.79122
    ],
    "tcp_roll_pitch_yaw": [
      1e-05,
      0.00028,
      -3e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99741,
        0.02006,
        -0.06912
      ],
      [
        0.0221,
        -0.99934,
        0.02894
      ],
      [
        -0.06849,
        -0.03039,
        -0.99719
      ]
    ],
    "simulated_seconds_remaining": 28.908,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 6.606685011647642,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.755,
                    "gripper": 1
                  },
                  "note": "The apple is now deeper within the finger gap. I am lowering slightly so the jaws grip below its widest part."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 8,
    "motion_seconds": 0.528,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "pick up the apple and place it on the bowl.",
    "joint_positions": [
      0.02148,
      -0.40846,
      0.00596,
      -2.76185,
      0.04386,
      2.2842,
      -0.02409
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.35015,
      0.01523,
      0.75614
    ],
    "tcp_roll_pitch_yaw": [
      1e-05,
      0.00059,
      -2e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99738,
        0.02005,
        -0.06943
      ],
      [
        0.02211,
        -0.99934,
        0.02893
      ],
      [
        -0.06881,
        -0.03039,
        -0.99717
      ]
    ],
    "simulated_seconds_remaining": 28.38,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 4.404301549308002,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The fingers have descended alongside the apple without obstruction. I am closing at this lower grasp height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "pick up the apple and place it on the bowl.",
    "joint_positions": [
      0.02148,
      -0.40846,
      0.00596,
      -2.76185,
      0.04386,
      2.2842,
      -0.02409
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.35015,
      0.01523,
      0.75613
    ],
    "tcp_roll_pitch_yaw": [
      1e-05,
      0.00059,
      -2e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99739,
        0.02005,
        -0.06943
      ],
      [
        0.02211,
        -0.99934,
        0.02893
      ],
      [
        -0.0688,
        -0.03039,
        -0.99717
      ]
    ],
    "simulated_seconds_remaining": 27.456,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 19.816818736493587,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.416,
                    "y": 0.03,
                    "z": 0.79,
                    "gripper": 1
                  },
                  "note": "The jaws closed fully, so this grasp missed the apple. I am moving forward to align the apple with the finger tips rather than the palm."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 19,
  "state": {
    "instruction": "pick up the apple and place it on the bowl.",
    "joint_positions": [
      0.03283,
      -0.26023,
      0.02298,
      -2.52651,
      0.04769,
      2.19806,
      0.00439
    ],
    "gripper_open": 0.9965,
    "tcp_xyz": [
      0.41512,
      0.0298,
      0.78955
    ],
    "tcp_roll_pitch_yaw": [
      1e-05,
      0.00049,
      -0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99739,
        0.02007,
        -0.06933
      ],
      [
        0.02212,
        -0.99934,
        0.02893
      ],
      [
        -0.06871,
        -0.03039,
        -0.99717
      ]
    ],
    "simulated_seconds_remaining": 26.532,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 7.20706775970757,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.447,
                    "y": 0.055,
                    "z": 0.79,
                    "gripper": 1
                  },
                  "note": "The apple shifted slightly on the table and is right of the finger-tip center. I am making a small forward and left correction."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 20,
  "state": {
    "instruction": "pick up the apple and place it on the bowl.",
    "joint_positions": [
      0.05333,
      -0.16259,
      0.0513,
      -2.42379,
      0.05451,
      2.19457,
      0.04909
    ],
    "gripper_open": 0.9969,
    "tcp_xyz": [
      0.4461,
      0.05434,
      0.78999
    ],
    "tcp_roll_pitch_yaw": [
      -1e-05,
      0.00055,
      0.00014
    ],
    "tcp_rotation_matrix": [
      [
        0.99738,
        0.02021,
        -0.0694
      ],
      [
        0.02226,
        -0.99933,
        0.0289
      ],
      [
        -0.06877,
        -0.03037,
        -0.99717
      ]
    ],
    "simulated_seconds_remaining": 25.938,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 8.808090493083,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.745,
                    "gripper": 1
                  },
                  "note": "The apple is centered across the jaws. I am lowering to engage its sides with the finger tips."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 21,
  "state": {
    "instruction": "pick up the apple and place it on the bowl.",
    "joint_positions": [
      0.05396,
      -0.08735,
      0.05278,
      -2.46931,
      0.05537,
      2.31495,
      0.04624
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44602,
      0.05434,
      0.74614
    ],
    "tcp_roll_pitch_yaw": [
      -4e-05,
      0.00088,
      0.00014
    ],
    "tcp_rotation_matrix": [
      [
        0.99736,
        0.02021,
        -0.06972
      ],
      [
        0.02227,
        -0.99933,
        0.02888
      ],
      [
        -0.06909,
        -0.03035,
        -0.99715
      ]
    ],
    "simulated_seconds_remaining": 25.344,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 4.804451674222946,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The fingers now extend beside the apple near the tabletop. I am closing to capture it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 22,
  "state": {
    "instruction": "pick up the apple and place it on the bowl.",
    "joint_positions": [
      0.05396,
      -0.08735,
      0.05278,
      -2.46931,
      0.05537,
      2.31495,
      0.04624
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.44602,
      0.05434,
      0.74613
    ],
    "tcp_roll_pitch_yaw": [
      -4e-05,
      0.00087,
      0.00014
    ],
    "tcp_rotation_matrix": [
      [
        0.99736,
        0.02021,
        -0.06972
      ],
      [
        0.02227,
        -0.99933,
        0.02888
      ],
      [
        -0.06909,
        -0.03035,
        -0.99715
      ]
    ],
    "simulated_seconds_remaining": 24.42,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 10.208977662958205,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.89,
                    "gripper": 1
                  },
                  "note": "The jaws closed empty and the apple rolled beside them. I am lifting to locate its new position clearly."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 23,
  "state": {
    "instruction": "pick up the apple and place it on the bowl.",
    "joint_positions": [
      0.05179,
      -0.2707,
      0.04731,
      -2.26735,
      0.05143,
      1.93015,
      0.056
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44612,
      0.05435,
      0.88877
    ],
    "tcp_roll_pitch_yaw": [
      -0.0,
      0.00051,
      0.00014
    ],
    "tcp_rotation_matrix": [
      [
        0.99739,
        0.02021,
        -0.06936
      ],
      [
        0.02226,
        -0.99933,
        0.02891
      ],
      [
        -0.06873,
        -0.03038,
        -0.99717
      ]
    ],
    "simulated_seconds_remaining": 23.166,
    "calls_remaining_including_this": 35
  },
  "api_seconds": 9.010355328209698,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.51,
                    "y": 0.04,
                    "z": 0.89,
                    "gripper": 1
                  },
                  "note": "The apple is visible ahead of the bowl. I am aligning farther forward so it will remain between the finger tips during descent."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 24,
  "state": {
    "instruction": "pick up the apple and place it on the bowl.",
    "joint_positions": [
      0.0347,
      -0.08569,
      0.02836,
      -2.06729,
      0.03788,
      1.91383,
      0.02773
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.50873,
      0.04025,
      0.88994
    ],
    "tcp_roll_pitch_yaw": [
      1e-05,
      0.00059,
      5e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99738,
        0.02012,
        -0.06944
      ],
      [
        0.02218,
        -0.99934,
        0.02893
      ],
      [
        -0.06881,
        -0.0304,
        -0.99717
      ]
    ],
    "simulated_seconds_remaining": 22.44,
    "calls_remaining_including_this": 34
  },
  "api_seconds": 5.805183581076562,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.775,
                    "gripper": 1
                  },
                  "note": "The apple is aligned with the center of the finger tips from above. I am descending to its midsection."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 25,
  "state": {
    "instruction": "pick up the apple and place it on the bowl.",
    "joint_positions": [
      0.04135,
      0.01973,
      0.0368,
      -2.22042,
      0.05489,
      2.21892,
      0.02011
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.52131,
      0.04948,
      0.79012
    ],
    "tcp_roll_pitch_yaw": [
      0.01396,
      -0.045,
      0.00175
    ],
    "tcp_rotation_matrix": [
      [
        0.99943,
        0.02381,
        -0.02401
      ],
      [
        0.02483,
        -0.99878,
        0.0428
      ],
      [
        -0.02296,
        -0.04337,
        -0.9988
      ]
    ],
    "simulated_seconds_remaining": 21.384,
    "calls_remaining_including_this": 33
  },
  "api_seconds": 8.207454212009907,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The apple is now centered at the finger tips instead of beneath the palm. I am closing around it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 26,
  "state": {
    "instruction": "pick up the apple and place it on the bowl.",
    "joint_positions": [
      0.04251,
      0.01551,
      0.03831,
      -2.2156,
      0.05604,
      2.22086,
      0.02008
    ],
    "gripper_open": 0.9072,
    "tcp_xyz": [
      0.52431,
      0.05126,
      0.79462
    ],
    "tcp_roll_pitch_yaw": [
      0.01544,
      -0.05603,
      0.00367
    ],
    "tcp_rotation_matrix": [
      [
        0.99957,
        0.02629,
        -0.01309
      ],
      [
        0.02685,
        -0.99866,
        0.04427
      ],
      [
        -0.01191,
        -0.0446,
        -0.99893
      ]
    ],
    "simulated_seconds_remaining": 20.46,
    "calls_remaining_including_this": 32
  },
  "api_seconds": 7.006241573952138,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.9,
                    "gripper": 0
                  },
                  "note": "The gripper is stopped against the apple. I am lifting with the close command maintained to check the grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 27,
  "state": {
    "instruction": "pick up the apple and place it on the bowl.",
    "joint_positions": [
      0.04072,
      -0.08497,
      0.03628,
      -2.0554,
      0.05216,
      1.96073,
      0.0302
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.5244,
      0.05127,
      0.8988
    ],
    "tcp_roll_pitch_yaw": [
      0.01547,
      -0.0564,
      0.00366
    ],
    "tcp_rotation_matrix": [
      [
        0.99957,
        0.0263,
        -0.01271
      ],
      [
        0.02684,
        -0.99866,
        0.0443
      ],
      [
        -0.01153,
        -0.04462,
        -0.99894
      ]
    ],
    "simulated_seconds_remaining": 19.47,
    "calls_remaining_including_this": 31
  },
  "api_seconds": 14.41208768170327,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.5,
                    "y": 0.05,
                    "z": 0.8,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 0,
                    "gripper": 1
                  },
                  "note": "The apple remains on the table. I am adjusting the grasp point a little backward to place the jaws around its widest section."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 28,
  "state": {
    "instruction": "pick up the apple and place it on the bowl.",
    "joint_positions": [
      0.04389,
      -0.02482,
      0.04137,
      -2.23431,
      0.04265,
      2.14329,
      0.0397
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.50025,
      0.05001,
      0.80114
    ],
    "tcp_roll_pitch_yaw": [
      0.00017,
      -0.0004,
      6e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99745,
        0.02017,
        -0.06844
      ],
      [
        0.0222,
        -0.99933,
        0.0291
      ],
      [
        -0.06781,
        -0.03054,
        -0.99723
      ]
    ],
    "simulated_seconds_remaining": 18.48,
    "calls_remaining_including_this": 30
  },
  "api_seconds": 11.2095903782174,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The apple center is aligned with the finger tips. I am closing at this corrected position."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 29,
  "state": {
    "instruction": "pick up the apple and place it on the bowl.",
    "joint_positions": [
      0.04613,
      -0.03214,
      0.0442,
      -2.22685,
      0.04495,
      2.145,
      0.03948
    ],
    "gripper_open": 0.5881,
    "tcp_xyz": [
      0.50438,
      0.05329,
      0.80817
    ],
    "tcp_roll_pitch_yaw": [
      0.00301,
      -0.01671,
      0.00392
    ],
    "tcp_rotation_matrix": [
      [
        0.99833,
        0.02457,
        -0.0523
      ],
      [
        0.02625,
        -0.99915,
        0.03173
      ],
      [
        -0.05148,
        -0.03305,
        -0.99813
      ]
    ],
    "simulated_seconds_remaining": 17.556,
    "calls_remaining_including_this": 29
  },
  "api_seconds": 5.204848118126392,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.88,
                    "gripper": 0
                  },
                  "note": "The jaws have partially closed around the apple. I am making a short lift to confirm that this grasp holds."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 30,
  "state": {
    "instruction": "pick up the apple and place it on the bowl.",
    "joint_positions": [
      0.04508,
      -0.10171,
      0.04271,
      -2.11731,
      0.04391,
      1.96623,
      0.04411
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.50444,
      0.0533,
      0.87905
    ],
    "tcp_roll_pitch_yaw": [
      0.00304,
      -0.01698,
      0.00392
    ],
    "tcp_rotation_matrix": [
      [
        0.99834,
        0.02457,
        -0.05203
      ],
      [
        0.02625,
        -0.99915,
        0.03175
      ],
      [
        -0.0512,
        -0.03306,
        -0.99814
      ]
    ],
    "simulated_seconds_remaining": 16.632,
    "calls_remaining_including_this": 28
  },
  "api_seconds": 8.807791744358838,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.52,
                    "y": 0.05,
                    "z": 0.755,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 0,
                    "gripper": 1
                  },
                  "note": "The shallow grasp slipped off the apple. I am lowering the grasp and compensating forward so the jaws capture its middle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 31,
  "state": {
    "instruction": "pick up the apple and place it on the bowl.",
    "joint_positions": [
      0.04758,
      0.07993,
      0.04695,
      -2.19872,
      0.04659,
      2.38322,
      0.03728
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.56471,
      0.05939,
      0.78319
    ],
    "tcp_roll_pitch_yaw": [
      0.01674,
      -0.17022,
      -0.0009
    ],
    "tcp_rotation_matrix": [
      [
        0.99452,
        0.02688,
        0.10102
      ],
      [
        0.02237,
        -0.99871,
        0.04553
      ],
      [
        0.10211,
        -0.04302,
        -0.99384
      ]
    ],
    "simulated_seconds_remaining": 15.51,
    "calls_remaining_including_this": 27
  },
  "api_seconds": 17.614926864393055,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.89,
                    "yaw": 1.57,
                    "pitch": 0,
                    "roll": 0,
                    "gripper": 1
                  },
                  "note": "The apple is too broad for the current approach and is deflecting the fingers. I am lifting and rotating the jaws to approach across its narrower side."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 36,
    "motion_seconds": 2.3760000000000003,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 32,
  "state": {
    "instruction": "pick up the apple and place it on the bowl.",
    "joint_positions": [
      0.02739,
      0.06528,
      0.10604,
      -1.89277,
      -0.07531,
      1.91906,
      -1.42617
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.56473,
      0.05942,
      0.88975
    ],
    "tcp_roll_pitch_yaw": [
      -0.0005,
      -0.00043,
      1.56538
    ],
    "tcp_rotation_matrix": [
      [
        -0.01669,
        0.99945,
        -0.0288
      ],
      [
        0.99756,
        0.01469,
        -0.06826
      ],
      [
        -0.0678,
        -0.02987,
        -0.99725
      ]
    ],
    "simulated_seconds_remaining": 13.134,
    "calls_remaining_including_this": 26
  },
  "api_seconds": 5.805322211235762,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.765,
                    "gripper": 1
                  },
                  "note": "The rotated jaws are centered over the apple. I am lowering to grasp from this perpendicular direction."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 33,
  "state": {
    "instruction": "pick up the apple and place it on the bowl.",
    "joint_positions": [
      0.03223,
      0.1343,
      0.10651,
      -2.04917,
      -0.10063,
      2.21122,
      -1.39397
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.57788,
      0.06574,
      0.8032
    ],
    "tcp_roll_pitch_yaw": [
      -0.06865,
      -0.00732,
      1.57192
    ],
    "tcp_rotation_matrix": [
      [
        -0.01851,
        0.99904,
        0.03962
      ],
      [
        0.99789,
        0.02093,
        -0.0615
      ],
      [
        -0.06227,
        0.0384,
        -0.99732
      ]
    ],
    "simulated_seconds_remaining": 12.012,
    "calls_remaining_including_this": 25
  },
  "api_seconds": 11.410052377730608,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.548,
                    "y": 0.04,
                    "z": 0.79,
                    "roll": 0,
                    "pitch": 0,
                    "gripper": 1
                  },
                  "note": "The rotated view shows the apple right of the gap. I am centering the jaws around it with a short sideways correction."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 34,
  "state": {
    "instruction": "pick up the apple and place it on the bowl.",
    "joint_positions": [
      0.00992,
      0.09221,
      0.09152,
      -2.10204,
      -0.09062,
      2.17834,
      -1.44042
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.55402,
      0.04214,
      0.80012
    ],
    "tcp_roll_pitch_yaw": [
      -0.02198,
      -0.00192,
      1.57347
    ],
    "tcp_rotation_matrix": [
      [
        -0.02329,
        0.99971,
        -0.00682
      ],
      [
        0.9975,
        0.02278,
        -0.06694
      ],
      [
        -0.06677,
        -0.00836,
        -0.99773
      ]
    ],
    "simulated_seconds_remaining": 11.418,
    "calls_remaining_including_this": 24
  },
  "api_seconds": 6.00486169103533,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.531,
                    "y": 0.035,
                    "z": 0.79,
                    "gripper": 1
                  },
                  "note": "The apple is still slightly right of center. I am making the final lateral correction before closing."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 7,
    "motion_seconds": 0.462,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 35,
  "state": {
    "instruction": "pick up the apple and place it on the bowl.",
    "joint_positions": [
      0.00453,
      0.03282,
      0.08795,
      -2.18788,
      -0.08705,
      2.22016,
      -1.44949
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.53563,
      0.03641,
      0.7979
    ],
    "tcp_roll_pitch_yaw": [
      -0.03629,
      -0.00286,
      1.57471
    ],
    "tcp_rotation_matrix": [
      [
        -0.02354,
        0.99969,
        0.00753
      ],
      [
        0.99753,
        0.02398,
        -0.06596
      ],
      [
        -0.06612,
        0.00596,
        -0.99779
      ]
    ],
    "simulated_seconds_remaining": 10.956,
    "calls_remaining_including_this": 23
  },
  "api_seconds": 4.804391884244978,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The apple sits between the rotated jaws. I am closing to secure it from the new direction."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 36,
  "state": {
    "instruction": "pick up the apple and place it on the bowl.",
    "joint_positions": [
      0.00384,
      0.01855,
      0.08708,
      -2.17245,
      -0.08773,
      2.28928,
      -1.44948
    ],
    "gripper_open": 0.0005,
    "tcp_xyz": [
      0.56109,
      0.03903,
      0.81973
    ],
    "tcp_roll_pitch_yaw": [
      -0.13406,
      -0.01301,
      1.57898
    ],
    "tcp_rotation_matrix": [
      [
        -0.02097,
        0.99424,
        0.10508
      ],
      [
        0.99812,
        0.02688,
        -0.05507
      ],
      [
        -0.05758,
        0.10372,
        -0.99294
      ]
    ],
    "simulated_seconds_remaining": 10.032,
    "calls_remaining_including_this": 22
  },
  "api_seconds": 16.213363574817777,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.53,
                    "y": 0,
                    "z": 0.735,
                    "roll": 0,
                    "pitch": 0,
                    "gripper": 1
                  },
                  "note": "The jaws again slid over the apple. I am moving the grasp lower and slightly back to capture it beneath the upper curve."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 37,
  "state": {
    "instruction": "pick up the apple and place it on the bowl.",
    "joint_positions": [
      -0.0356,
      0.01945,
      0.04781,
      -2.22228,
      -0.10794,
      2.33144,
      -1.50465
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.5524,
      -0.00705,
      0.80074
    ],
    "tcp_roll_pitch_yaw": [
      -0.12253,
      0.00716,
      1.57052
    ],
    "tcp_rotation_matrix": [
      [
        -0.01335,
        0.99556,
        0.09315
      ],
      [
        0.9969,
        0.02047,
        -0.07597
      ],
      [
        -0.07754,
        0.09185,
        -0.99275
      ]
    ],
    "simulated_seconds_remaining": 9.108,
    "calls_remaining_including_this": 21
  },
  "api_seconds": 10.808731211349368,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.51,
                    "y": 0.005,
                    "z": 0.805,
                    "roll": 0,
                    "pitch": 0,
                    "gripper": 1
                  },
                  "note": "The apple is right of the open jaws after contact. I am shifting the gap directly across its center."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 38,
  "state": {
    "instruction": "pick up the apple and place it on the bowl.",
    "joint_positions": [
      -0.02376,
      -0.03069,
      0.05956,
      -2.2392,
      -0.08068,
      2.17827,
      -1.50882
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.51093,
      0.00478,
      0.80494
    ],
    "tcp_roll_pitch_yaw": [
      -0.00273,
      0.00014,
      1.57059
    ],
    "tcp_rotation_matrix": [
      [
        -0.02173,
        0.99942,
        -0.02622
      ],
      [
        0.99742,
        0.01988,
        -0.06898
      ],
      [
        -0.06842,
        -0.02765,
        -0.99727
      ]
    ],
    "simulated_seconds_remaining": 8.514,
    "calls_remaining_including_this": 20
  },
  "api_seconds": 5.004964109510183,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The apple is centered between the tips with the wrist level. I am closing around it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 39,
  "state": {
    "instruction": "pick up the apple and place it on the bowl.",
    "joint_positions": [
      -0.02444,
      -0.03464,
      0.05867,
      -2.23581,
      -0.08132,
      2.17796,
      -1.50899
    ],
    "gripper_open": 0.5714,
    "tcp_xyz": [
      0.51271,
      0.00392,
      0.80843
    ],
    "tcp_roll_pitch_yaw": [
      -0.00972,
      0.00063,
      1.56956
    ],
    "tcp_rotation_matrix": [
      [
        -0.02022,
        0.99961,
        -0.01931
      ],
      [
        0.99741,
        0.01884,
        -0.06944
      ],
      [
        -0.06905,
        -0.02067,
        -0.9974
      ]
    ],
    "simulated_seconds_remaining": 7.59,
    "calls_remaining_including_this": 19
  },
  "api_seconds": 9.209780716337264,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.85,
                    "gripper": 0
                  },
                  "note": "The jaws have closed partway against the apple. I am lifting a small distance while maintaining pressure."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 40,
  "state": {
    "instruction": "pick up the apple and place it on the bowl.",
    "joint_positions": [
      -0.02366,
      -0.08021,
      0.05873,
      -2.1783,
      -0.07322,
      2.07547,
      -1.51937
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.51274,
      0.00392,
      0.84916
    ],
    "tcp_roll_pitch_yaw": [
      -0.00988,
      0.00062,
      1.56956
    ],
    "tcp_rotation_matrix": [
      [
        -0.02022,
        0.99961,
        -0.01916
      ],
      [
        0.99741,
        0.01884,
        -0.06944
      ],
      [
        -0.06905,
        -0.02051,
        -0.9974
      ]
    ],
    "simulated_seconds_remaining": 6.666,
    "calls_remaining_including_this": 18
  },
  "api_seconds": 17.818964769132435,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.49,
                    "y": -0.045,
                    "z": 0.75,
                    "gripper": 1
                  },
                  "note": "The grasp is still too high on the apple. I am approaching its side at a lower height with open fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 41,
  "state": {
    "instruction": "pick up the apple and place it on the bowl.",
    "joint_positions": [
      -0.074,
      -0.01215,
      0.00464,
      -2.36593,
      -0.09938,
      2.38571,
      -1.58527
    ],
    "gripper_open": 0.9997,
    "tcp_xyz": [
      0.50402,
      -0.04654,
      0.75912
    ],
    "tcp_roll_pitch_yaw": [
      -0.05979,
      0.00142,
      1.568
    ],
    "tcp_rotation_matrix": [
      [
        -0.01522,
        0.99942,
        0.03052
      ],
      [
        0.99737,
        0.01734,
        -0.07035
      ],
      [
        -0.07083,
        0.02937,
        -0.99706
      ]
    ],
    "simulated_seconds_remaining": 5.61,
    "calls_remaining_including_this": 17
  },
  "api_seconds": 6.205346593633294,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0,
                    "z": 0.75,
                    "gripper": 1
                  },
                  "note": "The open fingers reached the lower height beside the apple. I am sliding them forward around its center."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 42,
  "state": {
    "instruction": "pick up the apple and place it on the bowl.",
    "joint_positions": [
      -0.02952,
      0.00082,
      0.04982,
      -2.37372,
      -0.10569,
      2.40204,
      -1.48926
    ],
    "gripper_open": 0.9985,
    "tcp_xyz": [
      0.50441,
      -0.00154,
      0.75068
    ],
    "tcp_roll_pitch_yaw": [
      -0.06094,
      0.00149,
      1.56764
    ],
    "tcp_rotation_matrix": [
      [
        -0.01478,
        0.99939,
        0.03164
      ],
      [
        0.99737,
        0.01698,
        -0.07043
      ],
      [
        -0.07092,
        0.03051,
        -0.99701
      ]
    ],
    "simulated_seconds_remaining": 5.016,
    "calls_remaining_including_this": 16
  },
  "api_seconds": 6.0085888216272,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.04,
                    "z": 0.775,
                    "gripper": 0
                  },
                  "note": "The apple is within the finger gap at the lower approach. I am closing while moving slightly forward to retain it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 43,
  "state": {
    "instruction": "pick up the apple and place it on the bowl.",
    "joint_positions": [
      0.01126,
      -0.03283,
      0.09171,
      -2.34196,
      -0.09726,
      2.33134,
      -1.41744
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.50446,
      0.03907,
      0.77453
    ],
    "tcp_roll_pitch_yaw": [
      -0.06108,
      0.00152,
      1.56762
    ],
    "tcp_rotation_matrix": [
      [
        -0.01475,
        0.99939,
        0.03178
      ],
      [
        0.99737,
        0.01696,
        -0.07045
      ],
      [
        -0.07095,
        0.03066,
        -0.99701
      ]
    ],
    "simulated_seconds_remaining": 4.092,
    "calls_remaining_including_this": 15
  },
  "api_seconds": 9.407833836041391,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "give_up",
                "args": {
                  "note": "I could not establish a secure grasp of the apple. It remains on the table, and the remaining motion time is insufficient to complete a verified pick and placement."
                }
              }
            }
          ]
        }
      }
    ]
  }
}

========================================================================
GPT-Astra / Pick & place / 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,
  "status": "completed",
  "success": true,
  "oracle_success": true,
  "action_decisions": 27,
  "wall_seconds": 302.97,
  "usage": {
    "input_tokens": 558153,
    "cached_input_tokens": 522112,
    "cache_write_input_tokens": 0,
    "output_tokens": 4725,
    "reasoning_output_tokens": 1775
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick-and-place 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 45 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 and grasp the requested object, lift it, move it to the named receptacle, and release it in or on that receptacle. Complete the entire pick-and-place 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 object and place it in the requested receptacle.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"pick up the egg and place it on the bowl.\", \"joint_positions\": [-0.04549, -0.76464, 0.00198, -2.34212, 0.03066, 1.56595, 0.01454], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.31035, -0.00549, 1.0152], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.99822, -0.05875, -0.01022], [-0.05843, -0.99785, 0.02976], [-0.01195, -0.02911, -0.9995]], \"simulated_seconds_remaining\": 45.012, \"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": 0.87,
    "gripper": 1,
    "note": "The egg is just behind the bowl in the exterior view. I lower the open gripper to get a clearer wrist view and locate 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": {
    "target_z": 0.87,
    "gripper": 1,
    "note": "The egg is behind the bowl. I lower the open gripper for a closer view before aligning over the egg."
  },
  "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": 0.87,
      "gripper": 1
    },
    "note": "The egg is behind the bowl in the exterior view. I lower the open gripper for a closer wrist view before aligning."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"pick up the egg and place it on the bowl.\", \"joint_positions\": [-0.04491, -0.77604, 0.00492, -2.71729, 0.03499, 1.92929, 0.00475], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.3103, -0.00549, 0.87127], \"tcp_roll_pitch_yaw\": [1e-05, 0.00032, 1e-05], \"tcp_rotation_matrix\": [[0.99822, -0.05876, -0.01054], [-0.05842, -0.99785, 0.02977], [-0.01227, -0.0291, -0.9995]], \"simulated_seconds_remaining\": 43.758, \"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": {
      "y": 0.16
    },
    "note": "The bowl and egg lie to the side of the gripper. I move left across the table to bring them into the wrist camera center."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"pick up the egg and place it on the bowl.\", \"joint_positions\": [0.12788, -0.67453, 0.28998, -2.63373, 0.22944, 1.97081, 0.3247], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.31031, 0.15866, 0.87127], \"tcp_roll_pitch_yaw\": [-7e-05, 0.00029, 0.00018], \"tcp_rotation_matrix\": [[0.99823, -0.05858, -0.01052], [-0.05824, -0.99786, 0.02969], [-0.01224, -0.02903, -0.9995]], \"simulated_seconds_remaining\": 42.372, \"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": 0.35,
      "z": 0.98
    },
    "note": "The bowl moved toward the wrist center, confirming the lateral direction. I continue toward the egg and raise slightly to see around the fingers."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"pick up the egg and place it on the bowl.\", \"joint_positions\": [0.16358, -0.37579, 0.56345, -2.08403, 0.23138, 1.76811, 0.70941], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.3103, 0.34888, 0.97936], \"tcp_roll_pitch_yaw\": [-5e-05, 0.00022, 0.00034], \"tcp_rotation_matrix\": [[0.99824, -0.05842, -0.01045], [-0.05808, -0.99787, 0.02971], [-0.01217, -0.02905, -0.9995]], \"simulated_seconds_remaining\": 40.59, \"calls_remaining_including_this\": 54}"
      },
      {
        "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": 0.46
    },
    "note": "The bowl is beneath the fingers and the egg is farther back on the table. I move forward to bring the egg into the grasp area."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"pick up the egg and place it on the bowl.\", \"joint_positions\": [0.08414, 0.04076, 0.56528, -1.71124, 0.0084, 1.75516, 0.70594], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.45876, 0.3488, 0.97929], \"tcp_roll_pitch_yaw\": [-5e-05, 0.00039, 0.00015], \"tcp_rotation_matrix\": [[0.99822, -0.05862, -0.01061], [-0.05828, -0.99786, 0.02971], [-0.01233, -0.02904, -0.9995]], \"simulated_seconds_remaining\": 39.27, \"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": 0.43,
      "y": 0.22,
      "z": 0.9
    },
    "note": "The egg is visible just left of the open fingers in the wrist image. I shift right and descend to center the egg between the jaws."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"pick up the egg and place it on the bowl.\", \"joint_positions\": [0.00256, -0.24895, 0.42435, -2.20399, 0.14481, 1.97468, 0.41695], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.43026, 0.22106, 0.90066], \"tcp_roll_pitch_yaw\": [-0.00011, 0.00051, -2e-05], \"tcp_rotation_matrix\": [[0.99821, -0.05879, -0.01073], [-0.05845, -0.99785, 0.02965], [-0.01245, -0.02897, -0.9995]], \"simulated_seconds_remaining\": 37.95, \"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": 0.48,
      "y": 0.18
    },
    "note": "The egg is partly visible at the lower-left edge of the wrist view. I advance slightly and shift right to align it with the gap between the fingers."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"pick up the egg and place it on the bowl.\", \"joint_positions\": [-0.04869, -0.14819, 0.37673, -2.1107, 0.09331, 1.97042, 0.34675], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.47905, 0.18072, 0.90063], \"tcp_roll_pitch_yaw\": [-7e-05, 0.00059, -0.00027], \"tcp_rotation_matrix\": [[0.9982, -0.05904, -0.0108], [-0.0587, -0.99783, 0.0297], [-0.01253, -0.02901, -0.9995]], \"simulated_seconds_remaining\": 37.224, \"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": {
      "z": 0.81
    },
    "note": "The egg is now aligned near the center of the fingers, with the bowl to its side. I lower the open jaws toward the egg."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"pick up the egg and place it on the bowl.\", \"joint_positions\": [-0.04598, -0.05855, 0.3909, -2.2556, 0.06674, 2.19991, 0.36392], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.47899, 0.18069, 0.81115], \"tcp_roll_pitch_yaw\": [-0.00014, 0.00092, -0.00028], \"tcp_rotation_matrix\": [[0.99819, -0.05906, -0.01113], [-0.05871, -0.99784, 0.02963], [-0.01286, -0.02892, -0.9995]], \"simulated_seconds_remaining\": 36.3, \"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": 0.49,
      "y": 0.15,
      "z": 0.78
    },
    "note": "The egg remains slightly left of the jaw gap at close range. I make a small centering correction and lower to grasp height."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"pick up the egg and place it on the bowl.\", \"joint_positions\": [-0.07492, -0.01008, 0.36191, -2.28746, 0.04623, 2.2751, 0.31588], \"gripper_open\": 0.9974, \"tcp_xyz\": [0.48966, 0.1509, 0.78082], \"tcp_roll_pitch_yaw\": [-9e-05, 0.00106, -0.00024], \"tcp_rotation_matrix\": [[0.99819, -0.05903, -0.01127], [-0.05867, -0.99784, 0.02967], [-0.013, -0.02896, -0.9995]], \"simulated_seconds_remaining\": 35.706, \"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 egg is centered between the lowered fingers. I close the jaws to secure it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"pick up the egg and place it on the bowl.\", \"joint_positions\": [-0.07493, -0.01014, 0.36191, -2.28741, 0.04623, 2.27511, 0.31588], \"gripper_open\": 0.0, \"tcp_xyz\": [0.4897, 0.1509, 0.78087], \"tcp_roll_pitch_yaw\": [-8e-05, 0.00093, -0.00025], \"tcp_rotation_matrix\": [[0.99819, -0.05903, -0.01114], [-0.05868, -0.99784, 0.02969], [-0.01287, -0.02898, -0.9995]], \"simulated_seconds_remaining\": 34.782, \"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": {
      "z": 0.94
    },
    "note": "The jaws have closed. I lift to check whether the egg is secured and clear the surrounding bowl."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 11, \"instruction\": \"pick up the egg and place it on the bowl.\", \"joint_positions\": [-0.08065, -0.16096, 0.34185, -2.02705, 0.08928, 1.87122, 0.28933], \"gripper_open\": 0.0, \"tcp_xyz\": [0.48978, 0.15092, 0.93881], \"tcp_roll_pitch_yaw\": [-2e-05, 0.00059, -0.00026], \"tcp_rotation_matrix\": [[0.9982, -0.05903, -0.0108], [-0.05868, -0.99783, 0.02974], [-0.01254, -0.02905, -0.9995]], \"simulated_seconds_remaining\": 33.396, \"calls_remaining_including_this\": 47}"
      },
      {
        "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": 0.515,
      "y": 0.125,
      "z": 0.84,
      "gripper": 1
    },
    "note": "The egg stayed on the table, so the first grasp missed. I reopen and shift slightly forward and right to place the egg deeper between the fingers."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 12, \"instruction\": \"pick up the egg and place it on the bowl.\", \"joint_positions\": [-0.103, -0.03657, 0.3265, -2.14962, 0.05033, 2.11013, 0.25633], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.51463, 0.12527, 0.84113], \"tcp_roll_pitch_yaw\": [-5e-05, 0.00094, -0.00036], \"tcp_rotation_matrix\": [[0.99819, -0.05914, -0.01115], [-0.05879, -0.99783, 0.02971], [-0.01289, -0.029, -0.9995]], \"simulated_seconds_remaining\": 32.406, \"calls_remaining_including_this\": 46}"
      },
      {
        "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": 0.532,
      "y": 0.108,
      "z": 0.785
    },
    "note": "The egg is clearly visible between the open jaws, a little left of center. I correct the alignment while descending to its middle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 13, \"instruction\": \"pick up the egg and place it on the bowl.\", \"joint_positions\": [-0.11753, 0.07197, 0.31074, -2.17344, 0.0119, 2.23638, 0.24427], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.5316, 0.10828, 0.786], \"tcp_roll_pitch_yaw\": [-7e-05, 0.00125, -0.00047], \"tcp_rotation_matrix\": [[0.99818, -0.05926, -0.01145], [-0.0589, -0.99782, 0.0297], [-0.01319, -0.02897, -0.99949]], \"simulated_seconds_remaining\": 31.68, \"calls_remaining_including_this\": 45}"
      },
      {
        "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 egg is centered in the jaw gap at grasp height. I close the fingers around it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 14, \"instruction\": \"pick up the egg and place it on the bowl.\", \"joint_positions\": [-0.11753, 0.07197, 0.31074, -2.17344, 0.0119, 2.23638, 0.24427], \"gripper_open\": 0.0, \"tcp_xyz\": [0.5316, 0.10828, 0.78599], \"tcp_roll_pitch_yaw\": [-7e-05, 0.00124, -0.00047], \"tcp_rotation_matrix\": [[0.99818, -0.05926, -0.01145], [-0.0589, -0.99782, 0.0297], [-0.01318, -0.02897, -0.99949]], \"simulated_seconds_remaining\": 30.756, \"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": 0.557,
      "z": 0.75
    },
    "note": "The fingers closed fully and the egg is still below their contact area. I reopen, advance slightly, and lower so the jaws surround the egg itself."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 15, \"instruction\": \"pick up the egg and place it on the bowl.\", \"joint_positions\": [-0.1113, 0.19459, 0.30084, -2.11614, -0.03476, 2.29596, 0.26665], \"gripper_open\": 0.9965, \"tcp_xyz\": [0.55642, 0.10826, 0.75072], \"tcp_roll_pitch_yaw\": [-7e-05, 0.00137, -0.0005], \"tcp_rotation_matrix\": [[0.99817, -0.05929, -0.01158], [-0.05893, -0.99782, 0.0297], [-0.01331, -0.02896, -0.99949]], \"simulated_seconds_remaining\": 29.832, \"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
    },
    "note": "At the lower height, the egg is centered laterally but sits just behind the finger contact line. I advance a small distance to surround it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 16, \"instruction\": \"pick up the egg and place it on the bowl.\", \"joint_positions\": [-0.1065, 0.25607, 0.29357, -2.03073, -0.05493, 2.2694, 0.27293], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.57898, 0.10823, 0.7507], \"tcp_roll_pitch_yaw\": [-5e-05, 0.00138, -0.00055], \"tcp_rotation_matrix\": [[0.99817, -0.05935, -0.01159], [-0.05898, -0.99782, 0.02972], [-0.01333, -0.02898, -0.99949]], \"simulated_seconds_remaining\": 29.37, \"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 egg now sits centrally between the finger pads. I close the gripper for the grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 17, \"instruction\": \"pick up the egg and place it on the bowl.\", \"joint_positions\": [-0.1065, 0.25607, 0.29357, -2.03073, -0.05493, 2.2694, 0.27293], \"gripper_open\": 0.0, \"tcp_xyz\": [0.57899, 0.10823, 0.7507], \"tcp_roll_pitch_yaw\": [-5e-05, 0.00138, -0.00055], \"tcp_rotation_matrix\": [[0.99817, -0.05935, -0.01159], [-0.05898, -0.99782, 0.02972], [-0.01333, -0.02898, -0.99949]], \"simulated_seconds_remaining\": 28.446, \"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"
}

The egg is still on the table. I’m adjusting the grasp depth and alignment using the close wrist view.


{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.61,
      "z": 0.7,
      "gripper": 1
    },
    "note": "The jaws closed without holding the egg. I lower them further and advance to align the finger pads with the egg's center."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 18, \"instruction\": \"pick up the egg and place it on the bowl.\", \"joint_positions\": [-0.08246, 0.3645, 0.27704, -1.92974, -0.1036, 2.23293, 0.29589], \"gripper_open\": 1.0, \"tcp_xyz\": [0.59698, 0.1093, 0.72726], \"tcp_roll_pitch_yaw\": [-0.02179, 0.03757, 0.00818], \"tcp_rotation_matrix\": [[0.99756, -0.05082, -0.04784], [-0.05052, -0.99869, 0.00759], [-0.04816, -0.00515, -0.99883]], \"simulated_seconds_remaining\": 27.522, \"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": 0.64,
      "z": 0.755,
      "roll": 0,
      "pitch": 0,
      "yaw": 0
    },
    "note": "The low motion met the table before reaching its target. I raise slightly and move forward so the egg reaches the finger pads without pressing on the tabletop."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 19, \"instruction\": \"pick up the egg and place it on the bowl.\", \"joint_positions\": [-0.08434, 0.41967, 0.27421, -1.77827, -0.09716, 2.17579, 0.28157], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.63906, 0.10928, 0.75441], \"tcp_roll_pitch_yaw\": [-0.0005, 0.00073, 0.00013], \"tcp_rotation_matrix\": [[0.99822, -0.05864, -0.01095], [-0.0583, -0.99787, 0.02926], [-0.01265, -0.02857, -0.99951]], \"simulated_seconds_remaining\": 26.862, \"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 egg is now directly between the opposing finger pads in the wrist image. I close the jaws around its sides."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 20, \"instruction\": \"pick up the egg and place it on the bowl.\", \"joint_positions\": [-0.08434, 0.41975, 0.27419, -1.77834, -0.09716, 2.17577, 0.28157], \"gripper_open\": 0.5734, \"tcp_xyz\": [0.63902, 0.10927, 0.75433], \"tcp_roll_pitch_yaw\": [-0.00051, 0.00089, 0.00013], \"tcp_rotation_matrix\": [[0.99822, -0.05865, -0.01112], [-0.0583, -0.99787, 0.02925], [-0.01281, -0.02855, -0.99951]], \"simulated_seconds_remaining\": 25.938, \"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": {
      "z": 0.94
    },
    "note": "The fingers stopped against the egg and hold it between the pads. I lift it above the table before moving to the bowl."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 21, \"instruction\": \"pick up the egg and place it on the bowl.\", \"joint_positions\": [-0.08803, 0.30004, 0.29418, -1.47019, -0.05591, 1.75287, 0.2627], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.63909, 0.10929, 0.9388], \"tcp_roll_pitch_yaw\": [-0.00047, 0.0005, 0.00013], \"tcp_rotation_matrix\": [[0.99822, -0.05864, -0.01073], [-0.0583, -0.99787, 0.02929], [-0.01243, -0.02861, -0.99951]], \"simulated_seconds_remaining\": 24.42, \"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": {
      "z": 0.755,
      "gripper": 1
    },
    "note": "The gripper reopened during the lift and the egg remained on the table. I return to the successful grasp position with the jaws open."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 22, \"instruction\": \"pick up the egg and place it on the bowl.\", \"joint_positions\": [-0.08468, 0.41739, 0.27466, -1.77688, -0.09642, 2.17202, 0.2812], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.639, 0.10926, 0.75618], \"tcp_roll_pitch_yaw\": [-0.00051, 0.0009, 0.00012], \"tcp_rotation_matrix\": [[0.99822, -0.05866, -0.01113], [-0.05831, -0.99787, 0.02925], [-0.01282, -0.02855, -0.99951]], \"simulated_seconds_remaining\": 22.902, \"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": {
      "gripper": 0
    },
    "note": "The egg is centered between the pads again. I close the jaws and will explicitly maintain closure throughout transport."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 23, \"instruction\": \"pick up the egg and place it on the bowl.\", \"joint_positions\": [-0.08468, 0.41747, 0.27465, -1.77696, -0.09642, 2.172, 0.2812], \"gripper_open\": 0.5706, \"tcp_xyz\": [0.63896, 0.10925, 0.75608], \"tcp_roll_pitch_yaw\": [-0.00053, 0.00107, 0.00012], \"tcp_rotation_matrix\": [[0.99821, -0.05867, -0.01129], [-0.05831, -0.99787, 0.02923], [-0.01299, -0.02852, -0.99951]], \"simulated_seconds_remaining\": 21.978, \"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": 0.94,
      "gripper": 0
    },
    "note": "The egg is held between the pads. I lift while keeping the close command active."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 24, \"instruction\": \"pick up the egg and place it on the bowl.\", \"joint_positions\": [-0.08812, 0.30005, 0.29426, -1.4703, -0.0559, 1.75263, 0.26271], \"gripper_open\": 0.5701, \"tcp_xyz\": [0.639, 0.10927, 0.93872], \"tcp_roll_pitch_yaw\": [-0.0005, 0.00086, 0.00012], \"tcp_rotation_matrix\": [[0.99822, -0.05866, -0.01108], [-0.05831, -0.99787, 0.02926], [-0.01278, -0.02856, -0.99951]], \"simulated_seconds_remaining\": 20.46, \"calls_remaining_including_this\": 34}"
      },
      {
        "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": 0.75,
      "y": -0.055,
      "gripper": 0
    },
    "note": "The egg lifted successfully and remains held. The bowl is ahead and to the right in the wrist image, so I carry the egg toward its center."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 25, \"instruction\": \"pick up the egg and place it on the bowl.\", \"joint_positions\": [-0.08812, 0.30005, 0.29426, -1.4703, -0.0559, 1.75263, 0.26271], \"gripper_open\": 0.5701, \"tcp_xyz\": [0.639, 0.10927, 0.93872], \"tcp_roll_pitch_yaw\": [-0.0005, 0.00086, 0.00012], \"tcp_rotation_matrix\": [[0.99822, -0.05866, -0.01108], [-0.05831, -0.99787, 0.02926], [-0.01278, -0.02856, -0.99951]], \"simulated_seconds_remaining\": 20.46, \"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": 0.5,
      "y": 0.27,
      "gripper": 0
    },
    "note": "The attempted pose was unreachable. Using the observed image shifts, I correct the transport direction and move back and left toward the bowl."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 26, \"instruction\": \"pick up the egg and place it on the bowl.\", \"joint_positions\": [0.05513, 0.0182, 0.42864, -1.83551, 0.0245, 1.85567, 0.53505], \"gripper_open\": 0.5722, \"tcp_xyz\": [0.50079, 0.26912, 0.93869], \"tcp_roll_pitch_yaw\": [-0.00054, 0.00095, 0.00045], \"tcp_rotation_matrix\": [[0.99823, -0.05833, -0.01119], [-0.05798, -0.99789, 0.02922], [-0.01287, -0.02852, -0.99951]], \"simulated_seconds_remaining\": 18.744, \"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": 0.52,
      "y": 0.29,
      "z": 0.84,
      "gripper": 0
    },
    "note": "The bowl is directly beneath the held egg. I make a small centering adjustment and lower the egg toward the bowl opening."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 27, \"instruction\": \"pick up the egg and place it on the bowl.\", \"joint_positions\": [0.08218, 0.16563, 0.43714, -1.91637, -0.04423, 2.07038, 0.59324], \"gripper_open\": 0.5717, \"tcp_xyz\": [0.51967, 0.28968, 0.84103], \"tcp_roll_pitch_yaw\": [-0.00071, 0.00144, 0.00045], \"tcp_rotation_matrix\": [[0.99823, -0.05834, -0.01168], [-0.05798, -0.99789, 0.02905], [-0.01335, -0.02832, -0.99951]], \"simulated_seconds_remaining\": 17.754, \"calls_remaining_including_this\": 31}"
      },
      {
        "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": 1
    },
    "note": "The egg is centered over the bowl opening at a short release height. I open the fingers to place it into the bowl."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "Episode ended. Do not call more tools. Return a brief final response."
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

Placed the egg in the bowl.

TURN USAGE
{
  "input_tokens": 558153,
  "cached_input_tokens": 522112,
  "cache_write_input_tokens": 0,
  "output_tokens": 4725,
  "reasoning_output_tokens": 1775
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "pick up the egg and place it on the bowl.",
    "joint_positions": [
      -0.04549,
      -0.76464,
      0.00198,
      -2.34212,
      0.03066,
      1.56595,
      0.01454
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.31035,
      -0.00549,
      1.0152
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99822,
        -0.05875,
        -0.01022
      ],
      [
        -0.05843,
        -0.99785,
        0.02976
      ],
      [
        -0.01195,
        -0.02911,
        -0.9995
      ]
    ],
    "simulated_seconds_remaining": 45.012,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 31.647773136384785,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.87,
                    "gripper": 1
                  },
                  "note": "The egg is behind the bowl in the exterior view. I lower the open gripper for a closer wrist view before aligning."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "pick up the egg and place it on the bowl.",
    "joint_positions": [
      -0.04491,
      -0.77604,
      0.00492,
      -2.71729,
      0.03499,
      1.92929,
      0.00475
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.3103,
      -0.00549,
      0.87127
    ],
    "tcp_roll_pitch_yaw": [
      1e-05,
      0.00032,
      1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99822,
        -0.05876,
        -0.01054
      ],
      [
        -0.05842,
        -0.99785,
        0.02977
      ],
      [
        -0.01227,
        -0.0291,
        -0.9995
      ]
    ],
    "simulated_seconds_remaining": 43.758,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 10.209318643435836,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.16
                  },
                  "note": "The bowl and egg lie to the side of the gripper. I move left across the table to bring them into the wrist camera center."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "pick up the egg and place it on the bowl.",
    "joint_positions": [
      0.12788,
      -0.67453,
      0.28998,
      -2.63373,
      0.22944,
      1.97081,
      0.3247
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.31031,
      0.15866,
      0.87127
    ],
    "tcp_roll_pitch_yaw": [
      -7e-05,
      0.00029,
      0.00018
    ],
    "tcp_rotation_matrix": [
      [
        0.99823,
        -0.05858,
        -0.01052
      ],
      [
        -0.05824,
        -0.99786,
        0.02969
      ],
      [
        -0.01224,
        -0.02903,
        -0.9995
      ]
    ],
    "simulated_seconds_remaining": 42.372,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 6.609754148870707,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.35,
                    "z": 0.98
                  },
                  "note": "The bowl moved toward the wrist center, confirming the lateral direction. I continue toward the egg and raise slightly to see around the fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 27,
    "motion_seconds": 1.782,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "pick up the egg and place it on the bowl.",
    "joint_positions": [
      0.16358,
      -0.37579,
      0.56345,
      -2.08403,
      0.23138,
      1.76811,
      0.70941
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.3103,
      0.34888,
      0.97936
    ],
    "tcp_roll_pitch_yaw": [
      -5e-05,
      0.00022,
      0.00034
    ],
    "tcp_rotation_matrix": [
      [
        0.99824,
        -0.05842,
        -0.01045
      ],
      [
        -0.05808,
        -0.99787,
        0.02971
      ],
      [
        -0.01217,
        -0.02905,
        -0.9995
      ]
    ],
    "simulated_seconds_remaining": 40.59,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 6.0060242069885135,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.46
                  },
                  "note": "The bowl is beneath the fingers and the egg is farther back on the table. I move forward to bring the egg into the grasp area."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "pick up the egg and place it on the bowl.",
    "joint_positions": [
      0.08414,
      0.04076,
      0.56528,
      -1.71124,
      0.0084,
      1.75516,
      0.70594
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.45876,
      0.3488,
      0.97929
    ],
    "tcp_roll_pitch_yaw": [
      -5e-05,
      0.00039,
      0.00015
    ],
    "tcp_rotation_matrix": [
      [
        0.99822,
        -0.05862,
        -0.01061
      ],
      [
        -0.05828,
        -0.99786,
        0.02971
      ],
      [
        -0.01233,
        -0.02904,
        -0.9995
      ]
    ],
    "simulated_seconds_remaining": 39.27,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 11.8102853782475,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.43,
                    "y": 0.22,
                    "z": 0.9
                  },
                  "note": "The egg is visible just left of the open fingers in the wrist image. I shift right and descend to center the egg between the jaws."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "pick up the egg and place it on the bowl.",
    "joint_positions": [
      0.00256,
      -0.24895,
      0.42435,
      -2.20399,
      0.14481,
      1.97468,
      0.41695
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.43026,
      0.22106,
      0.90066
    ],
    "tcp_roll_pitch_yaw": [
      -0.00011,
      0.00051,
      -2e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99821,
        -0.05879,
        -0.01073
      ],
      [
        -0.05845,
        -0.99785,
        0.02965
      ],
      [
        -0.01245,
        -0.02897,
        -0.9995
      ]
    ],
    "simulated_seconds_remaining": 37.95,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 6.409059434197843,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48,
                    "y": 0.18
                  },
                  "note": "The egg is partly visible at the lower-left edge of the wrist view. I advance slightly and shift right to align it with the gap between the fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "pick up the egg and place it on the bowl.",
    "joint_positions": [
      -0.04869,
      -0.14819,
      0.37673,
      -2.1107,
      0.09331,
      1.97042,
      0.34675
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.47905,
      0.18072,
      0.90063
    ],
    "tcp_roll_pitch_yaw": [
      -7e-05,
      0.00059,
      -0.00027
    ],
    "tcp_rotation_matrix": [
      [
        0.9982,
        -0.05904,
        -0.0108
      ],
      [
        -0.0587,
        -0.99783,
        0.0297
      ],
      [
        -0.01253,
        -0.02901,
        -0.9995
      ]
    ],
    "simulated_seconds_remaining": 37.224,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 7.208150020800531,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.81
                  },
                  "note": "The egg is now aligned near the center of the fingers, with the bowl to its side. I lower the open jaws toward the egg."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "pick up the egg and place it on the bowl.",
    "joint_positions": [
      -0.04598,
      -0.05855,
      0.3909,
      -2.2556,
      0.06674,
      2.19991,
      0.36392
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.47899,
      0.18069,
      0.81115
    ],
    "tcp_roll_pitch_yaw": [
      -0.00014,
      0.00092,
      -0.00028
    ],
    "tcp_rotation_matrix": [
      [
        0.99819,
        -0.05906,
        -0.01113
      ],
      [
        -0.05871,
        -0.99784,
        0.02963
      ],
      [
        -0.01286,
        -0.02892,
        -0.9995
      ]
    ],
    "simulated_seconds_remaining": 36.3,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 9.007526643574238,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.49,
                    "y": 0.15,
                    "z": 0.78
                  },
                  "note": "The egg remains slightly left of the jaw gap at close range. I make a small centering correction and lower to grasp height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "pick up the egg and place it on the bowl.",
    "joint_positions": [
      -0.07492,
      -0.01008,
      0.36191,
      -2.28746,
      0.04623,
      2.2751,
      0.31588
    ],
    "gripper_open": 0.9974,
    "tcp_xyz": [
      0.48966,
      0.1509,
      0.78082
    ],
    "tcp_roll_pitch_yaw": [
      -9e-05,
      0.00106,
      -0.00024
    ],
    "tcp_rotation_matrix": [
      [
        0.99819,
        -0.05903,
        -0.01127
      ],
      [
        -0.05867,
        -0.99784,
        0.02967
      ],
      [
        -0.013,
        -0.02896,
        -0.9995
      ]
    ],
    "simulated_seconds_remaining": 35.706,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 4.804539126344025,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The egg is centered between the lowered fingers. I close the jaws to secure it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "pick up the egg and place it on the bowl.",
    "joint_positions": [
      -0.07493,
      -0.01014,
      0.36191,
      -2.28741,
      0.04623,
      2.27511,
      0.31588
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.4897,
      0.1509,
      0.78087
    ],
    "tcp_roll_pitch_yaw": [
      -8e-05,
      0.00093,
      -0.00025
    ],
    "tcp_rotation_matrix": [
      [
        0.99819,
        -0.05903,
        -0.01114
      ],
      [
        -0.05868,
        -0.99784,
        0.02969
      ],
      [
        -0.01287,
        -0.02898,
        -0.9995
      ]
    ],
    "simulated_seconds_remaining": 34.782,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 6.806221481412649,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.94
                  },
                  "note": "The jaws have closed. I lift to check whether the egg is secured and clear the surrounding bowl."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "pick up the egg and place it on the bowl.",
    "joint_positions": [
      -0.08065,
      -0.16096,
      0.34185,
      -2.02705,
      0.08928,
      1.87122,
      0.28933
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.48978,
      0.15092,
      0.93881
    ],
    "tcp_roll_pitch_yaw": [
      -2e-05,
      0.00059,
      -0.00026
    ],
    "tcp_rotation_matrix": [
      [
        0.9982,
        -0.05903,
        -0.0108
      ],
      [
        -0.05868,
        -0.99783,
        0.02974
      ],
      [
        -0.01254,
        -0.02905,
        -0.9995
      ]
    ],
    "simulated_seconds_remaining": 33.396,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 14.81318074092269,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.515,
                    "y": 0.125,
                    "z": 0.84,
                    "gripper": 1
                  },
                  "note": "The egg stayed on the table, so the first grasp missed. I reopen and shift slightly forward and right to place the egg deeper between the fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "pick up the egg and place it on the bowl.",
    "joint_positions": [
      -0.103,
      -0.03657,
      0.3265,
      -2.14962,
      0.05033,
      2.11013,
      0.25633
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.51463,
      0.12527,
      0.84113
    ],
    "tcp_roll_pitch_yaw": [
      -5e-05,
      0.00094,
      -0.00036
    ],
    "tcp_rotation_matrix": [
      [
        0.99819,
        -0.05914,
        -0.01115
      ],
      [
        -0.05879,
        -0.99783,
        0.02971
      ],
      [
        -0.01289,
        -0.029,
        -0.9995
      ]
    ],
    "simulated_seconds_remaining": 32.406,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 6.605383737012744,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.532,
                    "y": 0.108,
                    "z": 0.785
                  },
                  "note": "The egg is clearly visible between the open jaws, a little left of center. I correct the alignment while descending to its middle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "pick up the egg and place it on the bowl.",
    "joint_positions": [
      -0.11753,
      0.07197,
      0.31074,
      -2.17344,
      0.0119,
      2.23638,
      0.24427
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.5316,
      0.10828,
      0.786
    ],
    "tcp_roll_pitch_yaw": [
      -7e-05,
      0.00125,
      -0.00047
    ],
    "tcp_rotation_matrix": [
      [
        0.99818,
        -0.05926,
        -0.01145
      ],
      [
        -0.0589,
        -0.99782,
        0.0297
      ],
      [
        -0.01319,
        -0.02897,
        -0.99949
      ]
    ],
    "simulated_seconds_remaining": 31.68,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 5.605349562130868,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The egg is centered in the jaw gap at grasp height. I close the fingers around it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "pick up the egg and place it on the bowl.",
    "joint_positions": [
      -0.11753,
      0.07197,
      0.31074,
      -2.17344,
      0.0119,
      2.23638,
      0.24427
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.5316,
      0.10828,
      0.78599
    ],
    "tcp_roll_pitch_yaw": [
      -7e-05,
      0.00124,
      -0.00047
    ],
    "tcp_rotation_matrix": [
      [
        0.99818,
        -0.05926,
        -0.01145
      ],
      [
        -0.0589,
        -0.99782,
        0.0297
      ],
      [
        -0.01318,
        -0.02897,
        -0.99949
      ]
    ],
    "simulated_seconds_remaining": 30.756,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 10.80991181731224,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 1,
                    "x": 0.557,
                    "z": 0.75
                  },
                  "note": "The fingers closed fully and the egg is still below their contact area. I reopen, advance slightly, and lower so the jaws surround the egg itself."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "pick up the egg and place it on the bowl.",
    "joint_positions": [
      -0.1113,
      0.19459,
      0.30084,
      -2.11614,
      -0.03476,
      2.29596,
      0.26665
    ],
    "gripper_open": 0.9965,
    "tcp_xyz": [
      0.55642,
      0.10826,
      0.75072
    ],
    "tcp_roll_pitch_yaw": [
      -7e-05,
      0.00137,
      -0.0005
    ],
    "tcp_rotation_matrix": [
      [
        0.99817,
        -0.05929,
        -0.01158
      ],
      [
        -0.05893,
        -0.99782,
        0.0297
      ],
      [
        -0.01331,
        -0.02896,
        -0.99949
      ]
    ],
    "simulated_seconds_remaining": 29.832,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 7.211220148950815,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.58
                  },
                  "note": "At the lower height, the egg is centered laterally but sits just behind the finger contact line. I advance a small distance to surround it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 7,
    "motion_seconds": 0.462,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "pick up the egg and place it on the bowl.",
    "joint_positions": [
      -0.1065,
      0.25607,
      0.29357,
      -2.03073,
      -0.05493,
      2.2694,
      0.27293
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.57898,
      0.10823,
      0.7507
    ],
    "tcp_roll_pitch_yaw": [
      -5e-05,
      0.00138,
      -0.00055
    ],
    "tcp_rotation_matrix": [
      [
        0.99817,
        -0.05935,
        -0.01159
      ],
      [
        -0.05898,
        -0.99782,
        0.02972
      ],
      [
        -0.01333,
        -0.02898,
        -0.99949
      ]
    ],
    "simulated_seconds_remaining": 29.37,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 5.6050248388201,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The egg now sits centrally between the finger pads. I close the gripper for the grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "pick up the egg and place it on the bowl.",
    "joint_positions": [
      -0.1065,
      0.25607,
      0.29357,
      -2.03073,
      -0.05493,
      2.2694,
      0.27293
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.57899,
      0.10823,
      0.7507
    ],
    "tcp_roll_pitch_yaw": [
      -5e-05,
      0.00138,
      -0.00055
    ],
    "tcp_rotation_matrix": [
      [
        0.99817,
        -0.05935,
        -0.01159
      ],
      [
        -0.05898,
        -0.99782,
        0.02972
      ],
      [
        -0.01333,
        -0.02898,
        -0.99949
      ]
    ],
    "simulated_seconds_remaining": 28.446,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 10.008714582771063,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.61,
                    "z": 0.7,
                    "gripper": 1
                  },
                  "note": "The jaws closed without holding the egg. I lower them further and advance to align the finger pads with the egg's center."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "pick up the egg and place it on the bowl.",
    "joint_positions": [
      -0.08246,
      0.3645,
      0.27704,
      -1.92974,
      -0.1036,
      2.23293,
      0.29589
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.59698,
      0.1093,
      0.72726
    ],
    "tcp_roll_pitch_yaw": [
      -0.02179,
      0.03757,
      0.00818
    ],
    "tcp_rotation_matrix": [
      [
        0.99756,
        -0.05082,
        -0.04784
      ],
      [
        -0.05052,
        -0.99869,
        0.00759
      ],
      [
        -0.04816,
        -0.00515,
        -0.99883
      ]
    ],
    "simulated_seconds_remaining": 27.522,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 7.406605652533472,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.64,
                    "z": 0.755,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 0
                  },
                  "note": "The low motion met the table before reaching its target. I raise slightly and move forward so the egg reaches the finger pads without pressing on the tabletop."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 19,
  "state": {
    "instruction": "pick up the egg and place it on the bowl.",
    "joint_positions": [
      -0.08434,
      0.41967,
      0.27421,
      -1.77827,
      -0.09716,
      2.17579,
      0.28157
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.63906,
      0.10928,
      0.75441
    ],
    "tcp_roll_pitch_yaw": [
      -0.0005,
      0.00073,
      0.00013
    ],
    "tcp_rotation_matrix": [
      [
        0.99822,
        -0.05864,
        -0.01095
      ],
      [
        -0.0583,
        -0.99787,
        0.02926
      ],
      [
        -0.01265,
        -0.02857,
        -0.99951
      ]
    ],
    "simulated_seconds_remaining": 26.862,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 5.405397741124034,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The egg is now directly between the opposing finger pads in the wrist image. I close the jaws around its sides."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 20,
  "state": {
    "instruction": "pick up the egg and place it on the bowl.",
    "joint_positions": [
      -0.08434,
      0.41975,
      0.27419,
      -1.77834,
      -0.09716,
      2.17577,
      0.28157
    ],
    "gripper_open": 0.5734,
    "tcp_xyz": [
      0.63902,
      0.10927,
      0.75433
    ],
    "tcp_roll_pitch_yaw": [
      -0.00051,
      0.00089,
      0.00013
    ],
    "tcp_rotation_matrix": [
      [
        0.99822,
        -0.05865,
        -0.01112
      ],
      [
        -0.0583,
        -0.99787,
        0.02925
      ],
      [
        -0.01281,
        -0.02855,
        -0.99951
      ]
    ],
    "simulated_seconds_remaining": 25.938,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 5.205164819955826,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.94
                  },
                  "note": "The fingers stopped against the egg and hold it between the pads. I lift it above the table before moving to the bowl."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 21,
  "state": {
    "instruction": "pick up the egg and place it on the bowl.",
    "joint_positions": [
      -0.08803,
      0.30004,
      0.29418,
      -1.47019,
      -0.05591,
      1.75287,
      0.2627
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.63909,
      0.10929,
      0.9388
    ],
    "tcp_roll_pitch_yaw": [
      -0.00047,
      0.0005,
      0.00013
    ],
    "tcp_rotation_matrix": [
      [
        0.99822,
        -0.05864,
        -0.01073
      ],
      [
        -0.0583,
        -0.99787,
        0.02929
      ],
      [
        -0.01243,
        -0.02861,
        -0.99951
      ]
    ],
    "simulated_seconds_remaining": 24.42,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 6.008244125172496,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.755,
                    "gripper": 1
                  },
                  "note": "The gripper reopened during the lift and the egg remained on the table. I return to the successful grasp position with the jaws open."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 22,
  "state": {
    "instruction": "pick up the egg and place it on the bowl.",
    "joint_positions": [
      -0.08468,
      0.41739,
      0.27466,
      -1.77688,
      -0.09642,
      2.17202,
      0.2812
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.639,
      0.10926,
      0.75618
    ],
    "tcp_roll_pitch_yaw": [
      -0.00051,
      0.0009,
      0.00012
    ],
    "tcp_rotation_matrix": [
      [
        0.99822,
        -0.05866,
        -0.01113
      ],
      [
        -0.05831,
        -0.99787,
        0.02925
      ],
      [
        -0.01282,
        -0.02855,
        -0.99951
      ]
    ],
    "simulated_seconds_remaining": 22.902,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 4.604301407933235,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The egg is centered between the pads again. I close the jaws and will explicitly maintain closure throughout transport."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 23,
  "state": {
    "instruction": "pick up the egg and place it on the bowl.",
    "joint_positions": [
      -0.08468,
      0.41747,
      0.27465,
      -1.77696,
      -0.09642,
      2.172,
      0.2812
    ],
    "gripper_open": 0.5706,
    "tcp_xyz": [
      0.63896,
      0.10925,
      0.75608
    ],
    "tcp_roll_pitch_yaw": [
      -0.00053,
      0.00107,
      0.00012
    ],
    "tcp_rotation_matrix": [
      [
        0.99821,
        -0.05867,
        -0.01129
      ],
      [
        -0.05831,
        -0.99787,
        0.02923
      ],
      [
        -0.01299,
        -0.02852,
        -0.99951
      ]
    ],
    "simulated_seconds_remaining": 21.978,
    "calls_remaining_including_this": 35
  },
  "api_seconds": 4.604439576156437,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.94,
                    "gripper": 0
                  },
                  "note": "The egg is held between the pads. I lift while keeping the close command active."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 24,
  "state": {
    "instruction": "pick up the egg and place it on the bowl.",
    "joint_positions": [
      -0.08812,
      0.30005,
      0.29426,
      -1.4703,
      -0.0559,
      1.75263,
      0.26271
    ],
    "gripper_open": 0.5701,
    "tcp_xyz": [
      0.639,
      0.10927,
      0.93872
    ],
    "tcp_roll_pitch_yaw": [
      -0.0005,
      0.00086,
      0.00012
    ],
    "tcp_rotation_matrix": [
      [
        0.99822,
        -0.05866,
        -0.01108
      ],
      [
        -0.05831,
        -0.99787,
        0.02926
      ],
      [
        -0.01278,
        -0.02856,
        -0.99951
      ]
    ],
    "simulated_seconds_remaining": 20.46,
    "calls_remaining_including_this": 34
  },
  "api_seconds": 12.21119496319443,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.75,
                    "y": -0.055,
                    "gripper": 0
                  },
                  "note": "The egg lifted successfully and remains held. The bowl is ahead and to the right in the wrist image, so I carry the egg toward its center."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 25,
  "state": {
    "instruction": "pick up the egg and place it on the bowl.",
    "joint_positions": [
      -0.08812,
      0.30005,
      0.29426,
      -1.4703,
      -0.0559,
      1.75263,
      0.26271
    ],
    "gripper_open": 0.5701,
    "tcp_xyz": [
      0.639,
      0.10927,
      0.93872
    ],
    "tcp_roll_pitch_yaw": [
      -0.0005,
      0.00086,
      0.00012
    ],
    "tcp_rotation_matrix": [
      [
        0.99822,
        -0.05866,
        -0.01108
      ],
      [
        -0.05831,
        -0.99787,
        0.02926
      ],
      [
        -0.01278,
        -0.02856,
        -0.99951
      ]
    ],
    "simulated_seconds_remaining": 20.46,
    "calls_remaining_including_this": 33
  },
  "api_seconds": 10.809904771856964,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.5,
                    "y": 0.27,
                    "gripper": 0
                  },
                  "note": "The attempted pose was unreachable. Using the observed image shifts, I correct the transport direction and move back and left toward the bowl."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 26,
    "motion_seconds": 1.7160000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 26,
  "state": {
    "instruction": "pick up the egg and place it on the bowl.",
    "joint_positions": [
      0.05513,
      0.0182,
      0.42864,
      -1.83551,
      0.0245,
      1.85567,
      0.53505
    ],
    "gripper_open": 0.5722,
    "tcp_xyz": [
      0.50079,
      0.26912,
      0.93869
    ],
    "tcp_roll_pitch_yaw": [
      -0.00054,
      0.00095,
      0.00045
    ],
    "tcp_rotation_matrix": [
      [
        0.99823,
        -0.05833,
        -0.01119
      ],
      [
        -0.05798,
        -0.99789,
        0.02922
      ],
      [
        -0.01287,
        -0.02852,
        -0.99951
      ]
    ],
    "simulated_seconds_remaining": 18.744,
    "calls_remaining_including_this": 32
  },
  "api_seconds": 10.807606882415712,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.52,
                    "y": 0.29,
                    "z": 0.84,
                    "gripper": 0
                  },
                  "note": "The bowl is directly beneath the held egg. I make a small centering adjustment and lower the egg toward the bowl opening."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 27,
  "state": {
    "instruction": "pick up the egg and place it on the bowl.",
    "joint_positions": [
      0.08218,
      0.16563,
      0.43714,
      -1.91637,
      -0.04423,
      2.07038,
      0.59324
    ],
    "gripper_open": 0.5717,
    "tcp_xyz": [
      0.51967,
      0.28968,
      0.84103
    ],
    "tcp_roll_pitch_yaw": [
      -0.00071,
      0.00144,
      0.00045
    ],
    "tcp_rotation_matrix": [
      [
        0.99823,
        -0.05834,
        -0.01168
      ],
      [
        -0.05798,
        -0.99789,
        0.02905
      ],
      [
        -0.01335,
        -0.02832,
        -0.99951
      ]
    ],
    "simulated_seconds_remaining": 17.754,
    "calls_remaining_including_this": 31
  },
  "api_seconds": 6.606550190597773,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 1
                  },
                  "note": "The egg is centered over the bowl opening at a short release height. I open the fingers to place it into the bowl."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

========================================================================
GPT-Astra / Pick & place / 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,
  "status": "completed",
  "success": false,
  "oracle_success": false,
  "action_decisions": 40,
  "wall_seconds": 471.2,
  "usage": {
    "input_tokens": 942538,
    "cached_input_tokens": 905600,
    "cache_write_input_tokens": 0,
    "output_tokens": 6933,
    "reasoning_output_tokens": 2893
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick-and-place 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 45 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 and grasp the requested object, lift it, move it to the named receptacle, and release it in or on that receptacle. Complete the entire pick-and-place 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 object and place it in the requested receptacle.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [-0.01682, -0.79597, -0.0377, -2.32597, -0.03802, 1.56845, 0.0427], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.30942, -0.02658, 1.03246], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.99548, -0.08729, 0.03754], [-0.08687, -0.99614, -0.01274], [0.03851, 0.00942, -0.99921]], \"simulated_seconds_remaining\": 45.012, \"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": 0.89,
    "gripper": 1,
    "note": "The bottle is visible near the lower edge of the wrist view, with the bowl beside it. I lower the open gripper for a closer view and 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": 0.89,
      "gripper": 1
    },
    "note": "The bottle is near the lower edge of the wrist view and the bowl is beside it. I lower the open gripper for a closer view."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [-0.02183, -0.83437, -0.04779, -2.70956, -0.04892, 1.9133, 0.04818], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.30937, -0.02658, 0.89125], \"tcp_roll_pitch_yaw\": [0.0, 0.0003, 0.0], \"tcp_rotation_matrix\": [[0.99549, -0.08729, 0.03724], [-0.08687, -0.99614, -0.01273], [0.03821, 0.00944, -0.99923]], \"simulated_seconds_remaining\": 43.758, \"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": 0.43,
      "z": 0.94
    },
    "note": "The bottle lies farther across the table than the gripper. I advance toward it while keeping clearance to establish wrist-view alignment."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [-0.00395, -0.43851, -0.04485, -2.31259, -0.03193, 1.91209, 0.05242], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.4288, -0.02658, 0.93951], \"tcp_roll_pitch_yaw\": [1e-05, 0.00031, 0.0], \"tcp_rotation_matrix\": [[0.99549, -0.08729, 0.03723], [-0.08687, -0.99614, -0.01273], [0.0382, 0.00944, -0.99923]], \"simulated_seconds_remaining\": 42.57, \"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": 0.57,
      "y": -0.12
    },
    "note": "The bottle is below and right of the wrist center. I move forward and right to bring its neck between the fingers."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [-0.05961, 0.0287, -0.14715, -1.82718, -0.00066, 1.89451, -0.11908], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.56889, -0.11932, 0.93945], \"tcp_roll_pitch_yaw\": [3e-05, 0.00043, -0.00012], \"tcp_rotation_matrix\": [[0.99548, -0.08741, 0.03711], [-0.08699, -0.99613, -0.01272], [0.03808, 0.00943, -0.99923]], \"simulated_seconds_remaining\": 41.118, \"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": 0.6,
      "y": 0.1
    },
    "note": "The bottle moved farther right in the wrist image, so I correct leftward across the table to center its neck."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.14008, 0.11638, 0.03238, -1.71469, -0.02363, 1.8653, 0.26567], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.59979, 0.09883, 0.93943], \"tcp_roll_pitch_yaw\": [4e-05, 0.00047, 0.0002], \"tcp_rotation_matrix\": [[0.99551, -0.08709, 0.03707], [-0.08667, -0.99616, -0.01269], [0.03804, 0.00942, -0.99923]], \"simulated_seconds_remaining\": 39.336, \"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": 0.63,
      "y": 0.15,
      "z": 0.83
    },
    "note": "The bottle is now centered near the grasping area. I descend with the fingers open, making a small alignment correction toward its neck."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.18744, 0.29653, 0.05873, -1.74695, -0.04384, 2.07519, 0.35082], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.6296, 0.14949, 0.83101], \"tcp_roll_pitch_yaw\": [-3e-05, 0.00082, 0.00031], \"tcp_rotation_matrix\": [[0.99553, -0.08698, 0.03672], [-0.08656, -0.99616, -0.01275], [0.03769, 0.00952, -0.99924]], \"simulated_seconds_remaining\": 38.214, \"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 exterior view shows the fingers straddling the bottle neck. I close the gripper to secure the bottle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.18744, 0.29653, 0.05873, -1.74695, -0.04384, 2.07519, 0.35082], \"gripper_open\": 0.0, \"tcp_xyz\": [0.6296, 0.1495, 0.831], \"tcp_roll_pitch_yaw\": [-3e-05, 0.00082, 0.0003], \"tcp_rotation_matrix\": [[0.99553, -0.08698, 0.03673], [-0.08657, -0.99616, -0.01275], [0.0377, 0.00952, -0.99924]], \"simulated_seconds_remaining\": 37.29, \"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": {
      "z": 0.96
    },
    "note": "I lift vertically to check whether the closed fingers have secured the bottle and to clear the tabletop."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.18878, 0.25092, 0.06115, -1.48319, -0.03726, 1.76639, 0.34133], \"gripper_open\": 0.0, \"tcp_xyz\": [0.62966, 0.14952, 0.95887], \"tcp_roll_pitch_yaw\": [6e-05, 0.00045, 0.00031], \"tcp_rotation_matrix\": [[0.99552, -0.08698, 0.03709], [-0.08657, -0.99617, -0.01267], [0.03805, 0.0094, -0.99923]], \"simulated_seconds_remaining\": 36.102, \"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": {
      "x": 0.6,
      "y": 0.11,
      "z": 0.81,
      "gripper": 1
    },
    "note": "The bottle remained on the table after the test lift. I reopen and shift slightly back and right, descending for a deeper grasp around its upper body."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.15147, 0.20442, 0.03879, -1.93088, -0.03304, 2.16858, 0.29444], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.6002, 0.11029, 0.81115], \"tcp_roll_pitch_yaw\": [-2e-05, 0.00082, 0.00024], \"tcp_rotation_matrix\": [[0.99553, -0.08705, 0.03672], [-0.08663, -0.99616, -0.01275], [0.03769, 0.00951, -0.99924]], \"simulated_seconds_remaining\": 34.782, \"calls_remaining_including_this\": 49}"
      },
      {
        "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": 0.582,
      "y": 0.1,
      "z": 0.79
    },
    "note": "The bottle’s upper body is just ahead of the gap between the fingertips. I make a small backward correction and lower the grasp point around it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.14377, 0.17385, 0.03419, -2.02946, -0.03173, 2.2367, 0.28355], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.5826, 0.10033, 0.79068], \"tcp_roll_pitch_yaw\": [-6e-05, 0.00099, 0.00019], \"tcp_rotation_matrix\": [[0.99553, -0.08709, 0.03655], [-0.08667, -0.99615, -0.01279], [0.03752, 0.00957, -0.99925]], \"simulated_seconds_remaining\": 34.254, \"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"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The bottle is aligned between the open fingertips at the lower grasp height. I close around its upper body."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 11, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.14377, 0.17385, 0.03419, -2.02946, -0.03173, 2.2367, 0.28355], \"gripper_open\": 0.0, \"tcp_xyz\": [0.5826, 0.10032, 0.79067], \"tcp_roll_pitch_yaw\": [-6e-05, 0.00099, 0.00019], \"tcp_rotation_matrix\": [[0.99553, -0.08709, 0.03655], [-0.08667, -0.99615, -0.01279], [0.03752, 0.00956, -0.99925]], \"simulated_seconds_remaining\": 33.33, \"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": {
      "z": 0.94
    },
    "note": "I lift to verify this adjusted grasp before moving toward the bowl."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 12, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.14348, 0.06363, 0.03567, -1.78368, -0.02244, 1.88126, 0.27256], \"gripper_open\": 0.0, \"tcp_xyz\": [0.58267, 0.10034, 0.93884], \"tcp_roll_pitch_yaw\": [1e-05, 0.00063, 0.0002], \"tcp_rotation_matrix\": [[0.99552, -0.08709, 0.03692], [-0.08667, -0.99616, -0.01272], [0.03788, 0.00947, -0.99924]], \"simulated_seconds_remaining\": 32.01, \"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": 0.63,
      "y": 0.15,
      "z": 0.745,
      "gripper": 1
    },
    "note": "The bottle stayed on the table, and the exterior view shows the last grasp was offset. I return over the bottle and descend farther to surround its body."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 13, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.18966, 0.38937, 0.05468, -1.83826, -0.05426, 2.25886, 0.36077], \"gripper_open\": 0.9973, \"tcp_xyz\": [0.62959, 0.14962, 0.74616], \"tcp_roll_pitch_yaw\": [-0.00011, 0.001, 0.00015], \"tcp_rotation_matrix\": [[0.99553, -0.08713, 0.03654], [-0.08671, -0.99615, -0.01284], [0.03752, 0.00962, -0.99925]], \"simulated_seconds_remaining\": 30.36, \"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": {
      "gripper": 0
    },
    "note": "The fingers now reach the bottle’s body in the exterior view. I close at this deeper position."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 14, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.18966, 0.38937, 0.05468, -1.83826, -0.05426, 2.25886, 0.36077], \"gripper_open\": 0.0, \"tcp_xyz\": [0.6296, 0.14962, 0.74614], \"tcp_roll_pitch_yaw\": [-0.00011, 0.001, 0.00015], \"tcp_rotation_matrix\": [[0.99553, -0.08713, 0.03654], [-0.08671, -0.99615, -0.01284], [0.03752, 0.00962, -0.99925]], \"simulated_seconds_remaining\": 29.436, \"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": {
      "z": 0.88,
      "gripper": 1
    },
    "note": "The bottle tilted during closure instead of being held. I reopen and lift clear to see its new position."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 15, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.18763, 0.2651, 0.05984, -1.66752, -0.04007, 1.96464, 0.34697], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.62968, 0.14964, 0.87884], \"tcp_roll_pitch_yaw\": [-2e-05, 0.00061, 0.00016], \"tcp_rotation_matrix\": [[0.99551, -0.08713, 0.03693], [-0.08671, -0.99615, -0.01275], [0.0379, 0.00949, -0.99924]], \"simulated_seconds_remaining\": 28.248, \"calls_remaining_including_this\": 43}"
      },
      {
        "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": 0.65,
      "y": 0.12,
      "z": 0.72
    },
    "note": "The bottle is leaning but remains accessible. I shift the open fingers toward the center of its visible body and descend to grasp it below the neck."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 16, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.15409, 0.46172, 0.03805, -1.79474, -0.04834, 2.28913, 0.30623], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.64974, 0.12018, 0.72112], \"tcp_roll_pitch_yaw\": [-0.00011, 0.00099, 8e-05], \"tcp_rotation_matrix\": [[0.99552, -0.0872, 0.03655], [-0.08678, -0.99614, -0.01284], [0.03753, 0.00961, -0.99925]], \"simulated_seconds_remaining\": 26.862, \"calls_remaining_including_this\": 42}"
      },
      {
        "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 bottle body fills the gap between the fingertips. I close the gripper at this aligned position."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 17, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.15416, 0.45923, 0.03818, -1.79382, -0.0483, 2.28834, 0.30622], \"gripper_open\": 0.0, \"tcp_xyz\": [0.65039, 0.12041, 0.7231], \"tcp_roll_pitch_yaw\": [0.00036, -0.00159, 0.00022], \"tcp_rotation_matrix\": [[0.99543, -0.08709, 0.03913], [-0.08666, -0.99616, -0.01236], [0.04006, 0.00892, -0.99916]], \"simulated_seconds_remaining\": 25.938, \"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": {
      "z": 0.88
    },
    "note": "I raise the gripper to check whether the bottle follows this grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 18, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.15221, 0.30911, 0.04351, -1.60519, -0.03541, 1.95026, 0.29297], \"gripper_open\": 0.0, \"tcp_xyz\": [0.65048, 0.12043, 0.87881], \"tcp_roll_pitch_yaw\": [0.00044, -0.002, 0.00022], \"tcp_rotation_matrix\": [[0.99542, -0.08709, 0.03954], [-0.08667, -0.99616, -0.01229], [0.04046, 0.0088, -0.99914]], \"simulated_seconds_remaining\": 24.618, \"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": 0.68,
      "y": 0.17,
      "z": 0.75,
      "gripper": 1
    },
    "note": "The bottle did not lift. The exterior view places it left of the gripper, so I correct toward it and reopen around the body."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 19, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.20571, 0.5413, 0.05457, -1.58361, -0.05989, 2.15833, 0.37128], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.67963, 0.16957, 0.75101], \"tcp_roll_pitch_yaw\": [0.00037, -0.00164, 0.00031], \"tcp_rotation_matrix\": [[0.99544, -0.087, 0.03918], [-0.08657, -0.99617, -0.01235], [0.0401, 0.0089, -0.99916]], \"simulated_seconds_remaining\": 23.364, \"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": {
      "gripper": 0
    },
    "note": "The exterior fingers now surround the bottle rather than sitting beside it. I close to secure this corrected grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 20, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.20952, 0.53541, 0.05952, -1.58139, -0.05774, 2.1562, 0.3713], \"gripper_open\": 0.0003, \"tcp_xyz\": [0.67929, 0.17602, 0.75603], \"tcp_roll_pitch_yaw\": [0.00578, -0.00651, 0.00711], \"tcp_rotation_matrix\": [[0.9958, -0.08023, 0.04409], [-0.08002, -0.99677, -0.00665], [0.04449, 0.00309, -0.99901]], \"simulated_seconds_remaining\": 22.44, \"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": 0.65,
      "y": 0.13,
      "z": 0.66,
      "gripper": 1
    },
    "note": "The bottle remains below the grasp point. I lower the open fingers to its wider lower body and recenter over it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 21, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.15706, 0.49491, 0.03893, -1.80284, -0.06043, 2.4071, 0.32289], \"gripper_open\": 1.0, \"tcp_xyz\": [0.66883, 0.12666, 0.7078], \"tcp_roll_pitch_yaw\": [0.0123, -0.07514, -0.00245], \"tcp_rotation_matrix\": [[0.98964, -0.08927, 0.11245], [-0.08976, -0.99596, -0.00072], [0.11206, -0.00938, -0.99366]], \"simulated_seconds_remaining\": 21.384, \"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": 0.71,
      "y": 0.19,
      "z": 0.755,
      "pitch": 0,
      "roll": 0,
      "yaw": 0,
      "gripper": 1
    },
    "note": "The low approach met the tabletop, so I raise slightly and shift toward the bottle’s leaning upper body for a clear grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 22, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.22817, 0.65566, 0.0571, -1.39218, -0.0613, 2.04794, 0.38687], \"gripper_open\": 0.997, \"tcp_xyz\": [0.70003, 0.19, 0.74873], \"tcp_roll_pitch_yaw\": [-0.00583, 0.03084, 0.00152], \"tcp_rotation_matrix\": [[0.99634, -0.08527, 0.00674], [-0.08513, -0.9962, -0.01856], [0.0083, 0.01791, -0.99981]], \"simulated_seconds_remaining\": 20.526, \"calls_remaining_including_this\": 36}"
      },
      {
        "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 bottle between the fingers at the new approach. I close gently around it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 23, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.22817, 0.65566, 0.0571, -1.39218, -0.0613, 2.04794, 0.38687], \"gripper_open\": 0.0, \"tcp_xyz\": [0.70007, 0.19005, 0.74875], \"tcp_roll_pitch_yaw\": [-0.00575, 0.03068, 0.00152], \"tcp_rotation_matrix\": [[0.99633, -0.08527, 0.0069], [-0.08513, -0.9962, -0.01847], [0.00845, 0.01782, -0.99981]], \"simulated_seconds_remaining\": 19.602, \"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": 0.115,
      "z": 0.76,
      "gripper": 1,
      "pitch": 0,
      "roll": 0,
      "yaw": 0
    },
    "note": "The wrist view still shows the bottle ahead of the finger contact area. I move back and right to place its body deeper between the jaws."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 24, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.15386, 0.28565, 0.04324, -1.95655, -0.04199, 2.27559, 0.30914], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.60607, 0.11573, 0.75994], \"tcp_roll_pitch_yaw\": [-8e-05, 0.00029, -0.00011], \"tcp_rotation_matrix\": [[0.99548, -0.0874, 0.03725], [-0.08697, -0.99613, -0.01282], [0.03823, 0.00952, -0.99922]], \"simulated_seconds_remaining\": 18.48, \"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 bottle is now deep in the gripper’s contact area and partially occluded by the fingers. I close at this position."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 25, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.15386, 0.28565, 0.04324, -1.95655, -0.04199, 2.27559, 0.30914], \"gripper_open\": 0.0, \"tcp_xyz\": [0.60605, 0.11572, 0.75994], \"tcp_roll_pitch_yaw\": [-8e-05, 0.00028, -0.00011], \"tcp_rotation_matrix\": [[0.99548, -0.08739, 0.03725], [-0.08697, -0.99613, -0.01282], [0.03823, 0.00952, -0.99922]], \"simulated_seconds_remaining\": 17.556, \"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": 0.7,
      "y": 0.19,
      "z": 0.82,
      "gripper": 1
    },
    "note": "The bottle is leaning away from the last grasp. I move up and toward its exposed neck to grasp above the body."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 26, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.22554, 0.56723, 0.06167, -1.36144, -0.06009, 1.95965, 0.38615], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.69909, 0.18935, 0.81941], \"tcp_roll_pitch_yaw\": [-1e-05, 0.00019, 2e-05], \"tcp_rotation_matrix\": [[0.99548, -0.08727, 0.03735], [-0.08685, -0.99614, -0.01275], [0.03832, 0.00945, -0.99922]], \"simulated_seconds_remaining\": 16.368, \"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": {
      "y": 0.085,
      "z": 0.79
    },
    "note": "The bottle neck is left of the wrist grasp area. I shift right across the table to bring it between the jaws."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 27, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.1033, 0.51347, 0.0304, -1.52321, -0.03705, 2.07149, 0.23429], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.6991, 0.0861, 0.79033], \"tcp_roll_pitch_yaw\": [-0.00012, 0.00028, -0.00033], \"tcp_rotation_matrix\": [[0.99546, -0.08761, 0.03726], [-0.08719, -0.99611, -0.01286], [0.03824, 0.00956, -0.99922]], \"simulated_seconds_remaining\": 15.378, \"calls_remaining_including_this\": 31}"
      },
      {
        "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": 0.025,
      "z": 0.78
    },
    "note": "The bottle remains slightly left of the jaw center. I finish the lateral alignment and bring the neck into the closing path."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 28, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.03361, 0.4455, 0.0105, -1.65768, -0.02262, 2.13968, 0.14268], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.68039, 0.02602, 0.7802], \"tcp_roll_pitch_yaw\": [-0.00019, 0.00032, -0.00063], \"tcp_rotation_matrix\": [[0.99543, -0.08792, 0.03721], [-0.08749, -0.99608, -0.01295], [0.0382, 0.00963, -0.99922]], \"simulated_seconds_remaining\": 14.652, \"calls_remaining_including_this\": 30}"
      },
      {
        "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 bottle’s neck and upper body are centered in the jaw opening. I close to grip it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 29, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.03361, 0.4455, 0.0105, -1.65768, -0.02262, 2.13968, 0.14268], \"gripper_open\": 0.0, \"tcp_xyz\": [0.68038, 0.02601, 0.7802], \"tcp_roll_pitch_yaw\": [-0.00019, 0.00032, -0.00063], \"tcp_rotation_matrix\": [[0.99543, -0.08791, 0.03721], [-0.08749, -0.99608, -0.01295], [0.03821, 0.00963, -0.99922]], \"simulated_seconds_remaining\": 13.728, \"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": 0.75,
      "y": 0.09,
      "z": 0.74,
      "gripper": 1
    },
    "note": "The exterior view still places the gripper beside the bottle. I move directly over its visible body and lower the open fingers."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 30, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.10057, 0.72834, 0.01534, -1.25999, -0.07609, 1.93587, 0.23066], \"gripper_open\": 1.0, \"tcp_xyz\": [0.72782, 0.06726, 0.74782], \"tcp_roll_pitch_yaw\": [-0.05372, 0.08147, -0.00585], \"tcp_rotation_matrix\": [[0.99517, -0.0877, -0.04412], [-0.0905, -0.9937, -0.06611], [-0.03804, 0.06978, -0.99684]], \"simulated_seconds_remaining\": 12.738, \"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": {
      "gripper": 0
    },
    "note": "The fingers are in contact around the bottle body. I close at the measured pose to capture it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 31, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.09631, 0.71813, 0.00989, -1.25612, -0.07965, 1.91649, 0.23172], \"gripper_open\": 0.7425, \"tcp_xyz\": [0.72638, 0.05932, 0.75569], \"tcp_roll_pitch_yaw\": [-0.06201, 0.08576, -0.01577], \"tcp_rotation_matrix\": [[0.99412, -0.09654, -0.04912], [-0.1, -0.99224, -0.07387], [-0.04161, 0.07835, -0.99606]], \"simulated_seconds_remaining\": 11.814, \"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": {
      "z": 0.93
    },
    "note": "The gripper remains partially open against the bottle, indicating contact. I lift vertically to verify that it is secured."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 32, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.10341, 0.7696, 0.0083, -0.72327, -0.07456, 1.43654, 0.20025], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.72647, 0.05934, 0.92878], \"tcp_roll_pitch_yaw\": [-0.06196, 0.08537, -0.01575], \"tcp_rotation_matrix\": [[0.99413, -0.09655, -0.04873], [-0.09998, -0.99225, -0.07383], [-0.04123, 0.07827, -0.99608]], \"simulated_seconds_remaining\": 10.362, \"calls_remaining_including_this\": 26}"
      },
      {
        "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": {
      "z": 0.77,
      "gripper": 1
    },
    "note": "The fingers reopened during the lift. I return to the bottle for another grasp and will maintain the close command during transport."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 33, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.09645, 0.70644, 0.0102, -1.23614, -0.0789, 1.8849, 0.22956], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.72639, 0.05932, 0.77111], \"tcp_roll_pitch_yaw\": [-0.06202, 0.08577, -0.01576], \"tcp_rotation_matrix\": [[0.99412, -0.09652, -0.04913], [-0.09999, -0.99224, -0.07388], [-0.04162, 0.07836, -0.99606]], \"simulated_seconds_remaining\": 8.976, \"calls_remaining_including_this\": 25}"
      },
      {
        "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 bottle is again between the fingers. I close around its body."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 34, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.09684, 0.70232, 0.01061, -1.23646, -0.07844, 1.87716, 0.22975], \"gripper_open\": 0.3786, \"tcp_xyz\": [0.72476, 0.05971, 0.77338], \"tcp_roll_pitch_yaw\": [-0.06206, 0.0897, -0.01592], \"tcp_rotation_matrix\": [[0.99393, -0.09637, -0.05306], [-0.10015, -0.99223, -0.07385], [-0.04553, 0.07871, -0.99586]], \"simulated_seconds_remaining\": 8.052, \"calls_remaining_including_this\": 24}"
      },
      {
        "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": 0.94,
      "gripper": 0
    },
    "note": "The jaws have stopped against the bottle. I keep them commanded closed while lifting it clear."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 35, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.10529, 0.81012, 0.00745, -0.62468, -0.07443, 1.37463, 0.19689], \"gripper_open\": 0.0, \"tcp_xyz\": [0.72487, 0.05972, 0.93872], \"tcp_roll_pitch_yaw\": [-0.06201, 0.0893, -0.01589], \"tcp_rotation_matrix\": [[0.99395, -0.09638, -0.05266], [-0.10012, -0.99223, -0.07381], [-0.04513, 0.07864, -0.99588]], \"simulated_seconds_remaining\": 6.666, \"calls_remaining_including_this\": 23}"
      },
      {
        "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": 0.77,
      "y": 0.12,
      "z": 0.8,
      "gripper": 1
    },
    "note": "The bottle slipped from the last grasp. I shift toward its neck and approach once more with the fingers open."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 36, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.10529, 0.81012, 0.00745, -0.62468, -0.07443, 1.37463, 0.19689], \"gripper_open\": 0.0, \"tcp_xyz\": [0.72487, 0.05972, 0.93872], \"tcp_roll_pitch_yaw\": [-0.06201, 0.0893, -0.01589], \"tcp_rotation_matrix\": [[0.99395, -0.09638, -0.05266], [-0.10012, -0.99223, -0.07381], [-0.04513, 0.07864, -0.99588]], \"simulated_seconds_remaining\": 6.666, \"calls_remaining_including_this\": 22}"
      },
      {
        "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": 0.745,
      "y": 0.12,
      "z": 0.81,
      "roll": 0,
      "pitch": 0,
      "yaw": 0,
      "gripper": 1
    },
    "note": "The farther pose was unreachable. I use a nearer vertical approach over the bottle’s neck."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 37, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.13825, 0.69725, 0.04082, -1.16834, -0.04803, 1.89838, 0.27103], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.74473, 0.11949, 0.811], \"tcp_roll_pitch_yaw\": [-0.00062, 0.00126, -2e-05], \"tcp_rotation_matrix\": [[0.99552, -0.0873, 0.03628], [-0.08686, -0.99613, -0.01336], [0.03731, 0.01015, -0.99925]], \"simulated_seconds_remaining\": 5.412, \"calls_remaining_including_this\": 21}"
      },
      {
        "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": 0.075,
      "z": 0.795
    },
    "note": "I make a final small rightward correction to align the grasp point with the bottle neck."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 38, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.08538, 0.67824, 0.03138, -1.2402, -0.03991, 1.95243, 0.21122], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.74474, 0.07601, 0.79538], \"tcp_roll_pitch_yaw\": [-0.00073, 0.00136, -0.00031], \"tcp_rotation_matrix\": [[0.9955, -0.08758, 0.03617], [-0.08715, -0.9961, -0.01348], [0.03721, 0.01027, -0.99925]], \"simulated_seconds_remaining\": 4.818, \"calls_remaining_including_this\": 20}"
      },
      {
        "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 bottle neck is aligned under the grasp point. I close the fingers."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 39, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.08717, 0.66902, 0.0335, -1.23715, -0.03871, 1.91938, 0.21137], \"gripper_open\": 0.0001, \"tcp_xyz\": [0.73791, 0.07801, 0.80062], \"tcp_roll_pitch_yaw\": [-0.00124, 0.0222, 0.00197], \"tcp_rotation_matrix\": [[0.99626, -0.08507, 0.01538], [-0.08486, -0.99629, -0.01395], [0.01651, 0.01259, -0.99978]], \"simulated_seconds_remaining\": 3.894, \"calls_remaining_including_this\": 19}"
      },
      {
        "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": 0.9,
      "gripper": 0
    },
    "note": "I keep the fingers closed and lift to confirm whether the bottle is held."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 40, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.09076, 0.66991, 0.03411, -0.98479, -0.03701, 1.66838, 0.20579], \"gripper_open\": 0.0, \"tcp_xyz\": [0.73798, 0.07802, 0.89891], \"tcp_roll_pitch_yaw\": [-0.0012, 0.02182, 0.00197], \"tcp_rotation_matrix\": [[0.99625, -0.08508, 0.01576], [-0.08486, -0.9963, -0.0139], [0.01688, 0.01251, -0.99978]], \"simulated_seconds_remaining\": 2.904, \"calls_remaining_including_this\": 18}"
      },
      {
        "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 bottle despite repeated alignment and grasp attempts. It remains on the table, and the remaining motion time is insufficient to complete the placement."
  },
  "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 bottle before time ran out. It remains on the table; the placement was not completed.

TURN USAGE
{
  "input_tokens": 942538,
  "cached_input_tokens": 905600,
  "cache_write_input_tokens": 0,
  "output_tokens": 6933,
  "reasoning_output_tokens": 2893
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      -0.01682,
      -0.79597,
      -0.0377,
      -2.32597,
      -0.03802,
      1.56845,
      0.0427
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.30942,
      -0.02658,
      1.03246
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99548,
        -0.08729,
        0.03754
      ],
      [
        -0.08687,
        -0.99614,
        -0.01274
      ],
      [
        0.03851,
        0.00942,
        -0.99921
      ]
    ],
    "simulated_seconds_remaining": 45.012,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 27.221639867872,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.89,
                    "gripper": 1
                  },
                  "note": "The bottle is near the lower edge of the wrist view and the bowl is beside it. I lower the open gripper for a closer view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      -0.02183,
      -0.83437,
      -0.04779,
      -2.70956,
      -0.04892,
      1.9133,
      0.04818
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.30937,
      -0.02658,
      0.89125
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0003,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99549,
        -0.08729,
        0.03724
      ],
      [
        -0.08687,
        -0.99614,
        -0.01273
      ],
      [
        0.03821,
        0.00944,
        -0.99923
      ]
    ],
    "simulated_seconds_remaining": 43.758,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 12.608876576647162,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.43,
                    "z": 0.94
                  },
                  "note": "The bottle lies farther across the table than the gripper. I advance toward it while keeping clearance to establish wrist-view alignment."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      -0.00395,
      -0.43851,
      -0.04485,
      -2.31259,
      -0.03193,
      1.91209,
      0.05242
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.4288,
      -0.02658,
      0.93951
    ],
    "tcp_roll_pitch_yaw": [
      1e-05,
      0.00031,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99549,
        -0.08729,
        0.03723
      ],
      [
        -0.08687,
        -0.99614,
        -0.01273
      ],
      [
        0.0382,
        0.00944,
        -0.99923
      ]
    ],
    "simulated_seconds_remaining": 42.57,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 7.206238904967904,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.57,
                    "y": -0.12
                  },
                  "note": "The bottle is below and right of the wrist center. I move forward and right to bring its neck between the fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 22,
    "motion_seconds": 1.452,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      -0.05961,
      0.0287,
      -0.14715,
      -1.82718,
      -0.00066,
      1.89451,
      -0.11908
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.56889,
      -0.11932,
      0.93945
    ],
    "tcp_roll_pitch_yaw": [
      3e-05,
      0.00043,
      -0.00012
    ],
    "tcp_rotation_matrix": [
      [
        0.99548,
        -0.08741,
        0.03711
      ],
      [
        -0.08699,
        -0.99613,
        -0.01272
      ],
      [
        0.03808,
        0.00943,
        -0.99923
      ]
    ],
    "simulated_seconds_remaining": 41.118,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 6.805847646668553,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.6,
                    "y": 0.1
                  },
                  "note": "The bottle moved farther right in the wrist image, so I correct leftward across the table to center its neck."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 27,
    "motion_seconds": 1.782,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.14008,
      0.11638,
      0.03238,
      -1.71469,
      -0.02363,
      1.8653,
      0.26567
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.59979,
      0.09883,
      0.93943
    ],
    "tcp_roll_pitch_yaw": [
      4e-05,
      0.00047,
      0.0002
    ],
    "tcp_rotation_matrix": [
      [
        0.99551,
        -0.08709,
        0.03707
      ],
      [
        -0.08667,
        -0.99616,
        -0.01269
      ],
      [
        0.03804,
        0.00942,
        -0.99923
      ]
    ],
    "simulated_seconds_remaining": 39.336,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 11.009078000672162,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.63,
                    "y": 0.15,
                    "z": 0.83
                  },
                  "note": "The bottle is now centered near the grasping area. I descend with the fingers open, making a small alignment correction toward its neck."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.18744,
      0.29653,
      0.05873,
      -1.74695,
      -0.04384,
      2.07519,
      0.35082
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.6296,
      0.14949,
      0.83101
    ],
    "tcp_roll_pitch_yaw": [
      -3e-05,
      0.00082,
      0.00031
    ],
    "tcp_rotation_matrix": [
      [
        0.99553,
        -0.08698,
        0.03672
      ],
      [
        -0.08656,
        -0.99616,
        -0.01275
      ],
      [
        0.03769,
        0.00952,
        -0.99924
      ]
    ],
    "simulated_seconds_remaining": 38.214,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 9.407780328765512,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The exterior view shows the fingers straddling the bottle neck. I close the gripper to secure the bottle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.18744,
      0.29653,
      0.05873,
      -1.74695,
      -0.04384,
      2.07519,
      0.35082
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.6296,
      0.1495,
      0.831
    ],
    "tcp_roll_pitch_yaw": [
      -3e-05,
      0.00082,
      0.0003
    ],
    "tcp_rotation_matrix": [
      [
        0.99553,
        -0.08698,
        0.03673
      ],
      [
        -0.08657,
        -0.99616,
        -0.01275
      ],
      [
        0.0377,
        0.00952,
        -0.99924
      ]
    ],
    "simulated_seconds_remaining": 37.29,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 5.405084613710642,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.96
                  },
                  "note": "I lift vertically to check whether the closed fingers have secured the bottle and to clear the tabletop."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.18878,
      0.25092,
      0.06115,
      -1.48319,
      -0.03726,
      1.76639,
      0.34133
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.62966,
      0.14952,
      0.95887
    ],
    "tcp_roll_pitch_yaw": [
      6e-05,
      0.00045,
      0.00031
    ],
    "tcp_rotation_matrix": [
      [
        0.99552,
        -0.08698,
        0.03709
      ],
      [
        -0.08657,
        -0.99617,
        -0.01267
      ],
      [
        0.03805,
        0.0094,
        -0.99923
      ]
    ],
    "simulated_seconds_remaining": 36.102,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 17.6126716574654,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.6,
                    "y": 0.11,
                    "z": 0.81,
                    "gripper": 1
                  },
                  "note": "The bottle remained on the table after the test lift. I reopen and shift slightly back and right, descending for a deeper grasp around its upper body."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.15147,
      0.20442,
      0.03879,
      -1.93088,
      -0.03304,
      2.16858,
      0.29444
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.6002,
      0.11029,
      0.81115
    ],
    "tcp_roll_pitch_yaw": [
      -2e-05,
      0.00082,
      0.00024
    ],
    "tcp_rotation_matrix": [
      [
        0.99553,
        -0.08705,
        0.03672
      ],
      [
        -0.08663,
        -0.99616,
        -0.01275
      ],
      [
        0.03769,
        0.00951,
        -0.99924
      ]
    ],
    "simulated_seconds_remaining": 34.782,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 11.60906949173659,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.582,
                    "y": 0.1,
                    "z": 0.79
                  },
                  "note": "The bottle’s upper body is just ahead of the gap between the fingertips. I make a small backward correction and lower the grasp point around it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 8,
    "motion_seconds": 0.528,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.14377,
      0.17385,
      0.03419,
      -2.02946,
      -0.03173,
      2.2367,
      0.28355
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.5826,
      0.10033,
      0.79068
    ],
    "tcp_roll_pitch_yaw": [
      -6e-05,
      0.00099,
      0.00019
    ],
    "tcp_rotation_matrix": [
      [
        0.99553,
        -0.08709,
        0.03655
      ],
      [
        -0.08667,
        -0.99615,
        -0.01279
      ],
      [
        0.03752,
        0.00957,
        -0.99925
      ]
    ],
    "simulated_seconds_remaining": 34.254,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 5.404264975339174,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The bottle is aligned between the open fingertips at the lower grasp height. I close around its upper body."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.14377,
      0.17385,
      0.03419,
      -2.02946,
      -0.03173,
      2.2367,
      0.28355
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.5826,
      0.10032,
      0.79067
    ],
    "tcp_roll_pitch_yaw": [
      -6e-05,
      0.00099,
      0.00019
    ],
    "tcp_rotation_matrix": [
      [
        0.99553,
        -0.08709,
        0.03655
      ],
      [
        -0.08667,
        -0.99615,
        -0.01279
      ],
      [
        0.03752,
        0.00956,
        -0.99925
      ]
    ],
    "simulated_seconds_remaining": 33.33,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 6.2056100042536855,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.94
                  },
                  "note": "I lift to verify this adjusted grasp before moving toward the bowl."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.14348,
      0.06363,
      0.03567,
      -1.78368,
      -0.02244,
      1.88126,
      0.27256
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.58267,
      0.10034,
      0.93884
    ],
    "tcp_roll_pitch_yaw": [
      1e-05,
      0.00063,
      0.0002
    ],
    "tcp_rotation_matrix": [
      [
        0.99552,
        -0.08709,
        0.03692
      ],
      [
        -0.08667,
        -0.99616,
        -0.01272
      ],
      [
        0.03788,
        0.00947,
        -0.99924
      ]
    ],
    "simulated_seconds_remaining": 32.01,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 13.010765694081783,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.63,
                    "y": 0.15,
                    "z": 0.745,
                    "gripper": 1
                  },
                  "note": "The bottle stayed on the table, and the exterior view shows the last grasp was offset. I return over the bottle and descend farther to surround its body."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 25,
    "motion_seconds": 1.6500000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.18966,
      0.38937,
      0.05468,
      -1.83826,
      -0.05426,
      2.25886,
      0.36077
    ],
    "gripper_open": 0.9973,
    "tcp_xyz": [
      0.62959,
      0.14962,
      0.74616
    ],
    "tcp_roll_pitch_yaw": [
      -0.00011,
      0.001,
      0.00015
    ],
    "tcp_rotation_matrix": [
      [
        0.99553,
        -0.08713,
        0.03654
      ],
      [
        -0.08671,
        -0.99615,
        -0.01284
      ],
      [
        0.03752,
        0.00962,
        -0.99925
      ]
    ],
    "simulated_seconds_remaining": 30.36,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 5.607051020488143,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The fingers now reach the bottle’s body in the exterior view. I close at this deeper position."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.18966,
      0.38937,
      0.05468,
      -1.83826,
      -0.05426,
      2.25886,
      0.36077
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.6296,
      0.14962,
      0.74614
    ],
    "tcp_roll_pitch_yaw": [
      -0.00011,
      0.001,
      0.00015
    ],
    "tcp_rotation_matrix": [
      [
        0.99553,
        -0.08713,
        0.03654
      ],
      [
        -0.08671,
        -0.99615,
        -0.01284
      ],
      [
        0.03752,
        0.00962,
        -0.99925
      ]
    ],
    "simulated_seconds_remaining": 29.436,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 6.60540078394115,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.88,
                    "gripper": 1
                  },
                  "note": "The bottle tilted during closure instead of being held. I reopen and lift clear to see its new position."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.18763,
      0.2651,
      0.05984,
      -1.66752,
      -0.04007,
      1.96464,
      0.34697
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.62968,
      0.14964,
      0.87884
    ],
    "tcp_roll_pitch_yaw": [
      -2e-05,
      0.00061,
      0.00016
    ],
    "tcp_rotation_matrix": [
      [
        0.99551,
        -0.08713,
        0.03693
      ],
      [
        -0.08671,
        -0.99615,
        -0.01275
      ],
      [
        0.0379,
        0.00949,
        -0.99924
      ]
    ],
    "simulated_seconds_remaining": 28.248,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 16.811474004760385,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.65,
                    "y": 0.12,
                    "z": 0.72
                  },
                  "note": "The bottle is leaning but remains accessible. I shift the open fingers toward the center of its visible body and descend to grasp it below the neck."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.15409,
      0.46172,
      0.03805,
      -1.79474,
      -0.04834,
      2.28913,
      0.30623
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.64974,
      0.12018,
      0.72112
    ],
    "tcp_roll_pitch_yaw": [
      -0.00011,
      0.00099,
      8e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99552,
        -0.0872,
        0.03655
      ],
      [
        -0.08678,
        -0.99614,
        -0.01284
      ],
      [
        0.03753,
        0.00961,
        -0.99925
      ]
    ],
    "simulated_seconds_remaining": 26.862,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 7.005347362719476,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The bottle body fills the gap between the fingertips. I close the gripper at this aligned position."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.15416,
      0.45923,
      0.03818,
      -1.79382,
      -0.0483,
      2.28834,
      0.30622
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.65039,
      0.12041,
      0.7231
    ],
    "tcp_roll_pitch_yaw": [
      0.00036,
      -0.00159,
      0.00022
    ],
    "tcp_rotation_matrix": [
      [
        0.99543,
        -0.08709,
        0.03913
      ],
      [
        -0.08666,
        -0.99616,
        -0.01236
      ],
      [
        0.04006,
        0.00892,
        -0.99916
      ]
    ],
    "simulated_seconds_remaining": 25.938,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 5.404526833444834,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.88
                  },
                  "note": "I raise the gripper to check whether the bottle follows this grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.15221,
      0.30911,
      0.04351,
      -1.60519,
      -0.03541,
      1.95026,
      0.29297
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.65048,
      0.12043,
      0.87881
    ],
    "tcp_roll_pitch_yaw": [
      0.00044,
      -0.002,
      0.00022
    ],
    "tcp_rotation_matrix": [
      [
        0.99542,
        -0.08709,
        0.03954
      ],
      [
        -0.08667,
        -0.99616,
        -0.01229
      ],
      [
        0.04046,
        0.0088,
        -0.99914
      ]
    ],
    "simulated_seconds_remaining": 24.618,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 18.211887079291046,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.68,
                    "y": 0.17,
                    "z": 0.75,
                    "gripper": 1
                  },
                  "note": "The bottle did not lift. The exterior view places it left of the gripper, so I correct toward it and reopen around the body."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 19,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.20571,
      0.5413,
      0.05457,
      -1.58361,
      -0.05989,
      2.15833,
      0.37128
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.67963,
      0.16957,
      0.75101
    ],
    "tcp_roll_pitch_yaw": [
      0.00037,
      -0.00164,
      0.00031
    ],
    "tcp_rotation_matrix": [
      [
        0.99544,
        -0.087,
        0.03918
      ],
      [
        -0.08657,
        -0.99617,
        -0.01235
      ],
      [
        0.0401,
        0.0089,
        -0.99916
      ]
    ],
    "simulated_seconds_remaining": 23.364,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 6.404867901466787,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The exterior fingers now surround the bottle rather than sitting beside it. I close to secure this corrected grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 20,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.20952,
      0.53541,
      0.05952,
      -1.58139,
      -0.05774,
      2.1562,
      0.3713
    ],
    "gripper_open": 0.0003,
    "tcp_xyz": [
      0.67929,
      0.17602,
      0.75603
    ],
    "tcp_roll_pitch_yaw": [
      0.00578,
      -0.00651,
      0.00711
    ],
    "tcp_rotation_matrix": [
      [
        0.9958,
        -0.08023,
        0.04409
      ],
      [
        -0.08002,
        -0.99677,
        -0.00665
      ],
      [
        0.04449,
        0.00309,
        -0.99901
      ]
    ],
    "simulated_seconds_remaining": 22.44,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 11.209165751934052,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.65,
                    "y": 0.13,
                    "z": 0.66,
                    "gripper": 1
                  },
                  "note": "The bottle remains below the grasp point. I lower the open fingers to its wider lower body and recenter over it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 21,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.15706,
      0.49491,
      0.03893,
      -1.80284,
      -0.06043,
      2.4071,
      0.32289
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.66883,
      0.12666,
      0.7078
    ],
    "tcp_roll_pitch_yaw": [
      0.0123,
      -0.07514,
      -0.00245
    ],
    "tcp_rotation_matrix": [
      [
        0.98964,
        -0.08927,
        0.11245
      ],
      [
        -0.08976,
        -0.99596,
        -0.00072
      ],
      [
        0.11206,
        -0.00938,
        -0.99366
      ]
    ],
    "simulated_seconds_remaining": 21.384,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 14.812016857787967,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.71,
                    "y": 0.19,
                    "z": 0.755,
                    "pitch": 0,
                    "roll": 0,
                    "yaw": 0,
                    "gripper": 1
                  },
                  "note": "The low approach met the tabletop, so I raise slightly and shift toward the bottle’s leaning upper body for a clear grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 22,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.22817,
      0.65566,
      0.0571,
      -1.39218,
      -0.0613,
      2.04794,
      0.38687
    ],
    "gripper_open": 0.997,
    "tcp_xyz": [
      0.70003,
      0.19,
      0.74873
    ],
    "tcp_roll_pitch_yaw": [
      -0.00583,
      0.03084,
      0.00152
    ],
    "tcp_rotation_matrix": [
      [
        0.99634,
        -0.08527,
        0.00674
      ],
      [
        -0.08513,
        -0.9962,
        -0.01856
      ],
      [
        0.0083,
        0.01791,
        -0.99981
      ]
    ],
    "simulated_seconds_remaining": 20.526,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 6.00762155931443,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The exterior view shows the bottle between the fingers at the new approach. I close gently around it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 23,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.22817,
      0.65566,
      0.0571,
      -1.39218,
      -0.0613,
      2.04794,
      0.38687
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.70007,
      0.19005,
      0.74875
    ],
    "tcp_roll_pitch_yaw": [
      -0.00575,
      0.03068,
      0.00152
    ],
    "tcp_rotation_matrix": [
      [
        0.99633,
        -0.08527,
        0.0069
      ],
      [
        -0.08513,
        -0.9962,
        -0.01847
      ],
      [
        0.00845,
        0.01782,
        -0.99981
      ]
    ],
    "simulated_seconds_remaining": 19.602,
    "calls_remaining_including_this": 35
  },
  "api_seconds": 16.0127260601148,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.605,
                    "y": 0.115,
                    "z": 0.76,
                    "gripper": 1,
                    "pitch": 0,
                    "roll": 0,
                    "yaw": 0
                  },
                  "note": "The wrist view still shows the bottle ahead of the finger contact area. I move back and right to place its body deeper between the jaws."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 24,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.15386,
      0.28565,
      0.04324,
      -1.95655,
      -0.04199,
      2.27559,
      0.30914
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.60607,
      0.11573,
      0.75994
    ],
    "tcp_roll_pitch_yaw": [
      -8e-05,
      0.00029,
      -0.00011
    ],
    "tcp_rotation_matrix": [
      [
        0.99548,
        -0.0874,
        0.03725
      ],
      [
        -0.08697,
        -0.99613,
        -0.01282
      ],
      [
        0.03823,
        0.00952,
        -0.99922
      ]
    ],
    "simulated_seconds_remaining": 18.48,
    "calls_remaining_including_this": 34
  },
  "api_seconds": 8.607050841674209,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The bottle is now deep in the gripper’s contact area and partially occluded by the fingers. I close at this position."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 25,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.15386,
      0.28565,
      0.04324,
      -1.95655,
      -0.04199,
      2.27559,
      0.30914
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.60605,
      0.11572,
      0.75994
    ],
    "tcp_roll_pitch_yaw": [
      -8e-05,
      0.00028,
      -0.00011
    ],
    "tcp_rotation_matrix": [
      [
        0.99548,
        -0.08739,
        0.03725
      ],
      [
        -0.08697,
        -0.99613,
        -0.01282
      ],
      [
        0.03823,
        0.00952,
        -0.99922
      ]
    ],
    "simulated_seconds_remaining": 17.556,
    "calls_remaining_including_this": 33
  },
  "api_seconds": 13.81077953055501,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.7,
                    "y": 0.19,
                    "z": 0.82,
                    "gripper": 1
                  },
                  "note": "The bottle is leaning away from the last grasp. I move up and toward its exposed neck to grasp above the body."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 26,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.22554,
      0.56723,
      0.06167,
      -1.36144,
      -0.06009,
      1.95965,
      0.38615
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.69909,
      0.18935,
      0.81941
    ],
    "tcp_roll_pitch_yaw": [
      -1e-05,
      0.00019,
      2e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99548,
        -0.08727,
        0.03735
      ],
      [
        -0.08685,
        -0.99614,
        -0.01275
      ],
      [
        0.03832,
        0.00945,
        -0.99922
      ]
    ],
    "simulated_seconds_remaining": 16.368,
    "calls_remaining_including_this": 32
  },
  "api_seconds": 9.007136275060475,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.085,
                    "z": 0.79
                  },
                  "note": "The bottle neck is left of the wrist grasp area. I shift right across the table to bring it between the jaws."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 27,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.1033,
      0.51347,
      0.0304,
      -1.52321,
      -0.03705,
      2.07149,
      0.23429
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.6991,
      0.0861,
      0.79033
    ],
    "tcp_roll_pitch_yaw": [
      -0.00012,
      0.00028,
      -0.00033
    ],
    "tcp_rotation_matrix": [
      [
        0.99546,
        -0.08761,
        0.03726
      ],
      [
        -0.08719,
        -0.99611,
        -0.01286
      ],
      [
        0.03824,
        0.00956,
        -0.99922
      ]
    ],
    "simulated_seconds_remaining": 15.378,
    "calls_remaining_including_this": 31
  },
  "api_seconds": 8.206243228167295,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.68,
                    "y": 0.025,
                    "z": 0.78
                  },
                  "note": "The bottle remains slightly left of the jaw center. I finish the lateral alignment and bring the neck into the closing path."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 28,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.03361,
      0.4455,
      0.0105,
      -1.65768,
      -0.02262,
      2.13968,
      0.14268
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.68039,
      0.02602,
      0.7802
    ],
    "tcp_roll_pitch_yaw": [
      -0.00019,
      0.00032,
      -0.00063
    ],
    "tcp_rotation_matrix": [
      [
        0.99543,
        -0.08792,
        0.03721
      ],
      [
        -0.08749,
        -0.99608,
        -0.01295
      ],
      [
        0.0382,
        0.00963,
        -0.99922
      ]
    ],
    "simulated_seconds_remaining": 14.652,
    "calls_remaining_including_this": 30
  },
  "api_seconds": 6.011009245179594,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The bottle’s neck and upper body are centered in the jaw opening. I close to grip it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 29,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.03361,
      0.4455,
      0.0105,
      -1.65768,
      -0.02262,
      2.13968,
      0.14268
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.68038,
      0.02601,
      0.7802
    ],
    "tcp_roll_pitch_yaw": [
      -0.00019,
      0.00032,
      -0.00063
    ],
    "tcp_rotation_matrix": [
      [
        0.99543,
        -0.08791,
        0.03721
      ],
      [
        -0.08749,
        -0.99608,
        -0.01295
      ],
      [
        0.03821,
        0.00963,
        -0.99922
      ]
    ],
    "simulated_seconds_remaining": 13.728,
    "calls_remaining_including_this": 29
  },
  "api_seconds": 11.609046692959964,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.75,
                    "y": 0.09,
                    "z": 0.74,
                    "gripper": 1
                  },
                  "note": "The exterior view still places the gripper beside the bottle. I move directly over its visible body and lower the open fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 30,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.10057,
      0.72834,
      0.01534,
      -1.25999,
      -0.07609,
      1.93587,
      0.23066
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.72782,
      0.06726,
      0.74782
    ],
    "tcp_roll_pitch_yaw": [
      -0.05372,
      0.08147,
      -0.00585
    ],
    "tcp_rotation_matrix": [
      [
        0.99517,
        -0.0877,
        -0.04412
      ],
      [
        -0.0905,
        -0.9937,
        -0.06611
      ],
      [
        -0.03804,
        0.06978,
        -0.99684
      ]
    ],
    "simulated_seconds_remaining": 12.738,
    "calls_remaining_including_this": 28
  },
  "api_seconds": 8.606634334661067,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The fingers are in contact around the bottle body. I close at the measured pose to capture it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 31,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.09631,
      0.71813,
      0.00989,
      -1.25612,
      -0.07965,
      1.91649,
      0.23172
    ],
    "gripper_open": 0.7425,
    "tcp_xyz": [
      0.72638,
      0.05932,
      0.75569
    ],
    "tcp_roll_pitch_yaw": [
      -0.06201,
      0.08576,
      -0.01577
    ],
    "tcp_rotation_matrix": [
      [
        0.99412,
        -0.09654,
        -0.04912
      ],
      [
        -0.1,
        -0.99224,
        -0.07387
      ],
      [
        -0.04161,
        0.07835,
        -0.99606
      ]
    ],
    "simulated_seconds_remaining": 11.814,
    "calls_remaining_including_this": 27
  },
  "api_seconds": 10.60871037747711,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.93
                  },
                  "note": "The gripper remains partially open against the bottle, indicating contact. I lift vertically to verify that it is secured."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 22,
    "motion_seconds": 1.452,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 32,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.10341,
      0.7696,
      0.0083,
      -0.72327,
      -0.07456,
      1.43654,
      0.20025
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.72647,
      0.05934,
      0.92878
    ],
    "tcp_roll_pitch_yaw": [
      -0.06196,
      0.08537,
      -0.01575
    ],
    "tcp_rotation_matrix": [
      [
        0.99413,
        -0.09655,
        -0.04873
      ],
      [
        -0.09998,
        -0.99225,
        -0.07383
      ],
      [
        -0.04123,
        0.07827,
        -0.99608
      ]
    ],
    "simulated_seconds_remaining": 10.362,
    "calls_remaining_including_this": 26
  },
  "api_seconds": 22.818933662958443,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.77,
                    "gripper": 1
                  },
                  "note": "The fingers reopened during the lift. I return to the bottle for another grasp and will maintain the close command during transport."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 33,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.09645,
      0.70644,
      0.0102,
      -1.23614,
      -0.0789,
      1.8849,
      0.22956
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.72639,
      0.05932,
      0.77111
    ],
    "tcp_roll_pitch_yaw": [
      -0.06202,
      0.08577,
      -0.01576
    ],
    "tcp_rotation_matrix": [
      [
        0.99412,
        -0.09652,
        -0.04913
      ],
      [
        -0.09999,
        -0.99224,
        -0.07388
      ],
      [
        -0.04162,
        0.07836,
        -0.99606
      ]
    ],
    "simulated_seconds_remaining": 8.976,
    "calls_remaining_including_this": 25
  },
  "api_seconds": 6.205189060419798,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The bottle is again between the fingers. I close around its body."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 34,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.09684,
      0.70232,
      0.01061,
      -1.23646,
      -0.07844,
      1.87716,
      0.22975
    ],
    "gripper_open": 0.3786,
    "tcp_xyz": [
      0.72476,
      0.05971,
      0.77338
    ],
    "tcp_roll_pitch_yaw": [
      -0.06206,
      0.0897,
      -0.01592
    ],
    "tcp_rotation_matrix": [
      [
        0.99393,
        -0.09637,
        -0.05306
      ],
      [
        -0.10015,
        -0.99223,
        -0.07385
      ],
      [
        -0.04553,
        0.07871,
        -0.99586
      ]
    ],
    "simulated_seconds_remaining": 8.052,
    "calls_remaining_including_this": 24
  },
  "api_seconds": 8.006157132796943,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.94,
                    "gripper": 0
                  },
                  "note": "The jaws have stopped against the bottle. I keep them commanded closed while lifting it clear."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 35,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.10529,
      0.81012,
      0.00745,
      -0.62468,
      -0.07443,
      1.37463,
      0.19689
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.72487,
      0.05972,
      0.93872
    ],
    "tcp_roll_pitch_yaw": [
      -0.06201,
      0.0893,
      -0.01589
    ],
    "tcp_rotation_matrix": [
      [
        0.99395,
        -0.09638,
        -0.05266
      ],
      [
        -0.10012,
        -0.99223,
        -0.07381
      ],
      [
        -0.04513,
        0.07864,
        -0.99588
      ]
    ],
    "simulated_seconds_remaining": 6.666,
    "calls_remaining_including_this": 23
  },
  "api_seconds": 10.208192614838481,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.77,
                    "y": 0.12,
                    "z": 0.8,
                    "gripper": 1
                  },
                  "note": "The bottle slipped from the last grasp. I shift toward its neck and approach once more with the fingers open."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 36,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.10529,
      0.81012,
      0.00745,
      -0.62468,
      -0.07443,
      1.37463,
      0.19689
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.72487,
      0.05972,
      0.93872
    ],
    "tcp_roll_pitch_yaw": [
      -0.06201,
      0.0893,
      -0.01589
    ],
    "tcp_rotation_matrix": [
      [
        0.99395,
        -0.09638,
        -0.05266
      ],
      [
        -0.10012,
        -0.99223,
        -0.07381
      ],
      [
        -0.04513,
        0.07864,
        -0.99588
      ]
    ],
    "simulated_seconds_remaining": 6.666,
    "calls_remaining_including_this": 22
  },
  "api_seconds": 5.804445748217404,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.745,
                    "y": 0.12,
                    "z": 0.81,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 0,
                    "gripper": 1
                  },
                  "note": "The farther pose was unreachable. I use a nearer vertical approach over the bottle’s neck."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 37,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.13825,
      0.69725,
      0.04082,
      -1.16834,
      -0.04803,
      1.89838,
      0.27103
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.74473,
      0.11949,
      0.811
    ],
    "tcp_roll_pitch_yaw": [
      -0.00062,
      0.00126,
      -2e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99552,
        -0.0873,
        0.03628
      ],
      [
        -0.08686,
        -0.99613,
        -0.01336
      ],
      [
        0.03731,
        0.01015,
        -0.99925
      ]
    ],
    "simulated_seconds_remaining": 5.412,
    "calls_remaining_including_this": 21
  },
  "api_seconds": 5.804569825530052,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.075,
                    "z": 0.795
                  },
                  "note": "I make a final small rightward correction to align the grasp point with the bottle neck."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 38,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.08538,
      0.67824,
      0.03138,
      -1.2402,
      -0.03991,
      1.95243,
      0.21122
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.74474,
      0.07601,
      0.79538
    ],
    "tcp_roll_pitch_yaw": [
      -0.00073,
      0.00136,
      -0.00031
    ],
    "tcp_rotation_matrix": [
      [
        0.9955,
        -0.08758,
        0.03617
      ],
      [
        -0.08715,
        -0.9961,
        -0.01348
      ],
      [
        0.03721,
        0.01027,
        -0.99925
      ]
    ],
    "simulated_seconds_remaining": 4.818,
    "calls_remaining_including_this": 20
  },
  "api_seconds": 4.2037141202017665,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The bottle neck is aligned under the grasp point. I close the fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 39,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.08717,
      0.66902,
      0.0335,
      -1.23715,
      -0.03871,
      1.91938,
      0.21137
    ],
    "gripper_open": 0.0001,
    "tcp_xyz": [
      0.73791,
      0.07801,
      0.80062
    ],
    "tcp_roll_pitch_yaw": [
      -0.00124,
      0.0222,
      0.00197
    ],
    "tcp_rotation_matrix": [
      [
        0.99626,
        -0.08507,
        0.01538
      ],
      [
        -0.08486,
        -0.99629,
        -0.01395
      ],
      [
        0.01651,
        0.01259,
        -0.99978
      ]
    ],
    "simulated_seconds_remaining": 3.894,
    "calls_remaining_including_this": 19
  },
  "api_seconds": 5.604537900537252,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.9,
                    "gripper": 0
                  },
                  "note": "I keep the fingers closed and lift to confirm whether the bottle is held."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 40,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.09076,
      0.66991,
      0.03411,
      -0.98479,
      -0.03701,
      1.66838,
      0.20579
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.73798,
      0.07802,
      0.89891
    ],
    "tcp_roll_pitch_yaw": [
      -0.0012,
      0.02182,
      0.00197
    ],
    "tcp_rotation_matrix": [
      [
        0.99625,
        -0.08508,
        0.01576
      ],
      [
        -0.08486,
        -0.9963,
        -0.0139
      ],
      [
        0.01688,
        0.01251,
        -0.99978
      ]
    ],
    "simulated_seconds_remaining": 2.904,
    "calls_remaining_including_this": 18
  },
  "api_seconds": 7.005913260392845,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "give_up",
                "args": {
                  "note": "I could not secure the bottle despite repeated alignment and grasp attempts. It remains on the table, and the remaining motion time is insufficient to complete the placement."
                }
              }
            }
          ]
        }
      }
    ]
  }
}

========================================================================
GPT-Astra / Pick & place / 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,
  "status": "completed",
  "success": false,
  "oracle_success": false,
  "action_decisions": 37,
  "wall_seconds": 396.59,
  "usage": {
    "input_tokens": 827590,
    "cached_input_tokens": 786560,
    "cache_write_input_tokens": 0,
    "output_tokens": 6317,
    "reasoning_output_tokens": 2482
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick-and-place 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 45 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 and grasp the requested object, lift it, move it to the named receptacle, and release it in or on that receptacle. Complete the entire pick-and-place 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 complete the pick-and-place task.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [-0.01171, -0.75931, 0.01435, -2.35159, 0.03993, 1.5929, -0.03932], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.31617, 0.01094, 1.01136], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.99931, 0.03716, 0.00063], [0.03712, -0.99886, 0.03003], [0.00174, -0.02999, -0.99955]], \"simulated_seconds_remaining\": 45.012, \"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": 0.01,
    "z": 0.94,
    "note": "The green bottle is below the wrist image center, with a white bowl farther ahead. I move forward and slightly lower to localize the bottle."
  },
  "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": 0.01,
      "z": 0.94
    },
    "note": "The green bottle is below the wrist image center, with bowls farther ahead. I move forward and lower to localize the bottle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [-0.01428, -0.41099, 0.0182, -2.27785, 0.03901, 1.86713, -0.04612], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.42883, 0.01, 0.94063], \"tcp_roll_pitch_yaw\": [0.0, 0.00028, -1e-05], \"tcp_rotation_matrix\": [[0.99931, 0.03714, 0.00035], [0.03711, -0.99886, 0.03003], [0.00146, -0.03, -0.99955]], \"simulated_seconds_remaining\": 43.824, \"calls_remaining_including_this\": 56}"
      },
      {
        "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": 0.39,
      "y": 0.01,
      "z": 0.81
    },
    "note": "Both views show the bottle beside the box. I lower the open gripper toward its body while correcting slightly backward."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [-0.01073, -0.4265, 0.02096, -2.63314, 0.04811, 2.20644, -0.05737], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.39032, 0.01, 0.81121], \"tcp_roll_pitch_yaw\": [0.0, 0.00061, 0.0], \"tcp_rotation_matrix\": [[0.99931, 0.03714, 2e-05], [0.03712, -0.99886, 0.03003], [0.00113, -0.03001, -0.99955]], \"simulated_seconds_remaining\": 42.636, \"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": 0.39,
      "y": -0.005,
      "z": 0.755
    },
    "note": "The bottle body lies between the open fingers in the wrist view. I descend a little farther and shift right to center the grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [-0.0246, -0.32508, -0.00051, -2.70375, 0.04318, 2.37712, -0.09337], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.38992, -0.00466, 0.7562], \"tcp_roll_pitch_yaw\": [3e-05, 0.00097, -5e-05], \"tcp_rotation_matrix\": [[0.99931, 0.03708, -0.00034], [0.03707, -0.99886, 0.03006], [0.00078, -0.03005, -0.99955]], \"simulated_seconds_remaining\": 41.976, \"calls_remaining_including_this\": 54}"
      },
      {
        "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": 0.35,
      "z": 0.735
    },
    "note": "The bottle is still just behind the finger tips. I adjust backward and slightly down so the jaws surround the body."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [-0.02502, -0.40534, -0.00212, -2.83969, 0.04487, 2.43258, -0.09814], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.35105, -0.00466, 0.73555], \"tcp_roll_pitch_yaw\": [3e-05, 0.0011, -4e-05], \"tcp_rotation_matrix\": [[0.99931, 0.03708, -0.00047], [0.03708, -0.99886, 0.03006], [0.00065, -0.03006, -0.99955]], \"simulated_seconds_remaining\": 41.382, \"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": {
      "x": 0.41,
      "z": 0.755
    },
    "note": "The backward adjustment moved the bottle below the jaws in the wrist view. I correct forward to bring its body back between the fingers."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [-0.02374, -0.2621, -9e-05, -2.64794, 0.04372, 2.38426, -0.09271], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.40886, -0.00467, 0.75464], \"tcp_roll_pitch_yaw\": [3e-05, 0.00102, -5e-05], \"tcp_rotation_matrix\": [[0.99931, 0.03708, -0.00038], [0.03707, -0.99886, 0.03006], [0.00073, -0.03006, -0.99955]], \"simulated_seconds_remaining\": 40.656, \"calls_remaining_including_this\": 52}"
      },
      {
        "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 bottle body is centered between the jaws. I close the fingers to secure it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [-0.02374, -0.2621, -9e-05, -2.64794, 0.04372, 2.38426, -0.09271], \"gripper_open\": 0.0, \"tcp_xyz\": [0.40888, -0.00467, 0.75465], \"tcp_roll_pitch_yaw\": [3e-05, 0.00102, -5e-05], \"tcp_rotation_matrix\": [[0.99931, 0.03708, -0.00039], [0.03707, -0.99886, 0.03006], [0.00073, -0.03006, -0.99955]], \"simulated_seconds_remaining\": 39.732, \"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": {
      "z": 0.92
    },
    "note": "The jaws have closed. I lift vertically to check whether the bottle is secured and clear the nearby objects."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [-0.02797, -0.46569, -0.00033, -2.38, 0.03175, 1.91326, -0.07604], \"gripper_open\": 0.0, \"tcp_xyz\": [0.40896, -0.00467, 0.91874], \"tcp_roll_pitch_yaw\": [3e-05, 0.00067, -5e-05], \"tcp_rotation_matrix\": [[0.99931, 0.03708, -3e-05], [0.03707, -0.99886, 0.03006], [0.00108, -0.03004, -0.99955]], \"simulated_seconds_remaining\": 38.346, \"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": 0.45,
      "z": 0.69,
      "gripper": 1
    },
    "note": "The bottle stayed on the counter, so the first grasp missed. I reopen and move farther forward and lower to surround the bottle itself."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [-0.02086, -0.00056, 0.00191, -2.56126, 0.05468, 2.55905, -0.10173], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.44966, -0.00466, 0.69123], \"tcp_roll_pitch_yaw\": [5e-05, 0.00103, -5e-05], \"tcp_rotation_matrix\": [[0.99931, 0.03707, -0.0004], [0.03707, -0.99886, 0.03008], [0.00072, -0.03007, -0.99955]], \"simulated_seconds_remaining\": 36.498, \"calls_remaining_including_this\": 49}"
      },
      {
        "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": 0.51,
      "y": 0.005
    },
    "note": "The wrist view places the bottle below the jaw contact line. I move forward to align that contact line with the bottle body."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [-0.00961, 0.14444, 0.01053, -2.36342, 0.0482, 2.50696, -0.07514], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.50882, 0.00482, 0.69124], \"tcp_roll_pitch_yaw\": [5e-05, 0.001, -2e-05], \"tcp_rotation_matrix\": [[0.99931, 0.03711, -0.00037], [0.0371, -0.99886, 0.03008], [0.00075, -0.03007, -0.99955]], \"simulated_seconds_remaining\": 35.772, \"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": {
      "gripper": 0
    },
    "note": "The bottle body is now directly between the fingers, and the exterior view shows contact at its side. I close to grasp it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 11, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [-0.00961, 0.14444, 0.01053, -2.36342, 0.0482, 2.50696, -0.07514], \"gripper_open\": 0.0, \"tcp_xyz\": [0.50883, 0.00482, 0.69124], \"tcp_roll_pitch_yaw\": [5e-05, 0.001, -2e-05], \"tcp_rotation_matrix\": [[0.99931, 0.03711, -0.00037], [0.0371, -0.99886, 0.03008], [0.00075, -0.03007, -0.99955]], \"simulated_seconds_remaining\": 34.848, \"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": {
      "z": 0.59,
      "gripper": 1
    },
    "note": "The fingers closed completely, indicating they did not trap the bottle. I reopen and lower toward the bottle body."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 12, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [-0.01224, 0.38242, 0.01687, -2.35732, 0.06084, 2.73789, -0.09086], \"gripper_open\": 0.9993, \"tcp_xyz\": [0.50813, 0.0051, 0.59216], \"tcp_roll_pitch_yaw\": [0.00015, 0.00183, 0.00121], \"tcp_rotation_matrix\": [[0.99927, 0.0383, -0.00123], [0.03832, -0.99881, 0.03018], [-8e-05, -0.0302, -0.99954]], \"simulated_seconds_remaining\": 33.858, \"calls_remaining_including_this\": 46}"
      },
      {
        "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,
      "z": 0.63
    },
    "note": "The bottle is visible beside the gripper in the exterior view but below the wrist frame. I advance and rise slightly to bring it back into view."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 13, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [-0.0062, 0.4418, 0.00965, -2.12055, 0.04686, 2.22591, -0.07717], \"gripper_open\": 0.9941, \"tcp_xyz\": [0.48562, 0.00969, 0.61095], \"tcp_roll_pitch_yaw\": [0.01549, 0.33601, 0.0161], \"tcp_rotation_matrix\": [[0.94347, 0.03616, -0.32948], [0.05229, -0.99782, 0.04021], [-0.32731, -0.05517, -0.94331]], \"simulated_seconds_remaining\": 33.0, \"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": {
      "z": 0.86,
      "roll": 0,
      "pitch": 0,
      "yaw": 0
    },
    "note": "The measured pose deviated from the target, suggesting contact with the surface. I lift clear to reassess the bottle position."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 14, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [-0.00356, -0.18456, 0.00995, -2.27129, 0.03669, 2.08623, -0.04906], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.4857, 0.0097, 0.85912], \"tcp_roll_pitch_yaw\": [5e-05, 0.00105, 6e-05], \"tcp_rotation_matrix\": [[0.99931, 0.03719, -0.00042], [0.03718, -0.99886, 0.03009], [0.0007, -0.03008, -0.99955]], \"simulated_seconds_remaining\": 31.02, \"calls_remaining_including_this\": 44}"
      },
      {
        "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": 0.485,
      "y": 0.03,
      "z": 0.73
    },
    "note": "The bottle is now lying on the counter. I approach its broad body with the open jaws and a small lateral correction."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 15, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.01717, 0.00306, 0.03428, -2.42294, 0.04571, 2.42625, -0.02029], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.48491, 0.02981, 0.73117], \"tcp_roll_pitch_yaw\": [4e-05, 0.00142, 0.00011], \"tcp_rotation_matrix\": [[0.99931, 0.03722, -0.00079], [0.03723, -0.99885, 0.03007], [0.00033, -0.03008, -0.99955]], \"simulated_seconds_remaining\": 29.832, \"calls_remaining_including_this\": 43}"
      },
      {
        "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": 0.015,
      "z": 0.66
    },
    "note": "The bottle body is under the open gripper. I lower to its midsection while compensating for the wrist camera perspective."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 16, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.00044, 0.21373, 0.02154, -2.36659, 0.04789, 2.57931, -0.0562], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.50947, 0.01523, 0.66114], \"tcp_roll_pitch_yaw\": [4e-05, 0.00173, 4e-05], \"tcp_rotation_matrix\": [[0.99931, 0.03714, -0.0011], [0.03716, -0.99886, 0.03007], [2e-05, -0.03009, -0.99955]], \"simulated_seconds_remaining\": 29.04, \"calls_remaining_including_this\": 42}"
      },
      {
        "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 jaws are down beside the bottle body. I close at this lower grasp height."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 17, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.00046, 0.21403, 0.02156, -2.36762, 0.04788, 2.57841, -0.05621], \"gripper_open\": 0.0, \"tcp_xyz\": [0.50861, 0.01524, 0.66052], \"tcp_roll_pitch_yaw\": [3e-05, 0.00395, 0.00011], \"tcp_rotation_matrix\": [[0.9993, 0.03715, -0.00332], [0.03723, -0.99885, 0.03006], [-0.0022, -0.03017, -0.99954]], \"simulated_seconds_remaining\": 28.116, \"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": 0.57,
      "y": 0.05,
      "z": 0.75,
      "gripper": 1
    },
    "note": "The gripper still closes empty. I raise and shift the approach farther over the bottle, correcting its offset in both image axes."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 18, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.04064, 0.19981, 0.04257, -2.11116, 0.03048, 2.10785, 0.01909], \"gripper_open\": 0.9992, \"tcp_xyz\": [0.51384, 0.04944, 0.73411], \"tcp_roll_pitch_yaw\": [-0.01006, 0.20531, 0.01077], \"tcp_rotation_matrix\": [[0.97814, 0.04307, -0.20342], [0.04768, -0.9987, 0.01778], [-0.20239, -0.02709, -0.97893]], \"simulated_seconds_remaining\": 27.06, \"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": 0.45,
      "y": 0.1,
      "z": 0.95,
      "pitch": 0,
      "roll": 0,
      "yaw": 0
    },
    "note": "The approach is constrained by the nearby box. I lift and move left to get a clear view and a less obstructed approach."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 19, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.09225, -0.31811, 0.09752, -2.17171, 0.0626, 1.85977, 0.13], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.45043, 0.09975, 0.94888], \"tcp_roll_pitch_yaw\": [-3e-05, 0.00087, 0.00015], \"tcp_rotation_matrix\": [[0.9993, 0.03728, -0.00024], [0.03727, -0.99885, 0.03], [0.00087, -0.02999, -0.99955]], \"simulated_seconds_remaining\": 25.212, \"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": 0.45,
      "y": -0.03,
      "z": 0.82
    },
    "note": "The bottle is clearly left of the jaws in the wrist image. I shift right in the base frame and descend to center its body."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 20, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [-0.01207, -0.24552, -0.064, -2.43744, 0.01766, 2.18962, -0.1215], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.44996, -0.02911, 0.82087], \"tcp_roll_pitch_yaw\": [2e-05, 0.00111, -4e-05], \"tcp_rotation_matrix\": [[0.99931, 0.03708, -0.00048], [0.03708, -0.99886, 0.03005], [0.00063, -0.03004, -0.99955]], \"simulated_seconds_remaining\": 23.694, \"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": 0.48,
      "y": -0.05,
      "z": 0.73
    },
    "note": "The bottle body is close to the jaw center. I lower with a small forward and right correction to grasp across its width."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 21, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [-0.02399, -0.00431, -0.08933, -2.43086, 0.04465, 2.42186, -0.18402], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.4795, -0.04971, 0.73116], \"tcp_roll_pitch_yaw\": [6e-05, 0.00145, -8e-05], \"tcp_rotation_matrix\": [[0.99931, 0.03703, -0.00082], [0.03704, -0.99886, 0.03009], [0.0003, -0.0301, -0.99955]], \"simulated_seconds_remaining\": 22.77, \"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": 0.505,
      "y": -0.06,
      "z": 0.685
    },
    "note": "The bottle is aligned between the jaws. I descend to the sidewalls of its body before closing."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 22, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [-0.03357, 0.15617, -0.09133, -2.36392, 0.07482, 2.51334, -0.22152], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.50434, -0.05977, 0.68598], \"tcp_roll_pitch_yaw\": [9e-05, 0.0017, -0.00011], \"tcp_rotation_matrix\": [[0.99932, 0.03699, -0.00107], [0.03701, -0.99886, 0.03012], [5e-05, -0.03014, -0.99955]], \"simulated_seconds_remaining\": 22.11, \"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 bottle fills the space between the jaw tips at this height. I close around its body."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 23, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [-0.02992, 0.14091, -0.08649, -2.35831, 0.07667, 2.50238, -0.22203], \"gripper_open\": 0.3623, \"tcp_xyz\": [0.50836, -0.05507, 0.69487], \"tcp_roll_pitch_yaw\": [0.00265, -0.00857, 0.00775], \"tcp_rotation_matrix\": [[0.99894, 0.04517, 0.00894], [0.04486, -0.99846, 0.03275], [0.0104, -0.03232, -0.99942]], \"simulated_seconds_remaining\": 21.186, \"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": 0.93
    },
    "note": "The gripper remains partly open against the bottle, indicating a grasp. I lift vertically to verify it is secure."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 24, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [-0.02939, -0.15743, -0.08811, -2.0613, 0.021, 1.90985, -0.16843], \"gripper_open\": 0.0, \"tcp_xyz\": [0.50844, -0.05508, 0.92876], \"tcp_roll_pitch_yaw\": [0.00263, -0.00894, 0.00775], \"tcp_rotation_matrix\": [[0.99894, 0.04518, 0.00931], [0.04485, -0.99846, 0.03273], [0.01078, -0.03228, -0.99942]], \"simulated_seconds_remaining\": 19.338, \"calls_remaining_including_this\": 34}"
      },
      {
        "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"
}

The bottle slipped during the lift. I’ll move the grasp farther along its body and try again.


{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.46,
      "y": -0.075,
      "z": 0.665,
      "gripper": 1,
      "roll": 0,
      "pitch": 0,
      "yaw": 0
    },
    "note": "The bottle slipped free and remains on the counter. I approach farther along its body at a lower height for a deeper grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 25, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [-0.04698, 0.09941, -0.10725, -2.5044, 0.07925, 2.61022, -0.27401], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.46572, -0.0702, 0.67062], \"tcp_roll_pitch_yaw\": [-0.00235, -0.01254, 0.01482], \"tcp_rotation_matrix\": [[0.99855, 0.0523, 0.01275], [0.05193, -0.99826, 0.02788], [0.01419, -0.02717, -0.99953]], \"simulated_seconds_remaining\": 17.226, \"calls_remaining_including_this\": 33}"
      },
      {
        "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 jaws surround a deeper section of the bottle body. I close for a more secure hold."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 26, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [-0.0467, 0.09937, -0.10689, -2.50443, 0.07917, 2.61021, -0.27405], \"gripper_open\": 0.0, \"tcp_xyz\": [0.46575, -0.0699, 0.67061], \"tcp_roll_pitch_yaw\": [-0.00235, -0.01254, 0.01557], \"tcp_rotation_matrix\": [[0.99851, 0.05305, 0.01274], [0.05268, -0.99822, 0.02788], [0.01419, -0.02717, -0.99953]], \"simulated_seconds_remaining\": 16.302, \"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": 0.54,
      "y": -0.075,
      "z": 0.69,
      "gripper": 1,
      "pitch": 0,
      "roll": 0,
      "yaw": 0
    },
    "note": "The jaws again closed below the bottle in the wrist image. I move forward to place the bottle fully inside the contact region."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 27, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [-0.04338, 0.23608, -0.10114, -2.23611, 0.08599, 2.46351, -0.24749], \"gripper_open\": 0.9904, \"tcp_xyz\": [0.53831, -0.07385, 0.68897], \"tcp_roll_pitch_yaw\": [0.00075, 0.00195, 0.00137], \"tcp_rotation_matrix\": [[0.99926, 0.03847, -0.00136], [0.03849, -0.99878, 0.03078], [-0.00018, -0.03081, -0.99953]], \"simulated_seconds_remaining\": 15.378, \"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 broad bottle body now spans the jaw contact region. I close the gripper here."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 28, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [-0.04292, 0.22699, -0.1007, -2.23161, 0.08669, 2.4619, -0.2471], \"gripper_open\": 0.2356, \"tcp_xyz\": [0.54226, -0.07355, 0.69552], \"tcp_roll_pitch_yaw\": [0.00058, -0.01004, 0.00149], \"tcp_rotation_matrix\": [[0.99918, 0.03895, 0.01062], [0.03861, -0.99879, 0.03063], [0.0118, -0.03019, -0.99947]], \"simulated_seconds_remaining\": 14.454, \"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": {
      "z": 0.83
    },
    "note": "The fingers are blocked by the bottle. I make a short vertical lift to confirm this grasp holds."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 29, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [-0.03761, 0.02242, -0.10965, -2.11627, 0.04089, 2.14449, -0.20819], \"gripper_open\": 0.0, \"tcp_xyz\": [0.54235, -0.07352, 0.82877], \"tcp_roll_pitch_yaw\": [0.00057, -0.01035, 0.00156], \"tcp_rotation_matrix\": [[0.99918, 0.03903, 0.01093], [0.03868, -0.99878, 0.03061], [0.01211, -0.03017, -0.99947]], \"simulated_seconds_remaining\": 13.266, \"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": "move_to",
  "arguments": {
    "targets": {
      "x": 0.54,
      "y": -0.105,
      "z": 0.635,
      "gripper": 1
    },
    "note": "The bottle slipped again. I shift laterally and lower the jaws further around the body to prevent them from sliding off its upper surface."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 30, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [-0.08167, 0.28494, -0.09433, -2.21817, 0.13438, 2.5436, -0.33915], \"gripper_open\": 1.0, \"tcp_xyz\": [0.5548, -0.09267, 0.67659], \"tcp_roll_pitch_yaw\": [0.00939, -0.05373, 0.01978], \"tcp_rotation_matrix\": [[0.99683, 0.05896, 0.0535], [0.05683, -0.99756, 0.04048], [0.05575, -0.03731, -0.99775]], \"simulated_seconds_remaining\": 11.682, \"calls_remaining_including_this\": 28}"
      },
      {
        "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": 0.595,
      "y": -0.1,
      "z": 0.69,
      "pitch": 0,
      "roll": 0,
      "yaw": 0
    },
    "note": "The bottle is contacting the underside of the gripper. I advance to bring its broad end between the fingertips instead."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 31, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [-0.07046, 0.3789, -0.10785, -2.01414, 0.10252, 2.38485, -0.28371], \"gripper_open\": 0.9953, \"tcp_xyz\": [0.59381, -0.09936, 0.68948], \"tcp_roll_pitch_yaw\": [0.00062, -0.0011, 0.00098], \"tcp_rotation_matrix\": [[0.99927, 0.03816, 0.0017], [0.03809, -0.9988, 0.03066], [0.00286, -0.03057, -0.99953]], \"simulated_seconds_remaining\": 11.088, \"calls_remaining_including_this\": 27}"
      },
      {
        "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": -0.08,
      "gripper": 0
    },
    "note": "The bottle now extends well through the finger contact region. I center laterally and close around its body."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 32, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [-0.046, 0.36111, -0.09915, -2.0224, 0.0986, 2.38762, -0.25039], \"gripper_open\": 0.0206, \"tcp_xyz\": [0.59731, -0.07962, 0.69682], \"tcp_roll_pitch_yaw\": [0.00095, -0.01202, 0.00269], \"tcp_rotation_matrix\": [[0.99911, 0.04021, 0.01256], [0.0398, -0.99873, 0.03102], [0.01379, -0.03049, -0.99944]], \"simulated_seconds_remaining\": 10.164, \"calls_remaining_including_this\": 26}"
      },
      {
        "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": 0.88
    },
    "note": "The jaws have closed around the bottle's narrow section. I lift to check whether it is retained."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 33, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [-0.03744, 0.14405, -0.11346, -1.82871, 0.05322, 1.97952, -0.21066], \"gripper_open\": 0.0, \"tcp_xyz\": [0.5974, -0.07963, 0.87881], \"tcp_roll_pitch_yaw\": [0.00092, -0.01241, 0.00268], \"tcp_rotation_matrix\": [[0.99911, 0.04022, 0.01296], [0.0398, -0.99873, 0.03098], [0.01418, -0.03044, -0.99944]], \"simulated_seconds_remaining\": 8.646, \"calls_remaining_including_this\": 25}"
      },
      {
        "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": 0.64,
      "y": -0.09,
      "z": 0.66,
      "gripper": 1
    },
    "note": "The bottle remains on the surface. I make one final approach farther over its body at the lowest clear grasp height."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 34, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [-0.06222, 0.53284, -0.09132, -1.84719, 0.11598, 2.38458, -0.26588], \"gripper_open\": 1.0, \"tcp_xyz\": [0.64032, -0.08903, 0.66206], \"tcp_roll_pitch_yaw\": [0.00143, -0.01375, 0.0037], \"tcp_rotation_matrix\": [[0.99905, 0.04128, 0.01426], [0.04081, -0.99867, 0.03152], [0.01554, -0.03091, -0.9994]], \"simulated_seconds_remaining\": 6.864, \"calls_remaining_including_this\": 24}"
      },
      {
        "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": {
      "gripper": 0
    },
    "note": "The bottle body crosses the full jaw opening. I close at this position."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 35, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [-0.06225, 0.52857, -0.09147, -1.84482, 0.11646, 2.38441, -0.26546], \"gripper_open\": 0.9094, \"tcp_xyz\": [0.64248, -0.08926, 0.66579], \"tcp_roll_pitch_yaw\": [0.00111, -0.02025, 0.00291], \"tcp_rotation_matrix\": [[0.99896, 0.04068, 0.02078], [0.04002, -0.99871, 0.03121], [0.02202, -0.03034, -0.9993]], \"simulated_seconds_remaining\": 5.94, \"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": {
      "z": 0.84
    },
    "note": "The jaws are held open by the bottle body. I lift it clear of the counter."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 36, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [-0.05113, 0.30878, -0.11114, -1.70624, 0.0756, 2.02818, -0.23005], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.64258, -0.08928, 0.83883], \"tcp_roll_pitch_yaw\": [0.00108, -0.02066, 0.00291], \"tcp_rotation_matrix\": [[0.99895, 0.04069, 0.02119], [0.04002, -0.99871, 0.03117], [0.02243, -0.03029, -0.99929]], \"simulated_seconds_remaining\": 4.488, \"calls_remaining_including_this\": 22}"
      },
      {
        "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": {
      "z": 0.69,
      "gripper": 0
    },
    "note": "The bottle is still within reach, but the jaws reopened during lifting. I lower and explicitly command the gripper closed."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 37, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [-0.05967, 0.47881, -0.09708, -1.83744, 0.10904, 2.33428, -0.25954], \"gripper_open\": 0.0003, \"tcp_xyz\": [0.64429, -0.0903, 0.69664], \"tcp_roll_pitch_yaw\": [0.00026, -0.027, 0.00195], \"tcp_rotation_matrix\": [[0.99882, 0.0399, 0.02756], [0.03906, -0.99878, 0.03034], [0.02873, -0.02923, -0.99916]], \"simulated_seconds_remaining\": 3.168, \"calls_remaining_including_this\": 21}"
      },
      {
        "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": "give_up",
  "arguments": {
    "note": "I could not secure a stable grasp of the bottle, and insufficient motion time remains to complete placement."
  },
  "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 a stable grasp of the bottle. The task ended without placing it on the bowl.

TURN USAGE
{
  "input_tokens": 827590,
  "cached_input_tokens": 786560,
  "cache_write_input_tokens": 0,
  "output_tokens": 6317,
  "reasoning_output_tokens": 2482
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      -0.01171,
      -0.75931,
      0.01435,
      -2.35159,
      0.03993,
      1.5929,
      -0.03932
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.31617,
      0.01094,
      1.01136
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99931,
        0.03716,
        0.00063
      ],
      [
        0.03712,
        -0.99886,
        0.03003
      ],
      [
        0.00174,
        -0.02999,
        -0.99955
      ]
    ],
    "simulated_seconds_remaining": 45.012,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 22.01660208031535,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.43,
                    "y": 0.01,
                    "z": 0.94
                  },
                  "note": "The green bottle is below the wrist image center, with bowls farther ahead. I move forward and lower to localize the bottle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      -0.01428,
      -0.41099,
      0.0182,
      -2.27785,
      0.03901,
      1.86713,
      -0.04612
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.42883,
      0.01,
      0.94063
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.00028,
      -1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99931,
        0.03714,
        0.00035
      ],
      [
        0.03711,
        -0.99886,
        0.03003
      ],
      [
        0.00146,
        -0.03,
        -0.99955
      ]
    ],
    "simulated_seconds_remaining": 43.824,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 16.013325662352145,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.39,
                    "y": 0.01,
                    "z": 0.81
                  },
                  "note": "Both views show the bottle beside the box. I lower the open gripper toward its body while correcting slightly backward."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      -0.01073,
      -0.4265,
      0.02096,
      -2.63314,
      0.04811,
      2.20644,
      -0.05737
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.39032,
      0.01,
      0.81121
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.00061,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99931,
        0.03714,
        2e-05
      ],
      [
        0.03712,
        -0.99886,
        0.03003
      ],
      [
        0.00113,
        -0.03001,
        -0.99955
      ]
    ],
    "simulated_seconds_remaining": 42.636,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 7.807035144418478,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.39,
                    "y": -0.005,
                    "z": 0.755
                  },
                  "note": "The bottle body lies between the open fingers in the wrist view. I descend a little farther and shift right to center the grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      -0.0246,
      -0.32508,
      -0.00051,
      -2.70375,
      0.04318,
      2.37712,
      -0.09337
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.38992,
      -0.00466,
      0.7562
    ],
    "tcp_roll_pitch_yaw": [
      3e-05,
      0.00097,
      -5e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99931,
        0.03708,
        -0.00034
      ],
      [
        0.03707,
        -0.99886,
        0.03006
      ],
      [
        0.00078,
        -0.03005,
        -0.99955
      ]
    ],
    "simulated_seconds_remaining": 41.976,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 11.209519461728632,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.35,
                    "z": 0.735
                  },
                  "note": "The bottle is still just behind the finger tips. I adjust backward and slightly down so the jaws surround the body."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      -0.02502,
      -0.40534,
      -0.00212,
      -2.83969,
      0.04487,
      2.43258,
      -0.09814
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.35105,
      -0.00466,
      0.73555
    ],
    "tcp_roll_pitch_yaw": [
      3e-05,
      0.0011,
      -4e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99931,
        0.03708,
        -0.00047
      ],
      [
        0.03708,
        -0.99886,
        0.03006
      ],
      [
        0.00065,
        -0.03006,
        -0.99955
      ]
    ],
    "simulated_seconds_remaining": 41.382,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 7.008700876496732,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.41,
                    "z": 0.755
                  },
                  "note": "The backward adjustment moved the bottle below the jaws in the wrist view. I correct forward to bring its body back between the fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      -0.02374,
      -0.2621,
      -9e-05,
      -2.64794,
      0.04372,
      2.38426,
      -0.09271
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.40886,
      -0.00467,
      0.75464
    ],
    "tcp_roll_pitch_yaw": [
      3e-05,
      0.00102,
      -5e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99931,
        0.03708,
        -0.00038
      ],
      [
        0.03707,
        -0.99886,
        0.03006
      ],
      [
        0.00073,
        -0.03006,
        -0.99955
      ]
    ],
    "simulated_seconds_remaining": 40.656,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 5.404707855544984,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The bottle body is centered between the jaws. I close the fingers to secure it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      -0.02374,
      -0.2621,
      -9e-05,
      -2.64794,
      0.04372,
      2.38426,
      -0.09271
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.40888,
      -0.00467,
      0.75465
    ],
    "tcp_roll_pitch_yaw": [
      3e-05,
      0.00102,
      -5e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99931,
        0.03708,
        -0.00039
      ],
      [
        0.03707,
        -0.99886,
        0.03006
      ],
      [
        0.00073,
        -0.03006,
        -0.99955
      ]
    ],
    "simulated_seconds_remaining": 39.732,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 5.605437976308167,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.92
                  },
                  "note": "The jaws have closed. I lift vertically to check whether the bottle is secured and clear the nearby objects."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      -0.02797,
      -0.46569,
      -0.00033,
      -2.38,
      0.03175,
      1.91326,
      -0.07604
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.40896,
      -0.00467,
      0.91874
    ],
    "tcp_roll_pitch_yaw": [
      3e-05,
      0.00067,
      -5e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99931,
        0.03708,
        -3e-05
      ],
      [
        0.03707,
        -0.99886,
        0.03006
      ],
      [
        0.00108,
        -0.03004,
        -0.99955
      ]
    ],
    "simulated_seconds_remaining": 38.346,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 11.2096738377586,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.45,
                    "z": 0.69,
                    "gripper": 1
                  },
                  "note": "The bottle stayed on the counter, so the first grasp missed. I reopen and move farther forward and lower to surround the bottle itself."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 28,
    "motion_seconds": 1.848,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      -0.02086,
      -0.00056,
      0.00191,
      -2.56126,
      0.05468,
      2.55905,
      -0.10173
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44966,
      -0.00466,
      0.69123
    ],
    "tcp_roll_pitch_yaw": [
      5e-05,
      0.00103,
      -5e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99931,
        0.03707,
        -0.0004
      ],
      [
        0.03707,
        -0.99886,
        0.03008
      ],
      [
        0.00072,
        -0.03007,
        -0.99955
      ]
    ],
    "simulated_seconds_remaining": 36.498,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 5.805372269824147,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.51,
                    "y": 0.005
                  },
                  "note": "The wrist view places the bottle below the jaw contact line. I move forward to align that contact line with the bottle body."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      -0.00961,
      0.14444,
      0.01053,
      -2.36342,
      0.0482,
      2.50696,
      -0.07514
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.50882,
      0.00482,
      0.69124
    ],
    "tcp_roll_pitch_yaw": [
      5e-05,
      0.001,
      -2e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99931,
        0.03711,
        -0.00037
      ],
      [
        0.0371,
        -0.99886,
        0.03008
      ],
      [
        0.00075,
        -0.03007,
        -0.99955
      ]
    ],
    "simulated_seconds_remaining": 35.772,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 7.806940877810121,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The bottle body is now directly between the fingers, and the exterior view shows contact at its side. I close to grasp it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      -0.00961,
      0.14444,
      0.01053,
      -2.36342,
      0.0482,
      2.50696,
      -0.07514
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.50883,
      0.00482,
      0.69124
    ],
    "tcp_roll_pitch_yaw": [
      5e-05,
      0.001,
      -2e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99931,
        0.03711,
        -0.00037
      ],
      [
        0.0371,
        -0.99886,
        0.03008
      ],
      [
        0.00075,
        -0.03007,
        -0.99955
      ]
    ],
    "simulated_seconds_remaining": 34.848,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 8.012175308540463,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.59,
                    "gripper": 1
                  },
                  "note": "The fingers closed completely, indicating they did not trap the bottle. I reopen and lower toward the bottle body."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      -0.01224,
      0.38242,
      0.01687,
      -2.35732,
      0.06084,
      2.73789,
      -0.09086
    ],
    "gripper_open": 0.9993,
    "tcp_xyz": [
      0.50813,
      0.0051,
      0.59216
    ],
    "tcp_roll_pitch_yaw": [
      0.00015,
      0.00183,
      0.00121
    ],
    "tcp_rotation_matrix": [
      [
        0.99927,
        0.0383,
        -0.00123
      ],
      [
        0.03832,
        -0.99881,
        0.03018
      ],
      [
        -8e-05,
        -0.0302,
        -0.99954
      ]
    ],
    "simulated_seconds_remaining": 33.858,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 7.406265661120415,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.58,
                    "z": 0.63
                  },
                  "note": "The bottle is visible beside the gripper in the exterior view but below the wrist frame. I advance and rise slightly to bring it back into view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      -0.0062,
      0.4418,
      0.00965,
      -2.12055,
      0.04686,
      2.22591,
      -0.07717
    ],
    "gripper_open": 0.9941,
    "tcp_xyz": [
      0.48562,
      0.00969,
      0.61095
    ],
    "tcp_roll_pitch_yaw": [
      0.01549,
      0.33601,
      0.0161
    ],
    "tcp_rotation_matrix": [
      [
        0.94347,
        0.03616,
        -0.32948
      ],
      [
        0.05229,
        -0.99782,
        0.04021
      ],
      [
        -0.32731,
        -0.05517,
        -0.94331
      ]
    ],
    "simulated_seconds_remaining": 33.0,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 5.403977250680327,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.86,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 0
                  },
                  "note": "The measured pose deviated from the target, suggesting contact with the surface. I lift clear to reassess the bottle position."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 30,
    "motion_seconds": 1.98,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      -0.00356,
      -0.18456,
      0.00995,
      -2.27129,
      0.03669,
      2.08623,
      -0.04906
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.4857,
      0.0097,
      0.85912
    ],
    "tcp_roll_pitch_yaw": [
      5e-05,
      0.00105,
      6e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99931,
        0.03719,
        -0.00042
      ],
      [
        0.03718,
        -0.99886,
        0.03009
      ],
      [
        0.0007,
        -0.03008,
        -0.99955
      ]
    ],
    "simulated_seconds_remaining": 31.02,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 15.612943611107767,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.485,
                    "y": 0.03,
                    "z": 0.73
                  },
                  "note": "The bottle is now lying on the counter. I approach its broad body with the open jaws and a small lateral correction."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.01717,
      0.00306,
      0.03428,
      -2.42294,
      0.04571,
      2.42625,
      -0.02029
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.48491,
      0.02981,
      0.73117
    ],
    "tcp_roll_pitch_yaw": [
      4e-05,
      0.00142,
      0.00011
    ],
    "tcp_rotation_matrix": [
      [
        0.99931,
        0.03722,
        -0.00079
      ],
      [
        0.03723,
        -0.99885,
        0.03007
      ],
      [
        0.00033,
        -0.03008,
        -0.99955
      ]
    ],
    "simulated_seconds_remaining": 29.832,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 6.4055572636425495,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.51,
                    "y": 0.015,
                    "z": 0.66
                  },
                  "note": "The bottle body is under the open gripper. I lower to its midsection while compensating for the wrist camera perspective."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.00044,
      0.21373,
      0.02154,
      -2.36659,
      0.04789,
      2.57931,
      -0.0562
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.50947,
      0.01523,
      0.66114
    ],
    "tcp_roll_pitch_yaw": [
      4e-05,
      0.00173,
      4e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99931,
        0.03714,
        -0.0011
      ],
      [
        0.03716,
        -0.99886,
        0.03007
      ],
      [
        2e-05,
        -0.03009,
        -0.99955
      ]
    ],
    "simulated_seconds_remaining": 29.04,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 4.807357080280781,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The jaws are down beside the bottle body. I close at this lower grasp height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.00046,
      0.21403,
      0.02156,
      -2.36762,
      0.04788,
      2.57841,
      -0.05621
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.50861,
      0.01524,
      0.66052
    ],
    "tcp_roll_pitch_yaw": [
      3e-05,
      0.00395,
      0.00011
    ],
    "tcp_rotation_matrix": [
      [
        0.9993,
        0.03715,
        -0.00332
      ],
      [
        0.03723,
        -0.99885,
        0.03006
      ],
      [
        -0.0022,
        -0.03017,
        -0.99954
      ]
    ],
    "simulated_seconds_remaining": 28.116,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 9.608211643993855,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.57,
                    "y": 0.05,
                    "z": 0.75,
                    "gripper": 1
                  },
                  "note": "The gripper still closes empty. I raise and shift the approach farther over the bottle, correcting its offset in both image axes."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.04064,
      0.19981,
      0.04257,
      -2.11116,
      0.03048,
      2.10785,
      0.01909
    ],
    "gripper_open": 0.9992,
    "tcp_xyz": [
      0.51384,
      0.04944,
      0.73411
    ],
    "tcp_roll_pitch_yaw": [
      -0.01006,
      0.20531,
      0.01077
    ],
    "tcp_rotation_matrix": [
      [
        0.97814,
        0.04307,
        -0.20342
      ],
      [
        0.04768,
        -0.9987,
        0.01778
      ],
      [
        -0.20239,
        -0.02709,
        -0.97893
      ]
    ],
    "simulated_seconds_remaining": 27.06,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 6.405532869510353,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.45,
                    "y": 0.1,
                    "z": 0.95,
                    "pitch": 0,
                    "roll": 0,
                    "yaw": 0
                  },
                  "note": "The approach is constrained by the nearby box. I lift and move left to get a clear view and a less obstructed approach."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 28,
    "motion_seconds": 1.848,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 19,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.09225,
      -0.31811,
      0.09752,
      -2.17171,
      0.0626,
      1.85977,
      0.13
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.45043,
      0.09975,
      0.94888
    ],
    "tcp_roll_pitch_yaw": [
      -3e-05,
      0.00087,
      0.00015
    ],
    "tcp_rotation_matrix": [
      [
        0.9993,
        0.03728,
        -0.00024
      ],
      [
        0.03727,
        -0.99885,
        0.03
      ],
      [
        0.00087,
        -0.02999,
        -0.99955
      ]
    ],
    "simulated_seconds_remaining": 25.212,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 11.009769398719072,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.45,
                    "y": -0.03,
                    "z": 0.82
                  },
                  "note": "The bottle is clearly left of the jaws in the wrist image. I shift right in the base frame and descend to center its body."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 20,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      -0.01207,
      -0.24552,
      -0.064,
      -2.43744,
      0.01766,
      2.18962,
      -0.1215
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44996,
      -0.02911,
      0.82087
    ],
    "tcp_roll_pitch_yaw": [
      2e-05,
      0.00111,
      -4e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99931,
        0.03708,
        -0.00048
      ],
      [
        0.03708,
        -0.99886,
        0.03005
      ],
      [
        0.00063,
        -0.03004,
        -0.99955
      ]
    ],
    "simulated_seconds_remaining": 23.694,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 6.205425479449332,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48,
                    "y": -0.05,
                    "z": 0.73
                  },
                  "note": "The bottle body is close to the jaw center. I lower with a small forward and right correction to grasp across its width."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 21,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      -0.02399,
      -0.00431,
      -0.08933,
      -2.43086,
      0.04465,
      2.42186,
      -0.18402
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.4795,
      -0.04971,
      0.73116
    ],
    "tcp_roll_pitch_yaw": [
      6e-05,
      0.00145,
      -8e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99931,
        0.03703,
        -0.00082
      ],
      [
        0.03704,
        -0.99886,
        0.03009
      ],
      [
        0.0003,
        -0.0301,
        -0.99955
      ]
    ],
    "simulated_seconds_remaining": 22.77,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 5.80452108476311,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.505,
                    "y": -0.06,
                    "z": 0.685
                  },
                  "note": "The bottle is aligned between the jaws. I descend to the sidewalls of its body before closing."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 22,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      -0.03357,
      0.15617,
      -0.09133,
      -2.36392,
      0.07482,
      2.51334,
      -0.22152
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.50434,
      -0.05977,
      0.68598
    ],
    "tcp_roll_pitch_yaw": [
      9e-05,
      0.0017,
      -0.00011
    ],
    "tcp_rotation_matrix": [
      [
        0.99932,
        0.03699,
        -0.00107
      ],
      [
        0.03701,
        -0.99886,
        0.03012
      ],
      [
        5e-05,
        -0.03014,
        -0.99955
      ]
    ],
    "simulated_seconds_remaining": 22.11,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 4.604346170090139,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The bottle fills the space between the jaw tips at this height. I close around its body."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 23,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      -0.02992,
      0.14091,
      -0.08649,
      -2.35831,
      0.07667,
      2.50238,
      -0.22203
    ],
    "gripper_open": 0.3623,
    "tcp_xyz": [
      0.50836,
      -0.05507,
      0.69487
    ],
    "tcp_roll_pitch_yaw": [
      0.00265,
      -0.00857,
      0.00775
    ],
    "tcp_rotation_matrix": [
      [
        0.99894,
        0.04517,
        0.00894
      ],
      [
        0.04486,
        -0.99846,
        0.03275
      ],
      [
        0.0104,
        -0.03232,
        -0.99942
      ]
    ],
    "simulated_seconds_remaining": 21.186,
    "calls_remaining_including_this": 35
  },
  "api_seconds": 4.404879089444876,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.93
                  },
                  "note": "The gripper remains partly open against the bottle, indicating a grasp. I lift vertically to verify it is secure."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 28,
    "motion_seconds": 1.848,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 24,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      -0.02939,
      -0.15743,
      -0.08811,
      -2.0613,
      0.021,
      1.90985,
      -0.16843
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.50844,
      -0.05508,
      0.92876
    ],
    "tcp_roll_pitch_yaw": [
      0.00263,
      -0.00894,
      0.00775
    ],
    "tcp_rotation_matrix": [
      [
        0.99894,
        0.04518,
        0.00931
      ],
      [
        0.04485,
        -0.99846,
        0.03273
      ],
      [
        0.01078,
        -0.03228,
        -0.99942
      ]
    ],
    "simulated_seconds_remaining": 19.338,
    "calls_remaining_including_this": 34
  },
  "api_seconds": 14.213296899572015,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.46,
                    "y": -0.075,
                    "z": 0.665,
                    "gripper": 1,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 0
                  },
                  "note": "The bottle slipped free and remains on the counter. I approach farther along its body at a lower height for a deeper grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 32,
    "motion_seconds": 2.112,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 25,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      -0.04698,
      0.09941,
      -0.10725,
      -2.5044,
      0.07925,
      2.61022,
      -0.27401
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.46572,
      -0.0702,
      0.67062
    ],
    "tcp_roll_pitch_yaw": [
      -0.00235,
      -0.01254,
      0.01482
    ],
    "tcp_rotation_matrix": [
      [
        0.99855,
        0.0523,
        0.01275
      ],
      [
        0.05193,
        -0.99826,
        0.02788
      ],
      [
        0.01419,
        -0.02717,
        -0.99953
      ]
    ],
    "simulated_seconds_remaining": 17.226,
    "calls_remaining_including_this": 33
  },
  "api_seconds": 5.204494533129036,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The jaws surround a deeper section of the bottle body. I close for a more secure hold."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 26,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      -0.0467,
      0.09937,
      -0.10689,
      -2.50443,
      0.07917,
      2.61021,
      -0.27405
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.46575,
      -0.0699,
      0.67061
    ],
    "tcp_roll_pitch_yaw": [
      -0.00235,
      -0.01254,
      0.01557
    ],
    "tcp_rotation_matrix": [
      [
        0.99851,
        0.05305,
        0.01274
      ],
      [
        0.05268,
        -0.99822,
        0.02788
      ],
      [
        0.01419,
        -0.02717,
        -0.99953
      ]
    ],
    "simulated_seconds_remaining": 16.302,
    "calls_remaining_including_this": 32
  },
  "api_seconds": 11.609853871166706,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.54,
                    "y": -0.075,
                    "z": 0.69,
                    "gripper": 1,
                    "pitch": 0,
                    "roll": 0,
                    "yaw": 0
                  },
                  "note": "The jaws again closed below the bottle in the wrist image. I move forward to place the bottle fully inside the contact region."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 27,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      -0.04338,
      0.23608,
      -0.10114,
      -2.23611,
      0.08599,
      2.46351,
      -0.24749
    ],
    "gripper_open": 0.9904,
    "tcp_xyz": [
      0.53831,
      -0.07385,
      0.68897
    ],
    "tcp_roll_pitch_yaw": [
      0.00075,
      0.00195,
      0.00137
    ],
    "tcp_rotation_matrix": [
      [
        0.99926,
        0.03847,
        -0.00136
      ],
      [
        0.03849,
        -0.99878,
        0.03078
      ],
      [
        -0.00018,
        -0.03081,
        -0.99953
      ]
    ],
    "simulated_seconds_remaining": 15.378,
    "calls_remaining_including_this": 31
  },
  "api_seconds": 4.403893643990159,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The broad bottle body now spans the jaw contact region. I close the gripper here."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 28,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      -0.04292,
      0.22699,
      -0.1007,
      -2.23161,
      0.08669,
      2.4619,
      -0.2471
    ],
    "gripper_open": 0.2356,
    "tcp_xyz": [
      0.54226,
      -0.07355,
      0.69552
    ],
    "tcp_roll_pitch_yaw": [
      0.00058,
      -0.01004,
      0.00149
    ],
    "tcp_rotation_matrix": [
      [
        0.99918,
        0.03895,
        0.01062
      ],
      [
        0.03861,
        -0.99879,
        0.03063
      ],
      [
        0.0118,
        -0.03019,
        -0.99947
      ]
    ],
    "simulated_seconds_remaining": 14.454,
    "calls_remaining_including_this": 30
  },
  "api_seconds": 4.003854589536786,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.83
                  },
                  "note": "The fingers are blocked by the bottle. I make a short vertical lift to confirm this grasp holds."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 29,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      -0.03761,
      0.02242,
      -0.10965,
      -2.11627,
      0.04089,
      2.14449,
      -0.20819
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.54235,
      -0.07352,
      0.82877
    ],
    "tcp_roll_pitch_yaw": [
      0.00057,
      -0.01035,
      0.00156
    ],
    "tcp_rotation_matrix": [
      [
        0.99918,
        0.03903,
        0.01093
      ],
      [
        0.03868,
        -0.99878,
        0.03061
      ],
      [
        0.01211,
        -0.03017,
        -0.99947
      ]
    ],
    "simulated_seconds_remaining": 13.266,
    "calls_remaining_including_this": 29
  },
  "api_seconds": 10.20869457256049,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.54,
                    "y": -0.105,
                    "z": 0.635,
                    "gripper": 1
                  },
                  "note": "The bottle slipped again. I shift laterally and lower the jaws further around the body to prevent them from sliding off its upper surface."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 24,
    "motion_seconds": 1.584,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 30,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      -0.08167,
      0.28494,
      -0.09433,
      -2.21817,
      0.13438,
      2.5436,
      -0.33915
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.5548,
      -0.09267,
      0.67659
    ],
    "tcp_roll_pitch_yaw": [
      0.00939,
      -0.05373,
      0.01978
    ],
    "tcp_rotation_matrix": [
      [
        0.99683,
        0.05896,
        0.0535
      ],
      [
        0.05683,
        -0.99756,
        0.04048
      ],
      [
        0.05575,
        -0.03731,
        -0.99775
      ]
    ],
    "simulated_seconds_remaining": 11.682,
    "calls_remaining_including_this": 28
  },
  "api_seconds": 7.006005228497088,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.595,
                    "y": -0.1,
                    "z": 0.69,
                    "pitch": 0,
                    "roll": 0,
                    "yaw": 0
                  },
                  "note": "The bottle is contacting the underside of the gripper. I advance to bring its broad end between the fingertips instead."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 31,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      -0.07046,
      0.3789,
      -0.10785,
      -2.01414,
      0.10252,
      2.38485,
      -0.28371
    ],
    "gripper_open": 0.9953,
    "tcp_xyz": [
      0.59381,
      -0.09936,
      0.68948
    ],
    "tcp_roll_pitch_yaw": [
      0.00062,
      -0.0011,
      0.00098
    ],
    "tcp_rotation_matrix": [
      [
        0.99927,
        0.03816,
        0.0017
      ],
      [
        0.03809,
        -0.9988,
        0.03066
      ],
      [
        0.00286,
        -0.03057,
        -0.99953
      ]
    ],
    "simulated_seconds_remaining": 11.088,
    "calls_remaining_including_this": 27
  },
  "api_seconds": 7.4067849246785045,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": -0.08,
                    "gripper": 0
                  },
                  "note": "The bottle now extends well through the finger contact region. I center laterally and close around its body."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 32,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      -0.046,
      0.36111,
      -0.09915,
      -2.0224,
      0.0986,
      2.38762,
      -0.25039
    ],
    "gripper_open": 0.0206,
    "tcp_xyz": [
      0.59731,
      -0.07962,
      0.69682
    ],
    "tcp_roll_pitch_yaw": [
      0.00095,
      -0.01202,
      0.00269
    ],
    "tcp_rotation_matrix": [
      [
        0.99911,
        0.04021,
        0.01256
      ],
      [
        0.0398,
        -0.99873,
        0.03102
      ],
      [
        0.01379,
        -0.03049,
        -0.99944
      ]
    ],
    "simulated_seconds_remaining": 10.164,
    "calls_remaining_including_this": 26
  },
  "api_seconds": 5.0041834861040115,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.88
                  },
                  "note": "The jaws have closed around the bottle's narrow section. I lift to check whether it is retained."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 33,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      -0.03744,
      0.14405,
      -0.11346,
      -1.82871,
      0.05322,
      1.97952,
      -0.21066
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.5974,
      -0.07963,
      0.87881
    ],
    "tcp_roll_pitch_yaw": [
      0.00092,
      -0.01241,
      0.00268
    ],
    "tcp_rotation_matrix": [
      [
        0.99911,
        0.04022,
        0.01296
      ],
      [
        0.0398,
        -0.99873,
        0.03098
      ],
      [
        0.01418,
        -0.03044,
        -0.99944
      ]
    ],
    "simulated_seconds_remaining": 8.646,
    "calls_remaining_including_this": 25
  },
  "api_seconds": 16.816224480047822,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.64,
                    "y": -0.09,
                    "z": 0.66,
                    "gripper": 1
                  },
                  "note": "The bottle remains on the surface. I make one final approach farther over its body at the lowest clear grasp height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 27,
    "motion_seconds": 1.782,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 34,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      -0.06222,
      0.53284,
      -0.09132,
      -1.84719,
      0.11598,
      2.38458,
      -0.26588
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.64032,
      -0.08903,
      0.66206
    ],
    "tcp_roll_pitch_yaw": [
      0.00143,
      -0.01375,
      0.0037
    ],
    "tcp_rotation_matrix": [
      [
        0.99905,
        0.04128,
        0.01426
      ],
      [
        0.04081,
        -0.99867,
        0.03152
      ],
      [
        0.01554,
        -0.03091,
        -0.9994
      ]
    ],
    "simulated_seconds_remaining": 6.864,
    "calls_remaining_including_this": 24
  },
  "api_seconds": 6.4076921651139855,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The bottle body crosses the full jaw opening. I close at this position."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 35,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      -0.06225,
      0.52857,
      -0.09147,
      -1.84482,
      0.11646,
      2.38441,
      -0.26546
    ],
    "gripper_open": 0.9094,
    "tcp_xyz": [
      0.64248,
      -0.08926,
      0.66579
    ],
    "tcp_roll_pitch_yaw": [
      0.00111,
      -0.02025,
      0.00291
    ],
    "tcp_rotation_matrix": [
      [
        0.99896,
        0.04068,
        0.02078
      ],
      [
        0.04002,
        -0.99871,
        0.03121
      ],
      [
        0.02202,
        -0.03034,
        -0.9993
      ]
    ],
    "simulated_seconds_remaining": 5.94,
    "calls_remaining_including_this": 23
  },
  "api_seconds": 4.40383131057024,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.84
                  },
                  "note": "The jaws are held open by the bottle body. I lift it clear of the counter."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 22,
    "motion_seconds": 1.452,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 36,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      -0.05113,
      0.30878,
      -0.11114,
      -1.70624,
      0.0756,
      2.02818,
      -0.23005
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.64258,
      -0.08928,
      0.83883
    ],
    "tcp_roll_pitch_yaw": [
      0.00108,
      -0.02066,
      0.00291
    ],
    "tcp_rotation_matrix": [
      [
        0.99895,
        0.04069,
        0.02119
      ],
      [
        0.04002,
        -0.99871,
        0.03117
      ],
      [
        0.02243,
        -0.03029,
        -0.99929
      ]
    ],
    "simulated_seconds_remaining": 4.488,
    "calls_remaining_including_this": 22
  },
  "api_seconds": 11.40970682259649,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.69,
                    "gripper": 0
                  },
                  "note": "The bottle is still within reach, but the jaws reopened during lifting. I lower and explicitly command the gripper closed."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 37,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      -0.05967,
      0.47881,
      -0.09708,
      -1.83744,
      0.10904,
      2.33428,
      -0.25954
    ],
    "gripper_open": 0.0003,
    "tcp_xyz": [
      0.64429,
      -0.0903,
      0.69664
    ],
    "tcp_roll_pitch_yaw": [
      0.00026,
      -0.027,
      0.00195
    ],
    "tcp_rotation_matrix": [
      [
        0.99882,
        0.0399,
        0.02756
      ],
      [
        0.03906,
        -0.99878,
        0.03034
      ],
      [
        0.02873,
        -0.02923,
        -0.99916
      ]
    ],
    "simulated_seconds_remaining": 3.168,
    "calls_remaining_including_this": 21
  },
  "api_seconds": 5.204877369105816,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "give_up",
                "args": {
                  "note": "I could not secure a stable grasp of the bottle, and insufficient motion time remains to complete placement."
                }
              }
            }
          ]
        }
      }
    ]
  }
}

========================================================================
GPT-Astra / Pick & place / 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,
  "status": "completed",
  "success": false,
  "oracle_success": false,
  "action_decisions": 35,
  "wall_seconds": 472.47,
  "usage": {
    "input_tokens": 800618,
    "cached_input_tokens": 750208,
    "cache_write_input_tokens": 0,
    "output_tokens": 7518,
    "reasoning_output_tokens": 3689
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick-and-place 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 45 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 and grasp the requested object, lift it, move it to the named receptacle, and release it in or on that receptacle. Complete the entire pick-and-place 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 through the pick and placement.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [-0.02927, -0.81101, 0.016, -2.35344, -0.04917, 1.52328, -0.03988], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.29193, -0.01715, 1.02063], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.99959, 0.02026, -0.02034], [0.019, -0.998, -0.06031], [-0.02152, 0.0599, -0.99797]], \"simulated_seconds_remaining\": 45.012, \"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": -0.017,
    "z": 0.94,
    "gripper": 1,
    "note": "The fork is the slim silver utensil beside the toaster and bowl. I move forward and lower for a closer view above 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": 0.43,
      "y": -0.017,
      "z": 0.94,
      "gripper": 1
    },
    "note": "The fork is the slim silver utensil beside the toaster and bowl. I move forward and lower for a closer view above it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [-0.03299, -0.39416, 0.02313, -2.25951, -0.05371, 1.84514, -0.01629], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.42884, -0.01701, 0.94058], \"tcp_roll_pitch_yaw\": [0.0, 0.00026, -1e-05], \"tcp_rotation_matrix\": [[0.99958, 0.02027, -0.02061], [0.01899, -0.998, -0.06031], [-0.02179, 0.05989, -0.99797]], \"simulated_seconds_remaining\": 43.626, \"calls_remaining_including_this\": 56}"
      },
      {
        "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": -0.025,
      "z": 0.81
    },
    "note": "Both views show the fork just to the right of the toaster, with its handle clear of the bowl. I lower toward its handle while keeping the jaws open."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [-0.04299, -0.13376, 0.01606, -2.34323, -0.0721, 2.18894, -0.00436], \"gripper_open\": 0.9967, \"tcp_xyz\": [0.47946, -0.02491, 0.81112], \"tcp_roll_pitch_yaw\": [1e-05, 0.00059, -1e-05], \"tcp_rotation_matrix\": [[0.99957, 0.02029, -0.02094], [0.01899, -0.998, -0.0603], [-0.02212, 0.05987, -0.99796]], \"simulated_seconds_remaining\": 42.372, \"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": 0.505,
      "y": -0.009,
      "z": 0.735
    },
    "note": "The fork handle remains visible between the toaster and bowl. I make a small alignment adjustment and descend to put the jaws around the narrow handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [-0.03512, -0.05049, 0.02475, -2.32573, -0.08959, 2.2848, 0.04899], \"gripper_open\": 1.0, \"tcp_xyz\": [0.50317, -0.01795, 0.78623], \"tcp_roll_pitch_yaw\": [-0.00846, -0.03255, -0.01945], \"tcp_rotation_matrix\": [[0.99994, -0.00138, 0.01079], [-0.00064, -0.99762, -0.06897], [0.01086, 0.06896, -0.99756]], \"simulated_seconds_remaining\": 41.514, \"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": 0.57,
      "y": -0.019,
      "z": 0.84,
      "gripper": 1,
      "roll": 0,
      "pitch": 0,
      "yaw": 0
    },
    "note": "The gripper stopped above the requested height beside the bowl rim. I lift slightly and shift toward the fork's upper shaft to gain clearance."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [-0.03536, 0.09304, 0.02455, -1.99345, -0.07183, 2.0655, 0.00551], \"gripper_open\": 0.9979, \"tcp_xyz\": [0.56878, -0.01959, 0.83899], \"tcp_roll_pitch_yaw\": [-0.00038, 8e-05, -0.00128], \"tcp_rotation_matrix\": [[0.99961, 0.01899, -0.0205], [0.01772, -0.998, -0.06067], [-0.02161, 0.06028, -0.99795]], \"simulated_seconds_remaining\": 40.656, \"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": 0.405,
      "y": -0.005,
      "z": 0.84
    },
    "note": "The wrist view shows the fork ahead of the finger gap. I move back to align the handle with the actual grasp point."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [-0.01962, -0.39682, 0.03531, -2.52113, -0.05435, 2.10765, 0.02386], \"gripper_open\": 0.9961, \"tcp_xyz\": [0.40786, -0.00549, 0.8415], \"tcp_roll_pitch_yaw\": [-0.00023, -0.00506, -0.00233], \"tcp_rotation_matrix\": [[0.99973, 0.01762, -0.01543], [0.01666, -0.99803, -0.0605], [-0.01647, 0.06023, -0.99805]], \"simulated_seconds_remaining\": 39.27, \"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": 0.414,
      "y": -0.005,
      "z": 0.765
    },
    "note": "The fork handle now reaches the finger gap. I lower slowly to grasp height while watching clearance from the toaster and bowl."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [-0.02877, -0.28105, 0.03455, -2.58862, -0.07004, 2.43998, 0.04366], \"gripper_open\": 1.0, \"tcp_xyz\": [0.45321, -0.00632, 0.79466], \"tcp_roll_pitch_yaw\": [0.00667, -0.15341, -0.00378], \"tcp_rotation_matrix\": [[0.99118, 0.00811, 0.13224], [0.0154, -0.99841, -0.05415], [0.13159, 0.05571, -0.98974]], \"simulated_seconds_remaining\": 38.478, \"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": 0.415,
      "y": -0.005,
      "z": 0.91,
      "yaw": 1.25,
      "pitch": 0,
      "roll": 0
    },
    "note": "The wide jaws contacted the nearby bowl. I raise the hand and turn the jaw opening along the gap so the fingers can descend around the fork without spanning both obstacles."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [0.1881, -0.48878, -0.15756, -2.42836, -0.12528, 1.99149, -1.16966], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.41517, -0.00499, 0.90966], \"tcp_roll_pitch_yaw\": [-0.00048, -0.00055, 1.24541], \"tcp_rotation_matrix\": [[0.30155, 0.95207, 0.05128], [0.95322, -0.29986, -0.03819], [-0.02098, 0.06039, -0.99795]], \"simulated_seconds_remaining\": 36.498, \"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": 0.435,
      "y": 0.075,
      "z": 0.84
    },
    "note": "With the hand rotated, the fork is fully visible above the bowl. I shift toward the middle of its handle and lower for a closer alignment."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [0.2557, -0.33326, -0.06303, -2.47917, -0.08352, 2.18761, -1.0226], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.4347, 0.07402, 0.84081], \"tcp_roll_pitch_yaw\": [-0.0003, -0.00038, 1.24559], \"tcp_rotation_matrix\": [[0.30138, 0.95214, 0.05105], [0.95327, -0.29968, -0.03829], [-0.02115, 0.06021, -0.99796]], \"simulated_seconds_remaining\": 35.508, \"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": 0.415,
      "y": -0.075,
      "z": 0.86
    },
    "note": "The fork moved away from the finger gap in the wrist view. I correct the sideways alignment toward the exposed handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [0.11939, -0.44124, -0.26318, -2.51199, -0.16929, 2.13373, -1.30075], \"gripper_open\": 0.9969, \"tcp_xyz\": [0.41525, -0.07372, 0.85993], \"tcp_roll_pitch_yaw\": [-0.00053, -0.00055, 1.24539], \"tcp_rotation_matrix\": [[0.30157, 0.95206, 0.05132], [0.95321, -0.29988, -0.0382], [-0.02098, 0.06044, -0.99795]], \"simulated_seconds_remaining\": 34.188, \"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": {
      "x": 0.418,
      "y": -0.11,
      "z": 0.79
    },
    "note": "The fork handle is now immediately ahead of the finger gap. I move a little farther sideways and descend with the jaws angled along the clear space."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 11, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [0.11047, -0.37687, -0.32027, -2.57187, -0.17613, 2.35629, -1.37835], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.43871, -0.09565, 0.82697], \"tcp_roll_pitch_yaw\": [-0.09023, -0.02656, 1.27993], \"tcp_rotation_matrix\": [[0.27047, 0.95169, 0.14539], [0.96272, -0.2679, -0.03735], [0.00341, 0.15007, -0.98867]], \"simulated_seconds_remaining\": 33.396, \"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": {
      "x": 0.439,
      "y": -0.096,
      "z": 0.94,
      "yaw": 0,
      "roll": 0,
      "pitch": 0
    },
    "note": "The toaster blocks the angled approach. I lift clear and restore the straight grasp orientation to reassess the fork's position."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 12, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [-0.07988, -0.3417, -0.09002, -2.21505, -0.09734, 1.86382, -0.16018], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.43904, -0.09601, 0.93965], \"tcp_roll_pitch_yaw\": [-0.00021, -0.00042, 0.00468], \"tcp_rotation_matrix\": [[0.9995, 0.0249, -0.01964], [0.02367, -0.99788, -0.06061], [-0.02111, 0.06012, -0.99797]], \"simulated_seconds_remaining\": 31.416, \"calls_remaining_including_this\": 46}"
      },
      {
        "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": 0.4,
      "y": -0.052,
      "z": 0.82
    },
    "note": "The overhead view resolves the fork in the narrow gap between toaster and bowl. I center the hand over that gap before the final descent."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 13, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [-0.06273, -0.404, -0.05303, -2.51399, -0.1565, 2.21122, -0.0657], \"gripper_open\": 1.0, \"tcp_xyz\": [0.43305, -0.07201, 0.85881], \"tcp_roll_pitch_yaw\": [-0.05756, -0.11076, 0.02755], \"tcp_rotation_matrix\": [[0.99509, 0.03453, 0.09273], [0.04516, -0.99233, -0.11511], [0.08805, 0.11873, -0.98901]], \"simulated_seconds_remaining\": 30.228, \"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": 0.4,
      "y": -0.043,
      "z": 0.94,
      "yaw": 1.25,
      "roll": 0,
      "pitch": 0
    },
    "note": "The straight-open fingers still overlap the toaster. I raise and rotate again, now centered on the fork's gap."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 14, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [0.20035, -0.55627, -0.23939, -2.39467, -0.17295, 1.89878, -1.22037], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.40014, -0.0431, 0.93975], \"tcp_roll_pitch_yaw\": [-0.00054, -0.00027, 1.24533], \"tcp_rotation_matrix\": [[0.30163, 0.95205, 0.05124], [0.95319, -0.29992, -0.03848], [-0.02127, 0.06045, -0.99794]], \"simulated_seconds_remaining\": 28.314, \"calls_remaining_including_this\": 44}"
      },
      {
        "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": 0.82
    },
    "note": "The fork handle sits near the center of the wrist view with the jaws aligned along the corridor. I descend vertically while retaining this alignment."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 15, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [0.1881, -0.4624, -0.28229, -2.61738, -0.45295, 2.23069, -1.21007], \"gripper_open\": 1.0, \"tcp_xyz\": [0.40899, -0.08464, 0.83359], \"tcp_roll_pitch_yaw\": [-0.07325, 0.19471, 1.37542], \"tcp_rotation_matrix\": [[0.17249, 0.98093, 0.08955], [0.96107, -0.14768, -0.23351], [-0.21583, 0.12635, -0.96822]], \"simulated_seconds_remaining\": 27.192, \"calls_remaining_including_this\": 43}"
      },
      {
        "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 fork handle is visible across the finger gap after the descent. I close the jaws to try to secure it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 16, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [0.1881, -0.4624, -0.28229, -2.61738, -0.45295, 2.23069, -1.21007], \"gripper_open\": 0.0, \"tcp_xyz\": [0.40899, -0.08466, 0.83357], \"tcp_roll_pitch_yaw\": [-0.07325, 0.19481, 1.3755], \"tcp_rotation_matrix\": [[0.17241, 0.98095, 0.08955], [0.96107, -0.14759, -0.23359], [-0.21593, 0.12634, -0.9682]], \"simulated_seconds_remaining\": 26.268, \"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": {
      "z": 0.96,
      "yaw": 0,
      "roll": 0,
      "pitch": 0
    },
    "note": "The jaws closed fully, so the fork may not be secured. I lift to check and obtain a clear view of the now-exposed utensil."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 17, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [0.00128, -0.44679, -0.14065, -2.25315, -0.12694, 1.79589, -0.12009], \"gripper_open\": 0.0, \"tcp_xyz\": [0.40901, -0.08468, 0.95966], \"tcp_roll_pitch_yaw\": [-0.00062, 0.0002, 0.00444], \"tcp_rotation_matrix\": [[0.99949, 0.0247, -0.02027], [0.02342, -0.99786, -0.06102], [-0.02174, 0.06052, -0.99793]], \"simulated_seconds_remaining\": 24.09, \"calls_remaining_including_this\": 41}"
      },
      {
        "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": {
      "yaw": 1.57,
      "z": 0.84,
      "gripper": 1
    },
    "note": "The fork remains on the counter, with its handle directly below the grasp point. I align the jaws lengthwise and open while descending above the handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 18, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [0.2745, -0.46864, -0.45439, -2.55932, -0.25909, 2.18084, -1.58398], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.40899, -0.08469, 0.8403], \"tcp_roll_pitch_yaw\": [-0.00051, 0.00017, 1.56528], \"tcp_rotation_matrix\": [[-0.01347, 0.99806, 0.06071], [0.99967, 0.01476, -0.02085], [-0.02171, 0.06041, -0.99794]], \"simulated_seconds_remaining\": 21.714, \"calls_remaining_including_this\": 40}"
      },
      {
        "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": 0.775
    },
    "note": "The fork lies across the open finger gap and the bowl is clear of this approach. I lower the jaws around the handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 19, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [0.28362, -0.35884, -0.49778, -2.64963, -0.25825, 2.37869, -1.59441], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.40891, -0.08467, 0.7762], \"tcp_roll_pitch_yaw\": [-0.00016, 0.00018, 1.5653], \"tcp_rotation_matrix\": [[-0.01351, 0.99809, 0.06036], [0.99967, 0.01479, -0.02086], [-0.02171, 0.06005, -0.99796]], \"simulated_seconds_remaining\": 20.988, \"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": {
      "z": 0.739
    },
    "note": "The fork remains centered, and the last descent was unobstructed. I lower the remaining short distance so the fingertips straddle the utensil at counter height."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 20, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [0.29775, -0.28559, -0.52243, -2.67656, -0.23904, 2.48035, -1.61128], \"gripper_open\": 1.0, \"tcp_xyz\": [0.411, -0.08454, 0.74679], \"tcp_roll_pitch_yaw\": [-0.00345, -0.00204, 1.56519], \"tcp_rotation_matrix\": [[-0.01333, 0.99788, 0.06365], [0.99972, 0.01454, -0.01867], [-0.01955, 0.06339, -0.9978]], \"simulated_seconds_remaining\": 20.46, \"calls_remaining_including_this\": 38}"
      },
      {
        "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 reached the counter with the fork between them. I close to capture the fork."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 21, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [0.29718, -0.28921, -0.52229, -2.67606, -0.23894, 2.47538, -1.61147], \"gripper_open\": 0.9736, \"tcp_xyz\": [0.4105, -0.08459, 0.74781], \"tcp_roll_pitch_yaw\": [-0.00242, -0.00315, 1.56471], \"tcp_rotation_matrix\": [[-0.01286, 0.99795, 0.06262], [0.99975, 0.01399, -0.01758], [-0.01842, 0.06238, -0.99788]], \"simulated_seconds_remaining\": 19.536, \"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": {
      "z": 0.85,
      "gripper": 0
    },
    "note": "The jaws met an obstruction before closing. I lift slightly to check whether the fork is held and clear contact with the counter."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 22, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [0.27687, -0.47575, -0.45255, -2.54219, -0.25381, 2.15937, -1.58583], \"gripper_open\": 0.0, \"tcp_xyz\": [0.4106, -0.0846, 0.8488], \"tcp_roll_pitch_yaw\": [-0.00276, -0.00316, 1.5647], \"tcp_rotation_matrix\": [[-0.01285, 0.99793, 0.06296], [0.99975, 0.01398, -0.01757], [-0.01841, 0.06272, -0.99786]], \"simulated_seconds_remaining\": 18.546, \"calls_remaining_including_this\": 36}"
      },
      {
        "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,
      "y": -0.12,
      "z": 0.85,
      "yaw": 0.5,
      "roll": 0,
      "pitch": 0,
      "gripper": 1
    },
    "note": "The fork stayed on the counter; the obstruction was the toaster's front bar. I shift away from that bar and angle the jaws across the exposed fork shaft."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 23, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [0.10707, -0.30222, -0.32426, -2.40021, -0.18172, 2.1336, -0.63858], \"gripper_open\": 0.9953, \"tcp_xyz\": [0.44134, -0.11745, 0.85161], \"tcp_roll_pitch_yaw\": [-0.00219, -0.0032, 0.5099], \"tcp_rotation_matrix\": [[0.86324, 0.50456, 0.01553], [0.50447, -0.86114, -0.06292], [-0.01837, 0.06215, -0.9979]], \"simulated_seconds_remaining\": 16.83, \"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": "move_to",
  "arguments": {
    "targets": {
      "x": 0.425,
      "y": -0.096,
      "z": 0.77
    },
    "note": "The fork handle is visible just right of the finger gap. I make a small correction toward it and descend for a crosswise pinch."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 24, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [0.11567, -0.24221, -0.31812, -2.56895, -0.19046, 2.36038, -0.59068], \"gripper_open\": 1.0, \"tcp_xyz\": [0.42638, -0.09649, 0.77244], \"tcp_roll_pitch_yaw\": [-0.00429, -0.00587, 0.51032], \"tcp_rotation_matrix\": [[0.86309, 0.50469, 0.01891], [0.5048, -0.8609, -0.06344], [-0.01574, 0.0643, -0.99781]], \"simulated_seconds_remaining\": 15.972, \"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": 0.435,
      "y": -0.092,
      "z": 0.748
    },
    "note": "The handle is between the fingertips, slightly to one side. I adjust a few millimeters and lower to the utensil's surface."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 25, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [0.12625, -0.1801, -0.3199, -2.56388, -0.17264, 2.42618, -0.59102], \"gripper_open\": 1.0, \"tcp_xyz\": [0.4375, -0.09298, 0.75472], \"tcp_roll_pitch_yaw\": [-0.00911, -0.01499, 0.51059], \"tcp_rotation_matrix\": [[0.86309, 0.5042, 0.02921], [0.505, -0.8608, -0.06319], [-0.00671, 0.06929, -0.99757]], \"simulated_seconds_remaining\": 15.51, \"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": {
      "gripper": 0
    },
    "note": "The fork's handle runs through the finger gap at counter height. I close the jaws for the grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 26, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [0.12931, -0.18759, -0.31581, -2.562, -0.17027, 2.42152, -0.59149], \"gripper_open\": 0.4313, \"tcp_xyz\": [0.43903, -0.08976, 0.75832], \"tcp_roll_pitch_yaw\": [-0.01001, -0.02014, 0.51604], \"tcp_rotation_matrix\": [[0.86036, 0.50852, 0.03447], [0.50969, -0.85818, -0.06127], [-0.00158, 0.07029, -0.99753]], \"simulated_seconds_remaining\": 14.586, \"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": {
      "z": 0.95,
      "gripper": 0
    },
    "note": "The jaws stopped partly closed around the utensil. I lift vertically to verify that the fork comes free."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 27, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [0.13218, -0.40319, -0.26302, -2.24533, -0.16788, 1.89225, -0.59744], \"gripper_open\": 0.0, \"tcp_xyz\": [0.43911, -0.08977, 0.94877], \"tcp_roll_pitch_yaw\": [-0.01019, -0.02043, 0.51604], \"tcp_rotation_matrix\": [[0.86036, 0.5085, 0.03481], [0.50969, -0.85817, -0.06129], [-0.00129, 0.07047, -0.99751]], \"simulated_seconds_remaining\": 13.002, \"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": {
      "x": 0.472,
      "y": -0.1,
      "z": 0.765,
      "gripper": 1,
      "roll": 0,
      "pitch": 0
    },
    "note": "The fork did not lift. Its handle was behind the closing point, so I advance along the handle and descend with a corrected grasp position."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 28, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [0.13737, -0.09017, -0.32365, -2.42642, -0.12459, 2.36172, -0.634], \"gripper_open\": 0.999, \"tcp_xyz\": [0.47213, -0.09952, 0.76697], \"tcp_roll_pitch_yaw\": [-0.0005, -0.00115, 0.51671], \"tcp_rotation_matrix\": [[0.85973, 0.51057, 0.01335], [0.51034, -0.85771, -0.06235], [-0.02038, 0.06042, -0.99796]], \"simulated_seconds_remaining\": 11.484, \"calls_remaining_including_this\": 30}"
      },
      {
        "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": 0.482,
      "y": -0.07,
      "z": 0.748
    },
    "note": "The fork is still to the right of the fingers. I slide the grasp point onto the exposed handle and lower the last few millimeters."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 29, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [0.16394, -0.04602, -0.29726, -2.42045, -0.10897, 2.40339, -0.58491], \"gripper_open\": 1.0, \"tcp_xyz\": [0.48385, -0.07479, 0.75327], \"tcp_roll_pitch_yaw\": [-0.00537, -0.00826, 0.51202], \"tcp_rotation_matrix\": [[0.86227, 0.50598, 0.02162], [0.50627, -0.86006, -0.06317], [-0.01337, 0.06542, -0.99777]], \"simulated_seconds_remaining\": 10.956, \"calls_remaining_including_this\": 29}"
      },
      {
        "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 fork handle is within the closing span of the jaws. I close around it at the corrected position."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 30, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [0.16751, -0.0548, -0.29259, -2.41495, -0.10627, 2.40172, -0.58492], \"gripper_open\": 0.709, \"tcp_xyz\": [0.48799, -0.07065, 0.75956], \"tcp_roll_pitch_yaw\": [-0.00947, -0.02053, 0.51819], \"tcp_rotation_matrix\": [[0.85925, 0.51037, 0.03467], [0.51155, -0.85712, -0.06054], [-0.00118, 0.06975, -0.99756]], \"simulated_seconds_remaining\": 10.032, \"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": {
      "z": 0.85,
      "yaw": 1.57,
      "gripper": 1,
      "roll": 0,
      "pitch": 0,
      "y": -0.05
    },
    "note": "The toaster again limits closure. I lift and align the opening along the fork while shifting slightly into the clear gap."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 31, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [0.25686, -0.21552, -0.3401, -2.33101, -0.10692, 2.18686, -1.60406], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.48803, -0.05008, 0.84969], \"tcp_roll_pitch_yaw\": [-0.00022, -8e-05, 1.56541], \"tcp_rotation_matrix\": [[-0.01361, 0.99808, 0.06042], [0.99968, 0.01488, -0.02059], [-0.02145, 0.06012, -0.99796]], \"simulated_seconds_remaining\": 8.316, \"calls_remaining_including_this\": 27}"
      },
      {
        "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": 0.52,
      "y": -0.09,
      "z": 0.75
    },
    "note": "The fork is clear of the toaster at this end. I center the shaft between the fingers and descend for the final grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 32, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [0.23269, 0.04771, -0.40057, -2.3271, 0.01275, 2.43374, -1.76131], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.51955, -0.08954, 0.75105], \"tcp_roll_pitch_yaw\": [0.0001, -9e-05, 1.56535], \"tcp_rotation_matrix\": [[-0.01356, 0.9981, 0.06011], [0.99968, 0.01482, -0.02058], [-0.02143, 0.05981, -0.99798]], \"simulated_seconds_remaining\": 7.26, \"calls_remaining_including_this\": 26}"
      },
      {
        "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 fork shaft is under the jaws with clear space on both sides. I close to secure it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 33, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [0.2321, 0.04152, -0.40149, -2.32591, 0.01229, 2.42855, -1.7615], \"gripper_open\": 0.717, \"tcp_xyz\": [0.51963, -0.09001, 0.75402], \"tcp_roll_pitch_yaw\": [-0.00193, -0.00188, 1.56433], \"tcp_rotation_matrix\": [[-0.0125, 0.99799, 0.06211], [0.99973, 0.01369, -0.01887], [-0.01968, 0.06186, -0.99789]], \"simulated_seconds_remaining\": 6.336, \"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": {
      "z": 0.92,
      "gripper": 0
    },
    "note": "The jaws have contact with the fork. I lift it clear of the counter to verify the grasp and prepare to place it on the bowl."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 34, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [0.23612, -0.15997, -0.38238, -2.09134, -0.07632, 2.00635, -1.69765], \"gripper_open\": 0.0, \"tcp_xyz\": [0.51971, -0.09002, 0.91876], \"tcp_roll_pitch_yaw\": [-0.00229, -0.00189, 1.56434], \"tcp_rotation_matrix\": [[-0.01249, 0.99797, 0.06248], [0.99973, 0.01369, -0.01886], [-0.01968, 0.06223, -0.99787]], \"simulated_seconds_remaining\": 4.95, \"calls_remaining_including_this\": 24}"
      },
      {
        "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": 0.56,
      "y": -0.05,
      "z": 0.755,
      "gripper": 1
    },
    "note": "The fork slipped free during lifting. I make one corrected approach farther along its shaft, bringing it directly into the closing point."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 35, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [0.2652, 0.13512, -0.35458, -2.20169, 0.04879, 2.39151, -1.70359], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.55961, -0.05026, 0.75614], \"tcp_roll_pitch_yaw\": [-0.00194, -0.00187, 1.56445], \"tcp_rotation_matrix\": [[-0.01261, 0.99799, 0.06213], [0.99973, 0.01381, -0.01887], [-0.01969, 0.06187, -0.99789]], \"simulated_seconds_remaining\": 3.498, \"calls_remaining_including_this\": 23}"
      },
      {
        "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 fork despite several corrected approaches, and the remaining motion time is insufficient to grasp and place it safely."
  },
  "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 fork before the motion time ran out. The placement was not completed.

TURN USAGE
{
  "input_tokens": 800618,
  "cached_input_tokens": 750208,
  "cache_write_input_tokens": 0,
  "output_tokens": 7518,
  "reasoning_output_tokens": 3689
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      -0.02927,
      -0.81101,
      0.016,
      -2.35344,
      -0.04917,
      1.52328,
      -0.03988
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.29193,
      -0.01715,
      1.02063
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99959,
        0.02026,
        -0.02034
      ],
      [
        0.019,
        -0.998,
        -0.06031
      ],
      [
        -0.02152,
        0.0599,
        -0.99797
      ]
    ],
    "simulated_seconds_remaining": 45.012,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 28.820758424699306,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.43,
                    "y": -0.017,
                    "z": 0.94,
                    "gripper": 1
                  },
                  "note": "The fork is the slim silver utensil beside the toaster and bowl. I move forward and lower for a closer view above it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      -0.03299,
      -0.39416,
      0.02313,
      -2.25951,
      -0.05371,
      1.84514,
      -0.01629
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.42884,
      -0.01701,
      0.94058
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.00026,
      -1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99958,
        0.02027,
        -0.02061
      ],
      [
        0.01899,
        -0.998,
        -0.06031
      ],
      [
        -0.02179,
        0.05989,
        -0.99797
      ]
    ],
    "simulated_seconds_remaining": 43.626,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 11.008199104107916,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48,
                    "y": -0.025,
                    "z": 0.81
                  },
                  "note": "Both views show the fork just to the right of the toaster, with its handle clear of the bowl. I lower toward its handle while keeping the jaws open."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      -0.04299,
      -0.13376,
      0.01606,
      -2.34323,
      -0.0721,
      2.18894,
      -0.00436
    ],
    "gripper_open": 0.9967,
    "tcp_xyz": [
      0.47946,
      -0.02491,
      0.81112
    ],
    "tcp_roll_pitch_yaw": [
      1e-05,
      0.00059,
      -1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99957,
        0.02029,
        -0.02094
      ],
      [
        0.01899,
        -0.998,
        -0.0603
      ],
      [
        -0.02212,
        0.05987,
        -0.99796
      ]
    ],
    "simulated_seconds_remaining": 42.372,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 8.006529622711241,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.505,
                    "y": -0.009,
                    "z": 0.735
                  },
                  "note": "The fork handle remains visible between the toaster and bowl. I make a small alignment adjustment and descend to put the jaws around the narrow handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      -0.03512,
      -0.05049,
      0.02475,
      -2.32573,
      -0.08959,
      2.2848,
      0.04899
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.50317,
      -0.01795,
      0.78623
    ],
    "tcp_roll_pitch_yaw": [
      -0.00846,
      -0.03255,
      -0.01945
    ],
    "tcp_rotation_matrix": [
      [
        0.99994,
        -0.00138,
        0.01079
      ],
      [
        -0.00064,
        -0.99762,
        -0.06897
      ],
      [
        0.01086,
        0.06896,
        -0.99756
      ]
    ],
    "simulated_seconds_remaining": 41.514,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 10.012131439521909,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.57,
                    "y": -0.019,
                    "z": 0.84,
                    "gripper": 1,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 0
                  },
                  "note": "The gripper stopped above the requested height beside the bowl rim. I lift slightly and shift toward the fork's upper shaft to gain clearance."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      -0.03536,
      0.09304,
      0.02455,
      -1.99345,
      -0.07183,
      2.0655,
      0.00551
    ],
    "gripper_open": 0.9979,
    "tcp_xyz": [
      0.56878,
      -0.01959,
      0.83899
    ],
    "tcp_roll_pitch_yaw": [
      -0.00038,
      8e-05,
      -0.00128
    ],
    "tcp_rotation_matrix": [
      [
        0.99961,
        0.01899,
        -0.0205
      ],
      [
        0.01772,
        -0.998,
        -0.06067
      ],
      [
        -0.02161,
        0.06028,
        -0.99795
      ]
    ],
    "simulated_seconds_remaining": 40.656,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 14.011469587683678,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.405,
                    "y": -0.005,
                    "z": 0.84
                  },
                  "note": "The wrist view shows the fork ahead of the finger gap. I move back to align the handle with the actual grasp point."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      -0.01962,
      -0.39682,
      0.03531,
      -2.52113,
      -0.05435,
      2.10765,
      0.02386
    ],
    "gripper_open": 0.9961,
    "tcp_xyz": [
      0.40786,
      -0.00549,
      0.8415
    ],
    "tcp_roll_pitch_yaw": [
      -0.00023,
      -0.00506,
      -0.00233
    ],
    "tcp_rotation_matrix": [
      [
        0.99973,
        0.01762,
        -0.01543
      ],
      [
        0.01666,
        -0.99803,
        -0.0605
      ],
      [
        -0.01647,
        0.06023,
        -0.99805
      ]
    ],
    "simulated_seconds_remaining": 39.27,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 10.808710791170597,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.414,
                    "y": -0.005,
                    "z": 0.765
                  },
                  "note": "The fork handle now reaches the finger gap. I lower slowly to grasp height while watching clearance from the toaster and bowl."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      -0.02877,
      -0.28105,
      0.03455,
      -2.58862,
      -0.07004,
      2.43998,
      0.04366
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.45321,
      -0.00632,
      0.79466
    ],
    "tcp_roll_pitch_yaw": [
      0.00667,
      -0.15341,
      -0.00378
    ],
    "tcp_rotation_matrix": [
      [
        0.99118,
        0.00811,
        0.13224
      ],
      [
        0.0154,
        -0.99841,
        -0.05415
      ],
      [
        0.13159,
        0.05571,
        -0.98974
      ]
    ],
    "simulated_seconds_remaining": 38.478,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 10.208784328773618,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.415,
                    "y": -0.005,
                    "z": 0.91,
                    "yaw": 1.25,
                    "pitch": 0,
                    "roll": 0
                  },
                  "note": "The wide jaws contacted the nearby bowl. I raise the hand and turn the jaw opening along the gap so the fingers can descend around the fork without spanning both obstacles."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 30,
    "motion_seconds": 1.98,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      0.1881,
      -0.48878,
      -0.15756,
      -2.42836,
      -0.12528,
      1.99149,
      -1.16966
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.41517,
      -0.00499,
      0.90966
    ],
    "tcp_roll_pitch_yaw": [
      -0.00048,
      -0.00055,
      1.24541
    ],
    "tcp_rotation_matrix": [
      [
        0.30155,
        0.95207,
        0.05128
      ],
      [
        0.95322,
        -0.29986,
        -0.03819
      ],
      [
        -0.02098,
        0.06039,
        -0.99795
      ]
    ],
    "simulated_seconds_remaining": 36.498,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 32.423862636089325,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.435,
                    "y": 0.075,
                    "z": 0.84
                  },
                  "note": "With the hand rotated, the fork is fully visible above the bowl. I shift toward the middle of its handle and lower for a closer alignment."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      0.2557,
      -0.33326,
      -0.06303,
      -2.47917,
      -0.08352,
      2.18761,
      -1.0226
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.4347,
      0.07402,
      0.84081
    ],
    "tcp_roll_pitch_yaw": [
      -0.0003,
      -0.00038,
      1.24559
    ],
    "tcp_rotation_matrix": [
      [
        0.30138,
        0.95214,
        0.05105
      ],
      [
        0.95327,
        -0.29968,
        -0.03829
      ],
      [
        -0.02115,
        0.06021,
        -0.99796
      ]
    ],
    "simulated_seconds_remaining": 35.508,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 8.407068400643766,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.415,
                    "y": -0.075,
                    "z": 0.86
                  },
                  "note": "The fork moved away from the finger gap in the wrist view. I correct the sideways alignment toward the exposed handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      0.11939,
      -0.44124,
      -0.26318,
      -2.51199,
      -0.16929,
      2.13373,
      -1.30075
    ],
    "gripper_open": 0.9969,
    "tcp_xyz": [
      0.41525,
      -0.07372,
      0.85993
    ],
    "tcp_roll_pitch_yaw": [
      -0.00053,
      -0.00055,
      1.24539
    ],
    "tcp_rotation_matrix": [
      [
        0.30157,
        0.95206,
        0.05132
      ],
      [
        0.95321,
        -0.29988,
        -0.0382
      ],
      [
        -0.02098,
        0.06044,
        -0.99795
      ]
    ],
    "simulated_seconds_remaining": 34.188,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 14.609660223126411,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.418,
                    "y": -0.11,
                    "z": 0.79
                  },
                  "note": "The fork handle is now immediately ahead of the finger gap. I move a little farther sideways and descend with the jaws angled along the clear space."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      0.11047,
      -0.37687,
      -0.32027,
      -2.57187,
      -0.17613,
      2.35629,
      -1.37835
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.43871,
      -0.09565,
      0.82697
    ],
    "tcp_roll_pitch_yaw": [
      -0.09023,
      -0.02656,
      1.27993
    ],
    "tcp_rotation_matrix": [
      [
        0.27047,
        0.95169,
        0.14539
      ],
      [
        0.96272,
        -0.2679,
        -0.03735
      ],
      [
        0.00341,
        0.15007,
        -0.98867
      ]
    ],
    "simulated_seconds_remaining": 33.396,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 8.406352369114757,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.439,
                    "y": -0.096,
                    "z": 0.94,
                    "yaw": 0,
                    "roll": 0,
                    "pitch": 0
                  },
                  "note": "The toaster blocks the angled approach. I lift clear and restore the straight grasp orientation to reassess the fork's position."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 30,
    "motion_seconds": 1.98,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      -0.07988,
      -0.3417,
      -0.09002,
      -2.21505,
      -0.09734,
      1.86382,
      -0.16018
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.43904,
      -0.09601,
      0.93965
    ],
    "tcp_roll_pitch_yaw": [
      -0.00021,
      -0.00042,
      0.00468
    ],
    "tcp_rotation_matrix": [
      [
        0.9995,
        0.0249,
        -0.01964
      ],
      [
        0.02367,
        -0.99788,
        -0.06061
      ],
      [
        -0.02111,
        0.06012,
        -0.99797
      ]
    ],
    "simulated_seconds_remaining": 31.416,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 18.21685871295631,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "y": -0.052,
                    "z": 0.82
                  },
                  "note": "The overhead view resolves the fork in the narrow gap between toaster and bowl. I center the hand over that gap before the final descent."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      -0.06273,
      -0.404,
      -0.05303,
      -2.51399,
      -0.1565,
      2.21122,
      -0.0657
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.43305,
      -0.07201,
      0.85881
    ],
    "tcp_roll_pitch_yaw": [
      -0.05756,
      -0.11076,
      0.02755
    ],
    "tcp_rotation_matrix": [
      [
        0.99509,
        0.03453,
        0.09273
      ],
      [
        0.04516,
        -0.99233,
        -0.11511
      ],
      [
        0.08805,
        0.11873,
        -0.98901
      ]
    ],
    "simulated_seconds_remaining": 30.228,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 9.607147200033069,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "y": -0.043,
                    "z": 0.94,
                    "yaw": 1.25,
                    "roll": 0,
                    "pitch": 0
                  },
                  "note": "The straight-open fingers still overlap the toaster. I raise and rotate again, now centered on the fork's gap."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 29,
    "motion_seconds": 1.9140000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      0.20035,
      -0.55627,
      -0.23939,
      -2.39467,
      -0.17295,
      1.89878,
      -1.22037
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.40014,
      -0.0431,
      0.93975
    ],
    "tcp_roll_pitch_yaw": [
      -0.00054,
      -0.00027,
      1.24533
    ],
    "tcp_rotation_matrix": [
      [
        0.30163,
        0.95205,
        0.05124
      ],
      [
        0.95319,
        -0.29992,
        -0.03848
      ],
      [
        -0.02127,
        0.06045,
        -0.99794
      ]
    ],
    "simulated_seconds_remaining": 28.314,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 11.408472334034741,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.82
                  },
                  "note": "The fork handle sits near the center of the wrist view with the jaws aligned along the corridor. I descend vertically while retaining this alignment."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      0.1881,
      -0.4624,
      -0.28229,
      -2.61738,
      -0.45295,
      2.23069,
      -1.21007
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.40899,
      -0.08464,
      0.83359
    ],
    "tcp_roll_pitch_yaw": [
      -0.07325,
      0.19471,
      1.37542
    ],
    "tcp_rotation_matrix": [
      [
        0.17249,
        0.98093,
        0.08955
      ],
      [
        0.96107,
        -0.14768,
        -0.23351
      ],
      [
        -0.21583,
        0.12635,
        -0.96822
      ]
    ],
    "simulated_seconds_remaining": 27.192,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 7.806514281779528,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The fork handle is visible across the finger gap after the descent. I close the jaws to try to secure it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      0.1881,
      -0.4624,
      -0.28229,
      -2.61738,
      -0.45295,
      2.23069,
      -1.21007
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.40899,
      -0.08466,
      0.83357
    ],
    "tcp_roll_pitch_yaw": [
      -0.07325,
      0.19481,
      1.3755
    ],
    "tcp_rotation_matrix": [
      [
        0.17241,
        0.98095,
        0.08955
      ],
      [
        0.96107,
        -0.14759,
        -0.23359
      ],
      [
        -0.21593,
        0.12634,
        -0.9682
      ]
    ],
    "simulated_seconds_remaining": 26.268,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 6.207525192759931,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.96,
                    "yaw": 0,
                    "roll": 0,
                    "pitch": 0
                  },
                  "note": "The jaws closed fully, so the fork may not be secured. I lift to check and obtain a clear view of the now-exposed utensil."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 33,
    "motion_seconds": 2.178,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      0.00128,
      -0.44679,
      -0.14065,
      -2.25315,
      -0.12694,
      1.79589,
      -0.12009
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.40901,
      -0.08468,
      0.95966
    ],
    "tcp_roll_pitch_yaw": [
      -0.00062,
      0.0002,
      0.00444
    ],
    "tcp_rotation_matrix": [
      [
        0.99949,
        0.0247,
        -0.02027
      ],
      [
        0.02342,
        -0.99786,
        -0.06102
      ],
      [
        -0.02174,
        0.06052,
        -0.99793
      ]
    ],
    "simulated_seconds_remaining": 24.09,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 16.61260143853724,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "yaw": 1.57,
                    "z": 0.84,
                    "gripper": 1
                  },
                  "note": "The fork remains on the counter, with its handle directly below the grasp point. I align the jaws lengthwise and open while descending above the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 36,
    "motion_seconds": 2.3760000000000003,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      0.2745,
      -0.46864,
      -0.45439,
      -2.55932,
      -0.25909,
      2.18084,
      -1.58398
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.40899,
      -0.08469,
      0.8403
    ],
    "tcp_roll_pitch_yaw": [
      -0.00051,
      0.00017,
      1.56528
    ],
    "tcp_rotation_matrix": [
      [
        -0.01347,
        0.99806,
        0.06071
      ],
      [
        0.99967,
        0.01476,
        -0.02085
      ],
      [
        -0.02171,
        0.06041,
        -0.99794
      ]
    ],
    "simulated_seconds_remaining": 21.714,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 9.207927200943232,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.775
                  },
                  "note": "The fork lies across the open finger gap and the bowl is clear of this approach. I lower the jaws around the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 19,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      0.28362,
      -0.35884,
      -0.49778,
      -2.64963,
      -0.25825,
      2.37869,
      -1.59441
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.40891,
      -0.08467,
      0.7762
    ],
    "tcp_roll_pitch_yaw": [
      -0.00016,
      0.00018,
      1.5653
    ],
    "tcp_rotation_matrix": [
      [
        -0.01351,
        0.99809,
        0.06036
      ],
      [
        0.99967,
        0.01479,
        -0.02086
      ],
      [
        -0.02171,
        0.06005,
        -0.99796
      ]
    ],
    "simulated_seconds_remaining": 20.988,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 6.005062862299383,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.739
                  },
                  "note": "The fork remains centered, and the last descent was unobstructed. I lower the remaining short distance so the fingertips straddle the utensil at counter height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 8,
    "motion_seconds": 0.528,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 20,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      0.29775,
      -0.28559,
      -0.52243,
      -2.67656,
      -0.23904,
      2.48035,
      -1.61128
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.411,
      -0.08454,
      0.74679
    ],
    "tcp_roll_pitch_yaw": [
      -0.00345,
      -0.00204,
      1.56519
    ],
    "tcp_rotation_matrix": [
      [
        -0.01333,
        0.99788,
        0.06365
      ],
      [
        0.99972,
        0.01454,
        -0.01867
      ],
      [
        -0.01955,
        0.06339,
        -0.9978
      ]
    ],
    "simulated_seconds_remaining": 20.46,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 5.204051814042032,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The fingertips have reached the counter with the fork between them. I close to capture the fork."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 21,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      0.29718,
      -0.28921,
      -0.52229,
      -2.67606,
      -0.23894,
      2.47538,
      -1.61147
    ],
    "gripper_open": 0.9736,
    "tcp_xyz": [
      0.4105,
      -0.08459,
      0.74781
    ],
    "tcp_roll_pitch_yaw": [
      -0.00242,
      -0.00315,
      1.56471
    ],
    "tcp_rotation_matrix": [
      [
        -0.01286,
        0.99795,
        0.06262
      ],
      [
        0.99975,
        0.01399,
        -0.01758
      ],
      [
        -0.01842,
        0.06238,
        -0.99788
      ]
    ],
    "simulated_seconds_remaining": 19.536,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 6.004519468173385,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.85,
                    "gripper": 0
                  },
                  "note": "The jaws met an obstruction before closing. I lift slightly to check whether the fork is held and clear contact with the counter."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 22,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      0.27687,
      -0.47575,
      -0.45255,
      -2.54219,
      -0.25381,
      2.15937,
      -1.58583
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.4106,
      -0.0846,
      0.8488
    ],
    "tcp_roll_pitch_yaw": [
      -0.00276,
      -0.00316,
      1.5647
    ],
    "tcp_rotation_matrix": [
      [
        -0.01285,
        0.99793,
        0.06296
      ],
      [
        0.99975,
        0.01398,
        -0.01757
      ],
      [
        -0.01841,
        0.06272,
        -0.99786
      ]
    ],
    "simulated_seconds_remaining": 18.546,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 17.015604954212904,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.44,
                    "y": -0.12,
                    "z": 0.85,
                    "yaw": 0.5,
                    "roll": 0,
                    "pitch": 0,
                    "gripper": 1
                  },
                  "note": "The fork stayed on the counter; the obstruction was the toaster's front bar. I shift away from that bar and angle the jaws across the exposed fork shaft."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 26,
    "motion_seconds": 1.7160000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 23,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      0.10707,
      -0.30222,
      -0.32426,
      -2.40021,
      -0.18172,
      2.1336,
      -0.63858
    ],
    "gripper_open": 0.9953,
    "tcp_xyz": [
      0.44134,
      -0.11745,
      0.85161
    ],
    "tcp_roll_pitch_yaw": [
      -0.00219,
      -0.0032,
      0.5099
    ],
    "tcp_rotation_matrix": [
      [
        0.86324,
        0.50456,
        0.01553
      ],
      [
        0.50447,
        -0.86114,
        -0.06292
      ],
      [
        -0.01837,
        0.06215,
        -0.9979
      ]
    ],
    "simulated_seconds_remaining": 16.83,
    "calls_remaining_including_this": 35
  },
  "api_seconds": 14.017638448625803,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.425,
                    "y": -0.096,
                    "z": 0.77
                  },
                  "note": "The fork handle is visible just right of the finger gap. I make a small correction toward it and descend for a crosswise pinch."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 24,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      0.11567,
      -0.24221,
      -0.31812,
      -2.56895,
      -0.19046,
      2.36038,
      -0.59068
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.42638,
      -0.09649,
      0.77244
    ],
    "tcp_roll_pitch_yaw": [
      -0.00429,
      -0.00587,
      0.51032
    ],
    "tcp_rotation_matrix": [
      [
        0.86309,
        0.50469,
        0.01891
      ],
      [
        0.5048,
        -0.8609,
        -0.06344
      ],
      [
        -0.01574,
        0.0643,
        -0.99781
      ]
    ],
    "simulated_seconds_remaining": 15.972,
    "calls_remaining_including_this": 34
  },
  "api_seconds": 9.609716390259564,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.435,
                    "y": -0.092,
                    "z": 0.748
                  },
                  "note": "The handle is between the fingertips, slightly to one side. I adjust a few millimeters and lower to the utensil's surface."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 7,
    "motion_seconds": 0.462,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 25,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      0.12625,
      -0.1801,
      -0.3199,
      -2.56388,
      -0.17264,
      2.42618,
      -0.59102
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.4375,
      -0.09298,
      0.75472
    ],
    "tcp_roll_pitch_yaw": [
      -0.00911,
      -0.01499,
      0.51059
    ],
    "tcp_rotation_matrix": [
      [
        0.86309,
        0.5042,
        0.02921
      ],
      [
        0.505,
        -0.8608,
        -0.06319
      ],
      [
        -0.00671,
        0.06929,
        -0.99757
      ]
    ],
    "simulated_seconds_remaining": 15.51,
    "calls_remaining_including_this": 33
  },
  "api_seconds": 4.604272518306971,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The fork's handle runs through the finger gap at counter height. I close the jaws for the grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 26,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      0.12931,
      -0.18759,
      -0.31581,
      -2.562,
      -0.17027,
      2.42152,
      -0.59149
    ],
    "gripper_open": 0.4313,
    "tcp_xyz": [
      0.43903,
      -0.08976,
      0.75832
    ],
    "tcp_roll_pitch_yaw": [
      -0.01001,
      -0.02014,
      0.51604
    ],
    "tcp_rotation_matrix": [
      [
        0.86036,
        0.50852,
        0.03447
      ],
      [
        0.50969,
        -0.85818,
        -0.06127
      ],
      [
        -0.00158,
        0.07029,
        -0.99753
      ]
    ],
    "simulated_seconds_remaining": 14.586,
    "calls_remaining_including_this": 32
  },
  "api_seconds": 5.004668241366744,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.95,
                    "gripper": 0
                  },
                  "note": "The jaws stopped partly closed around the utensil. I lift vertically to verify that the fork comes free."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 24,
    "motion_seconds": 1.584,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 27,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      0.13218,
      -0.40319,
      -0.26302,
      -2.24533,
      -0.16788,
      1.89225,
      -0.59744
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.43911,
      -0.08977,
      0.94877
    ],
    "tcp_roll_pitch_yaw": [
      -0.01019,
      -0.02043,
      0.51604
    ],
    "tcp_rotation_matrix": [
      [
        0.86036,
        0.5085,
        0.03481
      ],
      [
        0.50969,
        -0.85817,
        -0.06129
      ],
      [
        -0.00129,
        0.07047,
        -0.99751
      ]
    ],
    "simulated_seconds_remaining": 13.002,
    "calls_remaining_including_this": 31
  },
  "api_seconds": 21.216136635281146,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.472,
                    "y": -0.1,
                    "z": 0.765,
                    "gripper": 1,
                    "roll": 0,
                    "pitch": 0
                  },
                  "note": "The fork did not lift. Its handle was behind the closing point, so I advance along the handle and descend with a corrected grasp position."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 28,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      0.13737,
      -0.09017,
      -0.32365,
      -2.42642,
      -0.12459,
      2.36172,
      -0.634
    ],
    "gripper_open": 0.999,
    "tcp_xyz": [
      0.47213,
      -0.09952,
      0.76697
    ],
    "tcp_roll_pitch_yaw": [
      -0.0005,
      -0.00115,
      0.51671
    ],
    "tcp_rotation_matrix": [
      [
        0.85973,
        0.51057,
        0.01335
      ],
      [
        0.51034,
        -0.85771,
        -0.06235
      ],
      [
        -0.02038,
        0.06042,
        -0.99796
      ]
    ],
    "simulated_seconds_remaining": 11.484,
    "calls_remaining_including_this": 30
  },
  "api_seconds": 9.608212714083493,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.482,
                    "y": -0.07,
                    "z": 0.748
                  },
                  "note": "The fork is still to the right of the fingers. I slide the grasp point onto the exposed handle and lower the last few millimeters."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 8,
    "motion_seconds": 0.528,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 29,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      0.16394,
      -0.04602,
      -0.29726,
      -2.42045,
      -0.10897,
      2.40339,
      -0.58491
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.48385,
      -0.07479,
      0.75327
    ],
    "tcp_roll_pitch_yaw": [
      -0.00537,
      -0.00826,
      0.51202
    ],
    "tcp_rotation_matrix": [
      [
        0.86227,
        0.50598,
        0.02162
      ],
      [
        0.50627,
        -0.86006,
        -0.06317
      ],
      [
        -0.01337,
        0.06542,
        -0.99777
      ]
    ],
    "simulated_seconds_remaining": 10.956,
    "calls_remaining_including_this": 29
  },
  "api_seconds": 7.6063391184434295,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The fork handle is within the closing span of the jaws. I close around it at the corrected position."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 30,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      0.16751,
      -0.0548,
      -0.29259,
      -2.41495,
      -0.10627,
      2.40172,
      -0.58492
    ],
    "gripper_open": 0.709,
    "tcp_xyz": [
      0.48799,
      -0.07065,
      0.75956
    ],
    "tcp_roll_pitch_yaw": [
      -0.00947,
      -0.02053,
      0.51819
    ],
    "tcp_rotation_matrix": [
      [
        0.85925,
        0.51037,
        0.03467
      ],
      [
        0.51155,
        -0.85712,
        -0.06054
      ],
      [
        -0.00118,
        0.06975,
        -0.99756
      ]
    ],
    "simulated_seconds_remaining": 10.032,
    "calls_remaining_including_this": 28
  },
  "api_seconds": 8.206516305916011,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.85,
                    "yaw": 1.57,
                    "gripper": 1,
                    "roll": 0,
                    "pitch": 0,
                    "y": -0.05
                  },
                  "note": "The toaster again limits closure. I lift and align the opening along the fork while shifting slightly into the clear gap."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 26,
    "motion_seconds": 1.7160000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 31,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      0.25686,
      -0.21552,
      -0.3401,
      -2.33101,
      -0.10692,
      2.18686,
      -1.60406
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.48803,
      -0.05008,
      0.84969
    ],
    "tcp_roll_pitch_yaw": [
      -0.00022,
      -8e-05,
      1.56541
    ],
    "tcp_rotation_matrix": [
      [
        -0.01361,
        0.99808,
        0.06042
      ],
      [
        0.99968,
        0.01488,
        -0.02059
      ],
      [
        -0.02145,
        0.06012,
        -0.99796
      ]
    ],
    "simulated_seconds_remaining": 8.316,
    "calls_remaining_including_this": 27
  },
  "api_seconds": 10.408475257456303,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.52,
                    "y": -0.09,
                    "z": 0.75
                  },
                  "note": "The fork is clear of the toaster at this end. I center the shaft between the fingers and descend for the final grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 32,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      0.23269,
      0.04771,
      -0.40057,
      -2.3271,
      0.01275,
      2.43374,
      -1.76131
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.51955,
      -0.08954,
      0.75105
    ],
    "tcp_roll_pitch_yaw": [
      0.0001,
      -9e-05,
      1.56535
    ],
    "tcp_rotation_matrix": [
      [
        -0.01356,
        0.9981,
        0.06011
      ],
      [
        0.99968,
        0.01482,
        -0.02058
      ],
      [
        -0.02143,
        0.05981,
        -0.99798
      ]
    ],
    "simulated_seconds_remaining": 7.26,
    "calls_remaining_including_this": 26
  },
  "api_seconds": 7.005832027643919,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The fork shaft is under the jaws with clear space on both sides. I close to secure it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 33,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      0.2321,
      0.04152,
      -0.40149,
      -2.32591,
      0.01229,
      2.42855,
      -1.7615
    ],
    "gripper_open": 0.717,
    "tcp_xyz": [
      0.51963,
      -0.09001,
      0.75402
    ],
    "tcp_roll_pitch_yaw": [
      -0.00193,
      -0.00188,
      1.56433
    ],
    "tcp_rotation_matrix": [
      [
        -0.0125,
        0.99799,
        0.06211
      ],
      [
        0.99973,
        0.01369,
        -0.01887
      ],
      [
        -0.01968,
        0.06186,
        -0.99789
      ]
    ],
    "simulated_seconds_remaining": 6.336,
    "calls_remaining_including_this": 25
  },
  "api_seconds": 8.006758065894246,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.92,
                    "gripper": 0
                  },
                  "note": "The jaws have contact with the fork. I lift it clear of the counter to verify the grasp and prepare to place it on the bowl."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 34,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      0.23612,
      -0.15997,
      -0.38238,
      -2.09134,
      -0.07632,
      2.00635,
      -1.69765
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.51971,
      -0.09002,
      0.91876
    ],
    "tcp_roll_pitch_yaw": [
      -0.00229,
      -0.00189,
      1.56434
    ],
    "tcp_rotation_matrix": [
      [
        -0.01249,
        0.99797,
        0.06248
      ],
      [
        0.99973,
        0.01369,
        -0.01886
      ],
      [
        -0.01968,
        0.06223,
        -0.99787
      ]
    ],
    "simulated_seconds_remaining": 4.95,
    "calls_remaining_including_this": 24
  },
  "api_seconds": 12.010575201362371,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.56,
                    "y": -0.05,
                    "z": 0.755,
                    "gripper": 1
                  },
                  "note": "The fork slipped free during lifting. I make one corrected approach farther along its shaft, bringing it directly into the closing point."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 22,
    "motion_seconds": 1.452,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 35,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      0.2652,
      0.13512,
      -0.35458,
      -2.20169,
      0.04879,
      2.39151,
      -1.70359
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.55961,
      -0.05026,
      0.75614
    ],
    "tcp_roll_pitch_yaw": [
      -0.00194,
      -0.00187,
      1.56445
    ],
    "tcp_rotation_matrix": [
      [
        -0.01261,
        0.99799,
        0.06213
      ],
      [
        0.99973,
        0.01381,
        -0.01887
      ],
      [
        -0.01969,
        0.06187,
        -0.99789
      ]
    ],
    "simulated_seconds_remaining": 3.498,
    "calls_remaining_including_this": 23
  },
  "api_seconds": 7.8062404580414295,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "give_up",
                "args": {
                  "note": "I could not secure the fork despite several corrected approaches, and the remaining motion time is insufficient to grasp and place it safely."
                }
              }
            }
          ]
        }
      }
    ]
  }
}

========================================================================
GPT-Astra / Pick & place / 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,
  "status": "completed",
  "success": true,
  "oracle_success": true,
  "action_decisions": 30,
  "wall_seconds": 338.88,
  "usage": {
    "input_tokens": 611539,
    "cached_input_tokens": 578432,
    "cache_write_input_tokens": 0,
    "output_tokens": 5491,
    "reasoning_output_tokens": 2470
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick-and-place 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 45 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 and grasp the requested object, lift it, move it to the named receptacle, and release it in or on that receptacle. Complete the entire pick-and-place 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 pick and place.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"pick up the mug and place it on the bowl.\", \"joint_positions\": [0.01045, -0.82072, 0.03918, -2.3395, 0.01603, 1.54099, -0.00227], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.29759, 0.01869, 1.0309], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.99894, 0.04024, 0.02227], [0.04051, -0.99911, -0.01181], [0.02178, 0.0127, -0.99968]], \"simulated_seconds_remaining\": 45.012, \"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": 0.43,
      "z": 0.91,
      "gripper": 1
    },
    "note": "The bowl is visible at the front and the mug appears near the laptop. I move forward and lower for a clearer wrist view."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"pick up the mug and place it on the bowl.\", \"joint_positions\": [-0.00157, -0.41447, 0.04602, -2.3618, 0.00632, 1.96919, -0.00201], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.42899, 0.01868, 0.9108], \"tcp_roll_pitch_yaw\": [-1e-05, 0.00031, -2e-05], \"tcp_rotation_matrix\": [[0.99895, 0.04023, 0.02196], [0.0405, -0.99911, -0.01182], [0.02147, 0.01269, -0.99969]], \"simulated_seconds_remaining\": 43.494, \"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": 0.52,
      "z": 0.85
    },
    "note": "The gray mug is directly ahead of the fingers near the laptop. I advance over it while keeping the gripper open."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"pick up the mug and place it on the bowl.\", \"joint_positions\": [-0.00856, -0.09183, 0.04854, -2.19684, -0.00968, 2.12635, 0.00449], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.5189, 0.01867, 0.85062], \"tcp_roll_pitch_yaw\": [-1e-05, 0.00053, -4e-05], \"tcp_rotation_matrix\": [[0.99895, 0.04021, 0.02174], [0.04047, -0.99911, -0.01182], [0.02124, 0.01268, -0.99969]], \"simulated_seconds_remaining\": 42.438, \"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": {
      "y": 0.3,
      "z": 0.99
    },
    "note": "The close view shows the gray object is a glove. The mug is on the small tray to the left, so I lift and shift toward that area."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"pick up the mug and place it on the bowl.\", \"joint_positions\": [0.2383, 0.1128, 0.31407, -1.59322, -0.05677, 1.71278, 0.51735], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.51887, 0.29889, 0.98942], \"tcp_roll_pitch_yaw\": [5e-05, 0.00046, 0.00023], \"tcp_rotation_matrix\": [[0.99894, 0.04048, 0.02181], [0.04074, -0.9991, -0.01175], [0.02132, 0.01263, -0.99969]], \"simulated_seconds_remaining\": 40.062, \"calls_remaining_including_this\": 54}"
      },
      {
        "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": 0.2,
      "z": 0.86
    },
    "note": "The wrist view reveals a small gray mug beside the glove, with its circular opening visible. I center the open fingers above that mug."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"pick up the mug and place it on the bowl.\", \"joint_positions\": [0.144, 0.01195, 0.2332, -2.04541, -0.02476, 2.07258, 0.34844], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.51885, 0.20072, 0.86096], \"tcp_roll_pitch_yaw\": [-4e-05, 0.00073, 6e-05], \"tcp_rotation_matrix\": [[0.99895, 0.04032, 0.02154], [0.04058, -0.99911, -0.01184], [0.02105, 0.01271, -0.9997]], \"simulated_seconds_remaining\": 38.676, \"calls_remaining_including_this\": 53}"
      },
      {
        "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": 0.16,
      "z": 0.88
    },
    "note": "The mug is partly obscured by the near fingers. I move slightly forward and right to bring its opening into the grasp center."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"pick up the mug and place it on the bowl.\", \"joint_positions\": [0.09762, 0.13253, 0.18882, -1.84555, -0.04628, 1.99273, 0.26298], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.57899, 0.1606, 0.87966], \"tcp_roll_pitch_yaw\": [-2e-05, 0.00071, -0.00018], \"tcp_rotation_matrix\": [[0.99896, 0.04007, 0.02156], [0.04033, -0.99912, -0.01184], [0.02107, 0.01269, -0.9997]], \"simulated_seconds_remaining\": 37.884, \"calls_remaining_including_this\": 52}"
      },
      {
        "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": 0.105,
      "z": 0.79
    },
    "note": "The mug opening is just left of the gap between the fingers. I shift the grasp over its body and descend toward its rim."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"pick up the mug and place it on the bowl.\", \"joint_positions\": [0.04321, 0.08738, 0.14615, -2.00469, -0.05539, 2.22054, 0.17949], \"gripper_open\": 1.0, \"tcp_xyz\": [0.59558, 0.10583, 0.85302], \"tcp_roll_pitch_yaw\": [0.00533, -0.11137, -0.00083], \"tcp_rotation_matrix\": [[0.99034, 0.03834, 0.13324], [0.03957, -0.99919, -0.00659], [0.13288, 0.0118, -0.99106]], \"simulated_seconds_remaining\": 36.894, \"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": {
      "z": 1.04,
      "pitch": 0,
      "roll": 0
    },
    "note": "The descent contacted the glove and did not reach the target height. I lift clear to reassess the mug location safely."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"pick up the mug and place it on the bowl.\", \"joint_positions\": [0.04838, 0.14934, 0.15031, -1.41525, -0.03837, 1.58363, 0.15736], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.59565, 0.10585, 1.03875], \"tcp_roll_pitch_yaw\": [0.0001, -0.00121, -0.00083], \"tcp_rotation_matrix\": [[0.99895, 0.0394, 0.02347], [0.03968, -0.99914, -0.01173], [0.02299, 0.01264, -0.99966]], \"simulated_seconds_remaining\": 35.376, \"calls_remaining_including_this\": 50}"
      },
      {
        "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": 0.48,
      "y": 0.035,
      "z": 0.98
    },
    "note": "The raised view clearly shows the mug beneath the glove, with its open end facing the camera. I reposition over the exposed cup body."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"pick up the mug and place it on the bowl.\", \"joint_positions\": [-0.0106, -0.26937, 0.08034, -2.0484, 0.00828, 1.80249, 0.02582], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.48108, 0.03561, 0.98059], \"tcp_roll_pitch_yaw\": [8e-05, -0.00121, -0.00093], \"tcp_rotation_matrix\": [[0.99895, 0.0393, 0.02347], [0.03958, -0.99915, -0.01175], [0.02299, 0.01267, -0.99966]], \"simulated_seconds_remaining\": 34.122, \"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": {
      "y": 0.012,
      "z": 0.88
    },
    "note": "The cup body is now between the finger paths. I lower the open gripper around the exposed sides of the mug."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"pick up the mug and place it on the bowl.\", \"joint_positions\": [-0.02793, -0.23429, 0.05556, -2.26972, 0.00061, 2.05859, -0.01342], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.48102, 0.01227, 0.88116], \"tcp_roll_pitch_yaw\": [8e-05, -0.00087, -0.00099], \"tcp_rotation_matrix\": [[0.99896, 0.03924, 0.02313], [0.03952, -0.99915, -0.01175], [0.02265, 0.01265, -0.99966]], \"simulated_seconds_remaining\": 33.132, \"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": 0.515,
      "z": 0.825
    },
    "note": "The mug sits slightly beyond the fingertip gap in the wrist view. I make a small forward adjustment and lower to grasp its body."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 11, \"instruction\": \"pick up the mug and place it on the bowl.\", \"joint_positions\": [-0.02996, -0.08008, 0.05776, -2.2505, -0.00955, 2.19301, -0.00623], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.51426, 0.01226, 0.826], \"tcp_roll_pitch_yaw\": [8e-05, -0.00054, -0.00101], \"tcp_rotation_matrix\": [[0.99897, 0.03923, 0.0228], [0.03951, -0.99915, -0.01176], [0.02232, 0.01264, -0.99967]], \"simulated_seconds_remaining\": 32.406, \"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": 0.775
    },
    "note": "The fingers are aligned around the mug's exposed lower body. I descend a final short distance before closing."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 12, \"instruction\": \"pick up the mug and place it on the bowl.\", \"joint_positions\": [-0.03018, -0.01116, 0.0583, -2.3098, -0.01604, 2.32074, -0.00046], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.51419, 0.01226, 0.77606], \"tcp_roll_pitch_yaw\": [7e-05, -0.00022, -0.00101], \"tcp_rotation_matrix\": [[0.99898, 0.03923, 0.02248], [0.0395, -0.99915, -0.01176], [0.022, 0.01264, -0.99968]], \"simulated_seconds_remaining\": 31.746, \"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 mug body beside the glove. I close the fingers and will check the grasp with a short lift."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 13, \"instruction\": \"pick up the mug and place it on the bowl.\", \"joint_positions\": [-0.03577, -0.02577, 0.05115, -2.30034, -0.01955, 2.31903, 1e-05], \"gripper_open\": 0.0274, \"tcp_xyz\": [0.52003, 0.00524, 0.78761], \"tcp_roll_pitch_yaw\": [-0.00262, -0.02266, -0.0119], \"tcp_rotation_matrix\": [[0.99861, 0.028, 0.04474], [0.02869, -0.99948, -0.01496], [0.0443, 0.01622, -0.99889]], \"simulated_seconds_remaining\": 30.822, \"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": 0.99
    },
    "note": "The fingers closed almost fully, so the grasp may be empty. I lift to verify whether the mug moves with the gripper."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 14, \"instruction\": \"pick up the mug and place it on the bowl.\", \"joint_positions\": [-0.03564, -0.17045, 0.04859, -1.93192, -0.00748, 1.80659, -0.01435], \"gripper_open\": 0.0, \"tcp_xyz\": [0.5201, 0.00524, 0.98878], \"tcp_roll_pitch_yaw\": [-0.00261, -0.02302, -0.0119], \"tcp_rotation_matrix\": [[0.99859, 0.02799, 0.0451], [0.02869, -0.99948, -0.01495], [0.04465, 0.01623, -0.99887]], \"simulated_seconds_remaining\": 29.172, \"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": 0.54,
      "y": 0.63,
      "z": 1.01,
      "gripper": 1,
      "pitch": 0,
      "roll": 0,
      "yaw": 0
    },
    "note": "The lift confirms the gripper is empty. I move above the tray on the left to inspect the other cup-shaped object."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 15, \"instruction\": \"pick up the mug and place it on the bowl.\", \"joint_positions\": [-0.03564, -0.17045, 0.04859, -1.93192, -0.00748, 1.80659, -0.01435], \"gripper_open\": 0.0, \"tcp_xyz\": [0.5201, 0.00524, 0.98878], \"tcp_roll_pitch_yaw\": [-0.00261, -0.02302, -0.0119], \"tcp_rotation_matrix\": [[0.99859, 0.02799, 0.0451], [0.02869, -0.99948, -0.01495], [0.04465, 0.01623, -0.99887]], \"simulated_seconds_remaining\": 29.172, \"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": {
      "y": 0.33,
      "z": 1.01,
      "gripper": 1,
      "pitch": 0,
      "roll": 0,
      "yaw": 0
    },
    "note": "The long sideways move was rejected. I split it into a shorter move toward the tray."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 16, \"instruction\": \"pick up the mug and place it on the bowl.\", \"joint_positions\": [0.25568, 0.18451, 0.36022, -1.45242, -0.08736, 1.63663, 0.57454], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.52004, 0.32874, 1.00987], \"tcp_roll_pitch_yaw\": [-0.0, -2e-05, 0.00024], \"tcp_rotation_matrix\": [[0.99893, 0.04049, 0.0223], [0.04076, -0.9991, -0.01181], [0.0218, 0.0127, -0.99968]], \"simulated_seconds_remaining\": 26.73, \"calls_remaining_including_this\": 42}"
      },
      {
        "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": 0.44,
      "y": 0.59,
      "z": 0.99
    },
    "note": "The tray remains farther to the left. I continue laterally at a clear height to bring it into the wrist camera."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 17, \"instruction\": \"pick up the mug and place it on the bowl.\", \"joint_positions\": [0.25568, 0.18451, 0.36022, -1.45242, -0.08736, 1.63663, 0.57454], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.52004, 0.32874, 1.00987], \"tcp_roll_pitch_yaw\": [-0.0, -2e-05, 0.00024], \"tcp_rotation_matrix\": [[0.99893, 0.04049, 0.0223], [0.04076, -0.9991, -0.01181], [0.0218, 0.0127, -0.99968]], \"simulated_seconds_remaining\": 26.73, \"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": {
      "x": 0.43,
      "y": 0.5,
      "z": 0.9
    },
    "note": "The high pose at the tray exceeded reach. I use a nearer, lower waypoint above the tabletop."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 18, \"instruction\": \"pick up the mug and place it on the bowl.\", \"joint_positions\": [0.48566, 0.35022, 0.45946, -1.52324, -0.18423, 1.83923, 0.92853], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.43043, 0.49903, 0.90058], \"tcp_roll_pitch_yaw\": [-0.0001, 0.00015, 0.00051], \"tcp_rotation_matrix\": [[0.99892, 0.04076, 0.02212], [0.04103, -0.99909, -0.01189], [0.02162, 0.01279, -0.99968]], \"simulated_seconds_remaining\": 24.948, \"calls_remaining_including_this\": 40}"
      },
      {
        "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": 0.42,
      "y": 0.12,
      "z": 0.91
    },
    "note": "The bowl is now clearly localized. I return to the gray mug beside the glove with an approach offset away from the glove."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 19, \"instruction\": \"pick up the mug and place it on the bowl.\", \"joint_positions\": [0.15724, -0.38898, 0.11868, -2.33841, 0.02997, 1.96998, 0.21547], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.42008, 0.12128, 0.90998], \"tcp_roll_pitch_yaw\": [-7e-05, 0.00013, 0.00026], \"tcp_rotation_matrix\": [[0.99893, 0.04051, 0.02215], [0.04078, -0.9991, -0.01187], [0.02164, 0.01276, -0.99968]], \"simulated_seconds_remaining\": 22.11, \"calls_remaining_including_this\": 39}"
      },
      {
        "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": 0.62,
      "y": 0.15,
      "z": 0.9
    },
    "note": "The mug lies farther forward than the current grasp. I advance until its exposed cylinder is centered below the fingers."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 20, \"instruction\": \"pick up the mug and place it on the bowl.\", \"joint_positions\": [0.1409, 0.23401, 0.11506, -1.65471, -0.0462, 1.90524, 0.22676], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.61867, 0.14978, 0.89998], \"tcp_roll_pitch_yaw\": [-9e-05, 0.00027, 0.00022], \"tcp_rotation_matrix\": [[0.99894, 0.04047, 0.022], [0.04074, -0.9991, -0.01189], [0.0215, 0.01278, -0.99969]], \"simulated_seconds_remaining\": 20.46, \"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": {
      "x": 0.59,
      "y": 0.09,
      "z": 0.88
    },
    "note": "The mug is visible as a separate gray cylinder below the glove. I align the finger gap with its middle, just clear of the glove's fingers."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 21, \"instruction\": \"pick up the mug and place it on the bowl.\", \"joint_positions\": [0.08265, 0.11843, 0.07952, -1.86036, -0.02714, 1.99802, 0.13215], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.59059, 0.09105, 0.8804], \"tcp_roll_pitch_yaw\": [-0.00013, 0.00033, -3e-05], \"tcp_rotation_matrix\": [[0.99895, 0.04022, 0.02195], [0.04049, -0.99911, -0.01194], [0.02145, 0.01282, -0.99969]], \"simulated_seconds_remaining\": 19.734, \"calls_remaining_including_this\": 37}"
      },
      {
        "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": 0.065,
      "z": 0.82
    },
    "note": "The mug body is nearly centered. I shift slightly right and descend around its cylindrical sides."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 22, \"instruction\": \"pick up the mug and place it on the bowl.\", \"joint_positions\": [0.05781, 0.15615, 0.06001, -1.96601, -0.02823, 2.14284, 0.09188], \"gripper_open\": 0.9978, \"tcp_xyz\": [0.59081, 0.06545, 0.82151], \"tcp_roll_pitch_yaw\": [-3e-05, -0.00039, -0.00025], \"tcp_rotation_matrix\": [[0.99894, 0.03999, 0.02266], [0.04026, -0.99912, -0.01184], [0.02217, 0.01274, -0.99967]], \"simulated_seconds_remaining\": 19.008, \"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": {
      "z": 0.78
    },
    "note": "The mug is centered between the open jaws. I lower four centimeters to place the fingers against its sides."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 23, \"instruction\": \"pick up the mug and place it on the bowl.\", \"joint_positions\": [0.05601, 0.19182, 0.05589, -2.00105, -0.03399, 2.24136, 0.09631], \"gripper_open\": 0.997, \"tcp_xyz\": [0.59878, 0.0628, 0.79353], \"tcp_roll_pitch_yaw\": [0.00162, -0.02828, -0.00545], \"tcp_rotation_matrix\": [[0.99813, 0.03447, 0.05048], [0.03504, -0.99933, -0.01047], [0.05008, 0.01222, -0.99867]], \"simulated_seconds_remaining\": 18.414, \"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 cup body fills the finger gap at grasp height. I close the jaws around it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 24, \"instruction\": \"pick up the mug and place it on the bowl.\", \"joint_positions\": [0.05886, 0.19, 0.05968, -1.99954, -0.03262, 2.24186, 0.09569], \"gripper_open\": 0.2338, \"tcp_xyz\": [0.59929, 0.06711, 0.79539], \"tcp_roll_pitch_yaw\": [0.00376, -0.03193, 0.00086], \"tcp_rotation_matrix\": [[0.9977, 0.04079, 0.05418], [0.04129, -0.99912, -0.008], [0.05381, 0.01022, -0.9985]], \"simulated_seconds_remaining\": 17.49, \"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": {
      "z": 0.98
    },
    "note": "The jaws stopped partly open against an object. I lift the mug clear of the table and verify that it follows."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 25, \"instruction\": \"pick up the mug and place it on the bowl.\", \"joint_positions\": [0.05822, 0.08442, 0.06197, -1.66067, -0.02014, 1.79792, 0.08276], \"gripper_open\": 0.1237, \"tcp_xyz\": [0.59933, 0.06712, 0.9787], \"tcp_roll_pitch_yaw\": [0.0038, -0.0321, 0.00085], \"tcp_rotation_matrix\": [[0.99769, 0.04079, 0.05435], [0.04128, -0.99912, -0.00796], [0.05398, 0.01019, -0.99849]], \"simulated_seconds_remaining\": 15.972, \"calls_remaining_including_this\": 33}"
      },
      {
        "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": 0.32,
      "y": 0.45,
      "z": 1
    },
    "note": "The mug is lifted and visible in the gripper. I carry it above the bowl at the front of the table."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 26, \"instruction\": \"pick up the mug and place it on the bowl.\", \"joint_positions\": [0.42676, -0.06223, 0.52757, -1.76871, -0.01785, 1.73973, 0.91527], \"gripper_open\": 0.1218, \"tcp_xyz\": [0.3207, 0.44896, 0.99986], \"tcp_roll_pitch_yaw\": [0.0037, -0.03197, 0.00117], \"tcp_rotation_matrix\": [[0.99768, 0.04111, 0.05423], [0.0416, -0.9991, -0.00805], [0.05385, 0.01029, -0.9985]], \"simulated_seconds_remaining\": 12.54, \"calls_remaining_including_this\": 32}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 52, \"motion_seconds\": 3.4320000000000004, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "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,
      "y": 0.485,
      "z": 0.88
    },
    "note": "The mug is above the bowl but slightly off center. I align its body over the bowl opening and lower for placement."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 27, \"instruction\": \"pick up the mug and place it on the bowl.\", \"joint_positions\": [0.47701, 0.01281, 0.58541, -1.99208, -0.06529, 2.02404, 1.04797], \"gripper_open\": 0.1109, \"tcp_xyz\": [0.28504, 0.48552, 0.8825], \"tcp_roll_pitch_yaw\": [0.00588, -0.03356, 0.00209], \"tcp_rotation_matrix\": [[0.99755, 0.04208, 0.05582], [0.04247, -0.99908, -0.00582], [0.05552, 0.00817, -0.99842]], \"simulated_seconds_remaining\": 11.352, \"calls_remaining_including_this\": 31}"
      },
      {
        "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": 0.305,
      "y": 0.475,
      "z": 0.845
    },
    "note": "The mug overlaps the bowl opening. I make a small centering adjustment and lower until the bowl supports it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 28, \"instruction\": \"pick up the mug and place it on the bowl.\", \"joint_positions\": [0.45995, 0.05073, 0.56745, -2.04847, -0.09112, 2.11349, 1.0303], \"gripper_open\": 0.0794, \"tcp_xyz\": [0.30442, 0.47536, 0.84606], \"tcp_roll_pitch_yaw\": [0.00597, -0.03358, 0.00218], \"tcp_rotation_matrix\": [[0.99755, 0.04217, 0.05583], [0.04255, -0.99908, -0.00572], [0.05554, 0.00808, -0.99842]], \"simulated_seconds_remaining\": 10.758, \"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": 0.275,
      "y": 0.51,
      "z": 0.89
    },
    "note": "The bowl shifted during contact, leaving the mug near its edge. I lift slightly and recenter over the bowl's new position."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 29, \"instruction\": \"pick up the mug and place it on the bowl.\", \"joint_positions\": [0.50513, 0.0683, 0.60548, -1.91771, -0.09931, 1.99139, 1.10549], \"gripper_open\": 0.0808, \"tcp_xyz\": [0.27478, 0.50962, 0.88885], \"tcp_roll_pitch_yaw\": [0.00585, -0.03267, 0.0032], \"tcp_rotation_matrix\": [[0.99756, 0.04319, 0.05493], [0.04358, -0.99903, -0.00579], [0.05463, 0.00817, -0.99847]], \"simulated_seconds_remaining\": 10.032, \"calls_remaining_including_this\": 29}"
      },
      {
        "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": 0.82
    },
    "note": "The mug and bowl now align laterally. I lower vertically to settle the mug into the bowl."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 30, \"instruction\": \"pick up the mug and place it on the bowl.\", \"joint_positions\": [0.51444, 0.13561, 0.60086, -2.02285, -0.15274, 2.14912, 1.14833], \"gripper_open\": 0.0802, \"tcp_xyz\": [0.27395, 0.51013, 0.82144], \"tcp_roll_pitch_yaw\": [0.00623, -0.03226, 0.00439], \"tcp_rotation_matrix\": [[0.99752, 0.0444, 0.05453], [0.04476, -0.99898, -0.00535], [0.05424, 0.00777, -0.9985]], \"simulated_seconds_remaining\": 9.306, \"calls_remaining_including_this\": 28}"
      },
      {
        "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": 1
    },
    "note": "The mug rests across the bowl opening with its body inside the rim. I open the fingers to release 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"
}

Released the mug onto the bowl.

TURN USAGE
{
  "input_tokens": 611539,
  "cached_input_tokens": 578432,
  "cache_write_input_tokens": 0,
  "output_tokens": 5491,
  "reasoning_output_tokens": 2470
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "pick up the mug and place it on the bowl.",
    "joint_positions": [
      0.01045,
      -0.82072,
      0.03918,
      -2.3395,
      0.01603,
      1.54099,
      -0.00227
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.29759,
      0.01869,
      1.0309
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99894,
        0.04024,
        0.02227
      ],
      [
        0.04051,
        -0.99911,
        -0.01181
      ],
      [
        0.02178,
        0.0127,
        -0.99968
      ]
    ],
    "simulated_seconds_remaining": 45.012,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 19.618689405731857,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.43,
                    "z": 0.91,
                    "gripper": 1
                  },
                  "note": "The bowl is visible at the front and the mug appears near the laptop. I move forward and lower for a clearer wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "pick up the mug and place it on the bowl.",
    "joint_positions": [
      -0.00157,
      -0.41447,
      0.04602,
      -2.3618,
      0.00632,
      1.96919,
      -0.00201
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.42899,
      0.01868,
      0.9108
    ],
    "tcp_roll_pitch_yaw": [
      -1e-05,
      0.00031,
      -2e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99895,
        0.04023,
        0.02196
      ],
      [
        0.0405,
        -0.99911,
        -0.01182
      ],
      [
        0.02147,
        0.01269,
        -0.99969
      ]
    ],
    "simulated_seconds_remaining": 43.494,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 8.807624825276434,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.52,
                    "z": 0.85
                  },
                  "note": "The gray mug is directly ahead of the fingers near the laptop. I advance over it while keeping the gripper open."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "pick up the mug and place it on the bowl.",
    "joint_positions": [
      -0.00856,
      -0.09183,
      0.04854,
      -2.19684,
      -0.00968,
      2.12635,
      0.00449
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.5189,
      0.01867,
      0.85062
    ],
    "tcp_roll_pitch_yaw": [
      -1e-05,
      0.00053,
      -4e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99895,
        0.04021,
        0.02174
      ],
      [
        0.04047,
        -0.99911,
        -0.01182
      ],
      [
        0.02124,
        0.01268,
        -0.99969
      ]
    ],
    "simulated_seconds_remaining": 42.438,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 11.809612033888698,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.3,
                    "z": 0.99
                  },
                  "note": "The close view shows the gray object is a glove. The mug is on the small tray to the left, so I lift and shift toward that area."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 36,
    "motion_seconds": 2.3760000000000003,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "pick up the mug and place it on the bowl.",
    "joint_positions": [
      0.2383,
      0.1128,
      0.31407,
      -1.59322,
      -0.05677,
      1.71278,
      0.51735
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.51887,
      0.29889,
      0.98942
    ],
    "tcp_roll_pitch_yaw": [
      5e-05,
      0.00046,
      0.00023
    ],
    "tcp_rotation_matrix": [
      [
        0.99894,
        0.04048,
        0.02181
      ],
      [
        0.04074,
        -0.9991,
        -0.01175
      ],
      [
        0.02132,
        0.01263,
        -0.99969
      ]
    ],
    "simulated_seconds_remaining": 40.062,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 13.611718208529055,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.2,
                    "z": 0.86
                  },
                  "note": "The wrist view reveals a small gray mug beside the glove, with its circular opening visible. I center the open fingers above that mug."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "pick up the mug and place it on the bowl.",
    "joint_positions": [
      0.144,
      0.01195,
      0.2332,
      -2.04541,
      -0.02476,
      2.07258,
      0.34844
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.51885,
      0.20072,
      0.86096
    ],
    "tcp_roll_pitch_yaw": [
      -4e-05,
      0.00073,
      6e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99895,
        0.04032,
        0.02154
      ],
      [
        0.04058,
        -0.99911,
        -0.01184
      ],
      [
        0.02105,
        0.01271,
        -0.9997
      ]
    ],
    "simulated_seconds_remaining": 38.676,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 11.61073053162545,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.58,
                    "y": 0.16,
                    "z": 0.88
                  },
                  "note": "The mug is partly obscured by the near fingers. I move slightly forward and right to bring its opening into the grasp center."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "pick up the mug and place it on the bowl.",
    "joint_positions": [
      0.09762,
      0.13253,
      0.18882,
      -1.84555,
      -0.04628,
      1.99273,
      0.26298
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.57899,
      0.1606,
      0.87966
    ],
    "tcp_roll_pitch_yaw": [
      -2e-05,
      0.00071,
      -0.00018
    ],
    "tcp_rotation_matrix": [
      [
        0.99896,
        0.04007,
        0.02156
      ],
      [
        0.04033,
        -0.99912,
        -0.01184
      ],
      [
        0.02107,
        0.01269,
        -0.9997
      ]
    ],
    "simulated_seconds_remaining": 37.884,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 9.608577660284936,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.105,
                    "z": 0.79
                  },
                  "note": "The mug opening is just left of the gap between the fingers. I shift the grasp over its body and descend toward its rim."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "pick up the mug and place it on the bowl.",
    "joint_positions": [
      0.04321,
      0.08738,
      0.14615,
      -2.00469,
      -0.05539,
      2.22054,
      0.17949
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.59558,
      0.10583,
      0.85302
    ],
    "tcp_roll_pitch_yaw": [
      0.00533,
      -0.11137,
      -0.00083
    ],
    "tcp_rotation_matrix": [
      [
        0.99034,
        0.03834,
        0.13324
      ],
      [
        0.03957,
        -0.99919,
        -0.00659
      ],
      [
        0.13288,
        0.0118,
        -0.99106
      ]
    ],
    "simulated_seconds_remaining": 36.894,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 14.011645760387182,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.04,
                    "pitch": 0,
                    "roll": 0
                  },
                  "note": "The descent contacted the glove and did not reach the target height. I lift clear to reassess the mug location safely."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "pick up the mug and place it on the bowl.",
    "joint_positions": [
      0.04838,
      0.14934,
      0.15031,
      -1.41525,
      -0.03837,
      1.58363,
      0.15736
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.59565,
      0.10585,
      1.03875
    ],
    "tcp_roll_pitch_yaw": [
      0.0001,
      -0.00121,
      -0.00083
    ],
    "tcp_rotation_matrix": [
      [
        0.99895,
        0.0394,
        0.02347
      ],
      [
        0.03968,
        -0.99914,
        -0.01173
      ],
      [
        0.02299,
        0.01264,
        -0.99966
      ]
    ],
    "simulated_seconds_remaining": 35.376,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 10.208567298948765,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48,
                    "y": 0.035,
                    "z": 0.98
                  },
                  "note": "The raised view clearly shows the mug beneath the glove, with its open end facing the camera. I reposition over the exposed cup body."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "pick up the mug and place it on the bowl.",
    "joint_positions": [
      -0.0106,
      -0.26937,
      0.08034,
      -2.0484,
      0.00828,
      1.80249,
      0.02582
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.48108,
      0.03561,
      0.98059
    ],
    "tcp_roll_pitch_yaw": [
      8e-05,
      -0.00121,
      -0.00093
    ],
    "tcp_rotation_matrix": [
      [
        0.99895,
        0.0393,
        0.02347
      ],
      [
        0.03958,
        -0.99915,
        -0.01175
      ],
      [
        0.02299,
        0.01267,
        -0.99966
      ]
    ],
    "simulated_seconds_remaining": 34.122,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 8.205864411778748,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.012,
                    "z": 0.88
                  },
                  "note": "The cup body is now between the finger paths. I lower the open gripper around the exposed sides of the mug."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "pick up the mug and place it on the bowl.",
    "joint_positions": [
      -0.02793,
      -0.23429,
      0.05556,
      -2.26972,
      0.00061,
      2.05859,
      -0.01342
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.48102,
      0.01227,
      0.88116
    ],
    "tcp_roll_pitch_yaw": [
      8e-05,
      -0.00087,
      -0.00099
    ],
    "tcp_rotation_matrix": [
      [
        0.99896,
        0.03924,
        0.02313
      ],
      [
        0.03952,
        -0.99915,
        -0.01175
      ],
      [
        0.02265,
        0.01265,
        -0.99966
      ]
    ],
    "simulated_seconds_remaining": 33.132,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 6.005452446639538,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.515,
                    "z": 0.825
                  },
                  "note": "The mug sits slightly beyond the fingertip gap in the wrist view. I make a small forward adjustment and lower to grasp its body."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "pick up the mug and place it on the bowl.",
    "joint_positions": [
      -0.02996,
      -0.08008,
      0.05776,
      -2.2505,
      -0.00955,
      2.19301,
      -0.00623
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.51426,
      0.01226,
      0.826
    ],
    "tcp_roll_pitch_yaw": [
      8e-05,
      -0.00054,
      -0.00101
    ],
    "tcp_rotation_matrix": [
      [
        0.99897,
        0.03923,
        0.0228
      ],
      [
        0.03951,
        -0.99915,
        -0.01176
      ],
      [
        0.02232,
        0.01264,
        -0.99967
      ]
    ],
    "simulated_seconds_remaining": 32.406,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 4.8043551398441195,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.775
                  },
                  "note": "The fingers are aligned around the mug's exposed lower body. I descend a final short distance before closing."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "pick up the mug and place it on the bowl.",
    "joint_positions": [
      -0.03018,
      -0.01116,
      0.0583,
      -2.3098,
      -0.01604,
      2.32074,
      -0.00046
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.51419,
      0.01226,
      0.77606
    ],
    "tcp_roll_pitch_yaw": [
      7e-05,
      -0.00022,
      -0.00101
    ],
    "tcp_rotation_matrix": [
      [
        0.99898,
        0.03923,
        0.02248
      ],
      [
        0.0395,
        -0.99915,
        -0.01176
      ],
      [
        0.022,
        0.01264,
        -0.99968
      ]
    ],
    "simulated_seconds_remaining": 31.746,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 5.004510622471571,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The gripper has reached the mug body beside the glove. I close the fingers and will check the grasp with a short lift."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "pick up the mug and place it on the bowl.",
    "joint_positions": [
      -0.03577,
      -0.02577,
      0.05115,
      -2.30034,
      -0.01955,
      2.31903,
      1e-05
    ],
    "gripper_open": 0.0274,
    "tcp_xyz": [
      0.52003,
      0.00524,
      0.78761
    ],
    "tcp_roll_pitch_yaw": [
      -0.00262,
      -0.02266,
      -0.0119
    ],
    "tcp_rotation_matrix": [
      [
        0.99861,
        0.028,
        0.04474
      ],
      [
        0.02869,
        -0.99948,
        -0.01496
      ],
      [
        0.0443,
        0.01622,
        -0.99889
      ]
    ],
    "simulated_seconds_remaining": 30.822,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 4.203787128441036,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.99
                  },
                  "note": "The fingers closed almost fully, so the grasp may be empty. I lift to verify whether the mug moves with the gripper."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 25,
    "motion_seconds": 1.6500000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "pick up the mug and place it on the bowl.",
    "joint_positions": [
      -0.03564,
      -0.17045,
      0.04859,
      -1.93192,
      -0.00748,
      1.80659,
      -0.01435
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.5201,
      0.00524,
      0.98878
    ],
    "tcp_roll_pitch_yaw": [
      -0.00261,
      -0.02302,
      -0.0119
    ],
    "tcp_rotation_matrix": [
      [
        0.99859,
        0.02799,
        0.0451
      ],
      [
        0.02869,
        -0.99948,
        -0.01495
      ],
      [
        0.04465,
        0.01623,
        -0.99887
      ]
    ],
    "simulated_seconds_remaining": 29.172,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 6.205460603348911,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.54,
                    "y": 0.63,
                    "z": 1.01,
                    "gripper": 1,
                    "pitch": 0,
                    "roll": 0,
                    "yaw": 0
                  },
                  "note": "The lift confirms the gripper is empty. I move above the tray on the left to inspect the other cup-shaped object."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 15,
  "state": {
    "instruction": "pick up the mug and place it on the bowl.",
    "joint_positions": [
      -0.03564,
      -0.17045,
      0.04859,
      -1.93192,
      -0.00748,
      1.80659,
      -0.01435
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.5201,
      0.00524,
      0.98878
    ],
    "tcp_roll_pitch_yaw": [
      -0.00261,
      -0.02302,
      -0.0119
    ],
    "tcp_rotation_matrix": [
      [
        0.99859,
        0.02799,
        0.0451
      ],
      [
        0.02869,
        -0.99948,
        -0.01495
      ],
      [
        0.04465,
        0.01623,
        -0.99887
      ]
    ],
    "simulated_seconds_remaining": 29.172,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 6.807763854041696,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.33,
                    "z": 1.01,
                    "gripper": 1,
                    "pitch": 0,
                    "roll": 0,
                    "yaw": 0
                  },
                  "note": "The long sideways move was rejected. I split it into a shorter move toward the tray."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 37,
    "motion_seconds": 2.442,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "pick up the mug and place it on the bowl.",
    "joint_positions": [
      0.25568,
      0.18451,
      0.36022,
      -1.45242,
      -0.08736,
      1.63663,
      0.57454
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.52004,
      0.32874,
      1.00987
    ],
    "tcp_roll_pitch_yaw": [
      -0.0,
      -2e-05,
      0.00024
    ],
    "tcp_rotation_matrix": [
      [
        0.99893,
        0.04049,
        0.0223
      ],
      [
        0.04076,
        -0.9991,
        -0.01181
      ],
      [
        0.0218,
        0.0127,
        -0.99968
      ]
    ],
    "simulated_seconds_remaining": 26.73,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 7.40537035651505,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.44,
                    "y": 0.59,
                    "z": 0.99
                  },
                  "note": "The tray remains farther to the left. I continue laterally at a clear height to bring it into the wrist camera."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 17,
  "state": {
    "instruction": "pick up the mug and place it on the bowl.",
    "joint_positions": [
      0.25568,
      0.18451,
      0.36022,
      -1.45242,
      -0.08736,
      1.63663,
      0.57454
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.52004,
      0.32874,
      1.00987
    ],
    "tcp_roll_pitch_yaw": [
      -0.0,
      -2e-05,
      0.00024
    ],
    "tcp_rotation_matrix": [
      [
        0.99893,
        0.04049,
        0.0223
      ],
      [
        0.04076,
        -0.9991,
        -0.01181
      ],
      [
        0.0218,
        0.0127,
        -0.99968
      ]
    ],
    "simulated_seconds_remaining": 26.73,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 5.004437045194209,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.43,
                    "y": 0.5,
                    "z": 0.9
                  },
                  "note": "The high pose at the tray exceeded reach. I use a nearer, lower waypoint above the tabletop."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 27,
    "motion_seconds": 1.782,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "pick up the mug and place it on the bowl.",
    "joint_positions": [
      0.48566,
      0.35022,
      0.45946,
      -1.52324,
      -0.18423,
      1.83923,
      0.92853
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.43043,
      0.49903,
      0.90058
    ],
    "tcp_roll_pitch_yaw": [
      -0.0001,
      0.00015,
      0.00051
    ],
    "tcp_rotation_matrix": [
      [
        0.99892,
        0.04076,
        0.02212
      ],
      [
        0.04103,
        -0.99909,
        -0.01189
      ],
      [
        0.02162,
        0.01279,
        -0.99968
      ]
    ],
    "simulated_seconds_remaining": 24.948,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 15.8140649497509,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.42,
                    "y": 0.12,
                    "z": 0.91
                  },
                  "note": "The bowl is now clearly localized. I return to the gray mug beside the glove with an approach offset away from the glove."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 43,
    "motion_seconds": 2.838,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 19,
  "state": {
    "instruction": "pick up the mug and place it on the bowl.",
    "joint_positions": [
      0.15724,
      -0.38898,
      0.11868,
      -2.33841,
      0.02997,
      1.96998,
      0.21547
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.42008,
      0.12128,
      0.90998
    ],
    "tcp_roll_pitch_yaw": [
      -7e-05,
      0.00013,
      0.00026
    ],
    "tcp_rotation_matrix": [
      [
        0.99893,
        0.04051,
        0.02215
      ],
      [
        0.04078,
        -0.9991,
        -0.01187
      ],
      [
        0.02164,
        0.01276,
        -0.99968
      ]
    ],
    "simulated_seconds_remaining": 22.11,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 11.008977526798844,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.62,
                    "y": 0.15,
                    "z": 0.9
                  },
                  "note": "The mug lies farther forward than the current grasp. I advance until its exposed cylinder is centered below the fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 25,
    "motion_seconds": 1.6500000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 20,
  "state": {
    "instruction": "pick up the mug and place it on the bowl.",
    "joint_positions": [
      0.1409,
      0.23401,
      0.11506,
      -1.65471,
      -0.0462,
      1.90524,
      0.22676
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.61867,
      0.14978,
      0.89998
    ],
    "tcp_roll_pitch_yaw": [
      -9e-05,
      0.00027,
      0.00022
    ],
    "tcp_rotation_matrix": [
      [
        0.99894,
        0.04047,
        0.022
      ],
      [
        0.04074,
        -0.9991,
        -0.01189
      ],
      [
        0.0215,
        0.01278,
        -0.99969
      ]
    ],
    "simulated_seconds_remaining": 20.46,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 11.209176240488887,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.59,
                    "y": 0.09,
                    "z": 0.88
                  },
                  "note": "The mug is visible as a separate gray cylinder below the glove. I align the finger gap with its middle, just clear of the glove's fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 21,
  "state": {
    "instruction": "pick up the mug and place it on the bowl.",
    "joint_positions": [
      0.08265,
      0.11843,
      0.07952,
      -1.86036,
      -0.02714,
      1.99802,
      0.13215
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.59059,
      0.09105,
      0.8804
    ],
    "tcp_roll_pitch_yaw": [
      -0.00013,
      0.00033,
      -3e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99895,
        0.04022,
        0.02195
      ],
      [
        0.04049,
        -0.99911,
        -0.01194
      ],
      [
        0.02145,
        0.01282,
        -0.99969
      ]
    ],
    "simulated_seconds_remaining": 19.734,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 7.6063963528722525,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.065,
                    "z": 0.82
                  },
                  "note": "The mug body is nearly centered. I shift slightly right and descend around its cylindrical sides."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 22,
  "state": {
    "instruction": "pick up the mug and place it on the bowl.",
    "joint_positions": [
      0.05781,
      0.15615,
      0.06001,
      -1.96601,
      -0.02823,
      2.14284,
      0.09188
    ],
    "gripper_open": 0.9978,
    "tcp_xyz": [
      0.59081,
      0.06545,
      0.82151
    ],
    "tcp_roll_pitch_yaw": [
      -3e-05,
      -0.00039,
      -0.00025
    ],
    "tcp_rotation_matrix": [
      [
        0.99894,
        0.03999,
        0.02266
      ],
      [
        0.04026,
        -0.99912,
        -0.01184
      ],
      [
        0.02217,
        0.01274,
        -0.99967
      ]
    ],
    "simulated_seconds_remaining": 19.008,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 6.206998715177178,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.78
                  },
                  "note": "The mug is centered between the open jaws. I lower four centimeters to place the fingers against its sides."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 23,
  "state": {
    "instruction": "pick up the mug and place it on the bowl.",
    "joint_positions": [
      0.05601,
      0.19182,
      0.05589,
      -2.00105,
      -0.03399,
      2.24136,
      0.09631
    ],
    "gripper_open": 0.997,
    "tcp_xyz": [
      0.59878,
      0.0628,
      0.79353
    ],
    "tcp_roll_pitch_yaw": [
      0.00162,
      -0.02828,
      -0.00545
    ],
    "tcp_rotation_matrix": [
      [
        0.99813,
        0.03447,
        0.05048
      ],
      [
        0.03504,
        -0.99933,
        -0.01047
      ],
      [
        0.05008,
        0.01222,
        -0.99867
      ]
    ],
    "simulated_seconds_remaining": 18.414,
    "calls_remaining_including_this": 35
  },
  "api_seconds": 5.804981742985547,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The cup body fills the finger gap at grasp height. I close the jaws around it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 24,
  "state": {
    "instruction": "pick up the mug and place it on the bowl.",
    "joint_positions": [
      0.05886,
      0.19,
      0.05968,
      -1.99954,
      -0.03262,
      2.24186,
      0.09569
    ],
    "gripper_open": 0.2338,
    "tcp_xyz": [
      0.59929,
      0.06711,
      0.79539
    ],
    "tcp_roll_pitch_yaw": [
      0.00376,
      -0.03193,
      0.00086
    ],
    "tcp_rotation_matrix": [
      [
        0.9977,
        0.04079,
        0.05418
      ],
      [
        0.04129,
        -0.99912,
        -0.008
      ],
      [
        0.05381,
        0.01022,
        -0.9985
      ]
    ],
    "simulated_seconds_remaining": 17.49,
    "calls_remaining_including_this": 34
  },
  "api_seconds": 4.604039304889739,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.98
                  },
                  "note": "The jaws stopped partly open against an object. I lift the mug clear of the table and verify that it follows."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 25,
  "state": {
    "instruction": "pick up the mug and place it on the bowl.",
    "joint_positions": [
      0.05822,
      0.08442,
      0.06197,
      -1.66067,
      -0.02014,
      1.79792,
      0.08276
    ],
    "gripper_open": 0.1237,
    "tcp_xyz": [
      0.59933,
      0.06712,
      0.9787
    ],
    "tcp_roll_pitch_yaw": [
      0.0038,
      -0.0321,
      0.00085
    ],
    "tcp_rotation_matrix": [
      [
        0.99769,
        0.04079,
        0.05435
      ],
      [
        0.04128,
        -0.99912,
        -0.00796
      ],
      [
        0.05398,
        0.01019,
        -0.99849
      ]
    ],
    "simulated_seconds_remaining": 15.972,
    "calls_remaining_including_this": 33
  },
  "api_seconds": 9.609889909625053,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.32,
                    "y": 0.45,
                    "z": 1
                  },
                  "note": "The mug is lifted and visible in the gripper. I carry it above the bowl at the front of the table."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 52,
    "motion_seconds": 3.4320000000000004,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 26,
  "state": {
    "instruction": "pick up the mug and place it on the bowl.",
    "joint_positions": [
      0.42676,
      -0.06223,
      0.52757,
      -1.76871,
      -0.01785,
      1.73973,
      0.91527
    ],
    "gripper_open": 0.1218,
    "tcp_xyz": [
      0.3207,
      0.44896,
      0.99986
    ],
    "tcp_roll_pitch_yaw": [
      0.0037,
      -0.03197,
      0.00117
    ],
    "tcp_rotation_matrix": [
      [
        0.99768,
        0.04111,
        0.05423
      ],
      [
        0.0416,
        -0.9991,
        -0.00805
      ],
      [
        0.05385,
        0.01029,
        -0.9985
      ]
    ],
    "simulated_seconds_remaining": 12.54,
    "calls_remaining_including_this": 32
  },
  "api_seconds": 9.00783525686711,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.285,
                    "y": 0.485,
                    "z": 0.88
                  },
                  "note": "The mug is above the bowl but slightly off center. I align its body over the bowl opening and lower for placement."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 27,
  "state": {
    "instruction": "pick up the mug and place it on the bowl.",
    "joint_positions": [
      0.47701,
      0.01281,
      0.58541,
      -1.99208,
      -0.06529,
      2.02404,
      1.04797
    ],
    "gripper_open": 0.1109,
    "tcp_xyz": [
      0.28504,
      0.48552,
      0.8825
    ],
    "tcp_roll_pitch_yaw": [
      0.00588,
      -0.03356,
      0.00209
    ],
    "tcp_rotation_matrix": [
      [
        0.99755,
        0.04208,
        0.05582
      ],
      [
        0.04247,
        -0.99908,
        -0.00582
      ],
      [
        0.05552,
        0.00817,
        -0.99842
      ]
    ],
    "simulated_seconds_remaining": 11.352,
    "calls_remaining_including_this": 31
  },
  "api_seconds": 12.009623498655856,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.305,
                    "y": 0.475,
                    "z": 0.845
                  },
                  "note": "The mug overlaps the bowl opening. I make a small centering adjustment and lower until the bowl supports it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 28,
  "state": {
    "instruction": "pick up the mug and place it on the bowl.",
    "joint_positions": [
      0.45995,
      0.05073,
      0.56745,
      -2.04847,
      -0.09112,
      2.11349,
      1.0303
    ],
    "gripper_open": 0.0794,
    "tcp_xyz": [
      0.30442,
      0.47536,
      0.84606
    ],
    "tcp_roll_pitch_yaw": [
      0.00597,
      -0.03358,
      0.00218
    ],
    "tcp_rotation_matrix": [
      [
        0.99755,
        0.04217,
        0.05583
      ],
      [
        0.04255,
        -0.99908,
        -0.00572
      ],
      [
        0.05554,
        0.00808,
        -0.99842
      ]
    ],
    "simulated_seconds_remaining": 10.758,
    "calls_remaining_including_this": 30
  },
  "api_seconds": 8.006962498649955,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.275,
                    "y": 0.51,
                    "z": 0.89
                  },
                  "note": "The bowl shifted during contact, leaving the mug near its edge. I lift slightly and recenter over the bowl's new position."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 29,
  "state": {
    "instruction": "pick up the mug and place it on the bowl.",
    "joint_positions": [
      0.50513,
      0.0683,
      0.60548,
      -1.91771,
      -0.09931,
      1.99139,
      1.10549
    ],
    "gripper_open": 0.0808,
    "tcp_xyz": [
      0.27478,
      0.50962,
      0.88885
    ],
    "tcp_roll_pitch_yaw": [
      0.00585,
      -0.03267,
      0.0032
    ],
    "tcp_rotation_matrix": [
      [
        0.99756,
        0.04319,
        0.05493
      ],
      [
        0.04358,
        -0.99903,
        -0.00579
      ],
      [
        0.05463,
        0.00817,
        -0.99847
      ]
    ],
    "simulated_seconds_remaining": 10.032,
    "calls_remaining_including_this": 29
  },
  "api_seconds": 16.413887206465006,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.82
                  },
                  "note": "The mug and bowl now align laterally. I lower vertically to settle the mug into the bowl."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 30,
  "state": {
    "instruction": "pick up the mug and place it on the bowl.",
    "joint_positions": [
      0.51444,
      0.13561,
      0.60086,
      -2.02285,
      -0.15274,
      2.14912,
      1.14833
    ],
    "gripper_open": 0.0802,
    "tcp_xyz": [
      0.27395,
      0.51013,
      0.82144
    ],
    "tcp_roll_pitch_yaw": [
      0.00623,
      -0.03226,
      0.00439
    ],
    "tcp_rotation_matrix": [
      [
        0.99752,
        0.0444,
        0.05453
      ],
      [
        0.04476,
        -0.99898,
        -0.00535
      ],
      [
        0.05424,
        0.00777,
        -0.9985
      ]
    ],
    "simulated_seconds_remaining": 9.306,
    "calls_remaining_including_this": 28
  },
  "api_seconds": 6.20558987557888,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 1
                  },
                  "note": "The mug rests across the bowl opening with its body inside the rim. I open the fingers to release it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

========================================================================
GPT-Astra / Pick & place / 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,
  "status": "completed",
  "success": true,
  "oracle_success": true,
  "action_decisions": 13,
  "wall_seconds": 196.25,
  "usage": {
    "input_tokens": 237177,
    "cached_input_tokens": 216320,
    "cache_write_input_tokens": 0,
    "output_tokens": 2962,
    "reasoning_output_tokens": 1370
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick-and-place 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 45 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 and grasp the requested object, lift it, move it to the named receptacle, and release it in or on that receptacle. Complete the entire pick-and-place 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 guide the pick and place.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"pick up the spoon and place it on the bowl.\", \"joint_positions\": [0.00497, -0.80654, 0.02986, -2.31, 0.00769, 1.55533, -0.00264], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.30782, 0.01271, 1.04216], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.99823, 0.02879, 0.05196], [0.02947, -0.99949, -0.01251], [0.05157, 0.01402, -0.99857]], \"simulated_seconds_remaining\": 45.012, \"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": 0.01,
    "z": 0.9,
    "gripper": 1,
    "note": "The spoon is ahead of the gripper in the wrist view, with the bowl to its left. I move closer above the spoon to refine 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": 0.43,
      "y": 0.01,
      "z": 0.9,
      "gripper": 1
    },
    "note": "The spoon is ahead of the gripper in the wrist view, with the bowl to its left. I approach above the spoon to refine alignment."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"pick up the spoon and place it on the bowl.\", \"joint_positions\": [-0.00459, -0.43223, 0.03148, -2.41033, -0.00065, 2.02962, -0.00453], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.42905, 0.01001, 0.90094], \"tcp_roll_pitch_yaw\": [-0.0, 0.00035, -2e-05], \"tcp_rotation_matrix\": [[0.99825, 0.02877, 0.05161], [0.02946, -0.99949, -0.01252], [0.05122, 0.01401, -0.99859]], \"simulated_seconds_remaining\": 43.494, \"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": 0.455,
      "y": 0.01,
      "z": 0.805
    },
    "note": "The spoon handle is centered between the open fingers horizontally. I lower toward the handle and advance slightly to bring it into the grasp point."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"pick up the spoon and place it on the bowl.\", \"joint_positions\": [-0.00764, -0.2478, 0.03485, -2.49564, -0.00714, 2.29892, 0.00183], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.4546, 0.00999, 0.80611], \"tcp_roll_pitch_yaw\": [-1e-05, 0.00069, -2e-05], \"tcp_rotation_matrix\": [[0.99827, 0.02877, 0.05126], [0.02945, -0.99949, -0.01252], [0.05088, 0.01401, -0.99861]], \"simulated_seconds_remaining\": 42.504, \"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": 0.415,
      "z": 0.805
    },
    "note": "The handle remains just above the finger gap. I make a small horizontal adjustment at the same height to establish precise alignment before descending."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"pick up the spoon and place it on the bowl.\", \"joint_positions\": [-0.00426, -0.36755, 0.03451, -2.61251, -0.00211, 2.29608, 0.00046], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.41608, 0.01, 0.80505], \"tcp_roll_pitch_yaw\": [-2e-05, 0.00068, -1e-05], \"tcp_rotation_matrix\": [[0.99827, 0.02879, 0.05128], [0.02947, -0.99949, -0.01253], [0.05089, 0.01402, -0.99861]], \"simulated_seconds_remaining\": 41.91, \"calls_remaining_including_this\": 54}"
      },
      {
        "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": 0.05,
      "z": 0.775
    },
    "note": "The spoon handle is beside the left finger in the wrist image. I shift laterally to center it in the gap and lower a little closer to the tabletop."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"pick up the spoon and place it on the bowl.\", \"joint_positions\": [0.03278, -0.30604, 0.09455, -2.63995, 0.01406, 2.38435, 0.08436], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.41604, 0.04911, 0.77564], \"tcp_roll_pitch_yaw\": [-8e-05, 0.00085, 0.00016], \"tcp_rotation_matrix\": [[0.99827, 0.02896, 0.05112], [0.02964, -0.99948, -0.01258], [0.05072, 0.01407, -0.99861]], \"simulated_seconds_remaining\": 41.25, \"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": {
      "y": -0.03,
      "z": 0.775
    },
    "note": "The lateral adjustment moved the spoon farther left, so I correct in the opposite direction to place the handle between the fingers."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"pick up the spoon and place it on the bowl.\", \"joint_positions\": [-0.04563, -0.31121, -0.02005, -2.64862, -0.02246, 2.38919, -0.07794], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.41606, -0.02869, 0.77501], \"tcp_roll_pitch_yaw\": [-3e-05, 0.00084, -0.00011], \"tcp_rotation_matrix\": [[0.99828, 0.02869, 0.05111], [0.02936, -0.99949, -0.01254], [0.05073, 0.01402, -0.99861]], \"simulated_seconds_remaining\": 40.458, \"calls_remaining_including_this\": 52}"
      },
      {
        "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": 0.395,
      "y": -0.044,
      "z": 0.735
    },
    "note": "The handle is now in the finger gap. I center a short section of the handle and descend to grasping height."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"pick up the spoon and place it on the bowl.\", \"joint_positions\": [-0.06005, -0.29927, -0.0413, -2.73488, -0.03008, 2.50855, -0.11279], \"gripper_open\": 1.0, \"tcp_xyz\": [0.40238, -0.04067, 0.74561], \"tcp_roll_pitch_yaw\": [-0.00088, -0.01989, 0.00738], \"tcp_rotation_matrix\": [[0.99677, 0.03586, 0.0719], [0.03688, -0.99924, -0.01286], [0.07139, 0.01547, -0.99733]], \"simulated_seconds_remaining\": 39.864, \"calls_remaining_including_this\": 51}"
      },
      {
        "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 spoon handle runs through the finger gap at tabletop height. I close the jaws around the handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"pick up the spoon and place it on the bowl.\", \"joint_positions\": [-0.05656, -0.30562, -0.03778, -2.73091, -0.02777, 2.50675, -0.11333], \"gripper_open\": 0.8737, \"tcp_xyz\": [0.40518, -0.03812, 0.74967], \"tcp_roll_pitch_yaw\": [-0.00117, -0.02845, 0.01297], \"tcp_rotation_matrix\": [[0.9959, 0.0413, 0.08051], [0.04245, -0.99902, -0.01264], [0.07991, 0.016, -0.99667]], \"simulated_seconds_remaining\": 38.94, \"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": {
      "z": 0.81,
      "gripper": 0
    },
    "note": "The jaws have not closed fully, suggesting contact near the tabletop. I lift slightly with the close command maintained to check whether the spoon is secured."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"pick up the spoon and place it on the bowl.\", \"joint_positions\": [-0.05672, -0.42491, -0.03509, -2.66097, -0.02707, 2.31765, -0.11365], \"gripper_open\": 0.2187, \"tcp_xyz\": [0.40522, -0.03812, 0.80872], \"tcp_roll_pitch_yaw\": [-0.00118, -0.02857, 0.01296], \"tcp_rotation_matrix\": [[0.99589, 0.04129, 0.08063], [0.04245, -0.99902, -0.01264], [0.08003, 0.01601, -0.99666]], \"simulated_seconds_remaining\": 38.016, \"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": 0.96,
      "gripper": 0
    },
    "note": "The jaws now hold a narrow section of the spoon handle. I lift clear of the table to verify the grasp and prepare to move toward the bowl."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"pick up the spoon and place it on the bowl.\", \"joint_positions\": [-0.05511, -0.54948, -0.02911, -2.36446, -0.02248, 1.89681, -0.11617], \"gripper_open\": 0.2187, \"tcp_xyz\": [0.40528, -0.03812, 0.95873], \"tcp_roll_pitch_yaw\": [-0.00119, -0.0288, 0.01296], \"tcp_rotation_matrix\": [[0.99587, 0.04129, 0.08086], [0.04244, -0.99902, -0.01265], [0.08025, 0.01603, -0.99665]], \"simulated_seconds_remaining\": 36.696, \"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"
}

The spoon is securely lifted. I’ll move it over the bowl and lower it for release.


{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.51,
      "y": -0.28,
      "z": 0.96,
      "gripper": 0
    },
    "note": "The spoon remains fixed between the fingers after lifting. The bowl is to the left in the wrist view; I translate the held spoon above it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 11, \"instruction\": \"pick up the spoon and place it on the bowl.\", \"joint_positions\": [-0.18762, -0.00684, -0.32353, -1.8277, 0.02779, 1.89769, -0.56087], \"gripper_open\": 0.2188, \"tcp_xyz\": [0.50941, -0.27881, 0.95988], \"tcp_roll_pitch_yaw\": [-0.00109, -0.02859, 0.01274], \"tcp_rotation_matrix\": [[0.9959, 0.04107, 0.08065], [0.04222, -0.99903, -0.01258], [0.08005, 0.01593, -0.99666]], \"simulated_seconds_remaining\": 34.65, \"calls_remaining_including_this\": 47}"
      },
      {
        "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": 0.57,
      "y": -0.315,
      "z": 0.85,
      "gripper": 0
    },
    "note": "The bowl is visible beneath the held spoon. I align the middle of the spoon over the bowl and lower toward its rim."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 12, \"instruction\": \"pick up the spoon and place it on the bowl.\", \"joint_positions\": [-0.22252, 0.2728, -0.32295, -1.75703, 0.13306, 2.08846, -0.63455], \"gripper_open\": 0.2189, \"tcp_xyz\": [0.56933, -0.31459, 0.85086], \"tcp_roll_pitch_yaw\": [-0.00091, -0.02815, 0.01274], \"tcp_rotation_matrix\": [[0.99593, 0.04109, 0.08021], [0.04222, -0.99903, -0.0124], [0.07962, 0.01574, -0.9967]], \"simulated_seconds_remaining\": 33.462, \"calls_remaining_including_this\": 46}"
      },
      {
        "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": {
      "z": 0.818,
      "gripper": 0
    },
    "note": "The spoon is centered over the bowl opening, with its handle above the near rim. I lower it gently to the rim before opening the gripper."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 13, \"instruction\": \"pick up the spoon and place it on the bowl.\", \"joint_positions\": [-0.2253, 0.30076, -0.31854, -1.8022, 0.14714, 2.15983, -0.64556], \"gripper_open\": 0.2189, \"tcp_xyz\": [0.56903, -0.31505, 0.81902], \"tcp_roll_pitch_yaw\": [-0.00119, -0.02807, 0.01217], \"tcp_rotation_matrix\": [[0.99596, 0.04051, 0.08013], [0.04166, -0.99905, -0.01273], [0.07954, 0.01601, -0.9967]], \"simulated_seconds_remaining\": 32.538, \"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
    },
    "note": "The spoon is positioned over the center of the bowl at low height. I open the fingers to release it onto the bowl."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "Episode ended. Do not call more tools. Return a brief final response."
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

Placed the spoon on the bowl.

TURN USAGE
{
  "input_tokens": 237177,
  "cached_input_tokens": 216320,
  "cache_write_input_tokens": 0,
  "output_tokens": 2962,
  "reasoning_output_tokens": 1370
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "pick up the spoon and place it on the bowl.",
    "joint_positions": [
      0.00497,
      -0.80654,
      0.02986,
      -2.31,
      0.00769,
      1.55533,
      -0.00264
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.30782,
      0.01271,
      1.04216
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99823,
        0.02879,
        0.05196
      ],
      [
        0.02947,
        -0.99949,
        -0.01251
      ],
      [
        0.05157,
        0.01402,
        -0.99857
      ]
    ],
    "simulated_seconds_remaining": 45.012,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 29.226676791906357,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.43,
                    "y": 0.01,
                    "z": 0.9,
                    "gripper": 1
                  },
                  "note": "The spoon is ahead of the gripper in the wrist view, with the bowl to its left. I approach above the spoon to refine alignment."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "pick up the spoon and place it on the bowl.",
    "joint_positions": [
      -0.00459,
      -0.43223,
      0.03148,
      -2.41033,
      -0.00065,
      2.02962,
      -0.00453
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.42905,
      0.01001,
      0.90094
    ],
    "tcp_roll_pitch_yaw": [
      -0.0,
      0.00035,
      -2e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99825,
        0.02877,
        0.05161
      ],
      [
        0.02946,
        -0.99949,
        -0.01252
      ],
      [
        0.05122,
        0.01401,
        -0.99859
      ]
    ],
    "simulated_seconds_remaining": 43.494,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 9.207882592454553,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.455,
                    "y": 0.01,
                    "z": 0.805
                  },
                  "note": "The spoon handle is centered between the open fingers horizontally. I lower toward the handle and advance slightly to bring it into the grasp point."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "pick up the spoon and place it on the bowl.",
    "joint_positions": [
      -0.00764,
      -0.2478,
      0.03485,
      -2.49564,
      -0.00714,
      2.29892,
      0.00183
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.4546,
      0.00999,
      0.80611
    ],
    "tcp_roll_pitch_yaw": [
      -1e-05,
      0.00069,
      -2e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99827,
        0.02877,
        0.05126
      ],
      [
        0.02945,
        -0.99949,
        -0.01252
      ],
      [
        0.05088,
        0.01401,
        -0.99861
      ]
    ],
    "simulated_seconds_remaining": 42.504,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 17.21537135913968,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.415,
                    "z": 0.805
                  },
                  "note": "The handle remains just above the finger gap. I make a small horizontal adjustment at the same height to establish precise alignment before descending."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "pick up the spoon and place it on the bowl.",
    "joint_positions": [
      -0.00426,
      -0.36755,
      0.03451,
      -2.61251,
      -0.00211,
      2.29608,
      0.00046
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.41608,
      0.01,
      0.80505
    ],
    "tcp_roll_pitch_yaw": [
      -2e-05,
      0.00068,
      -1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99827,
        0.02879,
        0.05128
      ],
      [
        0.02947,
        -0.99949,
        -0.01253
      ],
      [
        0.05089,
        0.01402,
        -0.99861
      ]
    ],
    "simulated_seconds_remaining": 41.91,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 14.212786263786256,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.05,
                    "z": 0.775
                  },
                  "note": "The spoon handle is beside the left finger in the wrist image. I shift laterally to center it in the gap and lower a little closer to the tabletop."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "pick up the spoon and place it on the bowl.",
    "joint_positions": [
      0.03278,
      -0.30604,
      0.09455,
      -2.63995,
      0.01406,
      2.38435,
      0.08436
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.41604,
      0.04911,
      0.77564
    ],
    "tcp_roll_pitch_yaw": [
      -8e-05,
      0.00085,
      0.00016
    ],
    "tcp_rotation_matrix": [
      [
        0.99827,
        0.02896,
        0.05112
      ],
      [
        0.02964,
        -0.99948,
        -0.01258
      ],
      [
        0.05072,
        0.01407,
        -0.99861
      ]
    ],
    "simulated_seconds_remaining": 41.25,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 9.808460261672735,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": -0.03,
                    "z": 0.775
                  },
                  "note": "The lateral adjustment moved the spoon farther left, so I correct in the opposite direction to place the handle between the fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "pick up the spoon and place it on the bowl.",
    "joint_positions": [
      -0.04563,
      -0.31121,
      -0.02005,
      -2.64862,
      -0.02246,
      2.38919,
      -0.07794
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.41606,
      -0.02869,
      0.77501
    ],
    "tcp_roll_pitch_yaw": [
      -3e-05,
      0.00084,
      -0.00011
    ],
    "tcp_rotation_matrix": [
      [
        0.99828,
        0.02869,
        0.05111
      ],
      [
        0.02936,
        -0.99949,
        -0.01254
      ],
      [
        0.05073,
        0.01402,
        -0.99861
      ]
    ],
    "simulated_seconds_remaining": 40.458,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 10.009172537364066,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.395,
                    "y": -0.044,
                    "z": 0.735
                  },
                  "note": "The handle is now in the finger gap. I center a short section of the handle and descend to grasping height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "pick up the spoon and place it on the bowl.",
    "joint_positions": [
      -0.06005,
      -0.29927,
      -0.0413,
      -2.73488,
      -0.03008,
      2.50855,
      -0.11279
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.40238,
      -0.04067,
      0.74561
    ],
    "tcp_roll_pitch_yaw": [
      -0.00088,
      -0.01989,
      0.00738
    ],
    "tcp_rotation_matrix": [
      [
        0.99677,
        0.03586,
        0.0719
      ],
      [
        0.03688,
        -0.99924,
        -0.01286
      ],
      [
        0.07139,
        0.01547,
        -0.99733
      ]
    ],
    "simulated_seconds_remaining": 39.864,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 9.008086930960417,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The spoon handle runs through the finger gap at tabletop height. I close the jaws around the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "pick up the spoon and place it on the bowl.",
    "joint_positions": [
      -0.05656,
      -0.30562,
      -0.03778,
      -2.73091,
      -0.02777,
      2.50675,
      -0.11333
    ],
    "gripper_open": 0.8737,
    "tcp_xyz": [
      0.40518,
      -0.03812,
      0.74967
    ],
    "tcp_roll_pitch_yaw": [
      -0.00117,
      -0.02845,
      0.01297
    ],
    "tcp_rotation_matrix": [
      [
        0.9959,
        0.0413,
        0.08051
      ],
      [
        0.04245,
        -0.99902,
        -0.01264
      ],
      [
        0.07991,
        0.016,
        -0.99667
      ]
    ],
    "simulated_seconds_remaining": 38.94,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 10.408244458027184,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.81,
                    "gripper": 0
                  },
                  "note": "The jaws have not closed fully, suggesting contact near the tabletop. I lift slightly with the close command maintained to check whether the spoon is secured."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "pick up the spoon and place it on the bowl.",
    "joint_positions": [
      -0.05672,
      -0.42491,
      -0.03509,
      -2.66097,
      -0.02707,
      2.31765,
      -0.11365
    ],
    "gripper_open": 0.2187,
    "tcp_xyz": [
      0.40522,
      -0.03812,
      0.80872
    ],
    "tcp_roll_pitch_yaw": [
      -0.00118,
      -0.02857,
      0.01296
    ],
    "tcp_rotation_matrix": [
      [
        0.99589,
        0.04129,
        0.08063
      ],
      [
        0.04245,
        -0.99902,
        -0.01264
      ],
      [
        0.08003,
        0.01601,
        -0.99666
      ]
    ],
    "simulated_seconds_remaining": 38.016,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 8.607884311117232,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.96,
                    "gripper": 0
                  },
                  "note": "The jaws now hold a narrow section of the spoon handle. I lift clear of the table to verify the grasp and prepare to move toward the bowl."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "pick up the spoon and place it on the bowl.",
    "joint_positions": [
      -0.05511,
      -0.54948,
      -0.02911,
      -2.36446,
      -0.02248,
      1.89681,
      -0.11617
    ],
    "gripper_open": 0.2187,
    "tcp_xyz": [
      0.40528,
      -0.03812,
      0.95873
    ],
    "tcp_roll_pitch_yaw": [
      -0.00119,
      -0.0288,
      0.01296
    ],
    "tcp_rotation_matrix": [
      [
        0.99587,
        0.04129,
        0.08086
      ],
      [
        0.04244,
        -0.99902,
        -0.01265
      ],
      [
        0.08025,
        0.01603,
        -0.99665
      ]
    ],
    "simulated_seconds_remaining": 36.696,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 12.011890507303178,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.51,
                    "y": -0.28,
                    "z": 0.96,
                    "gripper": 0
                  },
                  "note": "The spoon remains fixed between the fingers after lifting. The bowl is to the left in the wrist view; I translate the held spoon above it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 31,
    "motion_seconds": 2.0460000000000003,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "pick up the spoon and place it on the bowl.",
    "joint_positions": [
      -0.18762,
      -0.00684,
      -0.32353,
      -1.8277,
      0.02779,
      1.89769,
      -0.56087
    ],
    "gripper_open": 0.2188,
    "tcp_xyz": [
      0.50941,
      -0.27881,
      0.95988
    ],
    "tcp_roll_pitch_yaw": [
      -0.00109,
      -0.02859,
      0.01274
    ],
    "tcp_rotation_matrix": [
      [
        0.9959,
        0.04107,
        0.08065
      ],
      [
        0.04222,
        -0.99903,
        -0.01258
      ],
      [
        0.08005,
        0.01593,
        -0.99666
      ]
    ],
    "simulated_seconds_remaining": 34.65,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 13.210613336414099,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.57,
                    "y": -0.315,
                    "z": 0.85,
                    "gripper": 0
                  },
                  "note": "The bowl is visible beneath the held spoon. I align the middle of the spoon over the bowl and lower toward its rim."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "pick up the spoon and place it on the bowl.",
    "joint_positions": [
      -0.22252,
      0.2728,
      -0.32295,
      -1.75703,
      0.13306,
      2.08846,
      -0.63455
    ],
    "gripper_open": 0.2189,
    "tcp_xyz": [
      0.56933,
      -0.31459,
      0.85086
    ],
    "tcp_roll_pitch_yaw": [
      -0.00091,
      -0.02815,
      0.01274
    ],
    "tcp_rotation_matrix": [
      [
        0.99593,
        0.04109,
        0.08021
      ],
      [
        0.04222,
        -0.99903,
        -0.0124
      ],
      [
        0.07962,
        0.01574,
        -0.9967
      ]
    ],
    "simulated_seconds_remaining": 33.462,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 9.008219957351685,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.818,
                    "gripper": 0
                  },
                  "note": "The spoon is centered over the bowl opening, with its handle above the near rim. I lower it gently to the rim before opening the gripper."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "pick up the spoon and place it on the bowl.",
    "joint_positions": [
      -0.2253,
      0.30076,
      -0.31854,
      -1.8022,
      0.14714,
      2.15983,
      -0.64556
    ],
    "gripper_open": 0.2189,
    "tcp_xyz": [
      0.56903,
      -0.31505,
      0.81902
    ],
    "tcp_roll_pitch_yaw": [
      -0.00119,
      -0.02807,
      0.01217
    ],
    "tcp_rotation_matrix": [
      [
        0.99596,
        0.04051,
        0.08013
      ],
      [
        0.04166,
        -0.99905,
        -0.01273
      ],
      [
        0.07954,
        0.01601,
        -0.9967
      ]
    ],
    "simulated_seconds_remaining": 32.538,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 6.207036399282515,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 1
                  },
                  "note": "The spoon is positioned over the center of the bowl at low height. I open the fingers to release it onto the bowl."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

========================================================================
GPT-Astra / Pick & place / 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,
  "status": "completed",
  "success": true,
  "oracle_success": true,
  "action_decisions": 20,
  "wall_seconds": 250.91,
  "usage": {
    "input_tokens": 376577,
    "cached_input_tokens": 343296,
    "cache_write_input_tokens": 0,
    "output_tokens": 3980,
    "reasoning_output_tokens": 1760
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick-and-place 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 45 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 and grasp the requested object, lift it, move it to the named receptacle, and release it in or on that receptacle. Complete the entire pick-and-place 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 place the object.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"pick up the tissue and place it on the swan.\", \"joint_positions\": [0.00603, -0.74438, 0.01995, -2.31507, 0.01732, 1.52909, 0.03399], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.30742, 0.01239, 1.01836], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.99904, -0.01326, -0.04175], [-0.01315, -0.99991, 0.00294], [-0.04178, -0.00238, -0.99912]], \"simulated_seconds_remaining\": 45.012, \"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": 0.87,
    "note": "The tissue and blue swan appear on the counter below; I am lowering toward the work area for a clearer overhead 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,
      "z": 0.87
    },
    "note": "The tissue and blue swan appear on the counter below; I am lowering toward the work area for a clearer overhead view."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"pick up the tissue and place it on the swan.\", \"joint_positions\": [-0.00625, -0.33835, 0.00459, -2.38366, 0.00483, 2.00322, 0.00916], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.42909, 8e-05, 0.87094], \"tcp_roll_pitch_yaw\": [1e-05, 0.00033, -2e-05], \"tcp_rotation_matrix\": [[0.99903, -0.01328, -0.04207], [-0.01317, -0.99991, 0.00294], [-0.04211, -0.00238, -0.99911]], \"simulated_seconds_remaining\": 43.428, \"calls_remaining_including_this\": 56}"
      },
      {
        "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": 0.55,
      "y": 0.12,
      "z": 0.85
    },
    "note": "The tan tissue box is left of the blue swan in the wrist view. I am shifting toward the tissue while keeping clearance."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"pick up the tissue and place it on the swan.\", \"joint_positions\": [0.08694, 0.07719, 0.1252, -1.9799, 0.00233, 2.01586, 0.224], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.54904, 0.11913, 0.85012], \"tcp_roll_pitch_yaw\": [-1e-05, 0.00042, 0.00014], \"tcp_rotation_matrix\": [[0.99902, -0.01312, -0.04217], [-0.01301, -0.99991, 0.00292], [-0.04221, -0.00237, -0.99911]], \"simulated_seconds_remaining\": 41.976, \"calls_remaining_including_this\": 55}"
      },
      {
        "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,
      "z": 0.85
    },
    "note": "The white tissue on the tan box is now clearly visible. I am adjusting sideways to establish its position under the gripper."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"pick up the tissue and place it on the swan.\", \"joint_positions\": [-0.02402, 0.04018, 0.02519, -2.02601, 0.00218, 2.02399, 0.01356], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.54905, 0.00114, 0.85], \"tcp_roll_pitch_yaw\": [-2e-05, 0.00042, -0.00017], \"tcp_rotation_matrix\": [[0.99902, -0.01343, -0.04217], [-0.01332, -0.99991, 0.00292], [-0.04221, -0.00236, -0.99911]], \"simulated_seconds_remaining\": 40.854, \"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": 0.5,
      "y": -0.02,
      "z": 0.73
    },
    "note": "The tissue is centered laterally, with the white swan bowl just to its left. I am approaching the tissue from above."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"pick up the tissue and place it on the swan.\", \"joint_positions\": [-0.0405, -0.09623, 0.01173, -2.31303, 0.00127, 2.39618, -0.02726], \"gripper_open\": 1.0, \"tcp_xyz\": [0.54115, -0.01555, 0.82807], \"tcp_roll_pitch_yaw\": [-0.01046, -0.22094, 0.01195], \"tcp_rotation_matrix\": [[0.98397, -0.00276, 0.17829], [-0.00183, -0.99998, -0.00539], [0.1783, 0.00498, -0.98396]], \"simulated_seconds_remaining\": 39.666, \"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": 0.43,
      "y": -0.02,
      "z": 0.9,
      "roll": 0,
      "pitch": 0,
      "yaw": 0
    },
    "note": "The approach stopped above the commanded height, indicating contact. I am lifting and moving back slightly to align the fingers with the tissue."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"pick up the tissue and place it on the swan.\", \"joint_positions\": [-0.04844, -0.35354, 0.00143, -2.32335, 0.00157, 1.92996, -0.03454], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.43092, -0.01998, 0.89954], \"tcp_roll_pitch_yaw\": [-9e-05, -0.00202, 7e-05], \"tcp_rotation_matrix\": [[0.99912, -0.01319, -0.03973], [-0.01308, -0.99991, 0.00285], [-0.03976, -0.00233, -0.99921]], \"simulated_seconds_remaining\": 38.478, \"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"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.43,
      "y": -0.02,
      "z": 0.8
    },
    "note": "The tissue is now between the projected finger positions. I am lowering straight down to grasp it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"pick up the tissue and place it on the swan.\", \"joint_positions\": [-0.04845, -0.25401, 0.00149, -2.4929, 0.00167, 2.19872, -0.03488], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.42994, -0.02, 0.80116], \"tcp_roll_pitch_yaw\": [-7e-05, -0.00168, 7e-05], \"tcp_rotation_matrix\": [[0.99911, -0.01319, -0.04007], [-0.01308, -0.99991, 0.00286], [-0.04011, -0.00233, -0.99919]], \"simulated_seconds_remaining\": 37.488, \"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": {
      "gripper": 0
    },
    "note": "The fingers are lowered around the tissue area with the box directly beneath them. I am closing the gripper to secure the tissue."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"pick up the tissue and place it on the swan.\", \"joint_positions\": [-0.04845, -0.25401, 0.00149, -2.4929, 0.00167, 2.19872, -0.03488], \"gripper_open\": 0.0, \"tcp_xyz\": [0.42994, -0.02, 0.80115], \"tcp_roll_pitch_yaw\": [-7e-05, -0.00168, 7e-05], \"tcp_rotation_matrix\": [[0.99911, -0.01319, -0.04007], [-0.01308, -0.99991, 0.00286], [-0.0401, -0.00233, -0.99919]], \"simulated_seconds_remaining\": 36.564, \"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": {
      "z": 0.94
    },
    "note": "The gripper closed fully, so I am lifting to check whether the tissue was captured and to improve visibility."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"pick up the tissue and place it on the swan.\", \"joint_positions\": [-0.04851, -0.37314, 0.0013, -2.24023, 0.00149, 1.82725, -0.03458], \"gripper_open\": 0.0, \"tcp_xyz\": [0.43001, -0.02, 0.93881], \"tcp_roll_pitch_yaw\": [-8e-05, -0.00201, 7e-05], \"tcp_rotation_matrix\": [[0.99912, -0.01319, -0.03974], [-0.01308, -0.99991, 0.00285], [-0.03977, -0.00233, -0.99921]], \"simulated_seconds_remaining\": 35.31, \"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": 0.34,
      "z": 0.87,
      "gripper": 1
    },
    "note": "The tissue remains on the box. I am moving the open fingers toward its near edge for a better grasp alignment."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"pick up the tissue and place it on the swan.\", \"joint_positions\": [-0.05305, -0.63259, -0.00524, -2.62155, -0.00273, 1.94902, -0.04302], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.34102, -0.02, 0.87079], \"tcp_roll_pitch_yaw\": [-9e-05, -0.00192, 7e-05], \"tcp_rotation_matrix\": [[0.99912, -0.01319, -0.03983], [-0.01308, -0.99991, 0.00285], [-0.03986, -0.00232, -0.9992]], \"simulated_seconds_remaining\": 34.254, \"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": 0.5,
      "y": -0.05,
      "z": 0.85
    },
    "note": "The tissue moved below the wrist view, confirming the alignment needs to be farther forward. I am repositioning above the box with a small lateral correction."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 11, \"instruction\": \"pick up the tissue and place it on the swan.\", \"joint_positions\": [-0.06564, -0.1022, -0.03253, -2.19592, -0.00494, 2.05373, -0.08238], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.49868, -0.04976, 0.85013], \"tcp_roll_pitch_yaw\": [-7e-05, -0.00182, 4e-05], \"tcp_rotation_matrix\": [[0.99911, -0.01322, -0.03993], [-0.01312, -0.99991, 0.00287], [-0.03997, -0.00234, -0.9992]], \"simulated_seconds_remaining\": 32.868, \"calls_remaining_including_this\": 47}"
      },
      {
        "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 raised white tissue is now framed by the fingertips. I am closing at this height to pinch it above the box."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 12, \"instruction\": \"pick up the tissue and place it on the swan.\", \"joint_positions\": [-0.06564, -0.1022, -0.03253, -2.19592, -0.00494, 2.05373, -0.08238], \"gripper_open\": 0.0, \"tcp_xyz\": [0.49869, -0.04977, 0.85013], \"tcp_roll_pitch_yaw\": [-7e-05, -0.00182, 4e-05], \"tcp_rotation_matrix\": [[0.99911, -0.01322, -0.03993], [-0.01312, -0.99991, 0.00287], [-0.03997, -0.00234, -0.9992]], \"simulated_seconds_remaining\": 31.944, \"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": 0.795
    },
    "note": "The jaws closed without resistance, so the tissue is still below the grasp point. I am reopening and lowering a small amount."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 13, \"instruction\": \"pick up the tissue and place it on the swan.\", \"joint_positions\": [-0.06575, -0.03957, -0.03309, -2.27123, -0.00295, 2.19145, -0.08385], \"gripper_open\": 0.9965, \"tcp_xyz\": [0.49864, -0.04976, 0.79612], \"tcp_roll_pitch_yaw\": [-5e-05, -0.00162, 4e-05], \"tcp_rotation_matrix\": [[0.99911, -0.01322, -0.04013], [-0.01311, -0.99991, 0.00288], [-0.04017, -0.00235, -0.99919]], \"simulated_seconds_remaining\": 31.02, \"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": 0
    },
    "note": "The tissue is between the fingers at the lower height. I am closing to grasp its raised portion."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 14, \"instruction\": \"pick up the tissue and place it on the swan.\", \"joint_positions\": [-0.06575, -0.03957, -0.03309, -2.27123, -0.00295, 2.19145, -0.08385], \"gripper_open\": 0.0, \"tcp_xyz\": [0.49864, -0.04976, 0.79611], \"tcp_roll_pitch_yaw\": [-5e-05, -0.00162, 4e-05], \"tcp_rotation_matrix\": [[0.99911, -0.01322, -0.04013], [-0.01311, -0.99991, 0.00288], [-0.04016, -0.00235, -0.99919]], \"simulated_seconds_remaining\": 30.096, \"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": 0.46,
      "y": -0.025,
      "z": 0.755,
      "gripper": 1
    },
    "note": "The tissue has not been caught yet. I am shifting slightly back and left while lowering to put the pinch point into the visible tissue."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 15, \"instruction\": \"pick up the tissue and place it on the swan.\", \"joint_positions\": [-0.04534, -0.08719, -0.01019, -2.44523, -0.00034, 2.31767, -0.04214], \"gripper_open\": 0.9965, \"tcp_xyz\": [0.46079, -0.02551, 0.75584], \"tcp_roll_pitch_yaw\": [-5e-05, -0.00147, 0.00011], \"tcp_rotation_matrix\": [[0.9991, -0.01315, -0.04028], [-0.01305, -0.99991, 0.00288], [-0.04031, -0.00235, -0.99918]], \"simulated_seconds_remaining\": 29.172, \"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 gripper is now at the tissue’s lower grasp height. I am closing before checking the lift."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 16, \"instruction\": \"pick up the tissue and place it on the swan.\", \"joint_positions\": [-0.04503, -0.08743, -0.0098, -2.4454, -0.00015, 2.31725, -0.04216], \"gripper_open\": 0.0068, \"tcp_xyz\": [0.46065, -0.02515, 0.75585], \"tcp_roll_pitch_yaw\": [7e-05, -0.00114, 0.00069], \"tcp_rotation_matrix\": [[0.9991, -0.01257, -0.04061], [-0.01246, -0.99992, 0.00297], [-0.04065, -0.00247, -0.99917]], \"simulated_seconds_remaining\": 28.248, \"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": {
      "z": 0.93
    },
    "note": "The fingers show slight resistance. I am lifting vertically to see whether the tissue follows."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 17, \"instruction\": \"pick up the tissue and place it on the swan.\", \"joint_positions\": [-0.0451, -0.27394, -0.00887, -2.17226, -0.00167, 1.85796, -0.04057], \"gripper_open\": 0.0, \"tcp_xyz\": [0.46074, -0.02516, 0.92876], \"tcp_roll_pitch_yaw\": [6e-05, -0.0015, 0.00069], \"tcp_rotation_matrix\": [[0.99911, -0.01257, -0.04025], [-0.01246, -0.99992, 0.00296], [-0.04029, -0.00246, -0.99919]], \"simulated_seconds_remaining\": 26.796, \"calls_remaining_including_this\": 41}"
      },
      {
        "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"
}

The tissue is still on the box. I’m adjusting the grasp farther forward to bring the fingertips onto it.


{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.58,
      "y": -0.05,
      "z": 0.82,
      "gripper": 1,
      "roll": 0,
      "pitch": 0,
      "yaw": 0
    },
    "note": "The tissue stayed on the box after lifting. I am approaching farther forward with the fingers open and aligned over its raised center."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 18, \"instruction\": \"pick up the tissue and place it on the swan.\", \"joint_positions\": [-0.05776, 0.15507, -0.02313, -1.94162, 0.00461, 2.06657, -0.0752], \"gripper_open\": 1.0, \"tcp_xyz\": [0.58205, -0.04647, 0.82655], \"tcp_roll_pitch_yaw\": [0.00013, -0.01182, 0.00546], \"tcp_rotation_matrix\": [[0.99952, -0.00777, -0.02996], [-0.00769, -0.99997, 0.0029], [-0.02998, -0.00267, -0.99955]], \"simulated_seconds_remaining\": 25.41, \"calls_remaining_including_this\": 40}"
      },
      {
        "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 tissue now extends directly into the finger gap. I am closing around it at the current height."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 19, \"instruction\": \"pick up the tissue and place it on the swan.\", \"joint_positions\": [-0.05614, 0.15211, -0.02114, -1.93821, 0.00461, 2.06819, -0.07556], \"gripper_open\": 0.1752, \"tcp_xyz\": [0.58422, -0.04449, 0.82996], \"tcp_roll_pitch_yaw\": [-0.00018, -0.01983, 0.00943], \"tcp_rotation_matrix\": [[0.99975, -0.00378, -0.02196], [-0.00373, -0.99999, 0.00255], [-0.02197, -0.00246, -0.99976]], \"simulated_seconds_remaining\": 24.486, \"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": 0.98
    },
    "note": "The gripper is holding with a visible gap and the tissue shifted with closure. I am lifting it clear of the counter."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 20, \"instruction\": \"pick up the tissue and place it on the swan.\", \"joint_positions\": [-0.05609, 0.09368, -0.02145, -1.63156, 0.00284, 1.70262, -0.07412], \"gripper_open\": 0.136, \"tcp_xyz\": [0.58418, -0.04449, 0.97842], \"tcp_roll_pitch_yaw\": [-0.00017, -0.01933, 0.00944], \"tcp_rotation_matrix\": [[0.99974, -0.00378, -0.02246], [-0.00372, -0.99999, 0.00256], [-0.02247, -0.00247, -0.99974]], \"simulated_seconds_remaining\": 23.166, \"calls_remaining_including_this\": 38}"
      },
      {
        "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": -0.25,
      "x": 0.6
    },
    "note": "The tissue is lifted securely, and the white swan bowl is beside it. I am carrying the tissue sideways over the swan."
  },
  "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 lifted the tissue, but the episode ended before I could release it onto the swan.

TURN USAGE
{
  "input_tokens": 376577,
  "cached_input_tokens": 343296,
  "cache_write_input_tokens": 0,
  "output_tokens": 3980,
  "reasoning_output_tokens": 1760
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "pick up the tissue and place it on the swan.",
    "joint_positions": [
      0.00603,
      -0.74438,
      0.01995,
      -2.31507,
      0.01732,
      1.52909,
      0.03399
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.30742,
      0.01239,
      1.01836
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99904,
        -0.01326,
        -0.04175
      ],
      [
        -0.01315,
        -0.99991,
        0.00294
      ],
      [
        -0.04178,
        -0.00238,
        -0.99912
      ]
    ],
    "simulated_seconds_remaining": 45.012,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 25.619866175577044,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.43,
                    "y": 0,
                    "z": 0.87
                  },
                  "note": "The tissue and blue swan appear on the counter below; I am lowering toward the work area for a clearer overhead view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 24,
    "motion_seconds": 1.584,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "pick up the tissue and place it on the swan.",
    "joint_positions": [
      -0.00625,
      -0.33835,
      0.00459,
      -2.38366,
      0.00483,
      2.00322,
      0.00916
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.42909,
      8e-05,
      0.87094
    ],
    "tcp_roll_pitch_yaw": [
      1e-05,
      0.00033,
      -2e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99903,
        -0.01328,
        -0.04207
      ],
      [
        -0.01317,
        -0.99991,
        0.00294
      ],
      [
        -0.04211,
        -0.00238,
        -0.99911
      ]
    ],
    "simulated_seconds_remaining": 43.428,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 11.810189412906766,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.55,
                    "y": 0.12,
                    "z": 0.85
                  },
                  "note": "The tan tissue box is left of the blue swan in the wrist view. I am shifting toward the tissue while keeping clearance."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 22,
    "motion_seconds": 1.452,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "pick up the tissue and place it on the swan.",
    "joint_positions": [
      0.08694,
      0.07719,
      0.1252,
      -1.9799,
      0.00233,
      2.01586,
      0.224
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.54904,
      0.11913,
      0.85012
    ],
    "tcp_roll_pitch_yaw": [
      -1e-05,
      0.00042,
      0.00014
    ],
    "tcp_rotation_matrix": [
      [
        0.99902,
        -0.01312,
        -0.04217
      ],
      [
        -0.01301,
        -0.99991,
        0.00292
      ],
      [
        -0.04221,
        -0.00237,
        -0.99911
      ]
    ],
    "simulated_seconds_remaining": 41.976,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 12.210792084224522,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0,
                    "z": 0.85
                  },
                  "note": "The white tissue on the tan box is now clearly visible. I am adjusting sideways to establish its position under the gripper."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "pick up the tissue and place it on the swan.",
    "joint_positions": [
      -0.02402,
      0.04018,
      0.02519,
      -2.02601,
      0.00218,
      2.02399,
      0.01356
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.54905,
      0.00114,
      0.85
    ],
    "tcp_roll_pitch_yaw": [
      -2e-05,
      0.00042,
      -0.00017
    ],
    "tcp_rotation_matrix": [
      [
        0.99902,
        -0.01343,
        -0.04217
      ],
      [
        -0.01332,
        -0.99991,
        0.00292
      ],
      [
        -0.04221,
        -0.00236,
        -0.99911
      ]
    ],
    "simulated_seconds_remaining": 40.854,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 11.215214282274246,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.5,
                    "y": -0.02,
                    "z": 0.73
                  },
                  "note": "The tissue is centered laterally, with the white swan bowl just to its left. I am approaching the tissue from above."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "pick up the tissue and place it on the swan.",
    "joint_positions": [
      -0.0405,
      -0.09623,
      0.01173,
      -2.31303,
      0.00127,
      2.39618,
      -0.02726
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.54115,
      -0.01555,
      0.82807
    ],
    "tcp_roll_pitch_yaw": [
      -0.01046,
      -0.22094,
      0.01195
    ],
    "tcp_rotation_matrix": [
      [
        0.98397,
        -0.00276,
        0.17829
      ],
      [
        -0.00183,
        -0.99998,
        -0.00539
      ],
      [
        0.1783,
        0.00498,
        -0.98396
      ]
    ],
    "simulated_seconds_remaining": 39.666,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 11.20989015698433,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.43,
                    "y": -0.02,
                    "z": 0.9,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 0
                  },
                  "note": "The approach stopped above the commanded height, indicating contact. I am lifting and moving back slightly to align the fingers with the tissue."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "pick up the tissue and place it on the swan.",
    "joint_positions": [
      -0.04844,
      -0.35354,
      0.00143,
      -2.32335,
      0.00157,
      1.92996,
      -0.03454
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.43092,
      -0.01998,
      0.89954
    ],
    "tcp_roll_pitch_yaw": [
      -9e-05,
      -0.00202,
      7e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99912,
        -0.01319,
        -0.03973
      ],
      [
        -0.01308,
        -0.99991,
        0.00285
      ],
      [
        -0.03976,
        -0.00233,
        -0.99921
      ]
    ],
    "simulated_seconds_remaining": 38.478,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 5.404931706376374,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.43,
                    "y": -0.02,
                    "z": 0.8
                  },
                  "note": "The tissue is now between the projected finger positions. I am lowering straight down to grasp it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "pick up the tissue and place it on the swan.",
    "joint_positions": [
      -0.04845,
      -0.25401,
      0.00149,
      -2.4929,
      0.00167,
      2.19872,
      -0.03488
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.42994,
      -0.02,
      0.80116
    ],
    "tcp_roll_pitch_yaw": [
      -7e-05,
      -0.00168,
      7e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99911,
        -0.01319,
        -0.04007
      ],
      [
        -0.01308,
        -0.99991,
        0.00286
      ],
      [
        -0.04011,
        -0.00233,
        -0.99919
      ]
    ],
    "simulated_seconds_remaining": 37.488,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 7.206267224624753,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The fingers are lowered around the tissue area with the box directly beneath them. I am closing the gripper to secure the tissue."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "pick up the tissue and place it on the swan.",
    "joint_positions": [
      -0.04845,
      -0.25401,
      0.00149,
      -2.4929,
      0.00167,
      2.19872,
      -0.03488
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.42994,
      -0.02,
      0.80115
    ],
    "tcp_roll_pitch_yaw": [
      -7e-05,
      -0.00168,
      7e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99911,
        -0.01319,
        -0.04007
      ],
      [
        -0.01308,
        -0.99991,
        0.00286
      ],
      [
        -0.0401,
        -0.00233,
        -0.99919
      ]
    ],
    "simulated_seconds_remaining": 36.564,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 6.40520997159183,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.94
                  },
                  "note": "The gripper closed fully, so I am lifting to check whether the tissue was captured and to improve visibility."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "pick up the tissue and place it on the swan.",
    "joint_positions": [
      -0.04851,
      -0.37314,
      0.0013,
      -2.24023,
      0.00149,
      1.82725,
      -0.03458
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.43001,
      -0.02,
      0.93881
    ],
    "tcp_roll_pitch_yaw": [
      -8e-05,
      -0.00201,
      7e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99912,
        -0.01319,
        -0.03974
      ],
      [
        -0.01308,
        -0.99991,
        0.00285
      ],
      [
        -0.03977,
        -0.00233,
        -0.99921
      ]
    ],
    "simulated_seconds_remaining": 35.31,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 8.607470253482461,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.34,
                    "z": 0.87,
                    "gripper": 1
                  },
                  "note": "The tissue remains on the box. I am moving the open fingers toward its near edge for a better grasp alignment."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "pick up the tissue and place it on the swan.",
    "joint_positions": [
      -0.05305,
      -0.63259,
      -0.00524,
      -2.62155,
      -0.00273,
      1.94902,
      -0.04302
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.34102,
      -0.02,
      0.87079
    ],
    "tcp_roll_pitch_yaw": [
      -9e-05,
      -0.00192,
      7e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99912,
        -0.01319,
        -0.03983
      ],
      [
        -0.01308,
        -0.99991,
        0.00285
      ],
      [
        -0.03986,
        -0.00232,
        -0.9992
      ]
    ],
    "simulated_seconds_remaining": 34.254,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 14.61223173327744,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.5,
                    "y": -0.05,
                    "z": 0.85
                  },
                  "note": "The tissue moved below the wrist view, confirming the alignment needs to be farther forward. I am repositioning above the box with a small lateral correction."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "pick up the tissue and place it on the swan.",
    "joint_positions": [
      -0.06564,
      -0.1022,
      -0.03253,
      -2.19592,
      -0.00494,
      2.05373,
      -0.08238
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.49868,
      -0.04976,
      0.85013
    ],
    "tcp_roll_pitch_yaw": [
      -7e-05,
      -0.00182,
      4e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99911,
        -0.01322,
        -0.03993
      ],
      [
        -0.01312,
        -0.99991,
        0.00287
      ],
      [
        -0.03997,
        -0.00234,
        -0.9992
      ]
    ],
    "simulated_seconds_remaining": 32.868,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 6.40694657061249,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The raised white tissue is now framed by the fingertips. I am closing at this height to pinch it above the box."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "pick up the tissue and place it on the swan.",
    "joint_positions": [
      -0.06564,
      -0.1022,
      -0.03253,
      -2.19592,
      -0.00494,
      2.05373,
      -0.08238
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.49869,
      -0.04977,
      0.85013
    ],
    "tcp_roll_pitch_yaw": [
      -7e-05,
      -0.00182,
      4e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99911,
        -0.01322,
        -0.03993
      ],
      [
        -0.01312,
        -0.99991,
        0.00287
      ],
      [
        -0.03997,
        -0.00234,
        -0.9992
      ]
    ],
    "simulated_seconds_remaining": 31.944,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 7.8066684026271105,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 1,
                    "z": 0.795
                  },
                  "note": "The jaws closed without resistance, so the tissue is still below the grasp point. I am reopening and lowering a small amount."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "pick up the tissue and place it on the swan.",
    "joint_positions": [
      -0.06575,
      -0.03957,
      -0.03309,
      -2.27123,
      -0.00295,
      2.19145,
      -0.08385
    ],
    "gripper_open": 0.9965,
    "tcp_xyz": [
      0.49864,
      -0.04976,
      0.79612
    ],
    "tcp_roll_pitch_yaw": [
      -5e-05,
      -0.00162,
      4e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99911,
        -0.01322,
        -0.04013
      ],
      [
        -0.01311,
        -0.99991,
        0.00288
      ],
      [
        -0.04017,
        -0.00235,
        -0.99919
      ]
    ],
    "simulated_seconds_remaining": 31.02,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 5.406333202496171,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The tissue is between the fingers at the lower height. I am closing to grasp its raised portion."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "pick up the tissue and place it on the swan.",
    "joint_positions": [
      -0.06575,
      -0.03957,
      -0.03309,
      -2.27123,
      -0.00295,
      2.19145,
      -0.08385
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.49864,
      -0.04976,
      0.79611
    ],
    "tcp_roll_pitch_yaw": [
      -5e-05,
      -0.00162,
      4e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99911,
        -0.01322,
        -0.04013
      ],
      [
        -0.01311,
        -0.99991,
        0.00288
      ],
      [
        -0.04016,
        -0.00235,
        -0.99919
      ]
    ],
    "simulated_seconds_remaining": 30.096,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 11.617377604357898,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.46,
                    "y": -0.025,
                    "z": 0.755,
                    "gripper": 1
                  },
                  "note": "The tissue has not been caught yet. I am shifting slightly back and left while lowering to put the pinch point into the visible tissue."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "pick up the tissue and place it on the swan.",
    "joint_positions": [
      -0.04534,
      -0.08719,
      -0.01019,
      -2.44523,
      -0.00034,
      2.31767,
      -0.04214
    ],
    "gripper_open": 0.9965,
    "tcp_xyz": [
      0.46079,
      -0.02551,
      0.75584
    ],
    "tcp_roll_pitch_yaw": [
      -5e-05,
      -0.00147,
      0.00011
    ],
    "tcp_rotation_matrix": [
      [
        0.9991,
        -0.01315,
        -0.04028
      ],
      [
        -0.01305,
        -0.99991,
        0.00288
      ],
      [
        -0.04031,
        -0.00235,
        -0.99918
      ]
    ],
    "simulated_seconds_remaining": 29.172,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 4.403995709493756,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The gripper is now at the tissue’s lower grasp height. I am closing before checking the lift."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "pick up the tissue and place it on the swan.",
    "joint_positions": [
      -0.04503,
      -0.08743,
      -0.0098,
      -2.4454,
      -0.00015,
      2.31725,
      -0.04216
    ],
    "gripper_open": 0.0068,
    "tcp_xyz": [
      0.46065,
      -0.02515,
      0.75585
    ],
    "tcp_roll_pitch_yaw": [
      7e-05,
      -0.00114,
      0.00069
    ],
    "tcp_rotation_matrix": [
      [
        0.9991,
        -0.01257,
        -0.04061
      ],
      [
        -0.01246,
        -0.99992,
        0.00297
      ],
      [
        -0.04065,
        -0.00247,
        -0.99917
      ]
    ],
    "simulated_seconds_remaining": 28.248,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 5.80540871527046,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.93
                  },
                  "note": "The fingers show slight resistance. I am lifting vertically to see whether the tissue follows."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 22,
    "motion_seconds": 1.452,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "pick up the tissue and place it on the swan.",
    "joint_positions": [
      -0.0451,
      -0.27394,
      -0.00887,
      -2.17226,
      -0.00167,
      1.85796,
      -0.04057
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.46074,
      -0.02516,
      0.92876
    ],
    "tcp_roll_pitch_yaw": [
      6e-05,
      -0.0015,
      0.00069
    ],
    "tcp_rotation_matrix": [
      [
        0.99911,
        -0.01257,
        -0.04025
      ],
      [
        -0.01246,
        -0.99992,
        0.00296
      ],
      [
        -0.04029,
        -0.00246,
        -0.99919
      ]
    ],
    "simulated_seconds_remaining": 26.796,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 13.211027611978352,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.58,
                    "y": -0.05,
                    "z": 0.82,
                    "gripper": 1,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 0
                  },
                  "note": "The tissue stayed on the box after lifting. I am approaching farther forward with the fingers open and aligned over its raised center."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "pick up the tissue and place it on the swan.",
    "joint_positions": [
      -0.05776,
      0.15507,
      -0.02313,
      -1.94162,
      0.00461,
      2.06657,
      -0.0752
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.58205,
      -0.04647,
      0.82655
    ],
    "tcp_roll_pitch_yaw": [
      0.00013,
      -0.01182,
      0.00546
    ],
    "tcp_rotation_matrix": [
      [
        0.99952,
        -0.00777,
        -0.02996
      ],
      [
        -0.00769,
        -0.99997,
        0.0029
      ],
      [
        -0.02998,
        -0.00267,
        -0.99955
      ]
    ],
    "simulated_seconds_remaining": 25.41,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 6.205898201093078,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The tissue now extends directly into the finger gap. I am closing around it at the current height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 19,
  "state": {
    "instruction": "pick up the tissue and place it on the swan.",
    "joint_positions": [
      -0.05614,
      0.15211,
      -0.02114,
      -1.93821,
      0.00461,
      2.06819,
      -0.07556
    ],
    "gripper_open": 0.1752,
    "tcp_xyz": [
      0.58422,
      -0.04449,
      0.82996
    ],
    "tcp_roll_pitch_yaw": [
      -0.00018,
      -0.01983,
      0.00943
    ],
    "tcp_rotation_matrix": [
      [
        0.99975,
        -0.00378,
        -0.02196
      ],
      [
        -0.00373,
        -0.99999,
        0.00255
      ],
      [
        -0.02197,
        -0.00246,
        -0.99976
      ]
    ],
    "simulated_seconds_remaining": 24.486,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 7.806830529123545,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.98
                  },
                  "note": "The gripper is holding with a visible gap and the tissue shifted with closure. I am lifting it clear of the counter."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 20,
  "state": {
    "instruction": "pick up the tissue and place it on the swan.",
    "joint_positions": [
      -0.05609,
      0.09368,
      -0.02145,
      -1.63156,
      0.00284,
      1.70262,
      -0.07412
    ],
    "gripper_open": 0.136,
    "tcp_xyz": [
      0.58418,
      -0.04449,
      0.97842
    ],
    "tcp_roll_pitch_yaw": [
      -0.00017,
      -0.01933,
      0.00944
    ],
    "tcp_rotation_matrix": [
      [
        0.99974,
        -0.00378,
        -0.02246
      ],
      [
        -0.00372,
        -0.99999,
        0.00256
      ],
      [
        -0.02247,
        -0.00247,
        -0.99974
      ]
    ],
    "simulated_seconds_remaining": 23.166,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 20.61666219867766,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": -0.25,
                    "x": 0.6
                  },
                  "note": "The tissue is lifted securely, and the white swan bowl is beside it. I am carrying the tissue sideways over the swan."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 25,
    "motion_seconds": 1.6500000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

========================================================================
GPT-Astra / Pick & place / 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,
  "status": "completed",
  "success": true,
  "oracle_success": true,
  "action_decisions": 23,
  "wall_seconds": 320.57,
  "usage": {
    "input_tokens": 489824,
    "cached_input_tokens": 452608,
    "cache_write_input_tokens": 0,
    "output_tokens": 5795,
    "reasoning_output_tokens": 3072
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick-and-place 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 45 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 and grasp the requested object, lift it, move it to the named receptacle, and release it in or on that receptacle. Complete the entire pick-and-place 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 after each motion.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"pick up the knife and place it on the bowl.\", \"joint_positions\": [0.02179, -0.74484, -0.02465, -2.37847, -0.03238, 1.54569, -0.03174], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.29958, -0.00875, 0.99069], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.99543, 0.03731, -0.08789], [0.03603, -0.99922, -0.01605], [-0.08842, 0.01281, -0.996]], \"simulated_seconds_remaining\": 45.012, \"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": 0.84,
    "gripper": 1,
    "note": "The knife is visible on the near marble surface and the bowl is on the left surface. I lower the open gripper to get a clearer view of the knife."
  },
  "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": {
    "target": {
      "z": 0.84
    },
    "gripper": 1,
    "note": "The knife is on the near marble surface. Lowering 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": {
    "note": "The knife is visible below the wrist camera; checking the current pose before approaching."
  },
  "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": {
    "position": [
      0.29958,
      -0.00875,
      0.84
    ],
    "note": "Lower toward the visible knife with the gripper open."
  },
  "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": 0.84,
      "gripper": 1
    },
    "note": "The knife is visible on the near marble surface. Lowering the open gripper will clarify its location."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"pick up the knife and place it on the bowl.\", \"joint_positions\": [0.01896, -0.71933, -0.03253, -2.74609, -0.04061, 1.93845, -0.02504], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.29952, -0.00876, 0.84124], \"tcp_roll_pitch_yaw\": [-1e-05, 0.00032, 0.0], \"tcp_rotation_matrix\": [[0.9954, 0.03732, -0.08821], [0.03604, -0.99922, -0.01606], [-0.08874, 0.01281, -0.99597]], \"simulated_seconds_remaining\": 43.692, \"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": 0.19,
      "z": 0.87
    },
    "note": "The knife remains at the bottom of the wrist view. I shift toward the near table to center it before descending."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"pick up the knife and place it on the bowl.\", \"joint_positions\": [0.01087, -1.19991, -0.02496, -2.89544, -0.0391, 1.60746, -0.03076], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.19133, -0.00876, 0.86973], \"tcp_roll_pitch_yaw\": [-1e-05, 5e-05, 1e-05], \"tcp_rotation_matrix\": [[0.99543, 0.03732, -0.08794], [0.03604, -0.99922, -0.01606], [-0.08847, 0.01282, -0.996]], \"simulated_seconds_remaining\": 42.636, \"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": 0.45,
      "z": 0.9
    },
    "note": "The nearward shift moved the knife farther from center. I move forward over its table while keeping clearance."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"pick up the knife and place it on the bowl.\", \"joint_positions\": [0.02779, -0.26224, -0.03535, -2.2264, -0.02699, 1.87618, -0.03345], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.44866, -0.00876, 0.89982], \"tcp_roll_pitch_yaw\": [-1e-05, 0.00011, -0.0], \"tcp_rotation_matrix\": [[0.99542, 0.03731, -0.088], [0.03603, -0.99922, -0.01606], [-0.08853, 0.01282, -0.99599]], \"simulated_seconds_remaining\": 40.59, \"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": 0.54,
      "y": -0.05,
      "z": 0.79
    },
    "note": "Both utensils are clear: the knife is the lower straight utensil. I approach its middle, away from the fork above it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"pick up the knife and place it on the bowl.\", \"joint_positions\": [-0.00698, 0.11156, -0.0777, -2.08647, -0.01726, 2.11091, -0.11174], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.53914, -0.04967, 0.79085], \"tcp_roll_pitch_yaw\": [0.0, 0.00038, -7e-05], \"tcp_rotation_matrix\": [[0.9954, 0.03724, -0.08827], [0.03596, -0.99922, -0.01604], [-0.0888, 0.01279, -0.99597]], \"simulated_seconds_remaining\": 39.27, \"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": {
      "y": 0.07
    },
    "note": "The knife is now at the correct forward distance but lies to the right in the wrist view. I shift laterally to center its shaft."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"pick up the knife and place it on the bowl.\", \"joint_positions\": [0.1102, 0.11908, 0.0191, -2.07537, -0.00791, 2.1047, 0.0966], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.53914, 0.06885, 0.79085], \"tcp_roll_pitch_yaw\": [2e-05, 0.00039, 0.00024], \"tcp_rotation_matrix\": [[0.99539, 0.03756, -0.08827], [0.03628, -0.99921, -0.01605], [-0.0888, 0.01277, -0.99597]], \"simulated_seconds_remaining\": 38.148, \"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": {
      "z": 0.73,
      "yaw": -1.27
    },
    "note": "The knife is centered beneath the wrist. I rotate the jaws to close across its width and descend cautiously toward the surface."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"pick up the knife and place it on the bowl.\", \"joint_positions\": [0.15167, 0.1177, -0.0698, -2.17063, 0.06247, 2.32712, 1.23722], \"gripper_open\": 1.0, \"tcp_xyz\": [0.55844, 0.05305, 0.7687], \"tcp_roll_pitch_yaw\": [0.06429, -0.06201, -1.23762], \"tcp_rotation_matrix\": [[0.36602, -0.92988, 0.03681], [-0.9303, -0.36459, 0.04031], [-0.02407, -0.049, -0.99851]], \"simulated_seconds_remaining\": 36.168, \"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": {
      "z": 0.755,
      "yaw": -1.9,
      "roll": 0,
      "pitch": 0
    },
    "note": "The knife runs diagonally between the open fingers. I refine the jaw alignment and approach just above the tabletop."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"pick up the knife and place it on the bowl.\", \"joint_positions\": [0.1741, 0.15127, -0.10907, -2.16026, 0.14213, 2.32475, 1.82858], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.55843, 0.05303, 0.75508], \"tcp_roll_pitch_yaw\": [0.00055, -0.00025, -1.89551], \"tcp_rotation_matrix\": [[-0.28339, -0.95891, 0.01327], [-0.95494, 0.28344, 0.088], [-0.08815, 0.01227, -0.99603]], \"simulated_seconds_remaining\": 34.98, \"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": {
      "x": 0.528,
      "y": 0.063,
      "z": 0.755
    },
    "note": "The knife is aligned with the gripper but sits near the left finger. I shift slightly to put its handle between both fingers."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"pick up the knife and place it on the bowl.\", \"joint_positions\": [0.18944, 0.07455, -0.10023, -2.26388, 0.13299, 2.35478, 1.85502], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.52902, 0.06271, 0.75502], \"tcp_roll_pitch_yaw\": [0.00055, -0.00024, -1.89542], \"tcp_rotation_matrix\": [[-0.28331, -0.95894, 0.01326], [-0.95497, 0.28335, 0.08801], [-0.08816, 0.01228, -0.99603]], \"simulated_seconds_remaining\": 34.452, \"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": {
      "z": 0.724
    },
    "note": "The knife handle is now between the fingers. I lower the grasp point to surround the handle before closing."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"pick up the knife and place it on the bowl.\", \"joint_positions\": [0.18727, 0.08759, -0.09906, -2.27396, 0.15062, 2.39552, 1.83775], \"gripper_open\": 1.0, \"tcp_xyz\": [0.5329, 0.06295, 0.74775], \"tcp_roll_pitch_yaw\": [0.01517, 0.01357, -1.89537], \"tcp_rotation_matrix\": [[-0.28161, -0.95901, 0.03144], [-0.95416, 0.28335, 0.0964], [-0.10136, -0.00285, -0.99485]], \"simulated_seconds_remaining\": 33.924, \"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"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The fingers have reached the tabletop with the knife handle between them. I close the gripper around the handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 11, \"instruction\": \"pick up the knife and place it on the bowl.\", \"joint_positions\": [0.18795, 0.08059, -0.09821, -2.27213, 0.1511, 2.39065, 1.83786], \"gripper_open\": 0.8738, \"tcp_xyz\": [0.53351, 0.0642, 0.75181], \"tcp_roll_pitch_yaw\": [0.01814, 0.01664, -1.89375], \"tcp_rotation_matrix\": [[-0.27973, -0.95944, 0.03507], [-0.9544, 0.28185, 0.09841], [-0.1043, -0.00594, -0.99453]], \"simulated_seconds_remaining\": 33.0, \"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": {
      "z": 0.85,
      "gripper": 0
    },
    "note": "The gripper has resistance while closing. I lift vertically to check whether the knife is secured and clear the tabletop."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 12, \"instruction\": \"pick up the knife and place it on the bowl.\", \"joint_positions\": [0.18643, -0.05155, -0.1016, -2.1625, 0.10781, 2.15241, 1.88365], \"gripper_open\": 0.0, \"tcp_xyz\": [0.53362, 0.06421, 0.84877], \"tcp_roll_pitch_yaw\": [0.01849, 0.01683, -1.89375], \"tcp_rotation_matrix\": [[-0.27969, -0.95943, 0.03545], [-0.95439, 0.28186, 0.09847], [-0.10447, -0.00629, -0.99451]], \"simulated_seconds_remaining\": 32.076, \"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": 0.515,
      "y": 0.01,
      "z": 0.77,
      "gripper": 1,
      "roll": 0,
      "pitch": 0
    },
    "note": "The knife stayed on the table; the fingers closed just beyond its end. I reposition farther along the handle and reopen for another grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 13, \"instruction\": \"pick up the knife and place it on the bowl.\", \"joint_positions\": [0.14045, 0.00625, -0.15092, -2.30149, 0.12224, 2.31578, 1.76413], \"gripper_open\": 0.9965, \"tcp_xyz\": [0.5152, 0.01069, 0.771], \"tcp_roll_pitch_yaw\": [0.0, 0.00014, -1.89391], \"tcp_rotation_matrix\": [[-0.2819, -0.95936, 0.01273], [-0.95535, 0.28189, 0.08857], [-0.08856, 0.01281, -0.99599]], \"simulated_seconds_remaining\": 31.152, \"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": 0.495,
      "y": -0.045,
      "z": 0.76
    },
    "note": "The knife’s handle end is still near the fingertip line. I advance a little farther along the handle so the grasp surrounds a solid section."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 14, \"instruction\": \"pick up the knife and place it on the bowl.\", \"joint_positions\": [0.086, -0.02005, -0.2062, -2.36293, 0.11931, 2.34175, 1.65399], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.49539, -0.044, 0.76021], \"tcp_roll_pitch_yaw\": [-4e-05, 0.00014, -1.89417], \"tcp_rotation_matrix\": [[-0.28214, -0.95929, 0.01271], [-0.95528, 0.28214, 0.08857], [-0.08855, 0.01285, -0.99599]], \"simulated_seconds_remaining\": 30.426, \"calls_remaining_including_this\": 44}"
      },
      {
        "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": 0.537,
      "y": 0.083,
      "z": 0.77
    },
    "note": "The last shift moved the knife away from the grasp point. I correct in the opposite direction to bring the handle deeper between the jaws."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 15, \"instruction\": \"pick up the knife and place it on the bowl.\", \"joint_positions\": [0.20919, 0.07653, -0.08734, -2.21797, 0.12662, 2.31371, 1.8945], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.53658, 0.08185, 0.7699], \"tcp_roll_pitch_yaw\": [-2e-05, 0.00014, -1.89387], \"tcp_rotation_matrix\": [[-0.28186, -0.95937, 0.0127], [-0.95536, 0.28186, 0.08857], [-0.08855, 0.01283, -0.99599]], \"simulated_seconds_remaining\": 29.238, \"calls_remaining_including_this\": 43}"
      },
      {
        "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 knife handle now extends into the space between the jaws. I close slightly above the table to avoid trapping the fingertips against the surface."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 16, \"instruction\": \"pick up the knife and place it on the bowl.\", \"joint_positions\": [0.20919, 0.07653, -0.08734, -2.21797, 0.12662, 2.31371, 1.8945], \"gripper_open\": 0.0, \"tcp_xyz\": [0.53659, 0.08186, 0.7699], \"tcp_roll_pitch_yaw\": [-2e-05, 0.00014, -1.89388], \"tcp_rotation_matrix\": [[-0.28187, -0.95937, 0.0127], [-0.95536, 0.28186, 0.08857], [-0.08855, 0.01283, -0.99599]], \"simulated_seconds_remaining\": 28.314, \"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": {
      "z": 0.88
    },
    "note": "I lift to verify whether the closed fingers captured the knife."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 17, \"instruction\": \"pick up the knife and place it on the bowl.\", \"joint_positions\": [0.208, -0.04794, -0.08979, -2.07318, 0.09263, 2.04718, 1.93378], \"gripper_open\": 0.0, \"tcp_xyz\": [0.53668, 0.08187, 0.87885], \"tcp_roll_pitch_yaw\": [0.00029, 0.00031, -1.89389], \"tcp_rotation_matrix\": [[-0.28184, -0.95937, 0.01306], [-0.95535, 0.28187, 0.08864], [-0.08872, 0.01251, -0.99598]], \"simulated_seconds_remaining\": 27.258, \"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": 0.561,
      "y": 0.158,
      "z": 0.758,
      "gripper": 1
    },
    "note": "The knife remains on the table. I reposition toward the middle of its length and lower the jaws closer to the thin handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 18, \"instruction\": \"pick up the knife and place it on the bowl.\", \"joint_positions\": [0.26376, 0.10578, -0.04194, -2.08263, 0.04218, 2.21019, 2.02085], \"gripper_open\": 1.0, \"tcp_xyz\": [0.55468, 0.13156, 0.80353], \"tcp_roll_pitch_yaw\": [0.0212, -0.05143, -1.86132], \"tcp_rotation_matrix\": [[-0.24974, -0.96819, 0.01533], [-0.96763, 0.25013, 0.03358], [-0.03635, -0.00644, -0.99932]], \"simulated_seconds_remaining\": 26.004, \"calls_remaining_including_this\": 40}"
      },
      {
        "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": 0.529,
      "y": 0.063,
      "z": 0.757,
      "roll": 0,
      "pitch": 0,
      "yaw": -1.9,
      "gripper": 1
    },
    "note": "The bowl rim obstructed the approach farther along the knife. I return to the accessible handle section and set a grasp height just above the tabletop."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 19, \"instruction\": \"pick up the knife and place it on the bowl.\", \"joint_positions\": [0.18769, 0.0715, -0.09629, -2.25995, 0.13049, 2.34798, 1.86383], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.52938, 0.06393, 0.75767], \"tcp_roll_pitch_yaw\": [0.00018, -0.00088, -1.89965], \"tcp_rotation_matrix\": [[-0.28739, -0.95772, 0.01308], [-0.9538, 0.28741, 0.08747], [-0.08753, 0.01267, -0.99608]], \"simulated_seconds_remaining\": 25.146, \"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": {
      "gripper": 0
    },
    "note": "The knife crosses the fingertip region and the bowl is clear of the jaws. I close at this height to grip the thin handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 20, \"instruction\": \"pick up the knife and place it on the bowl.\", \"joint_positions\": [0.18688, 0.06741, -0.09739, -2.25494, 0.13008, 2.35069, 1.86377], \"gripper_open\": 0.2127, \"tcp_xyz\": [0.53313, 0.06317, 0.76225], \"tcp_roll_pitch_yaw\": [0.01103, 0.00374, -1.90141], \"tcp_rotation_matrix\": [[-0.28803, -0.9573, 0.02495], [-0.95322, 0.2891, 0.08829], [-0.09174, 0.00165, -0.99578]], \"simulated_seconds_remaining\": 24.222, \"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": {
      "z": 0.9,
      "gripper": 0
    },
    "note": "The jaws stopped around the knife’s width. I lift vertically to confirm a secure grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 21, \"instruction\": \"pick up the knife and place it on the bowl.\", \"joint_positions\": [0.18487, -0.08586, -0.09943, -2.06752, 0.08567, 2.01344, 1.9145], \"gripper_open\": 0.2115, \"tcp_xyz\": [0.53322, 0.06308, 0.89868], \"tcp_roll_pitch_yaw\": [0.01127, 0.00382, -1.9016], \"tcp_rotation_matrix\": [[-0.28818, -0.95724, 0.02522], [-0.95316, 0.28928, 0.08829], [-0.09181, 0.00141, -0.99578]], \"simulated_seconds_remaining\": 23.034, \"calls_remaining_including_this\": 37}"
      },
      {
        "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 knife is securely lifted. I’ll move it over the bowl and lower it for release.


{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.485,
      "y": 0.25,
      "z": 0.95
    },
    "note": "The knife stayed fixed in the gripper during the lift. The bowl is above and left in the wrist view, so I translate toward it with extra rim clearance."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 22, \"instruction\": \"pick up the knife and place it on the bowl.\", \"joint_positions\": [0.34211, -0.10265, 0.09823, -1.96202, 0.08432, 1.91924, 2.27773], \"gripper_open\": 0.2115, \"tcp_xyz\": [0.48526, 0.24887, 0.94961], \"tcp_roll_pitch_yaw\": [0.01122, 0.00375, -1.9013], \"tcp_rotation_matrix\": [[-0.2879, -0.95733, 0.02512], [-0.95326, 0.28899, 0.08824], [-0.09174, 0.00146, -0.99578]], \"simulated_seconds_remaining\": 21.384, \"calls_remaining_including_this\": 36}"
      },
      {
        "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": 0.845
    },
    "note": "The knife spans the bowl opening in the wrist view. I lower it toward the rim while keeping the handle securely gripped."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 23, \"instruction\": \"pick up the knife and place it on the bowl.\", \"joint_positions\": [0.34532, -0.04223, 0.1026, -2.15255, 0.08869, 2.17697, 2.2637], \"gripper_open\": 0.2186, \"tcp_xyz\": [0.48639, 0.24958, 0.85053], \"tcp_roll_pitch_yaw\": [0.01647, 0.00868, -1.90133], \"tcp_rotation_matrix\": [[-0.28735, -0.9573, 0.03166], [-0.95296, 0.28906, 0.09119], [-0.09645, -0.00397, -0.99533]], \"simulated_seconds_remaining\": 20.394, \"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": {
      "gripper": 1
    },
    "note": "The knife is lowered across the bowl opening, with its blade over the bowl. I open the jaws to place it on the bowl."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "Episode ended. Do not call more tools. Return a brief final response."
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

Placed the knife on the bowl.

TURN USAGE
{
  "input_tokens": 489824,
  "cached_input_tokens": 452608,
  "cache_write_input_tokens": 0,
  "output_tokens": 5795,
  "reasoning_output_tokens": 3072
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "pick up the knife and place it on the bowl.",
    "joint_positions": [
      0.02179,
      -0.74484,
      -0.02465,
      -2.37847,
      -0.03238,
      1.54569,
      -0.03174
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.29958,
      -0.00875,
      0.99069
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99543,
        0.03731,
        -0.08789
      ],
      [
        0.03603,
        -0.99922,
        -0.01605
      ],
      [
        -0.08842,
        0.01281,
        -0.996
      ]
    ],
    "simulated_seconds_remaining": 45.012,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 45.4413177985698,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.84,
                    "gripper": 1
                  },
                  "note": "The knife is visible on the near marble surface. Lowering the open gripper will clarify its location."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "pick up the knife and place it on the bowl.",
    "joint_positions": [
      0.01896,
      -0.71933,
      -0.03253,
      -2.74609,
      -0.04061,
      1.93845,
      -0.02504
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.29952,
      -0.00876,
      0.84124
    ],
    "tcp_roll_pitch_yaw": [
      -1e-05,
      0.00032,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.9954,
        0.03732,
        -0.08821
      ],
      [
        0.03604,
        -0.99922,
        -0.01606
      ],
      [
        -0.08874,
        0.01281,
        -0.99597
      ]
    ],
    "simulated_seconds_remaining": 43.692,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 8.006914891302586,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.19,
                    "z": 0.87
                  },
                  "note": "The knife remains at the bottom of the wrist view. I shift toward the near table to center it before descending."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "pick up the knife and place it on the bowl.",
    "joint_positions": [
      0.01087,
      -1.19991,
      -0.02496,
      -2.89544,
      -0.0391,
      1.60746,
      -0.03076
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.19133,
      -0.00876,
      0.86973
    ],
    "tcp_roll_pitch_yaw": [
      -1e-05,
      5e-05,
      1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99543,
        0.03732,
        -0.08794
      ],
      [
        0.03604,
        -0.99922,
        -0.01606
      ],
      [
        -0.08847,
        0.01282,
        -0.996
      ]
    ],
    "simulated_seconds_remaining": 42.636,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 7.806559351272881,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.45,
                    "z": 0.9
                  },
                  "note": "The nearward shift moved the knife farther from center. I move forward over its table while keeping clearance."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 31,
    "motion_seconds": 2.0460000000000003,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "pick up the knife and place it on the bowl.",
    "joint_positions": [
      0.02779,
      -0.26224,
      -0.03535,
      -2.2264,
      -0.02699,
      1.87618,
      -0.03345
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44866,
      -0.00876,
      0.89982
    ],
    "tcp_roll_pitch_yaw": [
      -1e-05,
      0.00011,
      -0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99542,
        0.03731,
        -0.088
      ],
      [
        0.03603,
        -0.99922,
        -0.01606
      ],
      [
        -0.08853,
        0.01282,
        -0.99599
      ]
    ],
    "simulated_seconds_remaining": 40.59,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 10.008785244077444,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.54,
                    "y": -0.05,
                    "z": 0.79
                  },
                  "note": "Both utensils are clear: the knife is the lower straight utensil. I approach its middle, away from the fork above it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "pick up the knife and place it on the bowl.",
    "joint_positions": [
      -0.00698,
      0.11156,
      -0.0777,
      -2.08647,
      -0.01726,
      2.11091,
      -0.11174
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.53914,
      -0.04967,
      0.79085
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.00038,
      -7e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.9954,
        0.03724,
        -0.08827
      ],
      [
        0.03596,
        -0.99922,
        -0.01604
      ],
      [
        -0.0888,
        0.01279,
        -0.99597
      ]
    ],
    "simulated_seconds_remaining": 39.27,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 8.009236544370651,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.07
                  },
                  "note": "The knife is now at the correct forward distance but lies to the right in the wrist view. I shift laterally to center its shaft."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "pick up the knife and place it on the bowl.",
    "joint_positions": [
      0.1102,
      0.11908,
      0.0191,
      -2.07537,
      -0.00791,
      2.1047,
      0.0966
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.53914,
      0.06885,
      0.79085
    ],
    "tcp_roll_pitch_yaw": [
      2e-05,
      0.00039,
      0.00024
    ],
    "tcp_rotation_matrix": [
      [
        0.99539,
        0.03756,
        -0.08827
      ],
      [
        0.03628,
        -0.99921,
        -0.01605
      ],
      [
        -0.0888,
        0.01277,
        -0.99597
      ]
    ],
    "simulated_seconds_remaining": 38.148,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 12.211048484779894,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.73,
                    "yaw": -1.27
                  },
                  "note": "The knife is centered beneath the wrist. I rotate the jaws to close across its width and descend cautiously toward the surface."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 30,
    "motion_seconds": 1.98,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "pick up the knife and place it on the bowl.",
    "joint_positions": [
      0.15167,
      0.1177,
      -0.0698,
      -2.17063,
      0.06247,
      2.32712,
      1.23722
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.55844,
      0.05305,
      0.7687
    ],
    "tcp_roll_pitch_yaw": [
      0.06429,
      -0.06201,
      -1.23762
    ],
    "tcp_rotation_matrix": [
      [
        0.36602,
        -0.92988,
        0.03681
      ],
      [
        -0.9303,
        -0.36459,
        0.04031
      ],
      [
        -0.02407,
        -0.049,
        -0.99851
      ]
    ],
    "simulated_seconds_remaining": 36.168,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 16.21859830059111,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.755,
                    "yaw": -1.9,
                    "roll": 0,
                    "pitch": 0
                  },
                  "note": "The knife runs diagonally between the open fingers. I refine the jaw alignment and approach just above the tabletop."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "pick up the knife and place it on the bowl.",
    "joint_positions": [
      0.1741,
      0.15127,
      -0.10907,
      -2.16026,
      0.14213,
      2.32475,
      1.82858
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.55843,
      0.05303,
      0.75508
    ],
    "tcp_roll_pitch_yaw": [
      0.00055,
      -0.00025,
      -1.89551
    ],
    "tcp_rotation_matrix": [
      [
        -0.28339,
        -0.95891,
        0.01327
      ],
      [
        -0.95494,
        0.28344,
        0.088
      ],
      [
        -0.08815,
        0.01227,
        -0.99603
      ]
    ],
    "simulated_seconds_remaining": 34.98,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 17.618491942062974,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.528,
                    "y": 0.063,
                    "z": 0.755
                  },
                  "note": "The knife is aligned with the gripper but sits near the left finger. I shift slightly to put its handle between both fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 8,
    "motion_seconds": 0.528,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "pick up the knife and place it on the bowl.",
    "joint_positions": [
      0.18944,
      0.07455,
      -0.10023,
      -2.26388,
      0.13299,
      2.35478,
      1.85502
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.52902,
      0.06271,
      0.75502
    ],
    "tcp_roll_pitch_yaw": [
      0.00055,
      -0.00024,
      -1.89542
    ],
    "tcp_rotation_matrix": [
      [
        -0.28331,
        -0.95894,
        0.01326
      ],
      [
        -0.95497,
        0.28335,
        0.08801
      ],
      [
        -0.08816,
        0.01228,
        -0.99603
      ]
    ],
    "simulated_seconds_remaining": 34.452,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 8.207132613286376,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.724
                  },
                  "note": "The knife handle is now between the fingers. I lower the grasp point to surround the handle before closing."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 8,
    "motion_seconds": 0.528,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "pick up the knife and place it on the bowl.",
    "joint_positions": [
      0.18727,
      0.08759,
      -0.09906,
      -2.27396,
      0.15062,
      2.39552,
      1.83775
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.5329,
      0.06295,
      0.74775
    ],
    "tcp_roll_pitch_yaw": [
      0.01517,
      0.01357,
      -1.89537
    ],
    "tcp_rotation_matrix": [
      [
        -0.28161,
        -0.95901,
        0.03144
      ],
      [
        -0.95416,
        0.28335,
        0.0964
      ],
      [
        -0.10136,
        -0.00285,
        -0.99485
      ]
    ],
    "simulated_seconds_remaining": 33.924,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 6.005040473304689,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The fingers have reached the tabletop with the knife handle between them. I close the gripper around the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "pick up the knife and place it on the bowl.",
    "joint_positions": [
      0.18795,
      0.08059,
      -0.09821,
      -2.27213,
      0.1511,
      2.39065,
      1.83786
    ],
    "gripper_open": 0.8738,
    "tcp_xyz": [
      0.53351,
      0.0642,
      0.75181
    ],
    "tcp_roll_pitch_yaw": [
      0.01814,
      0.01664,
      -1.89375
    ],
    "tcp_rotation_matrix": [
      [
        -0.27973,
        -0.95944,
        0.03507
      ],
      [
        -0.9544,
        0.28185,
        0.09841
      ],
      [
        -0.1043,
        -0.00594,
        -0.99453
      ]
    ],
    "simulated_seconds_remaining": 33.0,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 6.8053216291591525,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.85,
                    "gripper": 0
                  },
                  "note": "The gripper has resistance while closing. I lift vertically to check whether the knife is secured and clear the tabletop."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "pick up the knife and place it on the bowl.",
    "joint_positions": [
      0.18643,
      -0.05155,
      -0.1016,
      -2.1625,
      0.10781,
      2.15241,
      1.88365
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.53362,
      0.06421,
      0.84877
    ],
    "tcp_roll_pitch_yaw": [
      0.01849,
      0.01683,
      -1.89375
    ],
    "tcp_rotation_matrix": [
      [
        -0.27969,
        -0.95943,
        0.03545
      ],
      [
        -0.95439,
        0.28186,
        0.09847
      ],
      [
        -0.10447,
        -0.00629,
        -0.99451
      ]
    ],
    "simulated_seconds_remaining": 32.076,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 12.411961396224797,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.515,
                    "y": 0.01,
                    "z": 0.77,
                    "gripper": 1,
                    "roll": 0,
                    "pitch": 0
                  },
                  "note": "The knife stayed on the table; the fingers closed just beyond its end. I reposition farther along the handle and reopen for another grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "pick up the knife and place it on the bowl.",
    "joint_positions": [
      0.14045,
      0.00625,
      -0.15092,
      -2.30149,
      0.12224,
      2.31578,
      1.76413
    ],
    "gripper_open": 0.9965,
    "tcp_xyz": [
      0.5152,
      0.01069,
      0.771
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.00014,
      -1.89391
    ],
    "tcp_rotation_matrix": [
      [
        -0.2819,
        -0.95936,
        0.01273
      ],
      [
        -0.95535,
        0.28189,
        0.08857
      ],
      [
        -0.08856,
        0.01281,
        -0.99599
      ]
    ],
    "simulated_seconds_remaining": 31.152,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 9.608254375867546,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.495,
                    "y": -0.045,
                    "z": 0.76
                  },
                  "note": "The knife’s handle end is still near the fingertip line. I advance a little farther along the handle so the grasp surrounds a solid section."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "pick up the knife and place it on the bowl.",
    "joint_positions": [
      0.086,
      -0.02005,
      -0.2062,
      -2.36293,
      0.11931,
      2.34175,
      1.65399
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.49539,
      -0.044,
      0.76021
    ],
    "tcp_roll_pitch_yaw": [
      -4e-05,
      0.00014,
      -1.89417
    ],
    "tcp_rotation_matrix": [
      [
        -0.28214,
        -0.95929,
        0.01271
      ],
      [
        -0.95528,
        0.28214,
        0.08857
      ],
      [
        -0.08855,
        0.01285,
        -0.99599
      ]
    ],
    "simulated_seconds_remaining": 30.426,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 14.010865409858525,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.537,
                    "y": 0.083,
                    "z": 0.77
                  },
                  "note": "The last shift moved the knife away from the grasp point. I correct in the opposite direction to bring the handle deeper between the jaws."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "pick up the knife and place it on the bowl.",
    "joint_positions": [
      0.20919,
      0.07653,
      -0.08734,
      -2.21797,
      0.12662,
      2.31371,
      1.8945
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.53658,
      0.08185,
      0.7699
    ],
    "tcp_roll_pitch_yaw": [
      -2e-05,
      0.00014,
      -1.89387
    ],
    "tcp_rotation_matrix": [
      [
        -0.28186,
        -0.95937,
        0.0127
      ],
      [
        -0.95536,
        0.28186,
        0.08857
      ],
      [
        -0.08855,
        0.01283,
        -0.99599
      ]
    ],
    "simulated_seconds_remaining": 29.238,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 5.404737079516053,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The knife handle now extends into the space between the jaws. I close slightly above the table to avoid trapping the fingertips against the surface."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "pick up the knife and place it on the bowl.",
    "joint_positions": [
      0.20919,
      0.07653,
      -0.08734,
      -2.21797,
      0.12662,
      2.31371,
      1.8945
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.53659,
      0.08186,
      0.7699
    ],
    "tcp_roll_pitch_yaw": [
      -2e-05,
      0.00014,
      -1.89388
    ],
    "tcp_rotation_matrix": [
      [
        -0.28187,
        -0.95937,
        0.0127
      ],
      [
        -0.95536,
        0.28186,
        0.08857
      ],
      [
        -0.08855,
        0.01283,
        -0.99599
      ]
    ],
    "simulated_seconds_remaining": 28.314,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 5.404673660174012,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.88
                  },
                  "note": "I lift to verify whether the closed fingers captured the knife."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "pick up the knife and place it on the bowl.",
    "joint_positions": [
      0.208,
      -0.04794,
      -0.08979,
      -2.07318,
      0.09263,
      2.04718,
      1.93378
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.53668,
      0.08187,
      0.87885
    ],
    "tcp_roll_pitch_yaw": [
      0.00029,
      0.00031,
      -1.89389
    ],
    "tcp_rotation_matrix": [
      [
        -0.28184,
        -0.95937,
        0.01306
      ],
      [
        -0.95535,
        0.28187,
        0.08864
      ],
      [
        -0.08872,
        0.01251,
        -0.99598
      ]
    ],
    "simulated_seconds_remaining": 27.258,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 15.015090658329427,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.561,
                    "y": 0.158,
                    "z": 0.758,
                    "gripper": 1
                  },
                  "note": "The knife remains on the table. I reposition toward the middle of its length and lower the jaws closer to the thin handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "pick up the knife and place it on the bowl.",
    "joint_positions": [
      0.26376,
      0.10578,
      -0.04194,
      -2.08263,
      0.04218,
      2.21019,
      2.02085
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.55468,
      0.13156,
      0.80353
    ],
    "tcp_roll_pitch_yaw": [
      0.0212,
      -0.05143,
      -1.86132
    ],
    "tcp_rotation_matrix": [
      [
        -0.24974,
        -0.96819,
        0.01533
      ],
      [
        -0.96763,
        0.25013,
        0.03358
      ],
      [
        -0.03635,
        -0.00644,
        -0.99932
      ]
    ],
    "simulated_seconds_remaining": 26.004,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 19.615805043838918,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.529,
                    "y": 0.063,
                    "z": 0.757,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": -1.9,
                    "gripper": 1
                  },
                  "note": "The bowl rim obstructed the approach farther along the knife. I return to the accessible handle section and set a grasp height just above the tabletop."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 19,
  "state": {
    "instruction": "pick up the knife and place it on the bowl.",
    "joint_positions": [
      0.18769,
      0.0715,
      -0.09629,
      -2.25995,
      0.13049,
      2.34798,
      1.86383
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.52938,
      0.06393,
      0.75767
    ],
    "tcp_roll_pitch_yaw": [
      0.00018,
      -0.00088,
      -1.89965
    ],
    "tcp_rotation_matrix": [
      [
        -0.28739,
        -0.95772,
        0.01308
      ],
      [
        -0.9538,
        0.28741,
        0.08747
      ],
      [
        -0.08753,
        0.01267,
        -0.99608
      ]
    ],
    "simulated_seconds_remaining": 25.146,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 5.2046976974233985,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The knife crosses the fingertip region and the bowl is clear of the jaws. I close at this height to grip the thin handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 20,
  "state": {
    "instruction": "pick up the knife and place it on the bowl.",
    "joint_positions": [
      0.18688,
      0.06741,
      -0.09739,
      -2.25494,
      0.13008,
      2.35069,
      1.86377
    ],
    "gripper_open": 0.2127,
    "tcp_xyz": [
      0.53313,
      0.06317,
      0.76225
    ],
    "tcp_roll_pitch_yaw": [
      0.01103,
      0.00374,
      -1.90141
    ],
    "tcp_rotation_matrix": [
      [
        -0.28803,
        -0.9573,
        0.02495
      ],
      [
        -0.95322,
        0.2891,
        0.08829
      ],
      [
        -0.09174,
        0.00165,
        -0.99578
      ]
    ],
    "simulated_seconds_remaining": 24.222,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 4.8045802330598235,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.9,
                    "gripper": 0
                  },
                  "note": "The jaws stopped around the knife’s width. I lift vertically to confirm a secure grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 21,
  "state": {
    "instruction": "pick up the knife and place it on the bowl.",
    "joint_positions": [
      0.18487,
      -0.08586,
      -0.09943,
      -2.06752,
      0.08567,
      2.01344,
      1.9145
    ],
    "gripper_open": 0.2115,
    "tcp_xyz": [
      0.53322,
      0.06308,
      0.89868
    ],
    "tcp_roll_pitch_yaw": [
      0.01127,
      0.00382,
      -1.9016
    ],
    "tcp_rotation_matrix": [
      [
        -0.28818,
        -0.95724,
        0.02522
      ],
      [
        -0.95316,
        0.28928,
        0.08829
      ],
      [
        -0.09181,
        0.00141,
        -0.99578
      ]
    ],
    "simulated_seconds_remaining": 23.034,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 17.01875483058393,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.485,
                    "y": 0.25,
                    "z": 0.95
                  },
                  "note": "The knife stayed fixed in the gripper during the lift. The bowl is above and left in the wrist view, so I translate toward it with extra rim clearance."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 25,
    "motion_seconds": 1.6500000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 22,
  "state": {
    "instruction": "pick up the knife and place it on the bowl.",
    "joint_positions": [
      0.34211,
      -0.10265,
      0.09823,
      -1.96202,
      0.08432,
      1.91924,
      2.27773
    ],
    "gripper_open": 0.2115,
    "tcp_xyz": [
      0.48526,
      0.24887,
      0.94961
    ],
    "tcp_roll_pitch_yaw": [
      0.01122,
      0.00375,
      -1.9013
    ],
    "tcp_rotation_matrix": [
      [
        -0.2879,
        -0.95733,
        0.02512
      ],
      [
        -0.95326,
        0.28899,
        0.08824
      ],
      [
        -0.09174,
        0.00146,
        -0.99578
      ]
    ],
    "simulated_seconds_remaining": 21.384,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 10.40863944683224,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.845
                  },
                  "note": "The knife spans the bowl opening in the wrist view. I lower it toward the rim while keeping the handle securely gripped."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 23,
  "state": {
    "instruction": "pick up the knife and place it on the bowl.",
    "joint_positions": [
      0.34532,
      -0.04223,
      0.1026,
      -2.15255,
      0.08869,
      2.17697,
      2.2637
    ],
    "gripper_open": 0.2186,
    "tcp_xyz": [
      0.48639,
      0.24958,
      0.85053
    ],
    "tcp_roll_pitch_yaw": [
      0.01647,
      0.00868,
      -1.90133
    ],
    "tcp_rotation_matrix": [
      [
        -0.28735,
        -0.9573,
        0.03166
      ],
      [
        -0.95296,
        0.28906,
        0.09119
      ],
      [
        -0.09645,
        -0.00397,
        -0.99533
      ]
    ],
    "simulated_seconds_remaining": 20.394,
    "calls_remaining_including_this": 35
  },
  "api_seconds": 6.605679213069379,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 1
                  },
                  "note": "The knife is lowered across the bowl opening, with its blade over the bowl. I open the jaws to place it on the bowl."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

========================================================================
GPT-Astra / Pick & place / 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,
  "status": "completed",
  "success": true,
  "oracle_success": true,
  "action_decisions": 22,
  "wall_seconds": 301.68,
  "usage": {
    "input_tokens": 427612,
    "cached_input_tokens": 399616,
    "cache_write_input_tokens": 0,
    "output_tokens": 4791,
    "reasoning_output_tokens": 2288
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick-and-place 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 45 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 and grasp the requested object, lift it, move it to the named receptacle, and release it in or on that receptacle. Complete the entire pick-and-place 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 pick and place.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"pick up the cup and place it on the bowl.\", \"joint_positions\": [0.01111, -0.7949, 0.01894, -2.31988, 0.04712, 1.58353, -0.02509], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.31478, 0.02164, 1.03688], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.99701, 0.05154, 0.05754], [0.04957, -0.99816, 0.03503], [0.05924, -0.03207, -0.99773]], \"simulated_seconds_remaining\": 45.012, \"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": 0.02,
    "z": 0.98,
    "gripper": 1,
    "note": "The gray cup is beside the dark bowl. I move forward and slightly lower to center the cup in 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": 0.44,
      "y": 0.02,
      "z": 0.98,
      "gripper": 1
    },
    "note": "The gray cup is beside the dark bowl. I move forward and slightly lower to center the cup in the wrist view."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"pick up the cup and place it on the bowl.\", \"joint_positions\": [0.00553, -0.43003, 0.01813, -2.20682, 0.04279, 1.83473, -0.03836], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.43873, 0.02001, 0.98048], \"tcp_roll_pitch_yaw\": [0.0, 0.00027, -2e-05], \"tcp_rotation_matrix\": [[0.99703, 0.05151, 0.05727], [0.04956, -0.99816, 0.03503], [0.05897, -0.03209, -0.99774]], \"simulated_seconds_remaining\": 43.824, \"calls_remaining_including_this\": 56}"
      },
      {
        "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": 0.32,
      "y": 0.02,
      "z": 0.89
    },
    "note": "The cup shifted upward in the wrist image as I moved forward. I move back and lower toward its rim for a closer alignment check."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"pick up the cup and place it on the bowl.\", \"joint_positions\": [0.01317, -0.81013, 0.02221, -2.70337, 0.05325, 1.95116, -0.04002], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.32101, 0.02, 0.89078], \"tcp_roll_pitch_yaw\": [-2e-05, 0.00034, 0.0], \"tcp_rotation_matrix\": [[0.99703, 0.05153, 0.0572], [0.04958, -0.99816, 0.03501], [0.0589, -0.03207, -0.99775]], \"simulated_seconds_remaining\": 42.504, \"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": {
      "z": 0.84
    },
    "note": "The cup is now between the open fingers in the wrist view. I lower the grasp point to engage the cup’s upper sidewalls."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"pick up the cup and place it on the bowl.\", \"joint_positions\": [0.01528, -0.7731, 0.02481, -2.81102, 0.05825, 2.09549, -0.04483], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.32095, 0.02, 0.84109], \"tcp_roll_pitch_yaw\": [-3e-05, 0.00062, 1e-05], \"tcp_rotation_matrix\": [[0.99705, 0.05152, 0.05692], [0.04958, -0.99816, 0.03501], [0.05862, -0.03208, -0.99776]], \"simulated_seconds_remaining\": 41.844, \"calls_remaining_including_this\": 54}"
      },
      {
        "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 straddle the cup near its rim, and the exterior view shows them at the cup’s sides. I close the gripper to secure it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"pick up the cup and place it on the bowl.\", \"joint_positions\": [0.01528, -0.7731, 0.02481, -2.81102, 0.05825, 2.09549, -0.04483], \"gripper_open\": 0.0, \"tcp_xyz\": [0.32095, 0.02, 0.84108], \"tcp_roll_pitch_yaw\": [-3e-05, 0.00061, 1e-05], \"tcp_rotation_matrix\": [[0.99705, 0.05152, 0.05693], [0.04958, -0.99816, 0.03501], [0.05863, -0.03208, -0.99776]], \"simulated_seconds_remaining\": 40.92, \"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": {
      "z": 0.95
    },
    "note": "The gripper closed fully, so I lift gently to check whether the cup is held."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"pick up the cup and place it on the bowl.\", \"joint_positions\": [0.01168, -0.81764, 0.01932, -2.5596, 0.04894, 1.79994, -0.03508], \"gripper_open\": 0.0, \"tcp_xyz\": [0.32102, 0.02001, 0.94881], \"tcp_roll_pitch_yaw\": [-1e-05, 0.00034, 0.0], \"tcp_rotation_matrix\": [[0.99703, 0.05153, 0.0572], [0.04958, -0.99816, 0.03502], [0.0589, -0.03208, -0.99775]], \"simulated_seconds_remaining\": 39.864, \"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": 0.375,
      "y": -0.005,
      "z": 0.89,
      "gripper": 1
    },
    "note": "The cup stayed on the table. The closed fingertips were ahead and to the right of its center in the wrist view, so I adjust the grasp position and reopen."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"pick up the cup and place it on the bowl.\", \"joint_positions\": [-0.00978, -0.61369, -0.02154, -2.57927, 0.02691, 2.02155, -0.08937], \"gripper_open\": 0.9965, \"tcp_xyz\": [0.37421, -0.00466, 0.89075], \"tcp_roll_pitch_yaw\": [3e-05, 0.00061, -4e-05], \"tcp_rotation_matrix\": [[0.99705, 0.05148, 0.05693], [0.04953, -0.99816, 0.03505], [0.05863, -0.03213, -0.99776]], \"simulated_seconds_remaining\": 38.94, \"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": {
      "z": 0.805
    },
    "note": "The cup is centered across the finger opening. I lower farther so the jaws surround the body below the rim."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"pick up the cup and place it on the bowl.\", \"joint_positions\": [-0.00451, -0.54522, -0.02338, -2.71624, 0.03694, 2.2502, -0.10171], \"gripper_open\": 1.0, \"tcp_xyz\": [0.37868, -0.0027, 0.82305], \"tcp_roll_pitch_yaw\": [0.00353, -0.02291, 0.00367], \"tcp_rotation_matrix\": [[0.9952, 0.056, 0.08024], [0.05302, -0.99784, 0.03885], [0.08224, -0.03441, -0.99602]], \"simulated_seconds_remaining\": 38.082, \"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": {
      "gripper": 0
    },
    "note": "The cup fills the gap between the jaws, and the descent stopped against contact. I close at this height to grip its sides."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"pick up the cup and place it on the bowl.\", \"joint_positions\": [-0.00251, -0.55291, -0.02209, -2.70896, 0.03967, 2.24732, -0.10259], \"gripper_open\": 0.9081, \"tcp_xyz\": [0.38155, -0.00124, 0.82913], \"tcp_roll_pitch_yaw\": [0.00493, -0.0351, 0.00612], \"tcp_rotation_matrix\": [[0.99399, 0.05891, 0.09226], [0.05537, -0.99764, 0.04051], [0.09443, -0.03516, -0.99491]], \"simulated_seconds_remaining\": 37.158, \"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": 0.98
    },
    "note": "The gripper remains wide under the close command, indicating contact with the cup. I lift to verify a secure grasp and clear the table."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"pick up the cup and place it on the bowl.\", \"joint_positions\": [-0.00517, -0.6401, -0.01925, -2.38246, 0.03209, 1.8342, -0.08539], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.38162, -0.00124, 0.97878], \"tcp_roll_pitch_yaw\": [0.00493, -0.03541, 0.00612], \"tcp_rotation_matrix\": [[0.99396, 0.05892, 0.09257], [0.05536, -0.99764, 0.04052], [0.09474, -0.03515, -0.99488]], \"simulated_seconds_remaining\": 35.838, \"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": {
      "x": 0.375,
      "y": -0.005,
      "z": 0.835,
      "roll": 0,
      "pitch": 0,
      "yaw": 0,
      "gripper": 1
    },
    "note": "The cup stayed on the table as the jaws reopened during the lift. I return to the aligned grasp position before closing again."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 11, \"instruction\": \"pick up the cup and place it on the bowl.\", \"joint_positions\": [-0.00964, -0.55897, -0.02273, -2.68387, 0.03016, 2.18134, -0.09654], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.375, -0.00496, 0.83624], \"tcp_roll_pitch_yaw\": [5e-05, 0.0, 6e-05], \"tcp_rotation_matrix\": [[0.99701, 0.0516, 0.05753], [0.04963, -0.99815, 0.03509], [0.05924, -0.03213, -0.99773]], \"simulated_seconds_remaining\": 34.584, \"calls_remaining_including_this\": 47}"
      },
      {
        "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": {
      "gripper": 0
    },
    "note": "The jaws are around the cup’s upper body. I close them and will maintain the close command during the lift."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 12, \"instruction\": \"pick up the cup and place it on the bowl.\", \"joint_positions\": [-0.01328, -0.56644, -0.026, -2.67383, 0.02637, 2.1829, -0.09653], \"gripper_open\": 0.0274, \"tcp_xyz\": [0.37973, -0.00809, 0.84396], \"tcp_roll_pitch_yaw\": [-0.00187, -0.01899, -0.00457], \"tcp_rotation_matrix\": [[0.99593, 0.04754, 0.07663], [0.04513, -0.99844, 0.03281], [0.07807, -0.02922, -0.99652]], \"simulated_seconds_remaining\": 33.66, \"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": {
      "z": 0.96,
      "gripper": 0
    },
    "note": "The jaws nearly closed and the cup shifted slightly. I lift while keeping them closed to verify whether the grasp holds."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 13, \"instruction\": \"pick up the cup and place it on the bowl.\", \"joint_positions\": [-0.01442, -0.63339, -0.02315, -2.42417, 0.02267, 1.86675, -0.08583], \"gripper_open\": 0.0, \"tcp_xyz\": [0.3798, -0.0081, 0.95875], \"tcp_roll_pitch_yaw\": [-0.00187, -0.01931, -0.00458], \"tcp_rotation_matrix\": [[0.9959, 0.04754, 0.07695], [0.04513, -0.99844, 0.03281], [0.07839, -0.0292, -0.9965]], \"simulated_seconds_remaining\": 32.604, \"calls_remaining_including_this\": 45}"
      },
      {
        "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"
}

The cup is still on the table. I’m adjusting the grasp slightly forward and lower so the fingers close around the body.


{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.42,
      "y": 0.015,
      "z": 0.8,
      "roll": 0,
      "pitch": 0,
      "yaw": 0,
      "gripper": 1
    },
    "note": "The cup remains below and slightly right of the fingertips at contact height. I shift forward and left and lower to surround its body."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 14, \"instruction\": \"pick up the cup and place it on the bowl.\", \"joint_positions\": [0.01235, -0.36133, 0.00913, -2.60346, 0.04995, 2.3209, -0.06327], \"gripper_open\": 1.0, \"tcp_xyz\": [0.42566, 0.01513, 0.80935], \"tcp_roll_pitch_yaw\": [-0.00013, -0.02108, 0.00067], \"tcp_rotation_matrix\": [[0.99551, 0.05287, 0.07853], [0.05025, -0.99812, 0.03496], [0.08023, -0.03085, -0.9963]], \"simulated_seconds_remaining\": 31.218, \"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": {
      "gripper": 0
    },
    "note": "The cup’s body now spans the space between both fingers. I close the jaws at this lower position."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 15, \"instruction\": \"pick up the cup and place it on the bowl.\", \"joint_positions\": [0.01235, -0.36133, 0.00913, -2.60346, 0.04995, 2.3209, -0.06327], \"gripper_open\": 0.0, \"tcp_xyz\": [0.42567, 0.01514, 0.80933], \"tcp_roll_pitch_yaw\": [-0.00012, -0.02107, 0.00067], \"tcp_rotation_matrix\": [[0.99551, 0.05287, 0.07852], [0.05025, -0.99812, 0.03496], [0.08022, -0.03086, -0.9963]], \"simulated_seconds_remaining\": 30.294, \"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": 0.455,
      "y": 0.025,
      "z": 0.86,
      "gripper": 1,
      "roll": 0,
      "pitch": 0,
      "yaw": 0
    },
    "note": "The jaws closed without holding the cup, so their contact point is still offset. I reopen and reposition a little farther forward before descending again."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 16, \"instruction\": \"pick up the cup and place it on the bowl.\", \"joint_positions\": [0.0177, -0.32022, 0.02109, -2.42298, 0.04751, 2.16181, -0.03808], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.45441, 0.02479, 0.85896], \"tcp_roll_pitch_yaw\": [0.0, -0.00062, 3e-05], \"tcp_rotation_matrix\": [[0.99697, 0.05158, 0.05815], [0.0496, -0.99815, 0.03504], [0.05985, -0.03204, -0.99769]], \"simulated_seconds_remaining\": 29.37, \"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": 0.48,
      "y": 0.035,
      "z": 0.775,
      "gripper": 1
    },
    "note": "The cup is close to the center of the wrist image. I make a small forward correction while lowering the open fingers around its middle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 17, \"instruction\": \"pick up the cup and place it on the bowl.\", \"joint_positions\": [0.02659, -0.12672, 0.03495, -2.45639, 0.05241, 2.38924, -0.0265], \"gripper_open\": 0.9972, \"tcp_xyz\": [0.47961, 0.03484, 0.77629], \"tcp_roll_pitch_yaw\": [-2e-05, -0.00053, 6e-05], \"tcp_rotation_matrix\": [[0.99698, 0.05161, 0.05807], [0.04963, -0.99815, 0.03501], [0.05977, -0.03202, -0.9977]], \"simulated_seconds_remaining\": 28.512, \"calls_remaining_including_this\": 41}"
      },
      {
        "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 open fingers now reach down alongside the cup. I close around its middle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 18, \"instruction\": \"pick up the cup and place it on the bowl.\", \"joint_positions\": [0.02747, -0.13016, 0.03604, -2.45298, 0.05269, 2.38986, -0.02635], \"gripper_open\": 0.166, \"tcp_xyz\": [0.48173, 0.03591, 0.7795], \"tcp_roll_pitch_yaw\": [0.00037, -0.00798, 0.00167], \"tcp_rotation_matrix\": [[0.99642, 0.05346, 0.06544], [0.05121, -0.99806, 0.03551], [0.06721, -0.03203, -0.99722]], \"simulated_seconds_remaining\": 27.588, \"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": {
      "z": 0.96,
      "gripper": 0
    },
    "note": "The cup tilted as the jaws made contact and stopped partly open. I lift with the gripper held closed to check the grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 19, \"instruction\": \"pick up the cup and place it on the bowl.\", \"joint_positions\": [0.02418, -0.29966, 0.03114, -2.14601, 0.04366, 1.91376, -0.01149], \"gripper_open\": 0.1252, \"tcp_xyz\": [0.48178, 0.03592, 0.95874], \"tcp_roll_pitch_yaw\": [0.0004, -0.0082, 0.00166], \"tcp_rotation_matrix\": [[0.99641, 0.05346, 0.06566], [0.0512, -0.99806, 0.03553], [0.06743, -0.03204, -0.99721]], \"simulated_seconds_remaining\": 26.07, \"calls_remaining_including_this\": 39}"
      },
      {
        "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": 0.2,
      "z": 0.96,
      "gripper": 0
    },
    "note": "The cup is lifted and held by its rim. The dark bowl is to its left on the table, so I carry the cup toward it while maintaining clearance."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 20, \"instruction\": \"pick up the cup and place it on the bowl.\", \"joint_positions\": [0.13808, -0.14044, 0.22225, -1.97668, 0.04358, 1.91325, 0.29352], \"gripper_open\": 0.1254, \"tcp_xyz\": [0.4998, 0.19875, 0.95991], \"tcp_roll_pitch_yaw\": [0.00033, -0.00804, 0.00193], \"tcp_rotation_matrix\": [[0.99641, 0.05372, 0.06549], [0.05148, -0.99804, 0.03549], [0.06727, -0.03199, -0.99722]], \"simulated_seconds_remaining\": 24.684, \"calls_remaining_including_this\": 38}"
      },
      {
        "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"
}

The cup is securely lifted. I’m aligning it over the bowl and lowering it for release.


{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "y": 0.25,
      "z": 0.87,
      "gripper": 0
    },
    "note": "The bowl is just left of the suspended cup in the exterior view. I move a little farther left and lower toward its opening."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 21, \"instruction\": \"pick up the cup and place it on the bowl.\", \"joint_positions\": [0.17954, -0.03125, 0.27993, -2.08438, 0.01345, 2.1286, 0.40013], \"gripper_open\": 0.1284, \"tcp_xyz\": [0.49973, 0.2494, 0.8711], \"tcp_roll_pitch_yaw\": [0.00025, -0.00784, 0.00208], \"tcp_rotation_matrix\": [[0.99641, 0.05386, 0.06528], [0.05163, -0.99804, 0.03541], [0.06706, -0.03192, -0.99724]], \"simulated_seconds_remaining\": 23.694, \"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": {
      "z": 0.84,
      "gripper": 0
    },
    "note": "The cup’s base is over the bowl opening. I lower a final few centimeters so the bowl can support it before release."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 22, \"instruction\": \"pick up the cup and place it on the bowl.\", \"joint_positions\": [0.18048, -0.00193, 0.28136, -2.1309, 0.00393, 2.20312, 0.40683], \"gripper_open\": 0.1266, \"tcp_xyz\": [0.4997, 0.24937, 0.84097], \"tcp_roll_pitch_yaw\": [0.00017, -0.00764, 0.00205], \"tcp_rotation_matrix\": [[0.99643, 0.05383, 0.06509], [0.05161, -0.99804, 0.03533], [0.06686, -0.03185, -0.99725]], \"simulated_seconds_remaining\": 23.166, \"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": 1
    },
    "note": "The cup is positioned inside the bowl’s rim. I open the gripper to leave it supported by the bowl."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "Episode ended. Do not call more tools. Return a brief final response."
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

Placed the cup on the bowl and released it.

TURN USAGE
{
  "input_tokens": 427612,
  "cached_input_tokens": 399616,
  "cache_write_input_tokens": 0,
  "output_tokens": 4791,
  "reasoning_output_tokens": 2288
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "pick up the cup and place it on the bowl.",
    "joint_positions": [
      0.01111,
      -0.7949,
      0.01894,
      -2.31988,
      0.04712,
      1.58353,
      -0.02509
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.31478,
      0.02164,
      1.03688
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99701,
        0.05154,
        0.05754
      ],
      [
        0.04957,
        -0.99816,
        0.03503
      ],
      [
        0.05924,
        -0.03207,
        -0.99773
      ]
    ],
    "simulated_seconds_remaining": 45.012,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 31.825741544365883,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.44,
                    "y": 0.02,
                    "z": 0.98,
                    "gripper": 1
                  },
                  "note": "The gray cup is beside the dark bowl. I move forward and slightly lower to center the cup in the wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "pick up the cup and place it on the bowl.",
    "joint_positions": [
      0.00553,
      -0.43003,
      0.01813,
      -2.20682,
      0.04279,
      1.83473,
      -0.03836
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.43873,
      0.02001,
      0.98048
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.00027,
      -2e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99703,
        0.05151,
        0.05727
      ],
      [
        0.04956,
        -0.99816,
        0.03503
      ],
      [
        0.05897,
        -0.03209,
        -0.99774
      ]
    ],
    "simulated_seconds_remaining": 43.824,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 22.016629659570754,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.32,
                    "y": 0.02,
                    "z": 0.89
                  },
                  "note": "The cup shifted upward in the wrist image as I moved forward. I move back and lower toward its rim for a closer alignment check."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "pick up the cup and place it on the bowl.",
    "joint_positions": [
      0.01317,
      -0.81013,
      0.02221,
      -2.70337,
      0.05325,
      1.95116,
      -0.04002
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.32101,
      0.02,
      0.89078
    ],
    "tcp_roll_pitch_yaw": [
      -2e-05,
      0.00034,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99703,
        0.05153,
        0.0572
      ],
      [
        0.04958,
        -0.99816,
        0.03501
      ],
      [
        0.0589,
        -0.03207,
        -0.99775
      ]
    ],
    "simulated_seconds_remaining": 42.504,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 14.413173455744982,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.84
                  },
                  "note": "The cup is now between the open fingers in the wrist view. I lower the grasp point to engage the cup’s upper sidewalls."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "pick up the cup and place it on the bowl.",
    "joint_positions": [
      0.01528,
      -0.7731,
      0.02481,
      -2.81102,
      0.05825,
      2.09549,
      -0.04483
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.32095,
      0.02,
      0.84109
    ],
    "tcp_roll_pitch_yaw": [
      -3e-05,
      0.00062,
      1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99705,
        0.05152,
        0.05692
      ],
      [
        0.04958,
        -0.99816,
        0.03501
      ],
      [
        0.05862,
        -0.03208,
        -0.99776
      ]
    ],
    "simulated_seconds_remaining": 41.844,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 7.005937711335719,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The fingers straddle the cup near its rim, and the exterior view shows them at the cup’s sides. I close the gripper to secure it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "pick up the cup and place it on the bowl.",
    "joint_positions": [
      0.01528,
      -0.7731,
      0.02481,
      -2.81102,
      0.05825,
      2.09549,
      -0.04483
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.32095,
      0.02,
      0.84108
    ],
    "tcp_roll_pitch_yaw": [
      -3e-05,
      0.00061,
      1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99705,
        0.05152,
        0.05693
      ],
      [
        0.04958,
        -0.99816,
        0.03501
      ],
      [
        0.05863,
        -0.03208,
        -0.99776
      ]
    ],
    "simulated_seconds_remaining": 40.92,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 6.209306023083627,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.95
                  },
                  "note": "The gripper closed fully, so I lift gently to check whether the cup is held."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "pick up the cup and place it on the bowl.",
    "joint_positions": [
      0.01168,
      -0.81764,
      0.01932,
      -2.5596,
      0.04894,
      1.79994,
      -0.03508
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.32102,
      0.02001,
      0.94881
    ],
    "tcp_roll_pitch_yaw": [
      -1e-05,
      0.00034,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99703,
        0.05153,
        0.0572
      ],
      [
        0.04958,
        -0.99816,
        0.03502
      ],
      [
        0.0589,
        -0.03208,
        -0.99775
      ]
    ],
    "simulated_seconds_remaining": 39.864,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 14.21504381019622,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.375,
                    "y": -0.005,
                    "z": 0.89,
                    "gripper": 1
                  },
                  "note": "The cup stayed on the table. The closed fingertips were ahead and to the right of its center in the wrist view, so I adjust the grasp position and reopen."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "pick up the cup and place it on the bowl.",
    "joint_positions": [
      -0.00978,
      -0.61369,
      -0.02154,
      -2.57927,
      0.02691,
      2.02155,
      -0.08937
    ],
    "gripper_open": 0.9965,
    "tcp_xyz": [
      0.37421,
      -0.00466,
      0.89075
    ],
    "tcp_roll_pitch_yaw": [
      3e-05,
      0.00061,
      -4e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99705,
        0.05148,
        0.05693
      ],
      [
        0.04953,
        -0.99816,
        0.03505
      ],
      [
        0.05863,
        -0.03213,
        -0.99776
      ]
    ],
    "simulated_seconds_remaining": 38.94,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 6.806471849791706,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.805
                  },
                  "note": "The cup is centered across the finger opening. I lower farther so the jaws surround the body below the rim."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "pick up the cup and place it on the bowl.",
    "joint_positions": [
      -0.00451,
      -0.54522,
      -0.02338,
      -2.71624,
      0.03694,
      2.2502,
      -0.10171
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.37868,
      -0.0027,
      0.82305
    ],
    "tcp_roll_pitch_yaw": [
      0.00353,
      -0.02291,
      0.00367
    ],
    "tcp_rotation_matrix": [
      [
        0.9952,
        0.056,
        0.08024
      ],
      [
        0.05302,
        -0.99784,
        0.03885
      ],
      [
        0.08224,
        -0.03441,
        -0.99602
      ]
    ],
    "simulated_seconds_remaining": 38.082,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 7.006013375706971,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The cup fills the gap between the jaws, and the descent stopped against contact. I close at this height to grip its sides."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "pick up the cup and place it on the bowl.",
    "joint_positions": [
      -0.00251,
      -0.55291,
      -0.02209,
      -2.70896,
      0.03967,
      2.24732,
      -0.10259
    ],
    "gripper_open": 0.9081,
    "tcp_xyz": [
      0.38155,
      -0.00124,
      0.82913
    ],
    "tcp_roll_pitch_yaw": [
      0.00493,
      -0.0351,
      0.00612
    ],
    "tcp_rotation_matrix": [
      [
        0.99399,
        0.05891,
        0.09226
      ],
      [
        0.05537,
        -0.99764,
        0.04051
      ],
      [
        0.09443,
        -0.03516,
        -0.99491
      ]
    ],
    "simulated_seconds_remaining": 37.158,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 6.20482312887907,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.98
                  },
                  "note": "The gripper remains wide under the close command, indicating contact with the cup. I lift to verify a secure grasp and clear the table."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "pick up the cup and place it on the bowl.",
    "joint_positions": [
      -0.00517,
      -0.6401,
      -0.01925,
      -2.38246,
      0.03209,
      1.8342,
      -0.08539
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.38162,
      -0.00124,
      0.97878
    ],
    "tcp_roll_pitch_yaw": [
      0.00493,
      -0.03541,
      0.00612
    ],
    "tcp_rotation_matrix": [
      [
        0.99396,
        0.05892,
        0.09257
      ],
      [
        0.05536,
        -0.99764,
        0.04052
      ],
      [
        0.09474,
        -0.03515,
        -0.99488
      ]
    ],
    "simulated_seconds_remaining": 35.838,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 7.205074104480445,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.375,
                    "y": -0.005,
                    "z": 0.835,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 0,
                    "gripper": 1
                  },
                  "note": "The cup stayed on the table as the jaws reopened during the lift. I return to the aligned grasp position before closing again."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "pick up the cup and place it on the bowl.",
    "joint_positions": [
      -0.00964,
      -0.55897,
      -0.02273,
      -2.68387,
      0.03016,
      2.18134,
      -0.09654
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.375,
      -0.00496,
      0.83624
    ],
    "tcp_roll_pitch_yaw": [
      5e-05,
      0.0,
      6e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99701,
        0.0516,
        0.05753
      ],
      [
        0.04963,
        -0.99815,
        0.03509
      ],
      [
        0.05924,
        -0.03213,
        -0.99773
      ]
    ],
    "simulated_seconds_remaining": 34.584,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 5.404670909978449,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The jaws are around the cup’s upper body. I close them and will maintain the close command during the lift."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "pick up the cup and place it on the bowl.",
    "joint_positions": [
      -0.01328,
      -0.56644,
      -0.026,
      -2.67383,
      0.02637,
      2.1829,
      -0.09653
    ],
    "gripper_open": 0.0274,
    "tcp_xyz": [
      0.37973,
      -0.00809,
      0.84396
    ],
    "tcp_roll_pitch_yaw": [
      -0.00187,
      -0.01899,
      -0.00457
    ],
    "tcp_rotation_matrix": [
      [
        0.99593,
        0.04754,
        0.07663
      ],
      [
        0.04513,
        -0.99844,
        0.03281
      ],
      [
        0.07807,
        -0.02922,
        -0.99652
      ]
    ],
    "simulated_seconds_remaining": 33.66,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 6.806494964286685,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.96,
                    "gripper": 0
                  },
                  "note": "The jaws nearly closed and the cup shifted slightly. I lift while keeping them closed to verify whether the grasp holds."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "pick up the cup and place it on the bowl.",
    "joint_positions": [
      -0.01442,
      -0.63339,
      -0.02315,
      -2.42417,
      0.02267,
      1.86675,
      -0.08583
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.3798,
      -0.0081,
      0.95875
    ],
    "tcp_roll_pitch_yaw": [
      -0.00187,
      -0.01931,
      -0.00458
    ],
    "tcp_rotation_matrix": [
      [
        0.9959,
        0.04754,
        0.07695
      ],
      [
        0.04513,
        -0.99844,
        0.03281
      ],
      [
        0.07839,
        -0.0292,
        -0.9965
      ]
    ],
    "simulated_seconds_remaining": 32.604,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 13.811353442259133,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.42,
                    "y": 0.015,
                    "z": 0.8,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 0,
                    "gripper": 1
                  },
                  "note": "The cup remains below and slightly right of the fingertips at contact height. I shift forward and left and lower to surround its body."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "pick up the cup and place it on the bowl.",
    "joint_positions": [
      0.01235,
      -0.36133,
      0.00913,
      -2.60346,
      0.04995,
      2.3209,
      -0.06327
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.42566,
      0.01513,
      0.80935
    ],
    "tcp_roll_pitch_yaw": [
      -0.00013,
      -0.02108,
      0.00067
    ],
    "tcp_rotation_matrix": [
      [
        0.99551,
        0.05287,
        0.07853
      ],
      [
        0.05025,
        -0.99812,
        0.03496
      ],
      [
        0.08023,
        -0.03085,
        -0.9963
      ]
    ],
    "simulated_seconds_remaining": 31.218,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 6.405507016927004,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The cup’s body now spans the space between both fingers. I close the jaws at this lower position."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "pick up the cup and place it on the bowl.",
    "joint_positions": [
      0.01235,
      -0.36133,
      0.00913,
      -2.60346,
      0.04995,
      2.3209,
      -0.06327
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.42567,
      0.01514,
      0.80933
    ],
    "tcp_roll_pitch_yaw": [
      -0.00012,
      -0.02107,
      0.00067
    ],
    "tcp_rotation_matrix": [
      [
        0.99551,
        0.05287,
        0.07852
      ],
      [
        0.05025,
        -0.99812,
        0.03496
      ],
      [
        0.08022,
        -0.03086,
        -0.9963
      ]
    ],
    "simulated_seconds_remaining": 30.294,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 16.01460965629667,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.455,
                    "y": 0.025,
                    "z": 0.86,
                    "gripper": 1,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 0
                  },
                  "note": "The jaws closed without holding the cup, so their contact point is still offset. I reopen and reposition a little farther forward before descending again."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "pick up the cup and place it on the bowl.",
    "joint_positions": [
      0.0177,
      -0.32022,
      0.02109,
      -2.42298,
      0.04751,
      2.16181,
      -0.03808
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.45441,
      0.02479,
      0.85896
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      -0.00062,
      3e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99697,
        0.05158,
        0.05815
      ],
      [
        0.0496,
        -0.99815,
        0.03504
      ],
      [
        0.05985,
        -0.03204,
        -0.99769
      ]
    ],
    "simulated_seconds_remaining": 29.37,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 8.006651431322098,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48,
                    "y": 0.035,
                    "z": 0.775,
                    "gripper": 1
                  },
                  "note": "The cup is close to the center of the wrist image. I make a small forward correction while lowering the open fingers around its middle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "pick up the cup and place it on the bowl.",
    "joint_positions": [
      0.02659,
      -0.12672,
      0.03495,
      -2.45639,
      0.05241,
      2.38924,
      -0.0265
    ],
    "gripper_open": 0.9972,
    "tcp_xyz": [
      0.47961,
      0.03484,
      0.77629
    ],
    "tcp_roll_pitch_yaw": [
      -2e-05,
      -0.00053,
      6e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99698,
        0.05161,
        0.05807
      ],
      [
        0.04963,
        -0.99815,
        0.03501
      ],
      [
        0.05977,
        -0.03202,
        -0.9977
      ]
    ],
    "simulated_seconds_remaining": 28.512,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 6.204703853465617,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The open fingers now reach down alongside the cup. I close around its middle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "pick up the cup and place it on the bowl.",
    "joint_positions": [
      0.02747,
      -0.13016,
      0.03604,
      -2.45298,
      0.05269,
      2.38986,
      -0.02635
    ],
    "gripper_open": 0.166,
    "tcp_xyz": [
      0.48173,
      0.03591,
      0.7795
    ],
    "tcp_roll_pitch_yaw": [
      0.00037,
      -0.00798,
      0.00167
    ],
    "tcp_rotation_matrix": [
      [
        0.99642,
        0.05346,
        0.06544
      ],
      [
        0.05121,
        -0.99806,
        0.03551
      ],
      [
        0.06721,
        -0.03203,
        -0.99722
      ]
    ],
    "simulated_seconds_remaining": 27.588,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 5.805111174471676,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.96,
                    "gripper": 0
                  },
                  "note": "The cup tilted as the jaws made contact and stopped partly open. I lift with the gripper held closed to check the grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 19,
  "state": {
    "instruction": "pick up the cup and place it on the bowl.",
    "joint_positions": [
      0.02418,
      -0.29966,
      0.03114,
      -2.14601,
      0.04366,
      1.91376,
      -0.01149
    ],
    "gripper_open": 0.1252,
    "tcp_xyz": [
      0.48178,
      0.03592,
      0.95874
    ],
    "tcp_roll_pitch_yaw": [
      0.0004,
      -0.0082,
      0.00166
    ],
    "tcp_rotation_matrix": [
      [
        0.99641,
        0.05346,
        0.06566
      ],
      [
        0.0512,
        -0.99806,
        0.03553
      ],
      [
        0.06743,
        -0.03204,
        -0.99721
      ]
    ],
    "simulated_seconds_remaining": 26.07,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 31.827505248598754,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.5,
                    "y": 0.2,
                    "z": 0.96,
                    "gripper": 0
                  },
                  "note": "The cup is lifted and held by its rim. The dark bowl is to its left on the table, so I carry the cup toward it while maintaining clearance."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 20,
  "state": {
    "instruction": "pick up the cup and place it on the bowl.",
    "joint_positions": [
      0.13808,
      -0.14044,
      0.22225,
      -1.97668,
      0.04358,
      1.91325,
      0.29352
    ],
    "gripper_open": 0.1254,
    "tcp_xyz": [
      0.4998,
      0.19875,
      0.95991
    ],
    "tcp_roll_pitch_yaw": [
      0.00033,
      -0.00804,
      0.00193
    ],
    "tcp_rotation_matrix": [
      [
        0.99641,
        0.05372,
        0.06549
      ],
      [
        0.05148,
        -0.99804,
        0.03549
      ],
      [
        0.06727,
        -0.03199,
        -0.99722
      ]
    ],
    "simulated_seconds_remaining": 24.684,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 13.210926252417266,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.25,
                    "z": 0.87,
                    "gripper": 0
                  },
                  "note": "The bowl is just left of the suspended cup in the exterior view. I move a little farther left and lower toward its opening."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 21,
  "state": {
    "instruction": "pick up the cup and place it on the bowl.",
    "joint_positions": [
      0.17954,
      -0.03125,
      0.27993,
      -2.08438,
      0.01345,
      2.1286,
      0.40013
    ],
    "gripper_open": 0.1284,
    "tcp_xyz": [
      0.49973,
      0.2494,
      0.8711
    ],
    "tcp_roll_pitch_yaw": [
      0.00025,
      -0.00784,
      0.00208
    ],
    "tcp_rotation_matrix": [
      [
        0.99641,
        0.05386,
        0.06528
      ],
      [
        0.05163,
        -0.99804,
        0.03541
      ],
      [
        0.06706,
        -0.03192,
        -0.99724
      ]
    ],
    "simulated_seconds_remaining": 23.694,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 12.209786858409643,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.84,
                    "gripper": 0
                  },
                  "note": "The cup’s base is over the bowl opening. I lower a final few centimeters so the bowl can support it before release."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 8,
    "motion_seconds": 0.528,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 22,
  "state": {
    "instruction": "pick up the cup and place it on the bowl.",
    "joint_positions": [
      0.18048,
      -0.00193,
      0.28136,
      -2.1309,
      0.00393,
      2.20312,
      0.40683
    ],
    "gripper_open": 0.1266,
    "tcp_xyz": [
      0.4997,
      0.24937,
      0.84097
    ],
    "tcp_roll_pitch_yaw": [
      0.00017,
      -0.00764,
      0.00205
    ],
    "tcp_rotation_matrix": [
      [
        0.99643,
        0.05383,
        0.06509
      ],
      [
        0.05161,
        -0.99804,
        0.03533
      ],
      [
        0.06686,
        -0.03185,
        -0.99725
      ]
    ],
    "simulated_seconds_remaining": 23.166,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 5.204653952270746,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 1
                  },
                  "note": "The cup is positioned inside the bowl’s rim. I open the gripper to leave it supported by the bowl."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

========================================================================
GPT-Astra / Pick & place / 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,
  "status": "completed",
  "success": true,
  "oracle_success": true,
  "action_decisions": 21,
  "wall_seconds": 322.23,
  "usage": {
    "input_tokens": 420168,
    "cached_input_tokens": 387584,
    "cache_write_input_tokens": 0,
    "output_tokens": 4846,
    "reasoning_output_tokens": 2529
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick-and-place 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 45 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 and grasp the requested object, lift it, move it to the named receptacle, and release it in or on that receptacle. Complete the entire pick-and-place 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 object and place it in the requested receptacle.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"pick up the shaker and place it on the bowl.\", \"joint_positions\": [-0.00367, -0.78849, 0.03619, -2.38117, 0.01742, 1.58958, 0.0116], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.30673, 0.01362, 1.00587], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.99995, 0.00986, -0.00325], [0.00983, -0.99992, -0.00832], [-0.00333, 0.00829, -0.99996]], \"simulated_seconds_remaining\": 45.012, \"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": 0.93,
    "gripper": 1,
    "note": "The white shaker is beside the dark bowl. I move forward and slightly lower to center the objects for a precise 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": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"pick up the shaker and place it on the bowl.\", \"joint_positions\": [-0.00367, -0.78849, 0.03619, -2.38117, 0.01742, 1.58958, 0.0116], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.30673, 0.01362, 1.00587], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.99995, 0.00986, -0.00325], [0.00983, -0.99992, -0.00832], [-0.00333, 0.00829, -0.99996]], \"simulated_seconds_remaining\": 45.012, \"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,
      "z": 0.93,
      "gripper": 1
    },
    "note": "The white shaker sits beside the dark bowl. I move forward and lower for a closer view of the grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"pick up the shaker and place it on the bowl.\", \"joint_positions\": [-0.0224, -0.25014, 0.02423, -2.15205, -0.00244, 1.89849, -0.00796], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.47877, 8e-05, 0.93045], \"tcp_roll_pitch_yaw\": [1e-05, 0.00023, -3e-05], \"tcp_rotation_matrix\": [[0.99995, 0.00983, -0.00347], [0.0098, -0.99992, -0.00831], [-0.00356, 0.00828, -0.99996]], \"simulated_seconds_remaining\": 43.428, \"calls_remaining_including_this\": 56}"
      },
      {
        "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": 0.57,
      "y": -0.075,
      "z": 0.89
    },
    "note": "The shaker is above and to the right of the gripper in the wrist image. I align over it while keeping the fingers clear of the table."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"pick up the shaker and place it on the bowl.\", \"joint_positions\": [-0.08124, 0.05671, -0.04614, -1.90822, -0.00657, 1.96228, -0.13444], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.56899, -0.07426, 0.89035], \"tcp_roll_pitch_yaw\": [3e-05, 0.00041, -0.0002], \"tcp_rotation_matrix\": [[0.99995, 0.00966, -0.00366], [0.00963, -0.99992, -0.00829], [-0.00374, 0.00825, -0.99996]], \"simulated_seconds_remaining\": 42.306, \"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": {
      "x": 0.4,
      "y": 0.06,
      "z": 0.89
    },
    "note": "The wrist view shows that the previous offset moved past the shaker. I correct back and left to bring it between the fingers."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"pick up the shaker and place it on the bowl.\", \"joint_positions\": [0.03834, -0.46063, 0.10087, -2.44666, 0.04038, 1.98314, 0.10254], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.40107, 0.05922, 0.89005], \"tcp_roll_pitch_yaw\": [1e-05, 0.00034, -1e-05], \"tcp_rotation_matrix\": [[0.99995, 0.00985, -0.00359], [0.00982, -0.99992, -0.00831], [-0.00367, 0.00828, -0.99996]], \"simulated_seconds_remaining\": 40.59, \"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": 0.38,
      "y": 0.06,
      "z": 0.81
    },
    "note": "The shaker is centered in the finger gap. I lower the open gripper around its body, with a small backward correction."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"pick up the shaker and place it on the bowl.\", \"joint_positions\": [0.04617, -0.44347, 0.11295, -2.64365, 0.05023, 2.19698, 0.10874], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.38026, 0.05998, 0.81115], \"tcp_roll_pitch_yaw\": [-3e-05, 0.00065, 1e-05], \"tcp_rotation_matrix\": [[0.99994, 0.00987, -0.00389], [0.00984, -0.99992, -0.00835], [-0.00397, 0.00831, -0.99996]], \"simulated_seconds_remaining\": 39.732, \"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": {
      "z": 0.755
    },
    "note": "The shaker remains centered between the open fingers. I lower a little farther so the jaws can grip the sides securely."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"pick up the shaker and place it on the bowl.\", \"joint_positions\": [0.05053, -0.34904, 0.12879, -2.70288, 0.37067, 2.37107, 0.11503], \"gripper_open\": 0.9854, \"tcp_xyz\": [0.38553, 0.10426, 0.76825], \"tcp_roll_pitch_yaw\": [0.22204, 0.03186, -0.21448], \"tcp_rotation_matrix\": [[0.9787, -0.20496, 0.01155], [-0.20262, -0.95546, 0.21455], [-0.03293, -0.21232, -0.97664]], \"simulated_seconds_remaining\": 39.072, \"calls_remaining_including_this\": 52}"
      },
      {
        "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": 0.9,
      "roll": 0,
      "pitch": 0,
      "yaw": 1.5708
    },
    "note": "The gripper deflected beside the bowl during descent. I lift clear and turn the fingers so they approach the shaker without straddling the bowl."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"pick up the shaker and place it on the bowl.\", \"joint_positions\": [0.28724, -0.49357, -0.01799, -2.45319, -0.01449, 1.96659, -1.29929], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.38554, 0.10427, 0.89972], \"tcp_roll_pitch_yaw\": [0.00034, -0.00048, 1.56627], \"tcp_rotation_matrix\": [[-0.00531, 0.99995, 0.00797], [0.99998, 0.00533, -0.0028], [-0.00284, 0.00796, -0.99996]], \"simulated_seconds_remaining\": 36.366, \"calls_remaining_including_this\": 51}"
      },
      {
        "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": 0.46,
      "y": 0.01,
      "z": 0.85
    },
    "note": "With the fingers turned, the shaker is above-left of the grasp gap. I translate to center it before descending again."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"pick up the shaker and place it on the bowl.\", \"joint_positions\": [0.2055, -0.26557, -0.17209, -2.3752, -0.05634, 2.12038, -1.5075], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.45924, 0.01089, 0.85045], \"tcp_roll_pitch_yaw\": [0.00049, -0.00051, 1.56608], \"tcp_rotation_matrix\": [[-0.00511, 0.99996, 0.00782], [0.99998, 0.00514, -0.00277], [-0.00281, 0.00781, -0.99997]], \"simulated_seconds_remaining\": 35.178, \"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": {
      "x": 0.47,
      "y": 0.01,
      "z": 0.79
    },
    "note": "The shaker is in the finger gap and the bowl is clear of the jaws. I lower around the shaker's body."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"pick up the shaker and place it on the bowl.\", \"joint_positions\": [0.20849, -0.15671, -0.18196, -2.42322, -0.04015, 2.28228, -1.52282], \"gripper_open\": 1.0, \"tcp_xyz\": [0.47156, 0.01126, 0.79341], \"tcp_roll_pitch_yaw\": [-0.00533, -0.00151, 1.56753], \"tcp_rotation_matrix\": [[-0.00655, 0.99989, 0.01364], [0.99998, 0.00657, -0.00178], [-0.00187, 0.01363, -0.99991]], \"simulated_seconds_remaining\": 34.452, \"calls_remaining_including_this\": 49}"
      },
      {
        "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 shaker body is centered between the jaws. I close the gripper to secure it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"pick up the shaker and place it on the bowl.\", \"joint_positions\": [0.20849, -0.15671, -0.18196, -2.42322, -0.04015, 2.28228, -1.52282], \"gripper_open\": 0.0, \"tcp_xyz\": [0.47157, 0.01126, 0.79341], \"tcp_roll_pitch_yaw\": [-0.00535, -0.00152, 1.56754], \"tcp_rotation_matrix\": [[-0.00655, 0.99989, 0.01367], [0.99998, 0.00658, -0.00177], [-0.00186, 0.01366, -0.9999]], \"simulated_seconds_remaining\": 33.528, \"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": {
      "z": 0.93
    },
    "note": "I lift to check whether the shaker is held securely before moving toward the bowl."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 11, \"instruction\": \"pick up the shaker and place it on the bowl.\", \"joint_positions\": [0.20875, -0.28856, -0.16595, -2.19392, -0.05267, 1.9226, -1.51032], \"gripper_open\": 0.0, \"tcp_xyz\": [0.47165, 0.01127, 0.92875], \"tcp_roll_pitch_yaw\": [-0.00572, -0.00156, 1.56754], \"tcp_rotation_matrix\": [[-0.00655, 0.99988, 0.01403], [0.99998, 0.00658, -0.00173], [-0.00182, 0.01402, -0.9999]], \"simulated_seconds_remaining\": 32.34, \"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": {
      "y": 0.05,
      "z": 0.81,
      "gripper": 1,
      "roll": 0,
      "pitch": 0,
      "yaw": 1.5708
    },
    "note": "The shaker stayed on the table, so the first closure missed its body. I reopen and shift the grasp toward the visible shaker before trying again."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 12, \"instruction\": \"pick up the shaker and place it on the bowl.\", \"joint_positions\": [0.24082, -0.17046, -0.13183, -2.38741, -0.03338, 2.22576, -1.44967], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.47158, 0.04961, 0.81116], \"tcp_roll_pitch_yaw\": [0.00028, 6e-05, 1.57085], \"tcp_rotation_matrix\": [[-0.00989, 0.99992, 0.00804], [0.99995, 0.00992, -0.0033], [-0.00338, 0.00801, -0.99996]], \"simulated_seconds_remaining\": 31.218, \"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": {
      "gripper": 0
    },
    "note": "The shaker now overlaps the jaw tips along its body. I close the fingers for a second grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 13, \"instruction\": \"pick up the shaker and place it on the bowl.\", \"joint_positions\": [0.24082, -0.17046, -0.13183, -2.38741, -0.03338, 2.22576, -1.44967], \"gripper_open\": 0.0, \"tcp_xyz\": [0.47158, 0.04961, 0.81115], \"tcp_roll_pitch_yaw\": [0.00028, 6e-05, 1.57085], \"tcp_rotation_matrix\": [[-0.00989, 0.99992, 0.00804], [0.99995, 0.00992, -0.0033], [-0.00338, 0.00801, -0.99996]], \"simulated_seconds_remaining\": 30.294, \"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,
      "z": 0.735
    },
    "note": "The fingers closed fully, indicating the shaker was below their grip. I reopen and lower to engage its sides."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 14, \"instruction\": \"pick up the shaker and place it on the bowl.\", \"joint_positions\": [0.24255, -0.04176, -0.13666, -2.46468, -0.01508, 2.43061, -1.46333], \"gripper_open\": 0.9965, \"tcp_xyz\": [0.4715, 0.0496, 0.73597], \"tcp_roll_pitch_yaw\": [0.00057, 0.0001, 1.57086], \"tcp_rotation_matrix\": [[-0.0099, 0.99992, 0.00775], [0.99995, 0.00993, -0.00335], [-0.00342, 0.00772, -0.99996]], \"simulated_seconds_remaining\": 29.37, \"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": 0
    },
    "note": "The jaws are now lower around the shaker's body. I close them to test this deeper grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 15, \"instruction\": \"pick up the shaker and place it on the bowl.\", \"joint_positions\": [0.24255, -0.04176, -0.13666, -2.46468, -0.01508, 2.43061, -1.46333], \"gripper_open\": 0.0, \"tcp_xyz\": [0.4715, 0.0496, 0.73596], \"tcp_roll_pitch_yaw\": [0.00057, 0.0001, 1.57086], \"tcp_rotation_matrix\": [[-0.0099, 0.99992, 0.00776], [0.99995, 0.00993, -0.00335], [-0.00342, 0.00773, -0.99996]], \"simulated_seconds_remaining\": 28.446, \"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": 0.46,
      "y": 0.095,
      "z": 0.77,
      "gripper": 1
    },
    "note": "The closure is still empty. I shift the open jaws toward the shaker's far end and slightly upward to correct the grasp alignment."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 16, \"instruction\": \"pick up the shaker and place it on the bowl.\", \"joint_positions\": [0.28657, -0.11636, -0.083, -2.4497, -0.02016, 2.34067, -1.36276], \"gripper_open\": 0.9965, \"tcp_xyz\": [0.46027, 0.09408, 0.76931], \"tcp_roll_pitch_yaw\": [0.00045, 8e-05, 1.571], \"tcp_rotation_matrix\": [[-0.01003, 0.99992, 0.00787], [0.99994, 0.01006, -0.00332], [-0.0034, 0.00784, -0.99996]], \"simulated_seconds_remaining\": 27.522, \"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": {
      "gripper": 0
    },
    "note": "The shaker now crosses the grasp area farther between the fingertips. I close the jaws around it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 17, \"instruction\": \"pick up the shaker and place it on the bowl.\", \"joint_positions\": [0.28657, -0.11654, -0.08299, -2.44948, -0.02016, 2.34073, -1.36276], \"gripper_open\": 0.4674, \"tcp_xyz\": [0.46041, 0.09411, 0.76949], \"tcp_roll_pitch_yaw\": [1e-05, -3e-05, 1.571], \"tcp_rotation_matrix\": [[-0.01003, 0.99992, 0.00831], [0.99994, 0.01006, -0.00322], [-0.0033, 0.00828, -0.99996]], \"simulated_seconds_remaining\": 26.598, \"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": {
      "z": 0.96
    },
    "note": "The fingers remain partly open around the shaker, indicating a grasp. I lift it clear of the table and bowl."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 18, \"instruction\": \"pick up the shaker and place it on the bowl.\", \"joint_positions\": [0.28722, -0.29384, -0.07341, -2.12482, -0.02713, 1.83889, -1.35687], \"gripper_open\": 0.4671, \"tcp_xyz\": [0.4604, 0.09411, 0.95857], \"tcp_roll_pitch_yaw\": [0.00018, -0.0, 1.57099], \"tcp_rotation_matrix\": [[-0.01003, 0.99992, 0.00815], [0.99994, 0.01005, -0.00324], [-0.00332, 0.00811, -0.99996]], \"simulated_seconds_remaining\": 25.014, \"calls_remaining_including_this\": 40}"
      },
      {
        "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": 0.405,
      "y": -0.065,
      "z": 0.96
    },
    "note": "The shaker is visibly lifted with the gripper. I move it over the dark bowl, which lies ahead-right in the wrist view."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 19, \"instruction\": \"pick up the shaker and place it on the bowl.\", \"joint_positions\": [0.16212, -0.49813, -0.26032, -2.28571, -0.12958, 1.80787, -1.61873], \"gripper_open\": 0.4669, \"tcp_xyz\": [0.40535, -0.06384, 0.95982], \"tcp_roll_pitch_yaw\": [0.00062, -7e-05, 1.57075], \"tcp_rotation_matrix\": [[-0.00978, 0.99992, 0.00771], [0.99995, 0.00981, -0.00318], [-0.00325, 0.00767, -0.99997]], \"simulated_seconds_remaining\": 23.562, \"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": 0.395,
      "y": -0.09,
      "z": 0.855
    },
    "note": "The bowl is beneath the held shaker. I make a small centering adjustment and lower toward its opening for a controlled release."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 20, \"instruction\": \"pick up the shaker and place it on the bowl.\", \"joint_positions\": [0.13015, -0.46529, -0.32873, -2.52091, -0.16874, 2.07891, -1.66472], \"gripper_open\": 0.4664, \"tcp_xyz\": [0.39502, -0.08966, 0.85617], \"tcp_roll_pitch_yaw\": [0.00113, -0.00012, 1.5707], \"tcp_rotation_matrix\": [[-0.00974, 0.99993, 0.00719], [0.99995, 0.00976, -0.00313], [-0.0032, 0.00716, -0.99997]], \"simulated_seconds_remaining\": 22.572, \"calls_remaining_including_this\": 38}"
      },
      {
        "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": 0.81
    },
    "note": "The shaker is centered over the bowl. I lower it a final few centimeters so it will settle gently into the bowl."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 21, \"instruction\": \"pick up the shaker and place it on the bowl.\", \"joint_positions\": [0.13146, -0.40653, -0.34827, -2.59475, -0.17117, 2.21026, -1.66922], \"gripper_open\": 0.4646, \"tcp_xyz\": [0.39487, -0.08959, 0.81107], \"tcp_roll_pitch_yaw\": [0.00176, -0.0002, 1.57078], \"tcp_rotation_matrix\": [[-0.00982, 0.99993, 0.00656], [0.99995, 0.00984, -0.00305], [-0.00311, 0.00653, -0.99997]], \"simulated_seconds_remaining\": 21.978, \"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": {
      "gripper": 1
    },
    "note": "The shaker is resting over the bowl's interior. I open the gripper to release it onto the bowl."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "Episode ended. Do not call more tools. Return a brief final response."
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

Placed the shaker on the bowl.

TURN USAGE
{
  "input_tokens": 420168,
  "cached_input_tokens": 387584,
  "cache_write_input_tokens": 0,
  "output_tokens": 4846,
  "reasoning_output_tokens": 2529
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "pick up the shaker and place it on the bowl.",
    "joint_positions": [
      -0.00367,
      -0.78849,
      0.03619,
      -2.38117,
      0.01742,
      1.58958,
      0.0116
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.30673,
      0.01362,
      1.00587
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99995,
        0.00986,
        -0.00325
      ],
      [
        0.00983,
        -0.99992,
        -0.00832
      ],
      [
        -0.00333,
        0.00829,
        -0.99996
      ]
    ],
    "simulated_seconds_remaining": 45.012,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 31.628592454828322,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48,
                    "y": 0,
                    "z": 0.93,
                    "gripper": 1
                  },
                  "note": "The white shaker sits beside the dark bowl. I move forward and lower for a closer view of the grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 24,
    "motion_seconds": 1.584,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "pick up the shaker and place it on the bowl.",
    "joint_positions": [
      -0.0224,
      -0.25014,
      0.02423,
      -2.15205,
      -0.00244,
      1.89849,
      -0.00796
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.47877,
      8e-05,
      0.93045
    ],
    "tcp_roll_pitch_yaw": [
      1e-05,
      0.00023,
      -3e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99995,
        0.00983,
        -0.00347
      ],
      [
        0.0098,
        -0.99992,
        -0.00831
      ],
      [
        -0.00356,
        0.00828,
        -0.99996
      ]
    ],
    "simulated_seconds_remaining": 43.428,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 14.212286392226815,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.57,
                    "y": -0.075,
                    "z": 0.89
                  },
                  "note": "The shaker is above and to the right of the gripper in the wrist image. I align over it while keeping the fingers clear of the table."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "pick up the shaker and place it on the bowl.",
    "joint_positions": [
      -0.08124,
      0.05671,
      -0.04614,
      -1.90822,
      -0.00657,
      1.96228,
      -0.13444
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.56899,
      -0.07426,
      0.89035
    ],
    "tcp_roll_pitch_yaw": [
      3e-05,
      0.00041,
      -0.0002
    ],
    "tcp_rotation_matrix": [
      [
        0.99995,
        0.00966,
        -0.00366
      ],
      [
        0.00963,
        -0.99992,
        -0.00829
      ],
      [
        -0.00374,
        0.00825,
        -0.99996
      ]
    ],
    "simulated_seconds_remaining": 42.306,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 18.818015733733773,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "y": 0.06,
                    "z": 0.89
                  },
                  "note": "The wrist view shows that the previous offset moved past the shaker. I correct back and left to bring it between the fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 26,
    "motion_seconds": 1.7160000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "pick up the shaker and place it on the bowl.",
    "joint_positions": [
      0.03834,
      -0.46063,
      0.10087,
      -2.44666,
      0.04038,
      1.98314,
      0.10254
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.40107,
      0.05922,
      0.89005
    ],
    "tcp_roll_pitch_yaw": [
      1e-05,
      0.00034,
      -1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99995,
        0.00985,
        -0.00359
      ],
      [
        0.00982,
        -0.99992,
        -0.00831
      ],
      [
        -0.00367,
        0.00828,
        -0.99996
      ]
    ],
    "simulated_seconds_remaining": 40.59,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 16.214447715319693,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.38,
                    "y": 0.06,
                    "z": 0.81
                  },
                  "note": "The shaker is centered in the finger gap. I lower the open gripper around its body, with a small backward correction."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "pick up the shaker and place it on the bowl.",
    "joint_positions": [
      0.04617,
      -0.44347,
      0.11295,
      -2.64365,
      0.05023,
      2.19698,
      0.10874
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.38026,
      0.05998,
      0.81115
    ],
    "tcp_roll_pitch_yaw": [
      -3e-05,
      0.00065,
      1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99994,
        0.00987,
        -0.00389
      ],
      [
        0.00984,
        -0.99992,
        -0.00835
      ],
      [
        -0.00397,
        0.00831,
        -0.99996
      ]
    ],
    "simulated_seconds_remaining": 39.732,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 14.612912995740771,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.755
                  },
                  "note": "The shaker remains centered between the open fingers. I lower a little farther so the jaws can grip the sides securely."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "pick up the shaker and place it on the bowl.",
    "joint_positions": [
      0.05053,
      -0.34904,
      0.12879,
      -2.70288,
      0.37067,
      2.37107,
      0.11503
    ],
    "gripper_open": 0.9854,
    "tcp_xyz": [
      0.38553,
      0.10426,
      0.76825
    ],
    "tcp_roll_pitch_yaw": [
      0.22204,
      0.03186,
      -0.21448
    ],
    "tcp_rotation_matrix": [
      [
        0.9787,
        -0.20496,
        0.01155
      ],
      [
        -0.20262,
        -0.95546,
        0.21455
      ],
      [
        -0.03293,
        -0.21232,
        -0.97664
      ]
    ],
    "simulated_seconds_remaining": 39.072,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 14.0131157040596,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.9,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 1.5708
                  },
                  "note": "The gripper deflected beside the bowl during descent. I lift clear and turn the fingers so they approach the shaker without straddling the bowl."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 41,
    "motion_seconds": 2.706,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "pick up the shaker and place it on the bowl.",
    "joint_positions": [
      0.28724,
      -0.49357,
      -0.01799,
      -2.45319,
      -0.01449,
      1.96659,
      -1.29929
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.38554,
      0.10427,
      0.89972
    ],
    "tcp_roll_pitch_yaw": [
      0.00034,
      -0.00048,
      1.56627
    ],
    "tcp_rotation_matrix": [
      [
        -0.00531,
        0.99995,
        0.00797
      ],
      [
        0.99998,
        0.00533,
        -0.0028
      ],
      [
        -0.00284,
        0.00796,
        -0.99996
      ]
    ],
    "simulated_seconds_remaining": 36.366,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 22.4182461630553,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.46,
                    "y": 0.01,
                    "z": 0.85
                  },
                  "note": "With the fingers turned, the shaker is above-left of the grasp gap. I translate to center it before descending again."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "pick up the shaker and place it on the bowl.",
    "joint_positions": [
      0.2055,
      -0.26557,
      -0.17209,
      -2.3752,
      -0.05634,
      2.12038,
      -1.5075
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.45924,
      0.01089,
      0.85045
    ],
    "tcp_roll_pitch_yaw": [
      0.00049,
      -0.00051,
      1.56608
    ],
    "tcp_rotation_matrix": [
      [
        -0.00511,
        0.99996,
        0.00782
      ],
      [
        0.99998,
        0.00514,
        -0.00277
      ],
      [
        -0.00281,
        0.00781,
        -0.99997
      ]
    ],
    "simulated_seconds_remaining": 35.178,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 7.206290667876601,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.47,
                    "y": 0.01,
                    "z": 0.79
                  },
                  "note": "The shaker is in the finger gap and the bowl is clear of the jaws. I lower around the shaker's body."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "pick up the shaker and place it on the bowl.",
    "joint_positions": [
      0.20849,
      -0.15671,
      -0.18196,
      -2.42322,
      -0.04015,
      2.28228,
      -1.52282
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.47156,
      0.01126,
      0.79341
    ],
    "tcp_roll_pitch_yaw": [
      -0.00533,
      -0.00151,
      1.56753
    ],
    "tcp_rotation_matrix": [
      [
        -0.00655,
        0.99989,
        0.01364
      ],
      [
        0.99998,
        0.00657,
        -0.00178
      ],
      [
        -0.00187,
        0.01363,
        -0.99991
      ]
    ],
    "simulated_seconds_remaining": 34.452,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 5.805126707069576,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The shaker body is centered between the jaws. I close the gripper to secure it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "pick up the shaker and place it on the bowl.",
    "joint_positions": [
      0.20849,
      -0.15671,
      -0.18196,
      -2.42322,
      -0.04015,
      2.28228,
      -1.52282
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.47157,
      0.01126,
      0.79341
    ],
    "tcp_roll_pitch_yaw": [
      -0.00535,
      -0.00152,
      1.56754
    ],
    "tcp_rotation_matrix": [
      [
        -0.00655,
        0.99989,
        0.01367
      ],
      [
        0.99998,
        0.00658,
        -0.00177
      ],
      [
        -0.00186,
        0.01366,
        -0.9999
      ]
    ],
    "simulated_seconds_remaining": 33.528,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 5.205076472833753,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.93
                  },
                  "note": "I lift to check whether the shaker is held securely before moving toward the bowl."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "pick up the shaker and place it on the bowl.",
    "joint_positions": [
      0.20875,
      -0.28856,
      -0.16595,
      -2.19392,
      -0.05267,
      1.9226,
      -1.51032
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.47165,
      0.01127,
      0.92875
    ],
    "tcp_roll_pitch_yaw": [
      -0.00572,
      -0.00156,
      1.56754
    ],
    "tcp_rotation_matrix": [
      [
        -0.00655,
        0.99988,
        0.01403
      ],
      [
        0.99998,
        0.00658,
        -0.00173
      ],
      [
        -0.00182,
        0.01402,
        -0.9999
      ]
    ],
    "simulated_seconds_remaining": 32.34,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 14.6119500733912,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.05,
                    "z": 0.81,
                    "gripper": 1,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 1.5708
                  },
                  "note": "The shaker stayed on the table, so the first closure missed its body. I reopen and shift the grasp toward the visible shaker before trying again."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "pick up the shaker and place it on the bowl.",
    "joint_positions": [
      0.24082,
      -0.17046,
      -0.13183,
      -2.38741,
      -0.03338,
      2.22576,
      -1.44967
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.47158,
      0.04961,
      0.81116
    ],
    "tcp_roll_pitch_yaw": [
      0.00028,
      6e-05,
      1.57085
    ],
    "tcp_rotation_matrix": [
      [
        -0.00989,
        0.99992,
        0.00804
      ],
      [
        0.99995,
        0.00992,
        -0.0033
      ],
      [
        -0.00338,
        0.00801,
        -0.99996
      ]
    ],
    "simulated_seconds_remaining": 31.218,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 8.807599770836532,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The shaker now overlaps the jaw tips along its body. I close the fingers for a second grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "pick up the shaker and place it on the bowl.",
    "joint_positions": [
      0.24082,
      -0.17046,
      -0.13183,
      -2.38741,
      -0.03338,
      2.22576,
      -1.44967
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.47158,
      0.04961,
      0.81115
    ],
    "tcp_roll_pitch_yaw": [
      0.00028,
      6e-05,
      1.57085
    ],
    "tcp_rotation_matrix": [
      [
        -0.00989,
        0.99992,
        0.00804
      ],
      [
        0.99995,
        0.00992,
        -0.0033
      ],
      [
        -0.00338,
        0.00801,
        -0.99996
      ]
    ],
    "simulated_seconds_remaining": 30.294,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 14.415064961649477,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 1,
                    "z": 0.735
                  },
                  "note": "The fingers closed fully, indicating the shaker was below their grip. I reopen and lower to engage its sides."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "pick up the shaker and place it on the bowl.",
    "joint_positions": [
      0.24255,
      -0.04176,
      -0.13666,
      -2.46468,
      -0.01508,
      2.43061,
      -1.46333
    ],
    "gripper_open": 0.9965,
    "tcp_xyz": [
      0.4715,
      0.0496,
      0.73597
    ],
    "tcp_roll_pitch_yaw": [
      0.00057,
      0.0001,
      1.57086
    ],
    "tcp_rotation_matrix": [
      [
        -0.0099,
        0.99992,
        0.00775
      ],
      [
        0.99995,
        0.00993,
        -0.00335
      ],
      [
        -0.00342,
        0.00772,
        -0.99996
      ]
    ],
    "simulated_seconds_remaining": 29.37,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 5.6056324345991015,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The jaws are now lower around the shaker's body. I close them to test this deeper grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "pick up the shaker and place it on the bowl.",
    "joint_positions": [
      0.24255,
      -0.04176,
      -0.13666,
      -2.46468,
      -0.01508,
      2.43061,
      -1.46333
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.4715,
      0.0496,
      0.73596
    ],
    "tcp_roll_pitch_yaw": [
      0.00057,
      0.0001,
      1.57086
    ],
    "tcp_rotation_matrix": [
      [
        -0.0099,
        0.99992,
        0.00776
      ],
      [
        0.99995,
        0.00993,
        -0.00335
      ],
      [
        -0.00342,
        0.00773,
        -0.99996
      ]
    ],
    "simulated_seconds_remaining": 28.446,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 20.82102137710899,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.46,
                    "y": 0.095,
                    "z": 0.77,
                    "gripper": 1
                  },
                  "note": "The closure is still empty. I shift the open jaws toward the shaker's far end and slightly upward to correct the grasp alignment."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "pick up the shaker and place it on the bowl.",
    "joint_positions": [
      0.28657,
      -0.11636,
      -0.083,
      -2.4497,
      -0.02016,
      2.34067,
      -1.36276
    ],
    "gripper_open": 0.9965,
    "tcp_xyz": [
      0.46027,
      0.09408,
      0.76931
    ],
    "tcp_roll_pitch_yaw": [
      0.00045,
      8e-05,
      1.571
    ],
    "tcp_rotation_matrix": [
      [
        -0.01003,
        0.99992,
        0.00787
      ],
      [
        0.99994,
        0.01006,
        -0.00332
      ],
      [
        -0.0034,
        0.00784,
        -0.99996
      ]
    ],
    "simulated_seconds_remaining": 27.522,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 6.206857476383448,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The shaker now crosses the grasp area farther between the fingertips. I close the jaws around it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "pick up the shaker and place it on the bowl.",
    "joint_positions": [
      0.28657,
      -0.11654,
      -0.08299,
      -2.44948,
      -0.02016,
      2.34073,
      -1.36276
    ],
    "gripper_open": 0.4674,
    "tcp_xyz": [
      0.46041,
      0.09411,
      0.76949
    ],
    "tcp_roll_pitch_yaw": [
      1e-05,
      -3e-05,
      1.571
    ],
    "tcp_rotation_matrix": [
      [
        -0.01003,
        0.99992,
        0.00831
      ],
      [
        0.99994,
        0.01006,
        -0.00322
      ],
      [
        -0.0033,
        0.00828,
        -0.99996
      ]
    ],
    "simulated_seconds_remaining": 26.598,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 4.804651175625622,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.96
                  },
                  "note": "The fingers remain partly open around the shaker, indicating a grasp. I lift it clear of the table and bowl."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 24,
    "motion_seconds": 1.584,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "pick up the shaker and place it on the bowl.",
    "joint_positions": [
      0.28722,
      -0.29384,
      -0.07341,
      -2.12482,
      -0.02713,
      1.83889,
      -1.35687
    ],
    "gripper_open": 0.4671,
    "tcp_xyz": [
      0.4604,
      0.09411,
      0.95857
    ],
    "tcp_roll_pitch_yaw": [
      0.00018,
      -0.0,
      1.57099
    ],
    "tcp_rotation_matrix": [
      [
        -0.01003,
        0.99992,
        0.00815
      ],
      [
        0.99994,
        0.01005,
        -0.00324
      ],
      [
        -0.00332,
        0.00811,
        -0.99996
      ]
    ],
    "simulated_seconds_remaining": 25.014,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 13.211589322425425,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.405,
                    "y": -0.065,
                    "z": 0.96
                  },
                  "note": "The shaker is visibly lifted with the gripper. I move it over the dark bowl, which lies ahead-right in the wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 22,
    "motion_seconds": 1.452,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 19,
  "state": {
    "instruction": "pick up the shaker and place it on the bowl.",
    "joint_positions": [
      0.16212,
      -0.49813,
      -0.26032,
      -2.28571,
      -0.12958,
      1.80787,
      -1.61873
    ],
    "gripper_open": 0.4669,
    "tcp_xyz": [
      0.40535,
      -0.06384,
      0.95982
    ],
    "tcp_roll_pitch_yaw": [
      0.00062,
      -7e-05,
      1.57075
    ],
    "tcp_rotation_matrix": [
      [
        -0.00978,
        0.99992,
        0.00771
      ],
      [
        0.99995,
        0.00981,
        -0.00318
      ],
      [
        -0.00325,
        0.00767,
        -0.99997
      ]
    ],
    "simulated_seconds_remaining": 23.562,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 9.007714117877185,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.395,
                    "y": -0.09,
                    "z": 0.855
                  },
                  "note": "The bowl is beneath the held shaker. I make a small centering adjustment and lower toward its opening for a controlled release."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 20,
  "state": {
    "instruction": "pick up the shaker and place it on the bowl.",
    "joint_positions": [
      0.13015,
      -0.46529,
      -0.32873,
      -2.52091,
      -0.16874,
      2.07891,
      -1.66472
    ],
    "gripper_open": 0.4664,
    "tcp_xyz": [
      0.39502,
      -0.08966,
      0.85617
    ],
    "tcp_roll_pitch_yaw": [
      0.00113,
      -0.00012,
      1.5707
    ],
    "tcp_rotation_matrix": [
      [
        -0.00974,
        0.99993,
        0.00719
      ],
      [
        0.99995,
        0.00976,
        -0.00313
      ],
      [
        -0.0032,
        0.00716,
        -0.99997
      ]
    ],
    "simulated_seconds_remaining": 22.572,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 7.606668432243168,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.81
                  },
                  "note": "The shaker is centered over the bowl. I lower it a final few centimeters so it will settle gently into the bowl."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 21,
  "state": {
    "instruction": "pick up the shaker and place it on the bowl.",
    "joint_positions": [
      0.13146,
      -0.40653,
      -0.34827,
      -2.59475,
      -0.17117,
      2.21026,
      -1.66922
    ],
    "gripper_open": 0.4646,
    "tcp_xyz": [
      0.39487,
      -0.08959,
      0.81107
    ],
    "tcp_roll_pitch_yaw": [
      0.00176,
      -0.0002,
      1.57078
    ],
    "tcp_rotation_matrix": [
      [
        -0.00982,
        0.99993,
        0.00656
      ],
      [
        0.99995,
        0.00984,
        -0.00305
      ],
      [
        -0.00311,
        0.00653,
        -0.99997
      ]
    ],
    "simulated_seconds_remaining": 21.978,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 6.806147656403482,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 1
                  },
                  "note": "The shaker is resting over the bowl's interior. I open the gripper to release it onto the bowl."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

========================================================================
GPT-Astra / Pick & place / 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,
  "status": "completed",
  "success": true,
  "oracle_success": true,
  "action_decisions": 28,
  "wall_seconds": 371.08,
  "usage": {
    "input_tokens": 594323,
    "cached_input_tokens": 552192,
    "cache_write_input_tokens": 0,
    "output_tokens": 5911,
    "reasoning_output_tokens": 2968
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick-and-place 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 45 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 and grasp the requested object, lift it, move it to the named receptacle, and release it in or on that receptacle. Complete the entire pick-and-place 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 guide the gripper through the pick and placement.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"pick up the spatula and place it on the bowl.\", \"joint_positions\": [0.0407, -0.74984, -0.00589, -2.3275, 0.02429, 1.58853, -0.01388], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.31999, 0.01755, 1.01941], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.9987, 0.05007, 0.00983], [0.04977, -0.99835, 0.02867], [0.01124, -0.02814, -0.99954]], \"simulated_seconds_remaining\": 45.012, \"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": 0.03,
    "z": 0.91,
    "gripper": 1,
    "note": "The bowl and two utensils are visible; I move closer above the work surface to distinguish the spatula and align a 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": 0.43,
      "y": 0.03,
      "z": 0.91,
      "gripper": 1
    },
    "note": "The bowl and utensils are visible; I move closer above the surface to identify the spatula and align the grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"pick up the spatula and place it on the bowl.\", \"joint_positions\": [0.04706, -0.40402, 0.00687, -2.35063, 0.03326, 1.95745, -0.00894], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.429, 0.02989, 0.91086], \"tcp_roll_pitch_yaw\": [-2e-05, 0.00032, 1e-05], \"tcp_rotation_matrix\": [[0.9987, 0.05007, 0.0095], [0.04978, -0.99835, 0.02865], [0.01092, -0.02814, -0.99954]], \"simulated_seconds_remaining\": 43.692, \"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": 0.48,
      "y": 0.27,
      "z": 0.97
    },
    "note": "The spatula is the broad white utensil left of the bowl in the exterior image. I shift left over it while keeping clearance."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"pick up the spatula and place it on the bowl.\", \"joint_positions\": [0.20796, -0.06276, 0.28476, -1.85208, 0.03954, 1.81358, 0.43311], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.4797, 0.2688, 0.96967], \"tcp_roll_pitch_yaw\": [-3e-05, 0.00033, 0.00024], \"tcp_rotation_matrix\": [[0.99869, 0.0503, 0.00949], [0.05001, -0.99834, 0.02865], [0.01092, -0.02814, -0.99954]], \"simulated_seconds_remaining\": 41.712, \"calls_remaining_including_this\": 55}"
      },
      {
        "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": 0.31,
      "y": 0.39,
      "z": 0.96
    },
    "note": "The bowl has moved to the wrist image's upper left and the spatula lies beyond it toward the lower side. I reposition above that utensil."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"pick up the spatula and place it on the bowl.\", \"joint_positions\": [0.36355, -0.25323, 0.47478, -2.05409, 0.13244, 1.85326, 0.74103], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.31099, 0.38932, 0.96008], \"tcp_roll_pitch_yaw\": [-3e-05, 0.00026, 0.00054], \"tcp_rotation_matrix\": [[0.99867, 0.0506, 0.00955], [0.05031, -0.99832, 0.02865], [0.01098, -0.02813, -0.99954]], \"simulated_seconds_remaining\": 39.996, \"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": 0.66,
      "y": 0.38,
      "z": 0.98
    },
    "note": "The wrist view confirms the nearer utensil is a fork. The spatula is farther forward, so I move above its location."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"pick up the spatula and place it on the bowl.\", \"joint_positions\": [0.36355, -0.25323, 0.47478, -2.05409, 0.13244, 1.85326, 0.74103], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.31099, 0.38932, 0.96008], \"tcp_roll_pitch_yaw\": [-3e-05, 0.00026, 0.00054], \"tcp_rotation_matrix\": [[0.99867, 0.0506, 0.00955], [0.05031, -0.99832, 0.02865], [0.01098, -0.02813, -0.99954]], \"simulated_seconds_remaining\": 39.996, \"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": 0.49,
      "y": 0.39,
      "z": 0.96
    },
    "note": "The long forward move was rejected by inverse kinematics. I split the approach into a smaller forward step."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"pick up the spatula and place it on the bowl.\", \"joint_positions\": [0.29469, 0.19608, 0.41635, -1.57389, -0.06454, 1.77892, 0.66517], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.48876, 0.38991, 0.95992], \"tcp_roll_pitch_yaw\": [-7e-05, 0.0004, 0.00034], \"tcp_rotation_matrix\": [[0.99869, 0.05039, 0.00942], [0.05011, -0.99833, 0.0286], [0.01084, -0.02809, -0.99955]], \"simulated_seconds_remaining\": 38.478, \"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,
      "y": 0.18,
      "z": 0.94
    },
    "note": "The spatula is now partially visible at the wrist image's lower left. I shift forward and right to bring its handle into view."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"pick up the spatula and place it on the bowl.\", \"joint_positions\": [0.05427, 0.19677, 0.25541, -1.60946, -0.02576, 1.81745, 0.26064], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.59944, 0.181, 0.94007], \"tcp_roll_pitch_yaw\": [-0.00012, 0.00046, 0.0], \"tcp_rotation_matrix\": [[0.9987, 0.05006, 0.00937], [0.04977, -0.99835, 0.02855], [0.01078, -0.02805, -0.99955]], \"simulated_seconds_remaining\": 36.564, \"calls_remaining_including_this\": 51}"
      },
      {
        "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": 0.64,
      "y": 0.08,
      "z": 0.83
    },
    "note": "The broad spatula head and narrow handle are clear in the wrist view. I lower toward the handle, offsetting right to center it between the fingers."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"pick up the spatula and place it on the bowl.\", \"joint_positions\": [-0.04868, 0.30815, 0.18533, -1.73173, -0.03242, 2.04738, 0.09274], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.63962, 0.08074, 0.83082], \"tcp_roll_pitch_yaw\": [-0.00017, 0.00074, -0.00024], \"tcp_rotation_matrix\": [[0.99872, 0.04981, 0.00909], [0.04953, -0.99837, 0.0285], [0.01049, -0.02801, -0.99955]], \"simulated_seconds_remaining\": 35.244, \"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": 0.605,
      "y": 0.075,
      "z": 0.755
    },
    "note": "The handle runs diagonally between the open fingers. I lower and adjust toward its middle for a secure pinch."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"pick up the spatula and place it on the bowl.\", \"joint_positions\": [-0.05708, 0.28914, 0.18212, -1.96289, -0.03164, 2.25936, 0.0876], \"gripper_open\": 0.9967, \"tcp_xyz\": [0.60548, 0.07506, 0.75607], \"tcp_roll_pitch_yaw\": [-0.00021, 0.00102, -0.00026], \"tcp_rotation_matrix\": [[0.99872, 0.04978, 0.00882], [0.04951, -0.99837, 0.02846], [0.01022, -0.02799, -0.99956]], \"simulated_seconds_remaining\": 34.386, \"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": {
      "z": 0.705
    },
    "note": "The spatula handle remains between the fingers in the wrist view. I descend another five centimeters to reach the tabletop grasp height."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"pick up the spatula and place it on the bowl.\", \"joint_positions\": [-0.04995, 0.29935, 0.17621, -1.98533, -0.04968, 2.32572, 0.09958], \"gripper_open\": 1.0, \"tcp_xyz\": [0.61121, 0.07498, 0.74607], \"tcp_roll_pitch_yaw\": [-0.00788, -0.03401, 0.00068], \"tcp_rotation_matrix\": [[0.99772, 0.0514, 0.0438], [0.05053, -0.99851, 0.02082], [0.04481, -0.01856, -0.99882]], \"simulated_seconds_remaining\": 33.726, \"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 gripper has reached contact height and the white handle crosses the finger gap. I close to grasp it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 11, \"instruction\": \"pick up the spatula and place it on the bowl.\", \"joint_positions\": [-0.0579, 0.28621, 0.16616, -1.97578, -0.05461, 2.32627, 0.09956], \"gripper_open\": 0.4763, \"tcp_xyz\": [0.61894, 0.06324, 0.75813], \"tcp_roll_pitch_yaw\": [-0.01395, -0.05762, -0.01388], \"tcp_rotation_matrix\": [[0.99703, 0.03694, 0.06758], [0.03608, -0.99925, 0.01379], [0.06804, -0.01131, -0.99762]], \"simulated_seconds_remaining\": 32.802, \"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": {
      "z": 0.9
    },
    "note": "The fingers stopped partly closed around the visible white utensil. I lift to verify that the spatula is held."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 12, \"instruction\": \"pick up the spatula and place it on the bowl.\", \"joint_positions\": [-0.06498, 0.14986, 0.1751, -1.78615, -0.02154, 2.00279, 0.07908], \"gripper_open\": 0.0, \"tcp_xyz\": [0.61902, 0.06325, 0.89884], \"tcp_roll_pitch_yaw\": [-0.01393, -0.058, -0.01389], \"tcp_rotation_matrix\": [[0.997, 0.03694, 0.06797], [0.03608, -0.99925, 0.0138], [0.06843, -0.01131, -0.99759]], \"simulated_seconds_remaining\": 31.548, \"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": 0.585,
      "y": 0.065,
      "z": 0.81,
      "roll": 0,
      "pitch": 0,
      "yaw": 0,
      "gripper": 1
    },
    "note": "The spatula stayed on the table, so the first pinch missed. I reopen and center farther along the handle before a second attempt."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 13, \"instruction\": \"pick up the spatula and place it on the bowl.\", \"joint_positions\": [-0.06925, 0.15889, 0.17738, -1.99159, -0.00086, 2.1613, 0.05646], \"gripper_open\": 0.9965, \"tcp_xyz\": [0.58542, 0.06497, 0.81111], \"tcp_roll_pitch_yaw\": [-0.00022, -0.0005, -0.00019], \"tcp_rotation_matrix\": [[0.9987, 0.04989, 0.01033], [0.04958, -0.99836, 0.02845], [0.01174, -0.0279, -0.99954]], \"simulated_seconds_remaining\": 30.624, \"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": 0.61,
      "y": 0.07,
      "z": 0.775
    },
    "note": "The handle is just below the finger tips. I make a small forward correction and stop above the contact height."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 14, \"instruction\": \"pick up the spatula and place it on the bowl.\", \"joint_positions\": [-0.05843, 0.27065, 0.1746, -1.93359, -0.02408, 2.21331, 0.07417], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.60927, 0.06985, 0.77587], \"tcp_roll_pitch_yaw\": [-0.00022, -0.00023, -0.00019], \"tcp_rotation_matrix\": [[0.9987, 0.04988, 0.01006], [0.04958, -0.99836, 0.02845], [0.01147, -0.02791, -0.99954]], \"simulated_seconds_remaining\": 30.03, \"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 centered across the open gap at this height. I close the fingers without pushing farther into the table."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 15, \"instruction\": \"pick up the spatula and place it on the bowl.\", \"joint_positions\": [-0.05843, 0.27065, 0.1746, -1.93359, -0.02408, 2.21331, 0.07417], \"gripper_open\": 0.0, \"tcp_xyz\": [0.60927, 0.06986, 0.77586], \"tcp_roll_pitch_yaw\": [-0.00022, -0.00024, -0.00019], \"tcp_rotation_matrix\": [[0.9987, 0.04988, 0.01007], [0.04958, -0.99836, 0.02845], [0.01147, -0.02791, -0.99954]], \"simulated_seconds_remaining\": 29.106, \"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": 0.63,
      "z": 0.765,
      "gripper": 1
    },
    "note": "The fingers fully closed, indicating no secure grasp. I reopen and shift slightly forward so the handle lies at the actual pinch point."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 16, \"instruction\": \"pick up the spatula and place it on the bowl.\", \"joint_positions\": [-0.05376, 0.34028, 0.16981, -1.86039, -0.03636, 2.20882, 0.07784], \"gripper_open\": 0.9965, \"tcp_xyz\": [0.62915, 0.06985, 0.76541], \"tcp_roll_pitch_yaw\": [-0.00022, -0.00019, -0.00021], \"tcp_rotation_matrix\": [[0.99871, 0.04987, 0.01002], [0.04957, -0.99837, 0.02845], [0.01142, -0.02791, -0.99955]], \"simulated_seconds_remaining\": 28.182, \"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": 0.647,
      "z": 0.748
    },
    "note": "The handle is still slightly behind the finger tips. I advance a small amount and lower to the utensil surface."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 17, \"instruction\": \"pick up the spatula and place it on the bowl.\", \"joint_positions\": [-0.04839, 0.41004, 0.16452, -1.79939, -0.04776, 2.21748, 0.08103], \"gripper_open\": 0.9988, \"tcp_xyz\": [0.64639, 0.06989, 0.74919], \"tcp_roll_pitch_yaw\": [-0.00021, -0.00084, -0.00021], \"tcp_rotation_matrix\": [[0.9987, 0.04989, 0.01067], [0.04957, -0.99837, 0.02846], [0.01207, -0.02789, -0.99954]], \"simulated_seconds_remaining\": 27.72, \"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": {
      "gripper": 0
    },
    "note": "The handle crosses the finger gap at tabletop height. I close for the grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 18, \"instruction\": \"pick up the spatula and place it on the bowl.\", \"joint_positions\": [-0.04978, 0.40037, 0.16324, -1.78954, -0.04926, 2.22198, 0.08087], \"gripper_open\": 0.4, \"tcp_xyz\": [0.65341, 0.06807, 0.76027], \"tcp_roll_pitch_yaw\": [-0.00081, -0.02489, -0.00251], \"tcp_rotation_matrix\": [[0.99823, 0.04823, 0.03477], [0.04728, -0.9985, 0.02778], [0.03606, -0.02608, -0.99901]], \"simulated_seconds_remaining\": 26.796, \"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": {
      "z": 0.9
    },
    "note": "The spatula rotated into the closing fingers, suggesting contact with its handle. I lift to check that it follows the gripper."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 19, \"instruction\": \"pick up the spatula and place it on the bowl.\", \"joint_positions\": [-0.05428, 0.28885, 0.17298, -1.58829, -0.02684, 1.91099, 0.0714], \"gripper_open\": 0.0, \"tcp_xyz\": [0.65348, 0.06809, 0.89887], \"tcp_roll_pitch_yaw\": [-0.00078, -0.02527, -0.00251], \"tcp_rotation_matrix\": [[0.99822, 0.04824, 0.03515], [0.04728, -0.99849, 0.0278], [0.03644, -0.02609, -0.999]], \"simulated_seconds_remaining\": 25.542, \"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": 0.63,
      "y": 0.09,
      "z": 0.78,
      "roll": 0,
      "pitch": 0,
      "yaw": 0,
      "gripper": 1
    },
    "note": "The spatula remains on the surface with its handle now straighter. I realign over the handle for a cleaner grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 20, \"instruction\": \"pick up the spatula and place it on the bowl.\", \"joint_positions\": [-0.03174, 0.33165, 0.18079, -1.83081, -0.03825, 2.17072, 0.1104], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.63017, 0.08979, 0.78112], \"tcp_roll_pitch_yaw\": [-3e-05, 9e-05, 3e-05], \"tcp_rotation_matrix\": [[0.9987, 0.0501, 0.00974], [0.0498, -0.99835, 0.02864], [0.01116, -0.02811, -0.99954]], \"simulated_seconds_remaining\": 24.42, \"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": 0.64,
      "y": 0.065,
      "z": 0.754
    },
    "note": "The handle is left of the pinch point. I move right by 2.5 centimeters and descend gently to place it between the jaws."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 21, \"instruction\": \"pick up the spatula and place it on the bowl.\", \"joint_positions\": [-0.05585, 0.38287, 0.16518, -1.82522, -0.04244, 2.21519, 0.07271], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.63963, 0.06571, 0.7548], \"tcp_roll_pitch_yaw\": [-8e-05, 0.00033, -0.00018], \"tcp_rotation_matrix\": [[0.99871, 0.04988, 0.0095], [0.04959, -0.99836, 0.02859], [0.01092, -0.02808, -0.99955]], \"simulated_seconds_remaining\": 23.892, \"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": {
      "gripper": 0
    },
    "note": "The straight handle is centered between the fingers. I close the gripper at the current height."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 22, \"instruction\": \"pick up the spatula and place it on the bowl.\", \"joint_positions\": [-0.0558, 0.38279, 0.16525, -1.82515, -0.04242, 2.21521, 0.07272], \"gripper_open\": 0.6864, \"tcp_xyz\": [0.63967, 0.06578, 0.75487], \"tcp_roll_pitch_yaw\": [-2e-05, 0.00016, -8e-05], \"tcp_rotation_matrix\": [[0.9987, 0.04999, 0.00967], [0.04969, -0.99835, 0.02865], [0.01109, -0.02813, -0.99954]], \"simulated_seconds_remaining\": 22.968, \"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": {
      "z": 0.89
    },
    "note": "The jaws remain separated against the spatula, with no visible slipping. I lift to confirm the grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 23, \"instruction\": \"pick up the spatula and place it on the bowl.\", \"joint_positions\": [-0.06116, 0.26664, 0.17456, -1.63941, -0.01949, 1.91521, 0.06363], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.63975, 0.0658, 0.88882], \"tcp_roll_pitch_yaw\": [-0.0, -0.00024, -8e-05], \"tcp_rotation_matrix\": [[0.9987, 0.05, 0.01007], [0.04969, -0.99835, 0.02867], [0.01149, -0.02813, -0.99954]], \"simulated_seconds_remaining\": 21.78, \"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": {
      "z": 0.754,
      "gripper": 1
    },
    "note": "The gripper reopened during the lift because its measured opening exceeded the binary threshold. I return to the same grasp and will explicitly keep it closed while lifting."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 24, \"instruction\": \"pick up the spatula and place it on the bowl.\", \"joint_positions\": [-0.05588, 0.38241, 0.16534, -1.82495, -0.04237, 2.21463, 0.07271], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.63966, 0.06578, 0.75517], \"tcp_roll_pitch_yaw\": [-3e-05, 0.00016, -9e-05], \"tcp_rotation_matrix\": [[0.9987, 0.04998, 0.00967], [0.04968, -0.99835, 0.02864], [0.01109, -0.02813, -0.99954]], \"simulated_seconds_remaining\": 20.592, \"calls_remaining_including_this\": 34}"
      },
      {
        "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 spatula is aligned at the same successful contact point. I close the jaws around it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 25, \"instruction\": \"pick up the spatula and place it on the bowl.\", \"joint_positions\": [-0.05588, 0.38242, 0.16534, -1.82496, -0.04237, 2.21463, 0.07271], \"gripper_open\": 0.6839, \"tcp_xyz\": [0.63966, 0.06577, 0.75514], \"tcp_roll_pitch_yaw\": [-3e-05, 0.00018, -0.0001], \"tcp_rotation_matrix\": [[0.9987, 0.04997, 0.00965], [0.04967, -0.99835, 0.02864], [0.01106, -0.02812, -0.99954]], \"simulated_seconds_remaining\": 19.668, \"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": 0.91,
      "gripper": 0
    },
    "note": "The jaws are gripping the spatula's broad section. I lift while explicitly maintaining closure."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 26, \"instruction\": \"pick up the spatula and place it on the bowl.\", \"joint_positions\": [-0.06093, 0.26012, 0.17527, -1.5974, -0.01824, 1.86672, 0.06363], \"gripper_open\": 0.6844, \"tcp_xyz\": [0.63973, 0.06578, 0.9088], \"tcp_roll_pitch_yaw\": [-1e-05, -0.00018, -0.00011], \"tcp_rotation_matrix\": [[0.9987, 0.04997, 0.01001], [0.04966, -0.99835, 0.02866], [0.01143, -0.02813, -0.99954]], \"simulated_seconds_remaining\": 18.348, \"calls_remaining_including_this\": 32}"
      },
      {
        "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": 0.44,
      "y": 0.09,
      "z": 0.93,
      "gripper": 0
    },
    "note": "The spatula is lifted and stays between the jaws. I carry it back over the bowl while maintaining the grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 27, \"instruction\": \"pick up the spatula and place it on the bowl.\", \"joint_positions\": [-0.0323, -0.35931, 0.19425, -2.25487, 0.10063, 1.91449, 0.06703], \"gripper_open\": 0.6837, \"tcp_xyz\": [0.44133, 0.08988, 0.92993], \"tcp_roll_pitch_yaw\": [-4e-05, -0.00029, -0.0], \"tcp_rotation_matrix\": [[0.99869, 0.05007, 0.01011], [0.04977, -0.99835, 0.02863], [0.01153, -0.02809, -0.99954]], \"simulated_seconds_remaining\": 16.698, \"calls_remaining_including_this\": 31}"
      },
      {
        "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": 0.835,
      "gripper": 0
    },
    "note": "The spatula is directly above the bowl in the wrist view. I lower it toward the rim for a controlled placement."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 28, \"instruction\": \"pick up the spatula and place it on the bowl.\", \"joint_positions\": [-0.02991, -0.28467, 0.21074, -2.43173, 0.10298, 2.16514, 0.06589], \"gripper_open\": 0.6842, \"tcp_xyz\": [0.44125, 0.08987, 0.83621], \"tcp_roll_pitch_yaw\": [-8e-05, 8e-05, -1e-05], \"tcp_rotation_matrix\": [[0.9987, 0.05005, 0.00974], [0.04976, -0.99835, 0.02859], [0.01116, -0.02807, -0.99954]], \"simulated_seconds_remaining\": 15.774, \"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": 1
    },
    "note": "The spatula is positioned over the bowl with its handle inside the rim. I open the jaws to release it onto the bowl."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "Episode ended. Do not call more tools. Return a brief final response."
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

Placed the spatula on the bowl.

TURN USAGE
{
  "input_tokens": 594323,
  "cached_input_tokens": 552192,
  "cache_write_input_tokens": 0,
  "output_tokens": 5911,
  "reasoning_output_tokens": 2968
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "pick up the spatula and place it on the bowl.",
    "joint_positions": [
      0.0407,
      -0.74984,
      -0.00589,
      -2.3275,
      0.02429,
      1.58853,
      -0.01388
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.31999,
      0.01755,
      1.01941
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.9987,
        0.05007,
        0.00983
      ],
      [
        0.04977,
        -0.99835,
        0.02867
      ],
      [
        0.01124,
        -0.02814,
        -0.99954
      ]
    ],
    "simulated_seconds_remaining": 45.012,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 25.42608821950853,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.43,
                    "y": 0.03,
                    "z": 0.91,
                    "gripper": 1
                  },
                  "note": "The bowl and utensils are visible; I move closer above the surface to identify the spatula and align the grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "pick up the spatula and place it on the bowl.",
    "joint_positions": [
      0.04706,
      -0.40402,
      0.00687,
      -2.35063,
      0.03326,
      1.95745,
      -0.00894
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.429,
      0.02989,
      0.91086
    ],
    "tcp_roll_pitch_yaw": [
      -2e-05,
      0.00032,
      1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.9987,
        0.05007,
        0.0095
      ],
      [
        0.04978,
        -0.99835,
        0.02865
      ],
      [
        0.01092,
        -0.02814,
        -0.99954
      ]
    ],
    "simulated_seconds_remaining": 43.692,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 15.21194742526859,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48,
                    "y": 0.27,
                    "z": 0.97
                  },
                  "note": "The spatula is the broad white utensil left of the bowl in the exterior image. I shift left over it while keeping clearance."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 30,
    "motion_seconds": 1.98,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "pick up the spatula and place it on the bowl.",
    "joint_positions": [
      0.20796,
      -0.06276,
      0.28476,
      -1.85208,
      0.03954,
      1.81358,
      0.43311
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.4797,
      0.2688,
      0.96967
    ],
    "tcp_roll_pitch_yaw": [
      -3e-05,
      0.00033,
      0.00024
    ],
    "tcp_rotation_matrix": [
      [
        0.99869,
        0.0503,
        0.00949
      ],
      [
        0.05001,
        -0.99834,
        0.02865
      ],
      [
        0.01092,
        -0.02814,
        -0.99954
      ]
    ],
    "simulated_seconds_remaining": 41.712,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 15.011580111458898,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.31,
                    "y": 0.39,
                    "z": 0.96
                  },
                  "note": "The bowl has moved to the wrist image's upper left and the spatula lies beyond it toward the lower side. I reposition above that utensil."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 26,
    "motion_seconds": 1.7160000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "pick up the spatula and place it on the bowl.",
    "joint_positions": [
      0.36355,
      -0.25323,
      0.47478,
      -2.05409,
      0.13244,
      1.85326,
      0.74103
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.31099,
      0.38932,
      0.96008
    ],
    "tcp_roll_pitch_yaw": [
      -3e-05,
      0.00026,
      0.00054
    ],
    "tcp_rotation_matrix": [
      [
        0.99867,
        0.0506,
        0.00955
      ],
      [
        0.05031,
        -0.99832,
        0.02865
      ],
      [
        0.01098,
        -0.02813,
        -0.99954
      ]
    ],
    "simulated_seconds_remaining": 39.996,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 16.814057500101626,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.66,
                    "y": 0.38,
                    "z": 0.98
                  },
                  "note": "The wrist view confirms the nearer utensil is a fork. The spatula is farther forward, so I move above its location."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 5,
  "state": {
    "instruction": "pick up the spatula and place it on the bowl.",
    "joint_positions": [
      0.36355,
      -0.25323,
      0.47478,
      -2.05409,
      0.13244,
      1.85326,
      0.74103
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.31099,
      0.38932,
      0.96008
    ],
    "tcp_roll_pitch_yaw": [
      -3e-05,
      0.00026,
      0.00054
    ],
    "tcp_rotation_matrix": [
      [
        0.99867,
        0.0506,
        0.00955
      ],
      [
        0.05031,
        -0.99832,
        0.02865
      ],
      [
        0.01098,
        -0.02813,
        -0.99954
      ]
    ],
    "simulated_seconds_remaining": 39.996,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 5.004109312780201,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.49,
                    "y": 0.39,
                    "z": 0.96
                  },
                  "note": "The long forward move was rejected by inverse kinematics. I split the approach into a smaller forward step."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "pick up the spatula and place it on the bowl.",
    "joint_positions": [
      0.29469,
      0.19608,
      0.41635,
      -1.57389,
      -0.06454,
      1.77892,
      0.66517
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.48876,
      0.38991,
      0.95992
    ],
    "tcp_roll_pitch_yaw": [
      -7e-05,
      0.0004,
      0.00034
    ],
    "tcp_rotation_matrix": [
      [
        0.99869,
        0.05039,
        0.00942
      ],
      [
        0.05011,
        -0.99833,
        0.0286
      ],
      [
        0.01084,
        -0.02809,
        -0.99955
      ]
    ],
    "simulated_seconds_remaining": 38.478,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 15.011777933686972,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.6,
                    "y": 0.18,
                    "z": 0.94
                  },
                  "note": "The spatula is now partially visible at the wrist image's lower left. I shift forward and right to bring its handle into view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 29,
    "motion_seconds": 1.9140000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "pick up the spatula and place it on the bowl.",
    "joint_positions": [
      0.05427,
      0.19677,
      0.25541,
      -1.60946,
      -0.02576,
      1.81745,
      0.26064
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.59944,
      0.181,
      0.94007
    ],
    "tcp_roll_pitch_yaw": [
      -0.00012,
      0.00046,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.9987,
        0.05006,
        0.00937
      ],
      [
        0.04977,
        -0.99835,
        0.02855
      ],
      [
        0.01078,
        -0.02805,
        -0.99955
      ]
    ],
    "simulated_seconds_remaining": 36.564,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 12.81036869250238,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.64,
                    "y": 0.08,
                    "z": 0.83
                  },
                  "note": "The broad spatula head and narrow handle are clear in the wrist view. I lower toward the handle, offsetting right to center it between the fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "pick up the spatula and place it on the bowl.",
    "joint_positions": [
      -0.04868,
      0.30815,
      0.18533,
      -1.73173,
      -0.03242,
      2.04738,
      0.09274
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.63962,
      0.08074,
      0.83082
    ],
    "tcp_roll_pitch_yaw": [
      -0.00017,
      0.00074,
      -0.00024
    ],
    "tcp_rotation_matrix": [
      [
        0.99872,
        0.04981,
        0.00909
      ],
      [
        0.04953,
        -0.99837,
        0.0285
      ],
      [
        0.01049,
        -0.02801,
        -0.99955
      ]
    ],
    "simulated_seconds_remaining": 35.244,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 19.61521909572184,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.605,
                    "y": 0.075,
                    "z": 0.755
                  },
                  "note": "The handle runs diagonally between the open fingers. I lower and adjust toward its middle for a secure pinch."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "pick up the spatula and place it on the bowl.",
    "joint_positions": [
      -0.05708,
      0.28914,
      0.18212,
      -1.96289,
      -0.03164,
      2.25936,
      0.0876
    ],
    "gripper_open": 0.9967,
    "tcp_xyz": [
      0.60548,
      0.07506,
      0.75607
    ],
    "tcp_roll_pitch_yaw": [
      -0.00021,
      0.00102,
      -0.00026
    ],
    "tcp_rotation_matrix": [
      [
        0.99872,
        0.04978,
        0.00882
      ],
      [
        0.04951,
        -0.99837,
        0.02846
      ],
      [
        0.01022,
        -0.02799,
        -0.99956
      ]
    ],
    "simulated_seconds_remaining": 34.386,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 15.411296587437391,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.705
                  },
                  "note": "The spatula handle remains between the fingers in the wrist view. I descend another five centimeters to reach the tabletop grasp height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "pick up the spatula and place it on the bowl.",
    "joint_positions": [
      -0.04995,
      0.29935,
      0.17621,
      -1.98533,
      -0.04968,
      2.32572,
      0.09958
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.61121,
      0.07498,
      0.74607
    ],
    "tcp_roll_pitch_yaw": [
      -0.00788,
      -0.03401,
      0.00068
    ],
    "tcp_rotation_matrix": [
      [
        0.99772,
        0.0514,
        0.0438
      ],
      [
        0.05053,
        -0.99851,
        0.02082
      ],
      [
        0.04481,
        -0.01856,
        -0.99882
      ]
    ],
    "simulated_seconds_remaining": 33.726,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 6.405393175780773,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The gripper has reached contact height and the white handle crosses the finger gap. I close to grasp it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "pick up the spatula and place it on the bowl.",
    "joint_positions": [
      -0.0579,
      0.28621,
      0.16616,
      -1.97578,
      -0.05461,
      2.32627,
      0.09956
    ],
    "gripper_open": 0.4763,
    "tcp_xyz": [
      0.61894,
      0.06324,
      0.75813
    ],
    "tcp_roll_pitch_yaw": [
      -0.01395,
      -0.05762,
      -0.01388
    ],
    "tcp_rotation_matrix": [
      [
        0.99703,
        0.03694,
        0.06758
      ],
      [
        0.03608,
        -0.99925,
        0.01379
      ],
      [
        0.06804,
        -0.01131,
        -0.99762
      ]
    ],
    "simulated_seconds_remaining": 32.802,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 5.604003816843033,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.9
                  },
                  "note": "The fingers stopped partly closed around the visible white utensil. I lift to verify that the spatula is held."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "pick up the spatula and place it on the bowl.",
    "joint_positions": [
      -0.06498,
      0.14986,
      0.1751,
      -1.78615,
      -0.02154,
      2.00279,
      0.07908
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.61902,
      0.06325,
      0.89884
    ],
    "tcp_roll_pitch_yaw": [
      -0.01393,
      -0.058,
      -0.01389
    ],
    "tcp_rotation_matrix": [
      [
        0.997,
        0.03694,
        0.06797
      ],
      [
        0.03608,
        -0.99925,
        0.0138
      ],
      [
        0.06843,
        -0.01131,
        -0.99759
      ]
    ],
    "simulated_seconds_remaining": 31.548,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 14.610608328133821,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.585,
                    "y": 0.065,
                    "z": 0.81,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 0,
                    "gripper": 1
                  },
                  "note": "The spatula stayed on the table, so the first pinch missed. I reopen and center farther along the handle before a second attempt."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "pick up the spatula and place it on the bowl.",
    "joint_positions": [
      -0.06925,
      0.15889,
      0.17738,
      -1.99159,
      -0.00086,
      2.1613,
      0.05646
    ],
    "gripper_open": 0.9965,
    "tcp_xyz": [
      0.58542,
      0.06497,
      0.81111
    ],
    "tcp_roll_pitch_yaw": [
      -0.00022,
      -0.0005,
      -0.00019
    ],
    "tcp_rotation_matrix": [
      [
        0.9987,
        0.04989,
        0.01033
      ],
      [
        0.04958,
        -0.99836,
        0.02845
      ],
      [
        0.01174,
        -0.0279,
        -0.99954
      ]
    ],
    "simulated_seconds_remaining": 30.624,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 15.816971074789762,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.61,
                    "y": 0.07,
                    "z": 0.775
                  },
                  "note": "The handle is just below the finger tips. I make a small forward correction and stop above the contact height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "pick up the spatula and place it on the bowl.",
    "joint_positions": [
      -0.05843,
      0.27065,
      0.1746,
      -1.93359,
      -0.02408,
      2.21331,
      0.07417
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.60927,
      0.06985,
      0.77587
    ],
    "tcp_roll_pitch_yaw": [
      -0.00022,
      -0.00023,
      -0.00019
    ],
    "tcp_rotation_matrix": [
      [
        0.9987,
        0.04988,
        0.01006
      ],
      [
        0.04958,
        -0.99836,
        0.02845
      ],
      [
        0.01147,
        -0.02791,
        -0.99954
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 4.804300865158439,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The handle is centered across the open gap at this height. I close the fingers without pushing farther into the table."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "pick up the spatula and place it on the bowl.",
    "joint_positions": [
      -0.05843,
      0.27065,
      0.1746,
      -1.93359,
      -0.02408,
      2.21331,
      0.07417
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.60927,
      0.06986,
      0.77586
    ],
    "tcp_roll_pitch_yaw": [
      -0.00022,
      -0.00024,
      -0.00019
    ],
    "tcp_rotation_matrix": [
      [
        0.9987,
        0.04988,
        0.01007
      ],
      [
        0.04958,
        -0.99836,
        0.02845
      ],
      [
        0.01147,
        -0.02791,
        -0.99954
      ]
    ],
    "simulated_seconds_remaining": 29.106,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 11.008869964629412,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.63,
                    "z": 0.765,
                    "gripper": 1
                  },
                  "note": "The fingers fully closed, indicating no secure grasp. I reopen and shift slightly forward so the handle lies at the actual pinch point."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "pick up the spatula and place it on the bowl.",
    "joint_positions": [
      -0.05376,
      0.34028,
      0.16981,
      -1.86039,
      -0.03636,
      2.20882,
      0.07784
    ],
    "gripper_open": 0.9965,
    "tcp_xyz": [
      0.62915,
      0.06985,
      0.76541
    ],
    "tcp_roll_pitch_yaw": [
      -0.00022,
      -0.00019,
      -0.00021
    ],
    "tcp_rotation_matrix": [
      [
        0.99871,
        0.04987,
        0.01002
      ],
      [
        0.04957,
        -0.99837,
        0.02845
      ],
      [
        0.01142,
        -0.02791,
        -0.99955
      ]
    ],
    "simulated_seconds_remaining": 28.182,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 6.605667087249458,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.647,
                    "z": 0.748
                  },
                  "note": "The handle is still slightly behind the finger tips. I advance a small amount and lower to the utensil surface."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 7,
    "motion_seconds": 0.462,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "pick up the spatula and place it on the bowl.",
    "joint_positions": [
      -0.04839,
      0.41004,
      0.16452,
      -1.79939,
      -0.04776,
      2.21748,
      0.08103
    ],
    "gripper_open": 0.9988,
    "tcp_xyz": [
      0.64639,
      0.06989,
      0.74919
    ],
    "tcp_roll_pitch_yaw": [
      -0.00021,
      -0.00084,
      -0.00021
    ],
    "tcp_rotation_matrix": [
      [
        0.9987,
        0.04989,
        0.01067
      ],
      [
        0.04957,
        -0.99837,
        0.02846
      ],
      [
        0.01207,
        -0.02789,
        -0.99954
      ]
    ],
    "simulated_seconds_remaining": 27.72,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 7.606366589665413,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The handle crosses the finger gap at tabletop height. I close for the grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "pick up the spatula and place it on the bowl.",
    "joint_positions": [
      -0.04978,
      0.40037,
      0.16324,
      -1.78954,
      -0.04926,
      2.22198,
      0.08087
    ],
    "gripper_open": 0.4,
    "tcp_xyz": [
      0.65341,
      0.06807,
      0.76027
    ],
    "tcp_roll_pitch_yaw": [
      -0.00081,
      -0.02489,
      -0.00251
    ],
    "tcp_rotation_matrix": [
      [
        0.99823,
        0.04823,
        0.03477
      ],
      [
        0.04728,
        -0.9985,
        0.02778
      ],
      [
        0.03606,
        -0.02608,
        -0.99901
      ]
    ],
    "simulated_seconds_remaining": 26.796,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 6.005298252217472,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.9
                  },
                  "note": "The spatula rotated into the closing fingers, suggesting contact with its handle. I lift to check that it follows the gripper."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 19,
  "state": {
    "instruction": "pick up the spatula and place it on the bowl.",
    "joint_positions": [
      -0.05428,
      0.28885,
      0.17298,
      -1.58829,
      -0.02684,
      1.91099,
      0.0714
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.65348,
      0.06809,
      0.89887
    ],
    "tcp_roll_pitch_yaw": [
      -0.00078,
      -0.02527,
      -0.00251
    ],
    "tcp_rotation_matrix": [
      [
        0.99822,
        0.04824,
        0.03515
      ],
      [
        0.04728,
        -0.99849,
        0.0278
      ],
      [
        0.03644,
        -0.02609,
        -0.999
      ]
    ],
    "simulated_seconds_remaining": 25.542,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 27.823078223504126,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.63,
                    "y": 0.09,
                    "z": 0.78,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 0,
                    "gripper": 1
                  },
                  "note": "The spatula remains on the surface with its handle now straighter. I realign over the handle for a cleaner grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 20,
  "state": {
    "instruction": "pick up the spatula and place it on the bowl.",
    "joint_positions": [
      -0.03174,
      0.33165,
      0.18079,
      -1.83081,
      -0.03825,
      2.17072,
      0.1104
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.63017,
      0.08979,
      0.78112
    ],
    "tcp_roll_pitch_yaw": [
      -3e-05,
      9e-05,
      3e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.9987,
        0.0501,
        0.00974
      ],
      [
        0.0498,
        -0.99835,
        0.02864
      ],
      [
        0.01116,
        -0.02811,
        -0.99954
      ]
    ],
    "simulated_seconds_remaining": 24.42,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 8.607442448846996,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.64,
                    "y": 0.065,
                    "z": 0.754
                  },
                  "note": "The handle is left of the pinch point. I move right by 2.5 centimeters and descend gently to place it between the jaws."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 8,
    "motion_seconds": 0.528,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 21,
  "state": {
    "instruction": "pick up the spatula and place it on the bowl.",
    "joint_positions": [
      -0.05585,
      0.38287,
      0.16518,
      -1.82522,
      -0.04244,
      2.21519,
      0.07271
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.63963,
      0.06571,
      0.7548
    ],
    "tcp_roll_pitch_yaw": [
      -8e-05,
      0.00033,
      -0.00018
    ],
    "tcp_rotation_matrix": [
      [
        0.99871,
        0.04988,
        0.0095
      ],
      [
        0.04959,
        -0.99836,
        0.02859
      ],
      [
        0.01092,
        -0.02808,
        -0.99955
      ]
    ],
    "simulated_seconds_remaining": 23.892,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 6.005016070790589,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The straight handle is centered between the fingers. I close the gripper at the current height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 22,
  "state": {
    "instruction": "pick up the spatula and place it on the bowl.",
    "joint_positions": [
      -0.0558,
      0.38279,
      0.16525,
      -1.82515,
      -0.04242,
      2.21521,
      0.07272
    ],
    "gripper_open": 0.6864,
    "tcp_xyz": [
      0.63967,
      0.06578,
      0.75487
    ],
    "tcp_roll_pitch_yaw": [
      -2e-05,
      0.00016,
      -8e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.9987,
        0.04999,
        0.00967
      ],
      [
        0.04969,
        -0.99835,
        0.02865
      ],
      [
        0.01109,
        -0.02813,
        -0.99954
      ]
    ],
    "simulated_seconds_remaining": 22.968,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 6.004660713486373,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.89
                  },
                  "note": "The jaws remain separated against the spatula, with no visible slipping. I lift to confirm the grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 23,
  "state": {
    "instruction": "pick up the spatula and place it on the bowl.",
    "joint_positions": [
      -0.06116,
      0.26664,
      0.17456,
      -1.63941,
      -0.01949,
      1.91521,
      0.06363
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.63975,
      0.0658,
      0.88882
    ],
    "tcp_roll_pitch_yaw": [
      -0.0,
      -0.00024,
      -8e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.9987,
        0.05,
        0.01007
      ],
      [
        0.04969,
        -0.99835,
        0.02867
      ],
      [
        0.01149,
        -0.02813,
        -0.99954
      ]
    ],
    "simulated_seconds_remaining": 21.78,
    "calls_remaining_including_this": 35
  },
  "api_seconds": 9.80773895420134,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.754,
                    "gripper": 1
                  },
                  "note": "The gripper reopened during the lift because its measured opening exceeded the binary threshold. I return to the same grasp and will explicitly keep it closed while lifting."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 24,
  "state": {
    "instruction": "pick up the spatula and place it on the bowl.",
    "joint_positions": [
      -0.05588,
      0.38241,
      0.16534,
      -1.82495,
      -0.04237,
      2.21463,
      0.07271
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.63966,
      0.06578,
      0.75517
    ],
    "tcp_roll_pitch_yaw": [
      -3e-05,
      0.00016,
      -9e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.9987,
        0.04998,
        0.00967
      ],
      [
        0.04968,
        -0.99835,
        0.02864
      ],
      [
        0.01109,
        -0.02813,
        -0.99954
      ]
    ],
    "simulated_seconds_remaining": 20.592,
    "calls_remaining_including_this": 34
  },
  "api_seconds": 6.205288768745959,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The spatula is aligned at the same successful contact point. I close the jaws around it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 25,
  "state": {
    "instruction": "pick up the spatula and place it on the bowl.",
    "joint_positions": [
      -0.05588,
      0.38242,
      0.16534,
      -1.82496,
      -0.04237,
      2.21463,
      0.07271
    ],
    "gripper_open": 0.6839,
    "tcp_xyz": [
      0.63966,
      0.06577,
      0.75514
    ],
    "tcp_roll_pitch_yaw": [
      -3e-05,
      0.00018,
      -0.0001
    ],
    "tcp_rotation_matrix": [
      [
        0.9987,
        0.04997,
        0.00965
      ],
      [
        0.04967,
        -0.99835,
        0.02864
      ],
      [
        0.01106,
        -0.02812,
        -0.99954
      ]
    ],
    "simulated_seconds_remaining": 19.668,
    "calls_remaining_including_this": 33
  },
  "api_seconds": 5.004130479879677,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.91,
                    "gripper": 0
                  },
                  "note": "The jaws are gripping the spatula's broad section. I lift while explicitly maintaining closure."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 26,
  "state": {
    "instruction": "pick up the spatula and place it on the bowl.",
    "joint_positions": [
      -0.06093,
      0.26012,
      0.17527,
      -1.5974,
      -0.01824,
      1.86672,
      0.06363
    ],
    "gripper_open": 0.6844,
    "tcp_xyz": [
      0.63973,
      0.06578,
      0.9088
    ],
    "tcp_roll_pitch_yaw": [
      -1e-05,
      -0.00018,
      -0.00011
    ],
    "tcp_rotation_matrix": [
      [
        0.9987,
        0.04997,
        0.01001
      ],
      [
        0.04966,
        -0.99835,
        0.02866
      ],
      [
        0.01143,
        -0.02813,
        -0.99954
      ]
    ],
    "simulated_seconds_remaining": 18.348,
    "calls_remaining_including_this": 32
  },
  "api_seconds": 9.807692213915288,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.44,
                    "y": 0.09,
                    "z": 0.93,
                    "gripper": 0
                  },
                  "note": "The spatula is lifted and stays between the jaws. I carry it back over the bowl while maintaining the grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 25,
    "motion_seconds": 1.6500000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 27,
  "state": {
    "instruction": "pick up the spatula and place it on the bowl.",
    "joint_positions": [
      -0.0323,
      -0.35931,
      0.19425,
      -2.25487,
      0.10063,
      1.91449,
      0.06703
    ],
    "gripper_open": 0.6837,
    "tcp_xyz": [
      0.44133,
      0.08988,
      0.92993
    ],
    "tcp_roll_pitch_yaw": [
      -4e-05,
      -0.00029,
      -0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99869,
        0.05007,
        0.01011
      ],
      [
        0.04977,
        -0.99835,
        0.02863
      ],
      [
        0.01153,
        -0.02809,
        -0.99954
      ]
    ],
    "simulated_seconds_remaining": 16.698,
    "calls_remaining_including_this": 31
  },
  "api_seconds": 8.006689596921206,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.835,
                    "gripper": 0
                  },
                  "note": "The spatula is directly above the bowl in the wrist view. I lower it toward the rim for a controlled placement."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 28,
  "state": {
    "instruction": "pick up the spatula and place it on the bowl.",
    "joint_positions": [
      -0.02991,
      -0.28467,
      0.21074,
      -2.43173,
      0.10298,
      2.16514,
      0.06589
    ],
    "gripper_open": 0.6842,
    "tcp_xyz": [
      0.44125,
      0.08987,
      0.83621
    ],
    "tcp_roll_pitch_yaw": [
      -8e-05,
      8e-05,
      -1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.9987,
        0.05005,
        0.00974
      ],
      [
        0.04976,
        -0.99835,
        0.02859
      ],
      [
        0.01116,
        -0.02807,
        -0.99954
      ]
    ],
    "simulated_seconds_remaining": 15.774,
    "calls_remaining_including_this": 30
  },
  "api_seconds": 5.805157325230539,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 1
                  },
                  "note": "The spatula is positioned over the bowl with its handle inside the rim. I open the jaws to release it onto the bowl."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

========================================================================
GPT-Astra / Pick & place / Episode 021

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

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


RESULT
{
  "benchmark_index": 21,
  "status": "completed",
  "success": true,
  "oracle_success": true,
  "action_decisions": 24,
  "wall_seconds": 303.93,
  "usage": {
    "input_tokens": 471641,
    "cached_input_tokens": 439936,
    "cache_write_input_tokens": 0,
    "output_tokens": 4390,
    "reasoning_output_tokens": 1762
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick-and-place 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 45 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 and grasp the requested object, lift it, move it to the named receptacle, and release it in or on that receptacle. Complete the entire pick-and-place 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 visual feedback to grasp and place the requested object.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.00783, -0.82775, -0.01867, -2.32461, 0.02606, 1.53591, -0.00041], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.29815, 0.00373, 1.03996], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.99923, -0.00247, 0.03912], [-0.00402, -0.99921, 0.03959], [0.03899, -0.03971, -0.99845]], \"simulated_seconds_remaining\": 45.012, \"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": 0.88,
    "gripper": 1,
    "note": "The potato is the small brown object near the dark bowl. I lower toward the tabletop to localize it with the wrist camera."
  },
  "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": 0.88,
      "gripper": 1
    },
    "note": "The potato is the small brown object beside the dark bowl. I approach the tabletop to locate it more precisely in the wrist view."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.01231, -0.40803, -0.02974, -2.43864, 0.03231, 2.06875, -0.02686], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.42907, 2e-05, 0.88096], \"tcp_roll_pitch_yaw\": [1e-05, 0.00034, 0.0], \"tcp_rotation_matrix\": [[0.99925, -0.00248, 0.03877], [-0.00402, -0.99921, 0.03959], [0.03864, -0.03972, -0.99846]], \"simulated_seconds_remaining\": 43.362, \"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": 0.43,
      "y": -0.1,
      "z": 0.82
    },
    "note": "The potato appears to the right of the bowl in the wrist image. I shift right and lower slightly to align the open fingers."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [-0.06956, -0.30003, -0.17333, -2.49602, -0.00427, 2.22853, -0.22997], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.42995, -0.09889, 0.82065], \"tcp_roll_pitch_yaw\": [8e-05, 0.00051, -0.00022], \"tcp_rotation_matrix\": [[0.99925, -0.00271, 0.03862], [-0.00424, -0.9992, 0.03966], [0.03848, -0.0398, -0.99847]], \"simulated_seconds_remaining\": 42.306, \"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": 0.5,
      "y": 0.035,
      "z": 0.84
    },
    "note": "The last lateral shift moved the objects toward the wrist image edge. I correct left and advance to bring the potato back between the fingers."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.05714, -0.15075, -0.00295, -2.29398, 0.04572, 2.18443, 0.0313], \"gripper_open\": 1.0, \"tcp_xyz\": [0.49924, 0.0346, 0.84114], \"tcp_roll_pitch_yaw\": [0.0004, -0.00045, 0.00061], \"tcp_rotation_matrix\": [[0.99922, -0.00184, 0.03954], [-0.00343, -0.99919, 0.04001], [0.03943, -0.04011, -0.99842]], \"simulated_seconds_remaining\": 40.986, \"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": 0.54,
      "y": 0.06,
      "z": 0.77
    },
    "note": "The brown potato is visible just ahead of the open gripper, with the bowl to its left. I move closer and lower for the grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.08115, 0.05488, 0.02353, -2.23494, 0.0492, 2.33975, 0.07011], \"gripper_open\": 1.0, \"tcp_xyz\": [0.54039, 0.06324, 0.77604], \"tcp_roll_pitch_yaw\": [0.00194, -0.00745, 0.00428], \"tcp_rotation_matrix\": [[0.99892, 0.00212, 0.04637], [0.00019, -0.99913, 0.04172], [0.04642, -0.04167, -0.99805]], \"simulated_seconds_remaining\": 40.128, \"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": {
      "y": 0.105,
      "z": 0.8
    },
    "note": "The potato remains near the right finger. I make a small leftward alignment correction while keeping clearance above it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.12058, 0.03717, 0.05873, -2.19134, 0.04041, 2.28132, 0.15225], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.54042, 0.10397, 0.7994], \"tcp_roll_pitch_yaw\": [0.00197, -0.00761, 0.00454], \"tcp_rotation_matrix\": [[0.99891, 0.00239, 0.04652], [0.00045, -0.99913, 0.04177], [0.04658, -0.0417, -0.99804]], \"simulated_seconds_remaining\": 39.534, \"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": {
      "y": 0.085,
      "z": 0.735
    },
    "note": "The potato is now between the finger tips. I center it slightly and descend with the jaws open to surround its sides."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.10281, 0.12792, 0.04396, -2.2576, 0.04468, 2.43671, 0.11164], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.54033, 0.08533, 0.73614], \"tcp_roll_pitch_yaw\": [0.00193, -0.00725, 0.00446], \"tcp_rotation_matrix\": [[0.99893, 0.0023, 0.04616], [0.00037, -0.99913, 0.04172], [0.04622, -0.04166, -0.99806]], \"simulated_seconds_remaining\": 38.808, \"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": {
      "gripper": 0
    },
    "note": "The potato is centered inside the open jaws at tabletop height. I close the gripper to secure it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.10281, 0.12792, 0.04396, -2.2576, 0.04468, 2.43671, 0.11164], \"gripper_open\": 0.0001, \"tcp_xyz\": [0.54033, 0.08532, 0.73613], \"tcp_roll_pitch_yaw\": [0.00193, -0.00725, 0.00446], \"tcp_rotation_matrix\": [[0.99893, 0.0023, 0.04617], [0.00037, -0.99913, 0.04172], [0.04622, -0.04166, -0.99806]], \"simulated_seconds_remaining\": 37.884, \"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": {
      "z": 0.86
    },
    "note": "I lift to check whether the potato is secured before moving toward the bowl."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.10074, -0.03821, 0.04236, -2.12073, 0.04298, 2.13422, 0.11976], \"gripper_open\": 0.0, \"tcp_xyz\": [0.54043, 0.08534, 0.85881], \"tcp_roll_pitch_yaw\": [0.00198, -0.00763, 0.00446], \"tcp_rotation_matrix\": [[0.99891, 0.00231, 0.04655], [0.00036, -0.99913, 0.04177], [0.0466, -0.04171, -0.99804]], \"simulated_seconds_remaining\": 36.762, \"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": 0.49,
      "gripper": 1
    },
    "note": "The potato stayed on the table, so the grasp missed. I reopen and shift back to place the finger opening over its center."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.10764, -0.18282, 0.04865, -2.28338, 0.05135, 2.15273, 0.12723], \"gripper_open\": 0.9965, \"tcp_xyz\": [0.49109, 0.08535, 0.85883], \"tcp_roll_pitch_yaw\": [0.00198, -0.00767, 0.00449], \"tcp_rotation_matrix\": [[0.99891, 0.00234, 0.04658], [0.00039, -0.99913, 0.04177], [0.04664, -0.04171, -0.99804]], \"simulated_seconds_remaining\": 35.838, \"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": 0.59,
      "y": 0.095,
      "z": 0.745
    },
    "note": "The wrist view shows the potato behind the fingertip midpoint. I advance the open jaws and descend so the potato lies at the grasp point."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 11, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.11345, 0.19213, 0.0552, -2.0517, 0.03284, 2.36496, 0.1255], \"gripper_open\": 1.0, \"tcp_xyz\": [0.60262, 0.10738, 0.78339], \"tcp_roll_pitch_yaw\": [0.01127, -0.07636, 0.02098], \"tcp_rotation_matrix\": [[0.99322, 0.02238, 0.11404], [0.01638, -0.99845, 0.05324], [0.11506, -0.05101, -0.99205]], \"simulated_seconds_remaining\": 34.518, \"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": 0.565,
      "y": 0.085,
      "z": 0.765,
      "roll": 0,
      "pitch": 0,
      "yaw": 0
    },
    "note": "The potato is now ahead and left of the jaw opening. I make a small backward and rightward correction to center it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 12, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.09965, 0.14183, 0.04544, -2.13098, 0.03717, 2.33678, 0.1167], \"gripper_open\": 1.0, \"tcp_xyz\": [0.57063, 0.08882, 0.77354], \"tcp_roll_pitch_yaw\": [0.0022, -0.02013, 0.0057], \"tcp_rotation_matrix\": [[0.99825, 0.00407, 0.05897], [0.00158, -0.99911, 0.04212], [0.05909, -0.04196, -0.99737]], \"simulated_seconds_remaining\": 33.924, \"calls_remaining_including_this\": 46}"
      },
      {
        "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": 0.071,
      "z": 0.755,
      "gripper": 0
    },
    "note": "The potato sits within the finger opening. I shift slightly right and close the jaws around its sides."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 13, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.08669, 0.1339, 0.04028, -2.13732, 0.04263, 2.38523, 0.0822], \"gripper_open\": 0.6992, \"tcp_xyz\": [0.58261, 0.07985, 0.78061], \"tcp_roll_pitch_yaw\": [0.00736, -0.07095, 0.01648], \"tcp_rotation_matrix\": [[0.99389, 0.01733, 0.10898], [0.01207, -0.99874, 0.04874], [0.10969, -0.04712, -0.99285]], \"simulated_seconds_remaining\": 33.0, \"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": 0.92
    },
    "note": "The fingers have stopped against the potato, indicating contact. I lift it clear of the tabletop to verify the grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 14, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.08468, 7e-05, 0.03868, -1.93583, 0.03941, 2.05042, 0.09242], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.58269, 0.07987, 0.91885], \"tcp_roll_pitch_yaw\": [0.0074, -0.07132, 0.01647], \"tcp_rotation_matrix\": [[0.99385, 0.01735, 0.10935], [0.01206, -0.99874, 0.04878], [0.11006, -0.04717, -0.99281]], \"simulated_seconds_remaining\": 31.746, \"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": 0.575,
      "y": 0.075,
      "z": 0.77,
      "roll": 0,
      "pitch": 0,
      "yaw": 0,
      "gripper": 1
    },
    "note": "The potato remained on the table after the jaws reopened during the lift. I return to the aligned grasp pose."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 15, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.09179, 0.11561, 0.0465, -2.08703, 0.03913, 2.31294, 0.09768], \"gripper_open\": 1.0, \"tcp_xyz\": [0.58694, 0.08737, 0.80665], \"tcp_roll_pitch_yaw\": [0.00768, -0.06681, 0.01699], \"tcp_rotation_matrix\": [[0.99433, 0.01768, 0.10484], [0.01258, -0.99872, 0.04904], [0.10557, -0.04745, -0.99328]], \"simulated_seconds_remaining\": 30.426, \"calls_remaining_including_this\": 43}"
      },
      {
        "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": 0.06,
      "z": 0.775,
      "roll": 0,
      "pitch": 0,
      "yaw": 0,
      "gripper": 1
    },
    "note": "The potato is ahead of the fingertips. I pull back slightly and center the opening while keeping the jaws open."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 16, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.081, 0.05458, 0.04261, -2.17596, 0.04558, 2.4047, 0.07086], \"gripper_open\": 1.0, \"tcp_xyz\": [0.58062, 0.07743, 0.8112], \"tcp_roll_pitch_yaw\": [0.01086, -0.13133, 0.02152], \"tcp_rotation_matrix\": [[0.98539, 0.02567, 0.16834], [0.01677, -0.9984, 0.05407], [0.16946, -0.05045, -0.98425]], \"simulated_seconds_remaining\": 29.766, \"calls_remaining_including_this\": 42}"
      },
      {
        "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": 0.93,
      "yaw": 1.57,
      "pitch": 0,
      "roll": 0,
      "gripper": 1
    },
    "note": "The nearby bowl appears to obstruct a finger during descent. I lift and rotate the jaws to approach the potato from a clearer direction."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 17, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.03929, 0.10381, 0.0793, -1.74119, 0.03681, 1.81046, -1.45331], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.58065, 0.07746, 0.92972], \"tcp_roll_pitch_yaw\": [-0.00041, -0.00031, 1.56543], \"tcp_rotation_matrix\": [[0.00937, 0.9992, -0.03896], [0.99918, -0.00782, 0.03963], [0.0393, -0.0393, -0.99845]], \"simulated_seconds_remaining\": 27.39, \"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": {
      "z": 0.79,
      "gripper": 1
    },
    "note": "With the jaws rotated, the bowl is ahead of the fingers. I lower over the potato with this clearer approach."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 18, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.04185, 0.20145, 0.07916, -1.97441, 0.0335, 2.14064, -1.46106], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.58057, 0.07744, 0.79115], \"tcp_roll_pitch_yaw\": [-4e-05, -0.00027, 1.56543], \"tcp_rotation_matrix\": [[0.00938, 0.99918, -0.03934], [0.99919, -0.00782, 0.0396], [0.03926, -0.03968, -0.99844]], \"simulated_seconds_remaining\": 26.136, \"calls_remaining_including_this\": 40}"
      },
      {
        "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": {
      "z": 0.755,
      "gripper": 1
    },
    "note": "The potato is centered near the fingertip opening and the bowl is clear of the jaws. I descend the final few centimeters."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 19, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.04288, 0.24505, 0.07841, -2.00629, 0.03123, 2.22138, -1.46195], \"gripper_open\": 1.0, \"tcp_xyz\": [0.58226, 0.07744, 0.75814], \"tcp_roll_pitch_yaw\": [-0.00537, -0.00077, 1.56503], \"tcp_rotation_matrix\": [[0.00957, 0.99938, -0.03399], [0.99916, -0.0082, 0.04008], [0.03978, -0.03435, -0.99862]], \"simulated_seconds_remaining\": 25.608, \"calls_remaining_including_this\": 39}"
      },
      {
        "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 potato fills the space between the fingers. I close the jaws around it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 20, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.04305, 0.24438, 0.07866, -2.00573, 0.03137, 2.22147, -1.46195], \"gripper_open\": 0.9562, \"tcp_xyz\": [0.5826, 0.07774, 0.75878], \"tcp_roll_pitch_yaw\": [-0.00668, -0.00105, 1.56534], \"tcp_rotation_matrix\": [[0.00921, 0.99942, -0.0327], [0.99915, -0.00788, 0.04034], [0.04006, -0.03304, -0.99865]], \"simulated_seconds_remaining\": 24.684, \"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": {
      "z": 0.93,
      "gripper": 0
    },
    "note": "The fingers contact the potato. I keep the close command active while lifting it away from the bowl and table."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 21, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.03938, 0.10538, 0.07941, -1.74372, 0.03674, 1.82032, -1.45334], \"gripper_open\": 0.9551, \"tcp_xyz\": [0.58253, 0.07773, 0.92838], \"tcp_roll_pitch_yaw\": [-0.00613, -0.00099, 1.56535], \"tcp_rotation_matrix\": [[0.00922, 0.9994, -0.03325], [0.99916, -0.00788, 0.04028], [0.04, -0.03359, -0.99864]], \"simulated_seconds_remaining\": 23.232, \"calls_remaining_including_this\": 37}"
      },
      {
        "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"
}

The potato is held securely. I’ll move it over the bowl and lower it for release.


{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.51,
      "y": 0.24,
      "z": 0.95,
      "gripper": 0
    },
    "note": "The potato remained between the jaws during the lift. I carry it leftward over the dark bowl while maintaining the grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 22, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.19501, 0.01415, 0.22284, -1.80779, 0.04861, 1.80637, -1.15642], \"gripper_open\": 0.9522, \"tcp_xyz\": [0.51035, 0.2389, 0.94944], \"tcp_roll_pitch_yaw\": [-0.0053, -0.00069, 1.5657], \"tcp_rotation_matrix\": [[0.0089, 0.99938, -0.03409], [0.99917, -0.00754, 0.03998], [0.0397, -0.03442, -0.99862]], \"simulated_seconds_remaining\": 21.714, \"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": 0.65,
      "y": -0.075,
      "z": 0.95,
      "gripper": 0
    },
    "note": "The exterior view shows the bowl to the right of the carried potato. I correct the transfer direction to position it above the bowl."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 23, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [-0.11094, 0.34523, -0.02035, -1.35528, 0.04218, 1.66026, -1.69707], \"gripper_open\": 0.9521, \"tcp_xyz\": [0.64932, -0.07392, 0.94943], \"tcp_roll_pitch_yaw\": [-0.00421, -0.00072, 1.56537], \"tcp_rotation_matrix\": [[0.00927, 0.99934, -0.03516], [0.99917, -0.00786, 0.04003], [0.03972, -0.03551, -0.99858]], \"simulated_seconds_remaining\": 19.14, \"calls_remaining_including_this\": 35}"
      },
      {
        "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": {
      "z": 0.85,
      "gripper": 0
    },
    "note": "The bowl is directly beneath the potato in the wrist view. I lower the held potato toward its opening."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 24, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [-0.10948, 0.34809, -0.0199, -1.57322, 0.04466, 1.93119, -1.70545], \"gripper_open\": 0.9197, \"tcp_xyz\": [0.66071, -0.07584, 0.86659], \"tcp_roll_pitch_yaw\": [-0.05405, 0.00562, 1.5639], \"tcp_rotation_matrix\": [[0.00879, 0.99985, 0.01464], [0.9994, -0.00928, 0.0334], [0.03353, 0.01434, -0.99934]], \"simulated_seconds_remaining\": 18.15, \"calls_remaining_including_this\": 34}"
      },
      {
        "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": 1
    },
    "note": "The potato is lowered into the bowl opening. I open the jaws to release it onto the bowl."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "Episode ended. Do not call more tools. Return a brief final response."
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

Placed the potato on the bowl.

TURN USAGE
{
  "input_tokens": 471641,
  "cached_input_tokens": 439936,
  "cache_write_input_tokens": 0,
  "output_tokens": 4390,
  "reasoning_output_tokens": 1762
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.00783,
      -0.82775,
      -0.01867,
      -2.32461,
      0.02606,
      1.53591,
      -0.00041
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.29815,
      0.00373,
      1.03996
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99923,
        -0.00247,
        0.03912
      ],
      [
        -0.00402,
        -0.99921,
        0.03959
      ],
      [
        0.03899,
        -0.03971,
        -0.99845
      ]
    ],
    "simulated_seconds_remaining": 45.012,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 22.02448649890721,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.43,
                    "y": 0,
                    "z": 0.88,
                    "gripper": 1
                  },
                  "note": "The potato is the small brown object beside the dark bowl. I approach the tabletop to locate it more precisely in the wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 25,
    "motion_seconds": 1.6500000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.01231,
      -0.40803,
      -0.02974,
      -2.43864,
      0.03231,
      2.06875,
      -0.02686
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.42907,
      2e-05,
      0.88096
    ],
    "tcp_roll_pitch_yaw": [
      1e-05,
      0.00034,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99925,
        -0.00248,
        0.03877
      ],
      [
        -0.00402,
        -0.99921,
        0.03959
      ],
      [
        0.03864,
        -0.03972,
        -0.99846
      ]
    ],
    "simulated_seconds_remaining": 43.362,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 14.213202121667564,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.43,
                    "y": -0.1,
                    "z": 0.82
                  },
                  "note": "The potato appears to the right of the bowl in the wrist image. I shift right and lower slightly to align the open fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      -0.06956,
      -0.30003,
      -0.17333,
      -2.49602,
      -0.00427,
      2.22853,
      -0.22997
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.42995,
      -0.09889,
      0.82065
    ],
    "tcp_roll_pitch_yaw": [
      8e-05,
      0.00051,
      -0.00022
    ],
    "tcp_rotation_matrix": [
      [
        0.99925,
        -0.00271,
        0.03862
      ],
      [
        -0.00424,
        -0.9992,
        0.03966
      ],
      [
        0.03848,
        -0.0398,
        -0.99847
      ]
    ],
    "simulated_seconds_remaining": 42.306,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 14.012721168808639,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.5,
                    "y": 0.035,
                    "z": 0.84
                  },
                  "note": "The last lateral shift moved the objects toward the wrist image edge. I correct left and advance to bring the potato back between the fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.05714,
      -0.15075,
      -0.00295,
      -2.29398,
      0.04572,
      2.18443,
      0.0313
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.49924,
      0.0346,
      0.84114
    ],
    "tcp_roll_pitch_yaw": [
      0.0004,
      -0.00045,
      0.00061
    ],
    "tcp_rotation_matrix": [
      [
        0.99922,
        -0.00184,
        0.03954
      ],
      [
        -0.00343,
        -0.99919,
        0.04001
      ],
      [
        0.03943,
        -0.04011,
        -0.99842
      ]
    ],
    "simulated_seconds_remaining": 40.986,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 13.812650197185576,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.54,
                    "y": 0.06,
                    "z": 0.77
                  },
                  "note": "The brown potato is visible just ahead of the open gripper, with the bowl to its left. I move closer and lower for the grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.08115,
      0.05488,
      0.02353,
      -2.23494,
      0.0492,
      2.33975,
      0.07011
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.54039,
      0.06324,
      0.77604
    ],
    "tcp_roll_pitch_yaw": [
      0.00194,
      -0.00745,
      0.00428
    ],
    "tcp_rotation_matrix": [
      [
        0.99892,
        0.00212,
        0.04637
      ],
      [
        0.00019,
        -0.99913,
        0.04172
      ],
      [
        0.04642,
        -0.04167,
        -0.99805
      ]
    ],
    "simulated_seconds_remaining": 40.128,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 9.608962613157928,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.105,
                    "z": 0.8
                  },
                  "note": "The potato remains near the right finger. I make a small leftward alignment correction while keeping clearance above it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.12058,
      0.03717,
      0.05873,
      -2.19134,
      0.04041,
      2.28132,
      0.15225
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.54042,
      0.10397,
      0.7994
    ],
    "tcp_roll_pitch_yaw": [
      0.00197,
      -0.00761,
      0.00454
    ],
    "tcp_rotation_matrix": [
      [
        0.99891,
        0.00239,
        0.04652
      ],
      [
        0.00045,
        -0.99913,
        0.04177
      ],
      [
        0.04658,
        -0.0417,
        -0.99804
      ]
    ],
    "simulated_seconds_remaining": 39.534,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 11.21016595698893,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.085,
                    "z": 0.735
                  },
                  "note": "The potato is now between the finger tips. I center it slightly and descend with the jaws open to surround its sides."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.10281,
      0.12792,
      0.04396,
      -2.2576,
      0.04468,
      2.43671,
      0.11164
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.54033,
      0.08533,
      0.73614
    ],
    "tcp_roll_pitch_yaw": [
      0.00193,
      -0.00725,
      0.00446
    ],
    "tcp_rotation_matrix": [
      [
        0.99893,
        0.0023,
        0.04616
      ],
      [
        0.00037,
        -0.99913,
        0.04172
      ],
      [
        0.04622,
        -0.04166,
        -0.99806
      ]
    ],
    "simulated_seconds_remaining": 38.808,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 7.407298822887242,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The potato is centered inside the open jaws at tabletop height. I close the gripper to secure it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.10281,
      0.12792,
      0.04396,
      -2.2576,
      0.04468,
      2.43671,
      0.11164
    ],
    "gripper_open": 0.0001,
    "tcp_xyz": [
      0.54033,
      0.08532,
      0.73613
    ],
    "tcp_roll_pitch_yaw": [
      0.00193,
      -0.00725,
      0.00446
    ],
    "tcp_rotation_matrix": [
      [
        0.99893,
        0.0023,
        0.04617
      ],
      [
        0.00037,
        -0.99913,
        0.04172
      ],
      [
        0.04622,
        -0.04166,
        -0.99806
      ]
    ],
    "simulated_seconds_remaining": 37.884,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 5.204762356355786,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.86
                  },
                  "note": "I lift to check whether the potato is secured before moving toward the bowl."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.10074,
      -0.03821,
      0.04236,
      -2.12073,
      0.04298,
      2.13422,
      0.11976
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.54043,
      0.08534,
      0.85881
    ],
    "tcp_roll_pitch_yaw": [
      0.00198,
      -0.00763,
      0.00446
    ],
    "tcp_rotation_matrix": [
      [
        0.99891,
        0.00231,
        0.04655
      ],
      [
        0.00036,
        -0.99913,
        0.04177
      ],
      [
        0.0466,
        -0.04171,
        -0.99804
      ]
    ],
    "simulated_seconds_remaining": 36.762,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 8.61098081432283,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.49,
                    "gripper": 1
                  },
                  "note": "The potato stayed on the table, so the grasp missed. I reopen and shift back to place the finger opening over its center."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.10764,
      -0.18282,
      0.04865,
      -2.28338,
      0.05135,
      2.15273,
      0.12723
    ],
    "gripper_open": 0.9965,
    "tcp_xyz": [
      0.49109,
      0.08535,
      0.85883
    ],
    "tcp_roll_pitch_yaw": [
      0.00198,
      -0.00767,
      0.00449
    ],
    "tcp_rotation_matrix": [
      [
        0.99891,
        0.00234,
        0.04658
      ],
      [
        0.00039,
        -0.99913,
        0.04177
      ],
      [
        0.04664,
        -0.04171,
        -0.99804
      ]
    ],
    "simulated_seconds_remaining": 35.838,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 10.608556807041168,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.59,
                    "y": 0.095,
                    "z": 0.745
                  },
                  "note": "The wrist view shows the potato behind the fingertip midpoint. I advance the open jaws and descend so the potato lies at the grasp point."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.11345,
      0.19213,
      0.0552,
      -2.0517,
      0.03284,
      2.36496,
      0.1255
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.60262,
      0.10738,
      0.78339
    ],
    "tcp_roll_pitch_yaw": [
      0.01127,
      -0.07636,
      0.02098
    ],
    "tcp_rotation_matrix": [
      [
        0.99322,
        0.02238,
        0.11404
      ],
      [
        0.01638,
        -0.99845,
        0.05324
      ],
      [
        0.11506,
        -0.05101,
        -0.99205
      ]
    ],
    "simulated_seconds_remaining": 34.518,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 6.806038594804704,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.565,
                    "y": 0.085,
                    "z": 0.765,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 0
                  },
                  "note": "The potato is now ahead and left of the jaw opening. I make a small backward and rightward correction to center it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.09965,
      0.14183,
      0.04544,
      -2.13098,
      0.03717,
      2.33678,
      0.1167
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.57063,
      0.08882,
      0.77354
    ],
    "tcp_roll_pitch_yaw": [
      0.0022,
      -0.02013,
      0.0057
    ],
    "tcp_rotation_matrix": [
      [
        0.99825,
        0.00407,
        0.05897
      ],
      [
        0.00158,
        -0.99911,
        0.04212
      ],
      [
        0.05909,
        -0.04196,
        -0.99737
      ]
    ],
    "simulated_seconds_remaining": 33.924,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 5.805586542002857,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.071,
                    "z": 0.755,
                    "gripper": 0
                  },
                  "note": "The potato sits within the finger opening. I shift slightly right and close the jaws around its sides."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.08669,
      0.1339,
      0.04028,
      -2.13732,
      0.04263,
      2.38523,
      0.0822
    ],
    "gripper_open": 0.6992,
    "tcp_xyz": [
      0.58261,
      0.07985,
      0.78061
    ],
    "tcp_roll_pitch_yaw": [
      0.00736,
      -0.07095,
      0.01648
    ],
    "tcp_rotation_matrix": [
      [
        0.99389,
        0.01733,
        0.10898
      ],
      [
        0.01207,
        -0.99874,
        0.04874
      ],
      [
        0.10969,
        -0.04712,
        -0.99285
      ]
    ],
    "simulated_seconds_remaining": 33.0,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 4.804597246460617,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.92
                  },
                  "note": "The fingers have stopped against the potato, indicating contact. I lift it clear of the tabletop to verify the grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.08468,
      7e-05,
      0.03868,
      -1.93583,
      0.03941,
      2.05042,
      0.09242
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.58269,
      0.07987,
      0.91885
    ],
    "tcp_roll_pitch_yaw": [
      0.0074,
      -0.07132,
      0.01647
    ],
    "tcp_rotation_matrix": [
      [
        0.99385,
        0.01735,
        0.10935
      ],
      [
        0.01206,
        -0.99874,
        0.04878
      ],
      [
        0.11006,
        -0.04717,
        -0.99281
      ]
    ],
    "simulated_seconds_remaining": 31.746,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 7.206544358283281,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.575,
                    "y": 0.075,
                    "z": 0.77,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 0,
                    "gripper": 1
                  },
                  "note": "The potato remained on the table after the jaws reopened during the lift. I return to the aligned grasp pose."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.09179,
      0.11561,
      0.0465,
      -2.08703,
      0.03913,
      2.31294,
      0.09768
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.58694,
      0.08737,
      0.80665
    ],
    "tcp_roll_pitch_yaw": [
      0.00768,
      -0.06681,
      0.01699
    ],
    "tcp_rotation_matrix": [
      [
        0.99433,
        0.01768,
        0.10484
      ],
      [
        0.01258,
        -0.99872,
        0.04904
      ],
      [
        0.10557,
        -0.04745,
        -0.99328
      ]
    ],
    "simulated_seconds_remaining": 30.426,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 7.807055755518377,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.55,
                    "y": 0.06,
                    "z": 0.775,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 0,
                    "gripper": 1
                  },
                  "note": "The potato is ahead of the fingertips. I pull back slightly and center the opening while keeping the jaws open."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.081,
      0.05458,
      0.04261,
      -2.17596,
      0.04558,
      2.4047,
      0.07086
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.58062,
      0.07743,
      0.8112
    ],
    "tcp_roll_pitch_yaw": [
      0.01086,
      -0.13133,
      0.02152
    ],
    "tcp_rotation_matrix": [
      [
        0.98539,
        0.02567,
        0.16834
      ],
      [
        0.01677,
        -0.9984,
        0.05407
      ],
      [
        0.16946,
        -0.05045,
        -0.98425
      ]
    ],
    "simulated_seconds_remaining": 29.766,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 10.608985566534102,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.93,
                    "yaw": 1.57,
                    "pitch": 0,
                    "roll": 0,
                    "gripper": 1
                  },
                  "note": "The nearby bowl appears to obstruct a finger during descent. I lift and rotate the jaws to approach the potato from a clearer direction."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 36,
    "motion_seconds": 2.3760000000000003,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.03929,
      0.10381,
      0.0793,
      -1.74119,
      0.03681,
      1.81046,
      -1.45331
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.58065,
      0.07746,
      0.92972
    ],
    "tcp_roll_pitch_yaw": [
      -0.00041,
      -0.00031,
      1.56543
    ],
    "tcp_rotation_matrix": [
      [
        0.00937,
        0.9992,
        -0.03896
      ],
      [
        0.99918,
        -0.00782,
        0.03963
      ],
      [
        0.0393,
        -0.0393,
        -0.99845
      ]
    ],
    "simulated_seconds_remaining": 27.39,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 7.206514316610992,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.79,
                    "gripper": 1
                  },
                  "note": "With the jaws rotated, the bowl is ahead of the fingers. I lower over the potato with this clearer approach."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.04185,
      0.20145,
      0.07916,
      -1.97441,
      0.0335,
      2.14064,
      -1.46106
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.58057,
      0.07744,
      0.79115
    ],
    "tcp_roll_pitch_yaw": [
      -4e-05,
      -0.00027,
      1.56543
    ],
    "tcp_rotation_matrix": [
      [
        0.00938,
        0.99918,
        -0.03934
      ],
      [
        0.99919,
        -0.00782,
        0.0396
      ],
      [
        0.03926,
        -0.03968,
        -0.99844
      ]
    ],
    "simulated_seconds_remaining": 26.136,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 5.405447845347226,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.755,
                    "gripper": 1
                  },
                  "note": "The potato is centered near the fingertip opening and the bowl is clear of the jaws. I descend the final few centimeters."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 8,
    "motion_seconds": 0.528,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 19,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.04288,
      0.24505,
      0.07841,
      -2.00629,
      0.03123,
      2.22138,
      -1.46195
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.58226,
      0.07744,
      0.75814
    ],
    "tcp_roll_pitch_yaw": [
      -0.00537,
      -0.00077,
      1.56503
    ],
    "tcp_rotation_matrix": [
      [
        0.00957,
        0.99938,
        -0.03399
      ],
      [
        0.99916,
        -0.0082,
        0.04008
      ],
      [
        0.03978,
        -0.03435,
        -0.99862
      ]
    ],
    "simulated_seconds_remaining": 25.608,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 7.6057504480704665,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The potato fills the space between the fingers. I close the jaws around it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 20,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.04305,
      0.24438,
      0.07866,
      -2.00573,
      0.03137,
      2.22147,
      -1.46195
    ],
    "gripper_open": 0.9562,
    "tcp_xyz": [
      0.5826,
      0.07774,
      0.75878
    ],
    "tcp_roll_pitch_yaw": [
      -0.00668,
      -0.00105,
      1.56534
    ],
    "tcp_rotation_matrix": [
      [
        0.00921,
        0.99942,
        -0.0327
      ],
      [
        0.99915,
        -0.00788,
        0.04034
      ],
      [
        0.04006,
        -0.03304,
        -0.99865
      ]
    ],
    "simulated_seconds_remaining": 24.684,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 5.405124578624964,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.93,
                    "gripper": 0
                  },
                  "note": "The fingers contact the potato. I keep the close command active while lifting it away from the bowl and table."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 22,
    "motion_seconds": 1.452,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 21,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.03938,
      0.10538,
      0.07941,
      -1.74372,
      0.03674,
      1.82032,
      -1.45334
    ],
    "gripper_open": 0.9551,
    "tcp_xyz": [
      0.58253,
      0.07773,
      0.92838
    ],
    "tcp_roll_pitch_yaw": [
      -0.00613,
      -0.00099,
      1.56535
    ],
    "tcp_rotation_matrix": [
      [
        0.00922,
        0.9994,
        -0.03325
      ],
      [
        0.99916,
        -0.00788,
        0.04028
      ],
      [
        0.04,
        -0.03359,
        -0.99864
      ]
    ],
    "simulated_seconds_remaining": 23.232,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 12.610703451558948,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.51,
                    "y": 0.24,
                    "z": 0.95,
                    "gripper": 0
                  },
                  "note": "The potato remained between the jaws during the lift. I carry it leftward over the dark bowl while maintaining the grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 22,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.19501,
      0.01415,
      0.22284,
      -1.80779,
      0.04861,
      1.80637,
      -1.15642
    ],
    "gripper_open": 0.9522,
    "tcp_xyz": [
      0.51035,
      0.2389,
      0.94944
    ],
    "tcp_roll_pitch_yaw": [
      -0.0053,
      -0.00069,
      1.5657
    ],
    "tcp_rotation_matrix": [
      [
        0.0089,
        0.99938,
        -0.03409
      ],
      [
        0.99917,
        -0.00754,
        0.03998
      ],
      [
        0.0397,
        -0.03442,
        -0.99862
      ]
    ],
    "simulated_seconds_remaining": 21.714,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 18.014881028793752,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.65,
                    "y": -0.075,
                    "z": 0.95,
                    "gripper": 0
                  },
                  "note": "The exterior view shows the bowl to the right of the carried potato. I correct the transfer direction to position it above the bowl."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 39,
    "motion_seconds": 2.5740000000000003,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 23,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      -0.11094,
      0.34523,
      -0.02035,
      -1.35528,
      0.04218,
      1.66026,
      -1.69707
    ],
    "gripper_open": 0.9521,
    "tcp_xyz": [
      0.64932,
      -0.07392,
      0.94943
    ],
    "tcp_roll_pitch_yaw": [
      -0.00421,
      -0.00072,
      1.56537
    ],
    "tcp_rotation_matrix": [
      [
        0.00927,
        0.99934,
        -0.03516
      ],
      [
        0.99917,
        -0.00786,
        0.04003
      ],
      [
        0.03972,
        -0.03551,
        -0.99858
      ]
    ],
    "simulated_seconds_remaining": 19.14,
    "calls_remaining_including_this": 35
  },
  "api_seconds": 6.805856914259493,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.85,
                    "gripper": 0
                  },
                  "note": "The bowl is directly beneath the potato in the wrist view. I lower the held potato toward its opening."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 24,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      -0.10948,
      0.34809,
      -0.0199,
      -1.57322,
      0.04466,
      1.93119,
      -1.70545
    ],
    "gripper_open": 0.9197,
    "tcp_xyz": [
      0.66071,
      -0.07584,
      0.86659
    ],
    "tcp_roll_pitch_yaw": [
      -0.05405,
      0.00562,
      1.5639
    ],
    "tcp_rotation_matrix": [
      [
        0.00879,
        0.99985,
        0.01464
      ],
      [
        0.9994,
        -0.00928,
        0.0334
      ],
      [
        0.03353,
        0.01434,
        -0.99934
      ]
    ],
    "simulated_seconds_remaining": 18.15,
    "calls_remaining_including_this": 34
  },
  "api_seconds": 4.604473073966801,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 1
                  },
                  "note": "The potato is lowered into the bowl opening. I open the jaws to release it onto the bowl."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 5,
    "motion_seconds": 0.33,
    "status": "executing; next observation shows actual arrival"
  }
}

========================================================================
GPT-Astra / Pick & place / 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,
  "status": "completed",
  "success": true,
  "oracle_success": true,
  "action_decisions": 32,
  "wall_seconds": 411.18,
  "usage": {
    "input_tokens": 694250,
    "cached_input_tokens": 653824,
    "cache_write_input_tokens": 0,
    "output_tokens": 6112,
    "reasoning_output_tokens": 2816
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick-and-place 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 45 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 and grasp the requested object, lift it, move it to the named receptacle, and release it in or on that receptacle. Complete the entire pick-and-place 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 object and place it in the requested receptacle.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"pick up the mug and place it on the bowl.\", \"joint_positions\": [0.03411, -0.76346, 0.021, -2.3094, -0.04101, 1.57402, 0.03882], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.31833, 0.00668, 1.03126], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.99949, 0.0094, 0.03064], [0.01104, -0.99848, -0.05406], [0.03009, 0.05437, -0.99807]], \"simulated_seconds_remaining\": 45.012, \"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": 1.05,
    "note": "The mug and bowl are on the table ahead; I move above the table to get a clearer overhead 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": 0.08,
      "z": 1.05
    },
    "note": "The mug and bowl are ahead on the table; I move farther over the table for a clear overhead view."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"pick up the mug and place it on the bowl.\", \"joint_positions\": [0.05325, -0.24032, 0.12219, -1.84159, -0.02957, 1.62378, 0.16325], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.47882, 0.07947, 1.0498], \"tcp_roll_pitch_yaw\": [-3e-05, 0.00015, 5e-05], \"tcp_rotation_matrix\": [[0.99949, 0.00945, 0.0305], [0.01109, -0.99847, -0.05409], [0.02994, 0.0544, -0.99807]], \"simulated_seconds_remaining\": 43.494, \"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": 0.6,
      "z": 0.99
    },
    "note": "The mug is just below and right of the bowl in the wrist view. I approach the mug while checking its position relative to the fingers."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"pick up the mug and place it on the bowl.\", \"joint_positions\": [0.04508, 0.11805, 0.11922, -1.58109, -0.07315, 1.71897, 0.16315], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.59879, 0.07944, 0.99045], \"tcp_roll_pitch_yaw\": [-6e-05, 0.00044, -1e-05], \"tcp_rotation_matrix\": [[0.9995, 0.00941, 0.0302], [0.01104, -0.99847, -0.05412], [0.02965, 0.05442, -0.99808]], \"simulated_seconds_remaining\": 42.306, \"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": 0.67,
      "y": -0.025,
      "z": 0.92
    },
    "note": "The mug is left of the gripper center and above it in the wrist image. I shift toward it and lower for alignment."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"pick up the mug and place it on the bowl.\", \"joint_positions\": [-0.05759, 0.33194, 0.04927, -1.46484, -0.07225, 1.82638, -0.00402], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.66931, -0.02417, 0.92052], \"tcp_roll_pitch_yaw\": [-9e-05, 0.00069, -0.00026], \"tcp_rotation_matrix\": [[0.99951, 0.00917, 0.02994], [0.01079, -0.99847, -0.05416], [0.0294, 0.05445, -0.99808]], \"simulated_seconds_remaining\": 41.052, \"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": 0.53,
      "z": 0.89
    },
    "note": "The previous motion moved the mug upward in the wrist view. I correct back toward the mug so its body comes between the open fingers."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"pick up the mug and place it on the bowl.\", \"joint_positions\": [-0.07019, -0.09433, 0.04526, -2.09787, -0.05497, 2.03437, -0.01123], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.5313, -0.02417, 0.89033], \"tcp_roll_pitch_yaw\": [-0.0001, 0.00067, -0.00025], \"tcp_rotation_matrix\": [[0.99951, 0.00918, 0.02996], [0.0108, -0.99847, -0.05417], [0.02941, 0.05447, -0.99808]], \"simulated_seconds_remaining\": 39.798, \"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": {
      "z": 0.81
    },
    "note": "The mug is now centered beneath the open gripper, immediately right of the bowl. I lower to surround its upper body."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"pick up the mug and place it on the bowl.\", \"joint_positions\": [-0.07132, -0.01707, 0.04514, -2.21987, -0.06674, 2.2328, 0.00407], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.53123, -0.02417, 0.81112], \"tcp_roll_pitch_yaw\": [-0.0001, 0.00102, -0.00026], \"tcp_rotation_matrix\": [[0.99952, 0.00919, 0.02961], [0.01079, -0.99847, -0.05417], [0.02906, 0.05446, -0.99809]], \"simulated_seconds_remaining\": 38.94, \"calls_remaining_including_this\": 52}"
      },
      {
        "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 fingers are lowered around the mug beside the bowl. I close the gripper to secure the mug."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"pick up the mug and place it on the bowl.\", \"joint_positions\": [-0.07132, -0.01707, 0.04514, -2.21987, -0.06674, 2.2328, 0.00407], \"gripper_open\": 0.0, \"tcp_xyz\": [0.53123, -0.02417, 0.81111], \"tcp_roll_pitch_yaw\": [-0.0001, 0.00102, -0.00026], \"tcp_rotation_matrix\": [[0.99952, 0.00919, 0.02961], [0.01079, -0.99847, -0.05417], [0.02907, 0.05446, -0.99809]], \"simulated_seconds_remaining\": 38.016, \"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": {
      "z": 0.98
    },
    "note": "I lift to check whether the mug is securely held and clear of the table."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"pick up the mug and place it on the bowl.\", \"joint_positions\": [-0.06963, -0.12402, 0.04543, -1.90413, -0.04925, 1.81128, -0.02346], \"gripper_open\": 0.0, \"tcp_xyz\": [0.53129, -0.02417, 0.97882], \"tcp_roll_pitch_yaw\": [-0.00011, 0.00067, -0.00025], \"tcp_rotation_matrix\": [[0.99951, 0.00918, 0.02996], [0.01079, -0.99847, -0.05418], [0.02942, 0.05447, -0.99808]], \"simulated_seconds_remaining\": 36.564, \"calls_remaining_including_this\": 50}"
      },
      {
        "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": -0.105,
      "z": 0.89,
      "gripper": 1
    },
    "note": "The mug remained on the table; the closed fingers were to its right. I reopen and shift left in the wrist view to align the grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"pick up the mug and place it on the bowl.\", \"joint_positions\": [-0.13663, -0.07132, -0.03687, -2.07189, -0.05697, 2.03862, -0.15854], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.53124, -0.10421, 0.89085], \"tcp_roll_pitch_yaw\": [-6e-05, 0.00093, -0.00045], \"tcp_rotation_matrix\": [[0.99952, 0.009, 0.02969], [0.0106, -0.99848, -0.05414], [0.02916, 0.05442, -0.99809]], \"simulated_seconds_remaining\": 35.442, \"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": {
      "z": 0.81
    },
    "note": "The mug body is now between the spread fingers. I lower to grip its sides."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"pick up the mug and place it on the bowl.\", \"joint_positions\": [-0.13813, 0.00541, -0.0385, -2.19424, -0.06095, 2.23719, -0.14964], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.53117, -0.1042, 0.81112], \"tcp_roll_pitch_yaw\": [-2e-05, 0.00128, -0.00045], \"tcp_rotation_matrix\": [[0.99953, 0.00901, 0.02934], [0.01059, -0.99848, -0.05409], [0.02881, 0.05437, -0.9981]], \"simulated_seconds_remaining\": 34.584, \"calls_remaining_including_this\": 48}"
      },
      {
        "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 fingers straddle the mug at the corrected position. I close them on its body."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 11, \"instruction\": \"pick up the mug and place it on the bowl.\", \"joint_positions\": [-0.1381, 0.00502, -0.03847, -2.19387, -0.06097, 2.23728, -0.14964], \"gripper_open\": 0.0, \"tcp_xyz\": [0.5314, -0.1042, 0.81152], \"tcp_roll_pitch_yaw\": [-0.00016, 0.0004, -0.00038], \"tcp_rotation_matrix\": [[0.9995, 0.00904, 0.03022], [0.01067, -0.99847, -0.05423], [0.02969, 0.05452, -0.99807]], \"simulated_seconds_remaining\": 33.66, \"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": {
      "z": 1.05,
      "gripper": 1
    },
    "note": "The fingers closed fully, so I reopen and raise to verify the mug location before another attempt."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 12, \"instruction\": \"pick up the mug and place it on the bowl.\", \"joint_positions\": [-0.1346, -0.07956, -0.03428, -1.67681, -0.05123, 1.63651, -0.17632], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.53145, -0.10421, 1.04879], \"tcp_roll_pitch_yaw\": [-0.00021, 7e-05, -0.00037], \"tcp_rotation_matrix\": [[0.99949, 0.00903, 0.03056], [0.01068, -0.99847, -0.05428], [0.03002, 0.05458, -0.99806]], \"simulated_seconds_remaining\": 31.746, \"calls_remaining_including_this\": 46}"
      },
      {
        "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"
}

The mug is still on the table. I’m correcting the alignment using the fingertip positions before closing again.


{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.6,
      "y": -0.085,
      "z": 0.84
    },
    "note": "The mug is below the fingertip line at grasp height. I advance slightly and center it between the fingertips while lowering."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 13, \"instruction\": \"pick up the mug and place it on the bowl.\", \"joint_positions\": [-0.11184, 0.15938, -0.01242, -1.91335, -0.05606, 2.10874, -0.10611], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.59952, -0.08509, 0.8411], \"tcp_roll_pitch_yaw\": [-0.00017, 0.00045, -0.00034], \"tcp_rotation_matrix\": [[0.9995, 0.00908, 0.03018], [0.01071, -0.99847, -0.05424], [0.02964, 0.05453, -0.99807]], \"simulated_seconds_remaining\": 29.964, \"calls_remaining_including_this\": 45}"
      },
      {
        "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": 0.665,
      "y": -0.075
    },
    "note": "The mug rim is still below the fingertip centers. I advance a small amount to bring the fingers across its body."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 14, \"instruction\": \"pick up the mug and place it on the bowl.\", \"joint_positions\": [-0.09415, 0.35249, -0.00217, -1.63906, -0.05607, 2.02615, -0.08236], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.6637, -0.07516, 0.84104], \"tcp_roll_pitch_yaw\": [-0.00015, 0.00053, -0.00026], \"tcp_rotation_matrix\": [[0.9995, 0.00916, 0.0301], [0.01078, -0.99847, -0.05422], [0.02956, 0.05451, -0.99808]], \"simulated_seconds_remaining\": 29.238, \"calls_remaining_including_this\": 44}"
      },
      {
        "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": 0.65,
      "z": 0.775
    },
    "note": "The mug is centered laterally between the fingertips. I lower slightly to grip below its rim."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 15, \"instruction\": \"pick up the mug and place it on the bowl.\", \"joint_positions\": [-0.0959, 0.3712, -0.00419, -1.78336, -0.06076, 2.18878, -0.0753], \"gripper_open\": 0.9969, \"tcp_xyz\": [0.6502, -0.07524, 0.77619], \"tcp_roll_pitch_yaw\": [-0.00018, 0.00083, -0.00037], \"tcp_rotation_matrix\": [[0.99952, 0.00907, 0.02979], [0.01068, -0.99847, -0.05425], [0.02925, 0.05454, -0.99808]], \"simulated_seconds_remaining\": 28.512, \"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": {
      "x": 0.69,
      "y": -0.067
    },
    "note": "At this lower height, the mug appears just behind the fingertip line. I make a final forward and lateral correction."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 16, \"instruction\": \"pick up the mug and place it on the bowl.\", \"joint_positions\": [-0.08238, 0.48738, 0.0006, -1.60214, -0.06111, 2.12294, -0.06047], \"gripper_open\": 0.9971, \"tcp_xyz\": [0.68893, -0.06732, 0.77621], \"tcp_roll_pitch_yaw\": [-0.00027, 0.00076, -0.00044], \"tcp_rotation_matrix\": [[0.99951, 0.009, 0.02986], [0.01061, -0.99847, -0.05434], [0.02932, 0.05463, -0.99808]], \"simulated_seconds_remaining\": 27.918, \"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 mug body now fills the gap between the fingers. I close the gripper around it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 17, \"instruction\": \"pick up the mug and place it on the bowl.\", \"joint_positions\": [-0.08281, 0.48697, 3e-05, -1.60176, -0.06146, 2.12308, -0.06049], \"gripper_open\": 0.9216, \"tcp_xyz\": [0.6891, -0.06807, 0.77669], \"tcp_roll_pitch_yaw\": [-0.00091, -0.00011, -0.00118], \"tcp_rotation_matrix\": [[0.9995, 0.00821, 0.03069], [0.00989, -0.99844, -0.055], [0.03019, 0.05527, -0.99801]], \"simulated_seconds_remaining\": 26.994, \"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": {
      "z": 0.99
    },
    "note": "The gripper remains spread against the mug, indicating contact. I lift the mug clear of the table."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 18, \"instruction\": \"pick up the mug and place it on the bowl.\", \"joint_positions\": [-0.08003, 0.45059, 0.00177, -1.11198, -0.05324, 1.59787, -0.08701], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.68917, -0.06808, 0.98881], \"tcp_roll_pitch_yaw\": [-0.00093, -0.0005, -0.00117], \"tcp_rotation_matrix\": [[0.99948, 0.0082, 0.03108], [0.0099, -0.99844, -0.05503], [0.03058, 0.0553, -0.998]], \"simulated_seconds_remaining\": 25.278, \"calls_remaining_including_this\": 40}"
      },
      {
        "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": {
      "z": 0.776,
      "gripper": 1
    },
    "note": "The mug stayed on the table after the lift. I return to the successful contact position with the fingers open."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 19, \"instruction\": \"pick up the mug and place it on the bowl.\", \"joint_positions\": [-0.08709, 0.46165, -0.00622, -1.5849, -0.06702, 2.12745, -0.06074], \"gripper_open\": 1.0, \"tcp_xyz\": [0.69869, -0.07707, 0.803], \"tcp_roll_pitch_yaw\": [-0.01231, -0.04585, -0.00759], \"tcp_rotation_matrix\": [[0.99712, -0.00124, 0.07581], [0.00385, -0.99775, -0.06692], [0.07573, 0.06701, -0.99487]], \"simulated_seconds_remaining\": 23.562, \"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": {
      "gripper": 0
    },
    "note": "The mug is centered between the fingertips at contact height. I close around it again."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 20, \"instruction\": \"pick up the mug and place it on the bowl.\", \"joint_positions\": [-0.08543, 0.44938, -0.00432, -1.57296, -0.06658, 2.16459, -0.06065], \"gripper_open\": 0.0529, \"tcp_xyz\": [0.71364, -0.0753, 0.82194], \"tcp_roll_pitch_yaw\": [-0.0152, -0.10711, -0.00195], \"tcp_rotation_matrix\": [[0.99058, -4e-05, 0.13693], [0.00957, -0.99754, -0.06949], [0.13659, 0.07014, -0.98814]], \"simulated_seconds_remaining\": 22.638, \"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": {
      "z": 1,
      "gripper": 0
    },
    "note": "The mug tilted during closure. I lift while explicitly keeping the gripper closed to check whether it is secured."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 21, \"instruction\": \"pick up the mug and place it on the bowl.\", \"joint_positions\": [-0.08358, 0.4378, -0.00223, -1.1371, -0.05724, 1.71814, -0.08598], \"gripper_open\": 0.0, \"tcp_xyz\": [0.7137, -0.0753, 0.9988], \"tcp_roll_pitch_yaw\": [-0.01523, -0.10751, -0.00194], \"tcp_rotation_matrix\": [[0.99053, -6e-05, 0.13733], [0.00958, -0.99753, -0.06952], [0.13699, 0.07017, -0.98808]], \"simulated_seconds_remaining\": 21.186, \"calls_remaining_including_this\": 37}"
      },
      {
        "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": 0.64,
      "y": -0.025,
      "z": 0.84,
      "roll": 0,
      "pitch": 0,
      "yaw": 0,
      "gripper": 1
    },
    "note": "The mug shifted during the last attempt. I align over its new position and restore the vertical grasp orientation."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 22, \"instruction\": \"pick up the mug and place it on the bowl.\", \"joint_positions\": [-0.0404, 0.26943, 0.02084, -1.7595, -0.06695, 2.06025, -0.00012], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.6405, -0.02532, 0.84104], \"tcp_roll_pitch_yaw\": [-0.0001, -0.00051, 6e-05], \"tcp_rotation_matrix\": [[0.99947, 0.00943, 0.03115], [0.01111, -0.99847, -0.05415], [0.0306, 0.05447, -0.99805]], \"simulated_seconds_remaining\": 19.668, \"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": {
      "y": -0.12,
      "z": 0.8
    },
    "note": "The mug is left of the finger gap after shifting. I move sideways to center its body and lower slightly."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 23, \"instruction\": \"pick up the mug and place it on the bowl.\", \"joint_positions\": [-0.14152, 0.331, -0.02798, -1.7763, -0.04561, 2.1486, -0.15533], \"gripper_open\": 1.0, \"tcp_xyz\": [0.64113, -0.11767, 0.80183], \"tcp_roll_pitch_yaw\": [0.0004, -0.00262, 0.00149], \"tcp_rotation_matrix\": [[0.99939, 0.01075, 0.03334], [0.01252, -0.99848, -0.05361], [0.03271, 0.05399, -0.99801]], \"simulated_seconds_remaining\": 18.678, \"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": {
      "gripper": 0
    },
    "note": "The mug body is between the fingers, with its handle visible to the right. I close around the body."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 24, \"instruction\": \"pick up the mug and place it on the bowl.\", \"joint_positions\": [-0.13604, 0.31773, -0.02104, -1.76789, -0.04236, 2.14793, -0.15556], \"gripper_open\": 0.0968, \"tcp_xyz\": [0.64697, -0.10978, 0.81436], \"tcp_roll_pitch_yaw\": [0.00212, -0.0242, 0.01218], \"tcp_rotation_matrix\": [[0.99826, 0.02029, 0.05542], [0.02314, -0.99842, -0.05127], [0.05429, 0.05247, -0.99715]], \"simulated_seconds_remaining\": 17.754, \"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": {
      "z": 1,
      "gripper": 0
    },
    "note": "The fingers have contacted the mug. I keep them closed and lift to verify the grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 25, \"instruction\": \"pick up the mug and place it on the bowl.\", \"joint_positions\": [-0.13512, 0.26915, -0.02035, -1.36297, -0.03701, 1.69511, -0.17289], \"gripper_open\": 0.0, \"tcp_xyz\": [0.64703, -0.10979, 0.9988], \"tcp_roll_pitch_yaw\": [0.00206, -0.02459, 0.01219], \"tcp_rotation_matrix\": [[0.99824, 0.02028, 0.0558], [0.02315, -0.99841, -0.05133], [0.05467, 0.05253, -0.99712]], \"simulated_seconds_remaining\": 16.236, \"calls_remaining_including_this\": 33}"
      },
      {
        "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": -0.08,
      "z": 0.74,
      "roll": 0,
      "pitch": 0,
      "yaw": 0,
      "gripper": 1
    },
    "note": "The mug is still on the table. I lower the open fingers farther around the body to get a deeper grasp below the rim."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 26, \"instruction\": \"pick up the mug and place it on the bowl.\", \"joint_positions\": [-0.09918, 0.41428, -0.00837, -1.81123, -0.06067, 2.29105, -0.08066], \"gripper_open\": 0.9974, \"tcp_xyz\": [0.65811, -0.07959, 0.74534], \"tcp_roll_pitch_yaw\": [-0.0019, -0.03064, 0.0031], \"tcp_rotation_matrix\": [[0.99806, 0.01076, 0.06137], [0.01419, -0.99834, -0.05576], [0.06067, 0.05652, -0.99656]], \"simulated_seconds_remaining\": 14.19, \"calls_remaining_including_this\": 32}"
      },
      {
        "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": 0.68,
      "y": -0.115,
      "z": 0.75,
      "gripper": 1
    },
    "note": "At body height the mug is just left of the finger gap. I center the fingers around it before closing."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 27, \"instruction\": \"pick up the mug and place it on the bowl.\", \"joint_positions\": [-0.13838, 0.48296, -0.0177, -1.69015, -0.04795, 2.24179, -0.13753], \"gripper_open\": 0.9967, \"tcp_xyz\": [0.67938, -0.11415, 0.74988], \"tcp_roll_pitch_yaw\": [-0.00193, -0.03064, 0.00288], \"tcp_rotation_matrix\": [[0.99806, 0.01054, 0.06136], [0.01398, -0.99834, -0.05581], [0.06067, 0.05656, -0.99655]], \"simulated_seconds_remaining\": 13.596, \"calls_remaining_including_this\": 31}"
      },
      {
        "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 surround the mug body below the handle. I close firmly for the lift."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 28, \"instruction\": \"pick up the mug and place it on the bowl.\", \"joint_positions\": [-0.13833, 0.48274, -0.01765, -1.68993, -0.04794, 2.2419, -0.13754], \"gripper_open\": 0.1722, \"tcp_xyz\": [0.67956, -0.11411, 0.75014], \"tcp_roll_pitch_yaw\": [-0.00198, -0.03119, 0.00299], \"tcp_rotation_matrix\": [[0.99803, 0.01061, 0.06191], [0.01408, -0.99834, -0.05585], [0.06122, 0.05661, -0.99652]], \"simulated_seconds_remaining\": 12.672, \"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": {
      "z": 0.98,
      "gripper": 0
    },
    "note": "The gripper is stopped against the mug. I keep it closed and lift clear of the bowl and tabletop."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 29, \"instruction\": \"pick up the mug and place it on the bowl.\", \"joint_positions\": [-0.13745, 0.38284, -0.01622, -1.25046, -0.04011, 1.70308, -0.16076], \"gripper_open\": 0.1722, \"tcp_xyz\": [0.67959, -0.11411, 0.97871], \"tcp_roll_pitch_yaw\": [-0.002, -0.03133, 0.00299], \"tcp_rotation_matrix\": [[0.99802, 0.01061, 0.06206], [0.01409, -0.99834, -0.05587], [0.06136, 0.05663, -0.99651]], \"simulated_seconds_remaining\": 10.824, \"calls_remaining_including_this\": 29}"
      },
      {
        "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"
}

The mug is now lifted and held securely. I’m moving it over the bowl for release.


{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.44,
      "y": -0.04,
      "z": 1.02,
      "gripper": 0
    },
    "note": "The mug remains fixed in the closed gripper, and the bowl is ahead in the wrist view. I carry the mug over the bowl."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 30, \"instruction\": \"pick up the mug and place it on the bowl.\", \"joint_positions\": [-0.09448, -0.41786, 0.02572, -2.09852, -0.04158, 1.74659, -0.07714], \"gripper_open\": 0.1721, \"tcp_xyz\": [0.44127, -0.04036, 1.01981], \"tcp_roll_pitch_yaw\": [-0.002, -0.03132, 0.00306], \"tcp_rotation_matrix\": [[0.99802, 0.01068, 0.06205], [0.01415, -0.99834, -0.05587], [0.06135, 0.05663, -0.99651]], \"simulated_seconds_remaining\": 8.844, \"calls_remaining_including_this\": 28}"
      },
      {
        "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": 0.39,
      "y": -0.13,
      "z": 0.94,
      "gripper": 0
    },
    "note": "The bowl is slightly left of the held mug. I shift over its center and lower toward it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 31, \"instruction\": \"pick up the mug and place it on the bowl.\", \"joint_positions\": [-0.16554, -0.53106, -0.1129, -2.3915, -0.10145, 1.93599, -0.24458], \"gripper_open\": 0.1726, \"tcp_xyz\": [0.39044, -0.12915, 0.94067], \"tcp_roll_pitch_yaw\": [-0.00189, -0.03099, 0.00287], \"tcp_rotation_matrix\": [[0.99804, 0.01052, 0.06171], [0.01397, -0.99835, -0.05576], [0.06102, 0.05652, -0.99654]], \"simulated_seconds_remaining\": 7.656, \"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": "move_to",
  "arguments": {
    "targets": {
      "x": 0.43,
      "z": 0.84,
      "gripper": 0
    },
    "note": "The held mug is above the bowl. I lower it toward the bowl while correcting the small fore-aft offset."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 32, \"instruction\": \"pick up the mug and place it on the bowl.\", \"joint_positions\": [-0.15384, -0.33883, -0.11768, -2.48014, -0.09574, 2.225, -0.22354], \"gripper_open\": 0.1685, \"tcp_xyz\": [0.43145, -0.12962, 0.84588], \"tcp_roll_pitch_yaw\": [-0.00373, -0.04008, 0.00309], \"tcp_rotation_matrix\": [[0.99744, 0.01014, 0.07078], [0.01423, -0.99824, -0.05756], [0.07007, 0.05842, -0.99583]], \"simulated_seconds_remaining\": 6.666, \"calls_remaining_including_this\": 26}"
      },
      {
        "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": 1
    },
    "note": "The mug has reached the bowl and the arm has settled at contact height. I open the fingers to leave the mug on the bowl."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "Episode ended. Do not call more tools. Return a brief final response."
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

Placed the mug on the bowl.

TURN USAGE
{
  "input_tokens": 694250,
  "cached_input_tokens": 653824,
  "cache_write_input_tokens": 0,
  "output_tokens": 6112,
  "reasoning_output_tokens": 2816
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "pick up the mug and place it on the bowl.",
    "joint_positions": [
      0.03411,
      -0.76346,
      0.021,
      -2.3094,
      -0.04101,
      1.57402,
      0.03882
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.31833,
      0.00668,
      1.03126
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99949,
        0.0094,
        0.03064
      ],
      [
        0.01104,
        -0.99848,
        -0.05406
      ],
      [
        0.03009,
        0.05437,
        -0.99807
      ]
    ],
    "simulated_seconds_remaining": 45.012,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 29.623226856812835,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48,
                    "y": 0.08,
                    "z": 1.05
                  },
                  "note": "The mug and bowl are ahead on the table; I move farther over the table for a clear overhead view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "pick up the mug and place it on the bowl.",
    "joint_positions": [
      0.05325,
      -0.24032,
      0.12219,
      -1.84159,
      -0.02957,
      1.62378,
      0.16325
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.47882,
      0.07947,
      1.0498
    ],
    "tcp_roll_pitch_yaw": [
      -3e-05,
      0.00015,
      5e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99949,
        0.00945,
        0.0305
      ],
      [
        0.01109,
        -0.99847,
        -0.05409
      ],
      [
        0.02994,
        0.0544,
        -0.99807
      ]
    ],
    "simulated_seconds_remaining": 43.494,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 7.606863246299326,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.6,
                    "z": 0.99
                  },
                  "note": "The mug is just below and right of the bowl in the wrist view. I approach the mug while checking its position relative to the fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "pick up the mug and place it on the bowl.",
    "joint_positions": [
      0.04508,
      0.11805,
      0.11922,
      -1.58109,
      -0.07315,
      1.71897,
      0.16315
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.59879,
      0.07944,
      0.99045
    ],
    "tcp_roll_pitch_yaw": [
      -6e-05,
      0.00044,
      -1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.9995,
        0.00941,
        0.0302
      ],
      [
        0.01104,
        -0.99847,
        -0.05412
      ],
      [
        0.02965,
        0.05442,
        -0.99808
      ]
    ],
    "simulated_seconds_remaining": 42.306,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 12.010289936326444,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.67,
                    "y": -0.025,
                    "z": 0.92
                  },
                  "note": "The mug is left of the gripper center and above it in the wrist image. I shift toward it and lower for alignment."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "pick up the mug and place it on the bowl.",
    "joint_positions": [
      -0.05759,
      0.33194,
      0.04927,
      -1.46484,
      -0.07225,
      1.82638,
      -0.00402
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.66931,
      -0.02417,
      0.92052
    ],
    "tcp_roll_pitch_yaw": [
      -9e-05,
      0.00069,
      -0.00026
    ],
    "tcp_rotation_matrix": [
      [
        0.99951,
        0.00917,
        0.02994
      ],
      [
        0.01079,
        -0.99847,
        -0.05416
      ],
      [
        0.0294,
        0.05445,
        -0.99808
      ]
    ],
    "simulated_seconds_remaining": 41.052,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 17.812168409116566,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.53,
                    "z": 0.89
                  },
                  "note": "The previous motion moved the mug upward in the wrist view. I correct back toward the mug so its body comes between the open fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "pick up the mug and place it on the bowl.",
    "joint_positions": [
      -0.07019,
      -0.09433,
      0.04526,
      -2.09787,
      -0.05497,
      2.03437,
      -0.01123
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.5313,
      -0.02417,
      0.89033
    ],
    "tcp_roll_pitch_yaw": [
      -0.0001,
      0.00067,
      -0.00025
    ],
    "tcp_rotation_matrix": [
      [
        0.99951,
        0.00918,
        0.02996
      ],
      [
        0.0108,
        -0.99847,
        -0.05417
      ],
      [
        0.02941,
        0.05447,
        -0.99808
      ]
    ],
    "simulated_seconds_remaining": 39.798,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 8.410281846299767,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.81
                  },
                  "note": "The mug is now centered beneath the open gripper, immediately right of the bowl. I lower to surround its upper body."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "pick up the mug and place it on the bowl.",
    "joint_positions": [
      -0.07132,
      -0.01707,
      0.04514,
      -2.21987,
      -0.06674,
      2.2328,
      0.00407
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.53123,
      -0.02417,
      0.81112
    ],
    "tcp_roll_pitch_yaw": [
      -0.0001,
      0.00102,
      -0.00026
    ],
    "tcp_rotation_matrix": [
      [
        0.99952,
        0.00919,
        0.02961
      ],
      [
        0.01079,
        -0.99847,
        -0.05417
      ],
      [
        0.02906,
        0.05446,
        -0.99809
      ]
    ],
    "simulated_seconds_remaining": 38.94,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 5.204459510743618,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The fingers are lowered around the mug beside the bowl. I close the gripper to secure the mug."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "pick up the mug and place it on the bowl.",
    "joint_positions": [
      -0.07132,
      -0.01707,
      0.04514,
      -2.21987,
      -0.06674,
      2.2328,
      0.00407
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.53123,
      -0.02417,
      0.81111
    ],
    "tcp_roll_pitch_yaw": [
      -0.0001,
      0.00102,
      -0.00026
    ],
    "tcp_rotation_matrix": [
      [
        0.99952,
        0.00919,
        0.02961
      ],
      [
        0.01079,
        -0.99847,
        -0.05417
      ],
      [
        0.02907,
        0.05446,
        -0.99809
      ]
    ],
    "simulated_seconds_remaining": 38.016,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 6.8057568445801735,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.98
                  },
                  "note": "I lift to check whether the mug is securely held and clear of the table."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 22,
    "motion_seconds": 1.452,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "pick up the mug and place it on the bowl.",
    "joint_positions": [
      -0.06963,
      -0.12402,
      0.04543,
      -1.90413,
      -0.04925,
      1.81128,
      -0.02346
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.53129,
      -0.02417,
      0.97882
    ],
    "tcp_roll_pitch_yaw": [
      -0.00011,
      0.00067,
      -0.00025
    ],
    "tcp_rotation_matrix": [
      [
        0.99951,
        0.00918,
        0.02996
      ],
      [
        0.01079,
        -0.99847,
        -0.05418
      ],
      [
        0.02942,
        0.05447,
        -0.99808
      ]
    ],
    "simulated_seconds_remaining": 36.564,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 16.6170920310542,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": -0.105,
                    "z": 0.89,
                    "gripper": 1
                  },
                  "note": "The mug remained on the table; the closed fingers were to its right. I reopen and shift left in the wrist view to align the grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "pick up the mug and place it on the bowl.",
    "joint_positions": [
      -0.13663,
      -0.07132,
      -0.03687,
      -2.07189,
      -0.05697,
      2.03862,
      -0.15854
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.53124,
      -0.10421,
      0.89085
    ],
    "tcp_roll_pitch_yaw": [
      -6e-05,
      0.00093,
      -0.00045
    ],
    "tcp_rotation_matrix": [
      [
        0.99952,
        0.009,
        0.02969
      ],
      [
        0.0106,
        -0.99848,
        -0.05414
      ],
      [
        0.02916,
        0.05442,
        -0.99809
      ]
    ],
    "simulated_seconds_remaining": 35.442,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 6.205784562043846,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.81
                  },
                  "note": "The mug body is now between the spread fingers. I lower to grip its sides."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "pick up the mug and place it on the bowl.",
    "joint_positions": [
      -0.13813,
      0.00541,
      -0.0385,
      -2.19424,
      -0.06095,
      2.23719,
      -0.14964
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.53117,
      -0.1042,
      0.81112
    ],
    "tcp_roll_pitch_yaw": [
      -2e-05,
      0.00128,
      -0.00045
    ],
    "tcp_rotation_matrix": [
      [
        0.99953,
        0.00901,
        0.02934
      ],
      [
        0.01059,
        -0.99848,
        -0.05409
      ],
      [
        0.02881,
        0.05437,
        -0.9981
      ]
    ],
    "simulated_seconds_remaining": 34.584,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 5.004262924194336,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The fingers straddle the mug at the corrected position. I close them on its body."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "pick up the mug and place it on the bowl.",
    "joint_positions": [
      -0.1381,
      0.00502,
      -0.03847,
      -2.19387,
      -0.06097,
      2.23728,
      -0.14964
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.5314,
      -0.1042,
      0.81152
    ],
    "tcp_roll_pitch_yaw": [
      -0.00016,
      0.0004,
      -0.00038
    ],
    "tcp_rotation_matrix": [
      [
        0.9995,
        0.00904,
        0.03022
      ],
      [
        0.01067,
        -0.99847,
        -0.05423
      ],
      [
        0.02969,
        0.05452,
        -0.99807
      ]
    ],
    "simulated_seconds_remaining": 33.66,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 8.806673169136047,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.05,
                    "gripper": 1
                  },
                  "note": "The fingers closed fully, so I reopen and raise to verify the mug location before another attempt."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 29,
    "motion_seconds": 1.9140000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "pick up the mug and place it on the bowl.",
    "joint_positions": [
      -0.1346,
      -0.07956,
      -0.03428,
      -1.67681,
      -0.05123,
      1.63651,
      -0.17632
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.53145,
      -0.10421,
      1.04879
    ],
    "tcp_roll_pitch_yaw": [
      -0.00021,
      7e-05,
      -0.00037
    ],
    "tcp_rotation_matrix": [
      [
        0.99949,
        0.00903,
        0.03056
      ],
      [
        0.01068,
        -0.99847,
        -0.05428
      ],
      [
        0.03002,
        0.05458,
        -0.99806
      ]
    ],
    "simulated_seconds_remaining": 31.746,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 18.014183207415044,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.6,
                    "y": -0.085,
                    "z": 0.84
                  },
                  "note": "The mug is below the fingertip line at grasp height. I advance slightly and center it between the fingertips while lowering."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 27,
    "motion_seconds": 1.782,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "pick up the mug and place it on the bowl.",
    "joint_positions": [
      -0.11184,
      0.15938,
      -0.01242,
      -1.91335,
      -0.05606,
      2.10874,
      -0.10611
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.59952,
      -0.08509,
      0.8411
    ],
    "tcp_roll_pitch_yaw": [
      -0.00017,
      0.00045,
      -0.00034
    ],
    "tcp_rotation_matrix": [
      [
        0.9995,
        0.00908,
        0.03018
      ],
      [
        0.01071,
        -0.99847,
        -0.05424
      ],
      [
        0.02964,
        0.05453,
        -0.99807
      ]
    ],
    "simulated_seconds_remaining": 29.964,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 8.00677912030369,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.665,
                    "y": -0.075
                  },
                  "note": "The mug rim is still below the fingertip centers. I advance a small amount to bring the fingers across its body."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "pick up the mug and place it on the bowl.",
    "joint_positions": [
      -0.09415,
      0.35249,
      -0.00217,
      -1.63906,
      -0.05607,
      2.02615,
      -0.08236
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.6637,
      -0.07516,
      0.84104
    ],
    "tcp_roll_pitch_yaw": [
      -0.00015,
      0.00053,
      -0.00026
    ],
    "tcp_rotation_matrix": [
      [
        0.9995,
        0.00916,
        0.0301
      ],
      [
        0.01078,
        -0.99847,
        -0.05422
      ],
      [
        0.02956,
        0.05451,
        -0.99808
      ]
    ],
    "simulated_seconds_remaining": 29.238,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 16.61291223950684,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.65,
                    "z": 0.775
                  },
                  "note": "The mug is centered laterally between the fingertips. I lower slightly to grip below its rim."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "pick up the mug and place it on the bowl.",
    "joint_positions": [
      -0.0959,
      0.3712,
      -0.00419,
      -1.78336,
      -0.06076,
      2.18878,
      -0.0753
    ],
    "gripper_open": 0.9969,
    "tcp_xyz": [
      0.6502,
      -0.07524,
      0.77619
    ],
    "tcp_roll_pitch_yaw": [
      -0.00018,
      0.00083,
      -0.00037
    ],
    "tcp_rotation_matrix": [
      [
        0.99952,
        0.00907,
        0.02979
      ],
      [
        0.01068,
        -0.99847,
        -0.05425
      ],
      [
        0.02925,
        0.05454,
        -0.99808
      ]
    ],
    "simulated_seconds_remaining": 28.512,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 9.407774158753455,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.69,
                    "y": -0.067
                  },
                  "note": "At this lower height, the mug appears just behind the fingertip line. I make a final forward and lateral correction."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "pick up the mug and place it on the bowl.",
    "joint_positions": [
      -0.08238,
      0.48738,
      0.0006,
      -1.60214,
      -0.06111,
      2.12294,
      -0.06047
    ],
    "gripper_open": 0.9971,
    "tcp_xyz": [
      0.68893,
      -0.06732,
      0.77621
    ],
    "tcp_roll_pitch_yaw": [
      -0.00027,
      0.00076,
      -0.00044
    ],
    "tcp_rotation_matrix": [
      [
        0.99951,
        0.009,
        0.02986
      ],
      [
        0.01061,
        -0.99847,
        -0.05434
      ],
      [
        0.02932,
        0.05463,
        -0.99808
      ]
    ],
    "simulated_seconds_remaining": 27.918,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 7.8062451193109155,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The mug body now fills the gap between the fingers. I close the gripper around it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "pick up the mug and place it on the bowl.",
    "joint_positions": [
      -0.08281,
      0.48697,
      3e-05,
      -1.60176,
      -0.06146,
      2.12308,
      -0.06049
    ],
    "gripper_open": 0.9216,
    "tcp_xyz": [
      0.6891,
      -0.06807,
      0.77669
    ],
    "tcp_roll_pitch_yaw": [
      -0.00091,
      -0.00011,
      -0.00118
    ],
    "tcp_rotation_matrix": [
      [
        0.9995,
        0.00821,
        0.03069
      ],
      [
        0.00989,
        -0.99844,
        -0.055
      ],
      [
        0.03019,
        0.05527,
        -0.99801
      ]
    ],
    "simulated_seconds_remaining": 26.994,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 6.8053760239854455,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.99
                  },
                  "note": "The gripper remains spread against the mug, indicating contact. I lift the mug clear of the table."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 26,
    "motion_seconds": 1.7160000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "pick up the mug and place it on the bowl.",
    "joint_positions": [
      -0.08003,
      0.45059,
      0.00177,
      -1.11198,
      -0.05324,
      1.59787,
      -0.08701
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.68917,
      -0.06808,
      0.98881
    ],
    "tcp_roll_pitch_yaw": [
      -0.00093,
      -0.0005,
      -0.00117
    ],
    "tcp_rotation_matrix": [
      [
        0.99948,
        0.0082,
        0.03108
      ],
      [
        0.0099,
        -0.99844,
        -0.05503
      ],
      [
        0.03058,
        0.0553,
        -0.998
      ]
    ],
    "simulated_seconds_remaining": 25.278,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 6.405252861790359,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.776,
                    "gripper": 1
                  },
                  "note": "The mug stayed on the table after the lift. I return to the successful contact position with the fingers open."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 26,
    "motion_seconds": 1.7160000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 19,
  "state": {
    "instruction": "pick up the mug and place it on the bowl.",
    "joint_positions": [
      -0.08709,
      0.46165,
      -0.00622,
      -1.5849,
      -0.06702,
      2.12745,
      -0.06074
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.69869,
      -0.07707,
      0.803
    ],
    "tcp_roll_pitch_yaw": [
      -0.01231,
      -0.04585,
      -0.00759
    ],
    "tcp_rotation_matrix": [
      [
        0.99712,
        -0.00124,
        0.07581
      ],
      [
        0.00385,
        -0.99775,
        -0.06692
      ],
      [
        0.07573,
        0.06701,
        -0.99487
      ]
    ],
    "simulated_seconds_remaining": 23.562,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 5.604819539003074,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The mug is centered between the fingertips at contact height. I close around it again."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 20,
  "state": {
    "instruction": "pick up the mug and place it on the bowl.",
    "joint_positions": [
      -0.08543,
      0.44938,
      -0.00432,
      -1.57296,
      -0.06658,
      2.16459,
      -0.06065
    ],
    "gripper_open": 0.0529,
    "tcp_xyz": [
      0.71364,
      -0.0753,
      0.82194
    ],
    "tcp_roll_pitch_yaw": [
      -0.0152,
      -0.10711,
      -0.00195
    ],
    "tcp_rotation_matrix": [
      [
        0.99058,
        -4e-05,
        0.13693
      ],
      [
        0.00957,
        -0.99754,
        -0.06949
      ],
      [
        0.13659,
        0.07014,
        -0.98814
      ]
    ],
    "simulated_seconds_remaining": 22.638,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 5.204464245587587,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1,
                    "gripper": 0
                  },
                  "note": "The mug tilted during closure. I lift while explicitly keeping the gripper closed to check whether it is secured."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 22,
    "motion_seconds": 1.452,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 21,
  "state": {
    "instruction": "pick up the mug and place it on the bowl.",
    "joint_positions": [
      -0.08358,
      0.4378,
      -0.00223,
      -1.1371,
      -0.05724,
      1.71814,
      -0.08598
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.7137,
      -0.0753,
      0.9988
    ],
    "tcp_roll_pitch_yaw": [
      -0.01523,
      -0.10751,
      -0.00194
    ],
    "tcp_rotation_matrix": [
      [
        0.99053,
        -6e-05,
        0.13733
      ],
      [
        0.00958,
        -0.99753,
        -0.06952
      ],
      [
        0.13699,
        0.07017,
        -0.98808
      ]
    ],
    "simulated_seconds_remaining": 21.186,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 25.82468725182116,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.64,
                    "y": -0.025,
                    "z": 0.84,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 0,
                    "gripper": 1
                  },
                  "note": "The mug shifted during the last attempt. I align over its new position and restore the vertical grasp orientation."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 22,
  "state": {
    "instruction": "pick up the mug and place it on the bowl.",
    "joint_positions": [
      -0.0404,
      0.26943,
      0.02084,
      -1.7595,
      -0.06695,
      2.06025,
      -0.00012
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.6405,
      -0.02532,
      0.84104
    ],
    "tcp_roll_pitch_yaw": [
      -0.0001,
      -0.00051,
      6e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99947,
        0.00943,
        0.03115
      ],
      [
        0.01111,
        -0.99847,
        -0.05415
      ],
      [
        0.0306,
        0.05447,
        -0.99805
      ]
    ],
    "simulated_seconds_remaining": 19.668,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 9.2109942631796,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": -0.12,
                    "z": 0.8
                  },
                  "note": "The mug is left of the finger gap after shifting. I move sideways to center its body and lower slightly."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 23,
  "state": {
    "instruction": "pick up the mug and place it on the bowl.",
    "joint_positions": [
      -0.14152,
      0.331,
      -0.02798,
      -1.7763,
      -0.04561,
      2.1486,
      -0.15533
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.64113,
      -0.11767,
      0.80183
    ],
    "tcp_roll_pitch_yaw": [
      0.0004,
      -0.00262,
      0.00149
    ],
    "tcp_rotation_matrix": [
      [
        0.99939,
        0.01075,
        0.03334
      ],
      [
        0.01252,
        -0.99848,
        -0.05361
      ],
      [
        0.03271,
        0.05399,
        -0.99801
      ]
    ],
    "simulated_seconds_remaining": 18.678,
    "calls_remaining_including_this": 35
  },
  "api_seconds": 6.8086227755993605,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The mug body is between the fingers, with its handle visible to the right. I close around the body."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 24,
  "state": {
    "instruction": "pick up the mug and place it on the bowl.",
    "joint_positions": [
      -0.13604,
      0.31773,
      -0.02104,
      -1.76789,
      -0.04236,
      2.14793,
      -0.15556
    ],
    "gripper_open": 0.0968,
    "tcp_xyz": [
      0.64697,
      -0.10978,
      0.81436
    ],
    "tcp_roll_pitch_yaw": [
      0.00212,
      -0.0242,
      0.01218
    ],
    "tcp_rotation_matrix": [
      [
        0.99826,
        0.02029,
        0.05542
      ],
      [
        0.02314,
        -0.99842,
        -0.05127
      ],
      [
        0.05429,
        0.05247,
        -0.99715
      ]
    ],
    "simulated_seconds_remaining": 17.754,
    "calls_remaining_including_this": 34
  },
  "api_seconds": 6.4054868733510375,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1,
                    "gripper": 0
                  },
                  "note": "The fingers have contacted the mug. I keep them closed and lift to verify the grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 25,
  "state": {
    "instruction": "pick up the mug and place it on the bowl.",
    "joint_positions": [
      -0.13512,
      0.26915,
      -0.02035,
      -1.36297,
      -0.03701,
      1.69511,
      -0.17289
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.64703,
      -0.10979,
      0.9988
    ],
    "tcp_roll_pitch_yaw": [
      0.00206,
      -0.02459,
      0.01219
    ],
    "tcp_rotation_matrix": [
      [
        0.99824,
        0.02028,
        0.0558
      ],
      [
        0.02315,
        -0.99841,
        -0.05133
      ],
      [
        0.05467,
        0.05253,
        -0.99712
      ]
    ],
    "simulated_seconds_remaining": 16.236,
    "calls_remaining_including_this": 33
  },
  "api_seconds": 15.011880521662533,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.65,
                    "y": -0.08,
                    "z": 0.74,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 0,
                    "gripper": 1
                  },
                  "note": "The mug is still on the table. I lower the open fingers farther around the body to get a deeper grasp below the rim."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 31,
    "motion_seconds": 2.0460000000000003,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 26,
  "state": {
    "instruction": "pick up the mug and place it on the bowl.",
    "joint_positions": [
      -0.09918,
      0.41428,
      -0.00837,
      -1.81123,
      -0.06067,
      2.29105,
      -0.08066
    ],
    "gripper_open": 0.9974,
    "tcp_xyz": [
      0.65811,
      -0.07959,
      0.74534
    ],
    "tcp_roll_pitch_yaw": [
      -0.0019,
      -0.03064,
      0.0031
    ],
    "tcp_rotation_matrix": [
      [
        0.99806,
        0.01076,
        0.06137
      ],
      [
        0.01419,
        -0.99834,
        -0.05576
      ],
      [
        0.06067,
        0.05652,
        -0.99656
      ]
    ],
    "simulated_seconds_remaining": 14.19,
    "calls_remaining_including_this": 32
  },
  "api_seconds": 6.005275700241327,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.68,
                    "y": -0.115,
                    "z": 0.75,
                    "gripper": 1
                  },
                  "note": "At body height the mug is just left of the finger gap. I center the fingers around it before closing."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 27,
  "state": {
    "instruction": "pick up the mug and place it on the bowl.",
    "joint_positions": [
      -0.13838,
      0.48296,
      -0.0177,
      -1.69015,
      -0.04795,
      2.24179,
      -0.13753
    ],
    "gripper_open": 0.9967,
    "tcp_xyz": [
      0.67938,
      -0.11415,
      0.74988
    ],
    "tcp_roll_pitch_yaw": [
      -0.00193,
      -0.03064,
      0.00288
    ],
    "tcp_rotation_matrix": [
      [
        0.99806,
        0.01054,
        0.06136
      ],
      [
        0.01398,
        -0.99834,
        -0.05581
      ],
      [
        0.06067,
        0.05656,
        -0.99655
      ]
    ],
    "simulated_seconds_remaining": 13.596,
    "calls_remaining_including_this": 31
  },
  "api_seconds": 6.4053101278841496,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The fingers surround the mug body below the handle. I close firmly for the lift."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 28,
  "state": {
    "instruction": "pick up the mug and place it on the bowl.",
    "joint_positions": [
      -0.13833,
      0.48274,
      -0.01765,
      -1.68993,
      -0.04794,
      2.2419,
      -0.13754
    ],
    "gripper_open": 0.1722,
    "tcp_xyz": [
      0.67956,
      -0.11411,
      0.75014
    ],
    "tcp_roll_pitch_yaw": [
      -0.00198,
      -0.03119,
      0.00299
    ],
    "tcp_rotation_matrix": [
      [
        0.99803,
        0.01061,
        0.06191
      ],
      [
        0.01408,
        -0.99834,
        -0.05585
      ],
      [
        0.06122,
        0.05661,
        -0.99652
      ]
    ],
    "simulated_seconds_remaining": 12.672,
    "calls_remaining_including_this": 30
  },
  "api_seconds": 6.605425864458084,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.98,
                    "gripper": 0
                  },
                  "note": "The gripper is stopped against the mug. I keep it closed and lift clear of the bowl and tabletop."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 28,
    "motion_seconds": 1.848,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 29,
  "state": {
    "instruction": "pick up the mug and place it on the bowl.",
    "joint_positions": [
      -0.13745,
      0.38284,
      -0.01622,
      -1.25046,
      -0.04011,
      1.70308,
      -0.16076
    ],
    "gripper_open": 0.1722,
    "tcp_xyz": [
      0.67959,
      -0.11411,
      0.97871
    ],
    "tcp_roll_pitch_yaw": [
      -0.002,
      -0.03133,
      0.00299
    ],
    "tcp_rotation_matrix": [
      [
        0.99802,
        0.01061,
        0.06206
      ],
      [
        0.01409,
        -0.99834,
        -0.05587
      ],
      [
        0.06136,
        0.05663,
        -0.99651
      ]
    ],
    "simulated_seconds_remaining": 10.824,
    "calls_remaining_including_this": 29
  },
  "api_seconds": 15.612683674320579,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.44,
                    "y": -0.04,
                    "z": 1.02,
                    "gripper": 0
                  },
                  "note": "The mug remains fixed in the closed gripper, and the bowl is ahead in the wrist view. I carry the mug over the bowl."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 30,
    "motion_seconds": 1.98,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 30,
  "state": {
    "instruction": "pick up the mug and place it on the bowl.",
    "joint_positions": [
      -0.09448,
      -0.41786,
      0.02572,
      -2.09852,
      -0.04158,
      1.74659,
      -0.07714
    ],
    "gripper_open": 0.1721,
    "tcp_xyz": [
      0.44127,
      -0.04036,
      1.01981
    ],
    "tcp_roll_pitch_yaw": [
      -0.002,
      -0.03132,
      0.00306
    ],
    "tcp_rotation_matrix": [
      [
        0.99802,
        0.01068,
        0.06205
      ],
      [
        0.01415,
        -0.99834,
        -0.05587
      ],
      [
        0.06135,
        0.05663,
        -0.99651
      ]
    ],
    "simulated_seconds_remaining": 8.844,
    "calls_remaining_including_this": 28
  },
  "api_seconds": 6.605515358038247,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.39,
                    "y": -0.13,
                    "z": 0.94,
                    "gripper": 0
                  },
                  "note": "The bowl is slightly left of the held mug. I shift over its center and lower toward it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 31,
  "state": {
    "instruction": "pick up the mug and place it on the bowl.",
    "joint_positions": [
      -0.16554,
      -0.53106,
      -0.1129,
      -2.3915,
      -0.10145,
      1.93599,
      -0.24458
    ],
    "gripper_open": 0.1726,
    "tcp_xyz": [
      0.39044,
      -0.12915,
      0.94067
    ],
    "tcp_roll_pitch_yaw": [
      -0.00189,
      -0.03099,
      0.00287
    ],
    "tcp_rotation_matrix": [
      [
        0.99804,
        0.01052,
        0.06171
      ],
      [
        0.01397,
        -0.99835,
        -0.05576
      ],
      [
        0.06102,
        0.05652,
        -0.99654
      ]
    ],
    "simulated_seconds_remaining": 7.656,
    "calls_remaining_including_this": 27
  },
  "api_seconds": 7.806021896190941,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.43,
                    "z": 0.84,
                    "gripper": 0
                  },
                  "note": "The held mug is above the bowl. I lower it toward the bowl while correcting the small fore-aft offset."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 32,
  "state": {
    "instruction": "pick up the mug and place it on the bowl.",
    "joint_positions": [
      -0.15384,
      -0.33883,
      -0.11768,
      -2.48014,
      -0.09574,
      2.225,
      -0.22354
    ],
    "gripper_open": 0.1685,
    "tcp_xyz": [
      0.43145,
      -0.12962,
      0.84588
    ],
    "tcp_roll_pitch_yaw": [
      -0.00373,
      -0.04008,
      0.00309
    ],
    "tcp_rotation_matrix": [
      [
        0.99744,
        0.01014,
        0.07078
      ],
      [
        0.01423,
        -0.99824,
        -0.05756
      ],
      [
        0.07007,
        0.05842,
        -0.99583
      ]
    ],
    "simulated_seconds_remaining": 6.666,
    "calls_remaining_including_this": 26
  },
  "api_seconds": 6.405219123698771,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 1
                  },
                  "note": "The mug has reached the bowl and the arm has settled at contact height. I open the fingers to leave the mug on the bowl."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

========================================================================
GPT-Astra / Pick & place / 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,
  "status": "completed",
  "success": true,
  "oracle_success": true,
  "action_decisions": 18,
  "wall_seconds": 225.37,
  "usage": {
    "input_tokens": 343345,
    "cached_input_tokens": 314880,
    "cache_write_input_tokens": 0,
    "output_tokens": 3962,
    "reasoning_output_tokens": 1866
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick-and-place 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 45 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 and grasp the requested object, lift it, move it to the named receptacle, and release it in or on that receptacle. Complete the entire pick-and-place 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 object and place it in the requested receptacle.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"pick up the ladle and place it on the bowl.\", \"joint_positions\": [0.0327, -0.78412, -0.01336, -2.36284, -0.03891, 1.5473, -0.04195], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.2998, -0.00422, 1.0099], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.99738, 0.06542, -0.03076], [0.0645, -0.99746, -0.03019], [-0.03266, 0.02813, -0.99907]], \"simulated_seconds_remaining\": 45.012, \"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": 0.95,
    "gripper": 1,
    "note": "The ladle and bowl are near the far side of the counter. I am moving forward for a clearer overhead 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": 0.95,
      "gripper": 1
    },
    "note": "The ladle and bowl are near the far side of the counter. Moving forward gives a clearer overhead view."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"pick up the ladle and place it on the bowl.\", \"joint_positions\": [0.03578, -0.23406, -0.01894, -2.07919, -0.03507, 1.81351, -0.03864], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.47872, -3e-05, 0.95034], \"tcp_roll_pitch_yaw\": [-0.0, 0.00021, -1e-05], \"tcp_rotation_matrix\": [[0.99738, 0.06542, -0.03097], [0.06449, -0.99746, -0.03019], [-0.03287, 0.02812, -0.99906]], \"simulated_seconds_remaining\": 43.428, \"calls_remaining_including_this\": 56}"
      },
      {
        "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": 0.53,
      "y": 0.055,
      "z": 0.84,
      "yaw": 0.65
    },
    "note": "The silver ladle lies beside the bowl, with its handle pointing toward the upper left of the wrist view. I am aligning the jaws across its handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"pick up the ladle and place it on the bowl.\", \"joint_positions\": [0.11506, -0.02075, 0.00429, -2.13293, -0.04819, 2.09974, -0.5669], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.52962, 0.05468, 0.84058], \"tcp_roll_pitch_yaw\": [0.00015, 0.0005, 0.64571], \"tcp_rotation_matrix\": [[0.75775, 0.65251, -0.00689], [0.6517, -0.75727, -0.0428], [-0.03315, 0.02795, -0.99906]], \"simulated_seconds_remaining\": 42.24, \"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": 0.505,
      "y": 0.115,
      "z": 0.8,
      "yaw": -0.4
    },
    "note": "The closer view shows the ladle handle extending below its silver cup. I am centering on the narrow handle and adjusting the jaws to cross it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"pick up the ladle and place it on the bowl.\", \"joint_positions\": [0.16415, 0.00452, 0.0618, -2.20572, -0.00785, 2.16725, 0.56084], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.50508, 0.11479, 0.80014], \"tcp_roll_pitch_yaw\": [0.00013, 0.00055, -0.3953], \"tcp_rotation_matrix\": [[0.94529, -0.32372, -0.04047], [-0.32455, -0.94574, -0.01568], [-0.0332, 0.02796, -0.99906]], \"simulated_seconds_remaining\": 40.524, \"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": 0.48,
      "y": 0.04,
      "z": 0.9,
      "yaw": 0
    },
    "note": "The handle is obscured by the fingers at this angle. I am raising and restoring the overhead orientation to locate it precisely."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"pick up the ladle and place it on the bowl.\", \"joint_positions\": [0.12142, -0.20249, -0.02315, -2.17679, -0.03365, 1.94025, 0.04949], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.48025, 0.04046, 0.89943], \"tcp_roll_pitch_yaw\": [0.00016, 0.00024, -0.00308], \"tcp_rotation_matrix\": [[0.99757, 0.06236, -0.03109], [0.06143, -0.99766, -0.02993], [-0.03288, 0.02795, -0.99907]], \"simulated_seconds_remaining\": 39.402, \"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": 0.48,
      "y": 0.015,
      "z": 0.78
    },
    "note": "The ladle handle runs below the silver cup and toward the gap between the fingers. I am lowering with a small lateral correction to capture the handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"pick up the ladle and place it on the bowl.\", \"joint_positions\": [0.09767, -0.08195, -0.05421, -2.36579, -0.04243, 2.25078, 0.00903], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.47992, 0.01525, 0.78117], \"tcp_roll_pitch_yaw\": [0.00014, 0.00059, -0.00314], \"tcp_rotation_matrix\": [[0.99756, 0.06231, -0.03145], [0.06138, -0.99767, -0.02995], [-0.03324, 0.02795, -0.99906]], \"simulated_seconds_remaining\": 38.28, \"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": 0.43,
      "y": -0.035,
      "z": 0.84
    },
    "note": "The ladle remains just outside the finger gap. I am shifting back and right while lifting slightly to bring the handle into view."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"pick up the ladle and place it on the bowl.\", \"joint_positions\": [0.04831, -0.30879, -0.10732, -2.44127, -0.07445, 2.10331, -0.07647], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.43076, -0.03435, 0.83927], \"tcp_roll_pitch_yaw\": [0.00015, 0.00036, -0.00327], \"tcp_rotation_matrix\": [[0.99758, 0.06217, -0.03121], [0.06124, -0.99767, -0.02993], [-0.033, 0.02795, -0.99906]], \"simulated_seconds_remaining\": 37.356, \"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": 0.56,
      "y": -0.035,
      "z": 0.84
    },
    "note": "The utensil is below the visible finger gap. Moving forward will bring its handle into the grasp area."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"pick up the ladle and place it on the bowl.\", \"joint_positions\": [0.05795, 0.07224, -0.11067, -2.01551, -0.02668, 2.05748, -0.1015], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.55871, -0.03499, 0.83996], \"tcp_roll_pitch_yaw\": [0.00014, 0.00042, -0.00326], \"tcp_rotation_matrix\": [[0.99757, 0.06218, -0.03128], [0.06125, -0.99767, -0.02994], [-0.03307, 0.02795, -0.99906]], \"simulated_seconds_remaining\": 36.168, \"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": {
      "x": 0.59,
      "y": -0.035,
      "z": 0.745
    },
    "note": "The ladle handle is now centered between the open fingers. I am descending to the handle with a small forward correction."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"pick up the ladle and place it on the bowl.\", \"joint_positions\": [0.05223, 0.27206, -0.10637, -2.00213, -0.00381, 2.24265, -0.11006], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.58952, -0.03499, 0.74606], \"tcp_roll_pitch_yaw\": [0.00014, 0.00077, -0.00326], \"tcp_rotation_matrix\": [[0.99756, 0.0622, -0.03162], [0.06125, -0.99767, -0.02995], [-0.03341, 0.02794, -0.99905]], \"simulated_seconds_remaining\": 35.178, \"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": {
      "gripper": 0
    },
    "note": "The handle extends into the finger gap beneath the ladle cup. I am closing the jaws around it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"pick up the ladle and place it on the bowl.\", \"joint_positions\": [0.05813, 0.26272, -0.09862, -1.996, 5e-05, 2.24226, -0.1107], \"gripper_open\": 0.6127, \"tcp_xyz\": [0.59409, -0.02613, 0.75402], \"tcp_roll_pitch_yaw\": [0.00539, -0.01438, 0.00841], \"tcp_rotation_matrix\": [[0.99717, 0.07348, -0.01618], [0.07306, -0.99702, -0.02494], [-0.01797, 0.02369, -0.99956]], \"simulated_seconds_remaining\": 34.254, \"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": {
      "z": 0.91
    },
    "note": "The jaws stopped against the ladle. I am lifting vertically to verify that it is held securely."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 11, \"instruction\": \"pick up the ladle and place it on the bowl.\", \"joint_positions\": [0.06218, 0.12284, -0.10164, -1.77392, -0.01376, 1.88128, -0.10785], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.59418, -0.02613, 0.90879], \"tcp_roll_pitch_yaw\": [0.00539, -0.01477, 0.00841], \"tcp_rotation_matrix\": [[0.99717, 0.07347, -0.01579], [0.07307, -0.99702, -0.02494], [-0.01757, 0.02371, -0.99956]], \"simulated_seconds_remaining\": 32.934, \"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"
}

The ladle stayed on the counter after the first lift. I’ll grasp farther along its handle and keep the jaws commanded closed during the lift.


{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.67,
      "y": -0.025,
      "z": 0.755,
      "gripper": 1
    },
    "note": "The handle is clearly visible extending forward from the cup. I am positioning farther along that narrow section for a secure grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 12, \"instruction\": \"pick up the ladle and place it on the bowl.\", \"joint_positions\": [0.04921, 0.47623, -0.09204, -1.66447, 0.0196, 2.12356, -0.11674], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.66933, -0.02501, 0.75601], \"tcp_roll_pitch_yaw\": [0.00538, -0.01441, 0.00842], \"tcp_rotation_matrix\": [[0.99717, 0.07349, -0.01615], [0.07307, -0.99701, -0.02495], [-0.01793, 0.02369, -0.99956]], \"simulated_seconds_remaining\": 31.482, \"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": {
      "gripper": 0
    },
    "note": "The straight handle now passes through the finger gap. I am closing around the narrow shaft."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 13, \"instruction\": \"pick up the ladle and place it on the bowl.\", \"joint_positions\": [0.05103, 0.47402, -0.08978, -1.66259, 0.02077, 2.1241, -0.11678], \"gripper_open\": 0.0969, \"tcp_xyz\": [0.67066, -0.02205, 0.75831], \"tcp_roll_pitch_yaw\": [0.00739, -0.01906, 0.01173], \"tcp_rotation_matrix\": [[0.99699, 0.07671, -0.01144], [0.07644, -0.99681, -0.02294], [-0.01317, 0.022, -0.99967]], \"simulated_seconds_remaining\": 30.558, \"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": 0.94,
      "gripper": 0
    },
    "note": "The jaws have closed to the width of the handle. I am lifting while maintaining the grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 14, \"instruction\": \"pick up the ladle and place it on the bowl.\", \"joint_positions\": [0.04985, 0.38166, -0.09544, -1.33613, 0.01226, 1.70604, -0.11731], \"gripper_open\": 0.0961, \"tcp_xyz\": [0.67073, -0.02205, 0.93882], \"tcp_roll_pitch_yaw\": [0.00739, -0.01944, 0.01173], \"tcp_rotation_matrix\": [[0.99699, 0.07671, -0.01106], [0.07644, -0.99681, -0.02294], [-0.01279, 0.02202, -0.99968]], \"simulated_seconds_remaining\": 29.04, \"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": -0.245,
      "z": 0.97,
      "gripper": 0
    },
    "note": "The ladle has lifted with the gripper. The bowl is to the left in the wrist view, so I am carrying the ladle laterally over it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 15, \"instruction\": \"pick up the ladle and place it on the bowl.\", \"joint_positions\": [-0.24003, 0.61419, -0.17766, -0.89728, 0.07669, 1.50252, -0.45697], \"gripper_open\": 0.096, \"tcp_xyz\": [0.67068, -0.24383, 0.96976], \"tcp_roll_pitch_yaw\": [0.00732, -0.01934, 0.0114], \"tcp_rotation_matrix\": [[0.99702, 0.07638, -0.01117], [0.07611, -0.99683, -0.023], [-0.01289, 0.02208, -0.99967]], \"simulated_seconds_remaining\": 27.258, \"calls_remaining_including_this\": 43}"
      },
      {
        "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": 0.645,
      "y": -0.305,
      "z": 0.865,
      "gripper": 0
    },
    "note": "The bowl is beneath the ladle cup but slightly offset. I am centering the cup over the bowl and lowering toward its rim."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 16, \"instruction\": \"pick up the ladle and place it on the bowl.\", \"joint_positions\": [-0.28805, 0.53934, -0.19763, -1.26927, 0.0813, 1.83689, -0.55549], \"gripper_open\": 0.0968, \"tcp_xyz\": [0.65386, -0.3056, 0.87735], \"tcp_roll_pitch_yaw\": [-0.00702, -0.05407, 0.01534], \"tcp_rotation_matrix\": [[0.99661, 0.07872, 0.02383], [0.07956, -0.99615, -0.03684], [0.02084, 0.03861, -0.99904]], \"simulated_seconds_remaining\": 26.136, \"calls_remaining_including_this\": 42}"
      },
      {
        "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": 0.665,
      "y": -0.26,
      "z": 0.92,
      "gripper": 0
    },
    "note": "The bowl opening is visible just to the right of the ladle cup. I am lifting slightly and shifting the cup over the opening."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 17, \"instruction\": \"pick up the ladle and place it on the bowl.\", \"joint_positions\": [-0.23509, 0.51115, -0.18548, -1.20481, 0.06662, 1.74478, -0.48549], \"gripper_open\": 0.0965, \"tcp_xyz\": [0.66487, -0.26078, 0.91926], \"tcp_roll_pitch_yaw\": [-0.00704, -0.05432, 0.01557], \"tcp_rotation_matrix\": [[0.99659, 0.07894, 0.02409], [0.07979, -0.99613, -0.03685], [0.02108, 0.03864, -0.99903]], \"simulated_seconds_remaining\": 25.41, \"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": {
      "z": 0.86,
      "gripper": 0
    },
    "note": "The ladle cup is over the bowl opening, with its handle extending across the near rim. I am lowering it onto the bowl."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 18, \"instruction\": \"pick up the ladle and place it on the bowl.\", \"joint_positions\": [-0.22649, 0.50431, -0.18229, -1.34298, 0.06908, 1.93865, -0.48642], \"gripper_open\": 0.098, \"tcp_xyz\": [0.67937, -0.26408, 0.87593], \"tcp_roll_pitch_yaw\": [-0.03001, -0.11272, 0.02141], \"tcp_rotation_matrix\": [[0.99336, 0.07979, 0.08293], [0.08477, -0.99469, -0.05839], [0.07783, 0.06503, -0.99484]], \"simulated_seconds_remaining\": 24.75, \"calls_remaining_including_this\": 40}"
      },
      {
        "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": 1
    },
    "note": "The ladle is supported by the bowl, as indicated by contact during lowering. I am opening the jaws to leave it on the bowl."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "Episode ended. Do not call more tools. Return a brief final response."
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

Placed the ladle on the bowl.

TURN USAGE
{
  "input_tokens": 343345,
  "cached_input_tokens": 314880,
  "cache_write_input_tokens": 0,
  "output_tokens": 3962,
  "reasoning_output_tokens": 1866
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "pick up the ladle and place it on the bowl.",
    "joint_positions": [
      0.0327,
      -0.78412,
      -0.01336,
      -2.36284,
      -0.03891,
      1.5473,
      -0.04195
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.2998,
      -0.00422,
      1.0099
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99738,
        0.06542,
        -0.03076
      ],
      [
        0.0645,
        -0.99746,
        -0.03019
      ],
      [
        -0.03266,
        0.02813,
        -0.99907
      ]
    ],
    "simulated_seconds_remaining": 45.012,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 27.623108352534473,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48,
                    "y": 0,
                    "z": 0.95,
                    "gripper": 1
                  },
                  "note": "The ladle and bowl are near the far side of the counter. Moving forward gives a clearer overhead view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 24,
    "motion_seconds": 1.584,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "pick up the ladle and place it on the bowl.",
    "joint_positions": [
      0.03578,
      -0.23406,
      -0.01894,
      -2.07919,
      -0.03507,
      1.81351,
      -0.03864
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.47872,
      -3e-05,
      0.95034
    ],
    "tcp_roll_pitch_yaw": [
      -0.0,
      0.00021,
      -1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99738,
        0.06542,
        -0.03097
      ],
      [
        0.06449,
        -0.99746,
        -0.03019
      ],
      [
        -0.03287,
        0.02812,
        -0.99906
      ]
    ],
    "simulated_seconds_remaining": 43.428,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 12.019456459209323,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.53,
                    "y": 0.055,
                    "z": 0.84,
                    "yaw": 0.65
                  },
                  "note": "The silver ladle lies beside the bowl, with its handle pointing toward the upper left of the wrist view. I am aligning the jaws across its handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "pick up the ladle and place it on the bowl.",
    "joint_positions": [
      0.11506,
      -0.02075,
      0.00429,
      -2.13293,
      -0.04819,
      2.09974,
      -0.5669
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.52962,
      0.05468,
      0.84058
    ],
    "tcp_roll_pitch_yaw": [
      0.00015,
      0.0005,
      0.64571
    ],
    "tcp_rotation_matrix": [
      [
        0.75775,
        0.65251,
        -0.00689
      ],
      [
        0.6517,
        -0.75727,
        -0.0428
      ],
      [
        -0.03315,
        0.02795,
        -0.99906
      ]
    ],
    "simulated_seconds_remaining": 42.24,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 12.610911151394248,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.505,
                    "y": 0.115,
                    "z": 0.8,
                    "yaw": -0.4
                  },
                  "note": "The closer view shows the ladle handle extending below its silver cup. I am centering on the narrow handle and adjusting the jaws to cross it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 26,
    "motion_seconds": 1.7160000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "pick up the ladle and place it on the bowl.",
    "joint_positions": [
      0.16415,
      0.00452,
      0.0618,
      -2.20572,
      -0.00785,
      2.16725,
      0.56084
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.50508,
      0.11479,
      0.80014
    ],
    "tcp_roll_pitch_yaw": [
      0.00013,
      0.00055,
      -0.3953
    ],
    "tcp_rotation_matrix": [
      [
        0.94529,
        -0.32372,
        -0.04047
      ],
      [
        -0.32455,
        -0.94574,
        -0.01568
      ],
      [
        -0.0332,
        0.02796,
        -0.99906
      ]
    ],
    "simulated_seconds_remaining": 40.524,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 13.211056211963296,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48,
                    "y": 0.04,
                    "z": 0.9,
                    "yaw": 0
                  },
                  "note": "The handle is obscured by the fingers at this angle. I am raising and restoring the overhead orientation to locate it precisely."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "pick up the ladle and place it on the bowl.",
    "joint_positions": [
      0.12142,
      -0.20249,
      -0.02315,
      -2.17679,
      -0.03365,
      1.94025,
      0.04949
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.48025,
      0.04046,
      0.89943
    ],
    "tcp_roll_pitch_yaw": [
      0.00016,
      0.00024,
      -0.00308
    ],
    "tcp_rotation_matrix": [
      [
        0.99757,
        0.06236,
        -0.03109
      ],
      [
        0.06143,
        -0.99766,
        -0.02993
      ],
      [
        -0.03288,
        0.02795,
        -0.99907
      ]
    ],
    "simulated_seconds_remaining": 39.402,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 11.210136050358415,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48,
                    "y": 0.015,
                    "z": 0.78
                  },
                  "note": "The ladle handle runs below the silver cup and toward the gap between the fingers. I am lowering with a small lateral correction to capture the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "pick up the ladle and place it on the bowl.",
    "joint_positions": [
      0.09767,
      -0.08195,
      -0.05421,
      -2.36579,
      -0.04243,
      2.25078,
      0.00903
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.47992,
      0.01525,
      0.78117
    ],
    "tcp_roll_pitch_yaw": [
      0.00014,
      0.00059,
      -0.00314
    ],
    "tcp_rotation_matrix": [
      [
        0.99756,
        0.06231,
        -0.03145
      ],
      [
        0.06138,
        -0.99767,
        -0.02995
      ],
      [
        -0.03324,
        0.02795,
        -0.99906
      ]
    ],
    "simulated_seconds_remaining": 38.28,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 8.812367301434278,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.43,
                    "y": -0.035,
                    "z": 0.84
                  },
                  "note": "The ladle remains just outside the finger gap. I am shifting back and right while lifting slightly to bring the handle into view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "pick up the ladle and place it on the bowl.",
    "joint_positions": [
      0.04831,
      -0.30879,
      -0.10732,
      -2.44127,
      -0.07445,
      2.10331,
      -0.07647
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.43076,
      -0.03435,
      0.83927
    ],
    "tcp_roll_pitch_yaw": [
      0.00015,
      0.00036,
      -0.00327
    ],
    "tcp_rotation_matrix": [
      [
        0.99758,
        0.06217,
        -0.03121
      ],
      [
        0.06124,
        -0.99767,
        -0.02993
      ],
      [
        -0.033,
        0.02795,
        -0.99906
      ]
    ],
    "simulated_seconds_remaining": 37.356,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 5.806293502449989,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.56,
                    "y": -0.035,
                    "z": 0.84
                  },
                  "note": "The utensil is below the visible finger gap. Moving forward will bring its handle into the grasp area."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "pick up the ladle and place it on the bowl.",
    "joint_positions": [
      0.05795,
      0.07224,
      -0.11067,
      -2.01551,
      -0.02668,
      2.05748,
      -0.1015
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.55871,
      -0.03499,
      0.83996
    ],
    "tcp_roll_pitch_yaw": [
      0.00014,
      0.00042,
      -0.00326
    ],
    "tcp_rotation_matrix": [
      [
        0.99757,
        0.06218,
        -0.03128
      ],
      [
        0.06125,
        -0.99767,
        -0.02994
      ],
      [
        -0.03307,
        0.02795,
        -0.99906
      ]
    ],
    "simulated_seconds_remaining": 36.168,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 8.207571080885828,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.59,
                    "y": -0.035,
                    "z": 0.745
                  },
                  "note": "The ladle handle is now centered between the open fingers. I am descending to the handle with a small forward correction."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "pick up the ladle and place it on the bowl.",
    "joint_positions": [
      0.05223,
      0.27206,
      -0.10637,
      -2.00213,
      -0.00381,
      2.24265,
      -0.11006
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.58952,
      -0.03499,
      0.74606
    ],
    "tcp_roll_pitch_yaw": [
      0.00014,
      0.00077,
      -0.00326
    ],
    "tcp_rotation_matrix": [
      [
        0.99756,
        0.0622,
        -0.03162
      ],
      [
        0.06125,
        -0.99767,
        -0.02995
      ],
      [
        -0.03341,
        0.02794,
        -0.99905
      ]
    ],
    "simulated_seconds_remaining": 35.178,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 5.00497027952224,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The handle extends into the finger gap beneath the ladle cup. I am closing the jaws around it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "pick up the ladle and place it on the bowl.",
    "joint_positions": [
      0.05813,
      0.26272,
      -0.09862,
      -1.996,
      5e-05,
      2.24226,
      -0.1107
    ],
    "gripper_open": 0.6127,
    "tcp_xyz": [
      0.59409,
      -0.02613,
      0.75402
    ],
    "tcp_roll_pitch_yaw": [
      0.00539,
      -0.01438,
      0.00841
    ],
    "tcp_rotation_matrix": [
      [
        0.99717,
        0.07348,
        -0.01618
      ],
      [
        0.07306,
        -0.99702,
        -0.02494
      ],
      [
        -0.01797,
        0.02369,
        -0.99956
      ]
    ],
    "simulated_seconds_remaining": 34.254,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 4.804690504446626,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.91
                  },
                  "note": "The jaws stopped against the ladle. I am lifting vertically to verify that it is held securely."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "pick up the ladle and place it on the bowl.",
    "joint_positions": [
      0.06218,
      0.12284,
      -0.10164,
      -1.77392,
      -0.01376,
      1.88128,
      -0.10785
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.59418,
      -0.02613,
      0.90879
    ],
    "tcp_roll_pitch_yaw": [
      0.00539,
      -0.01477,
      0.00841
    ],
    "tcp_rotation_matrix": [
      [
        0.99717,
        0.07347,
        -0.01579
      ],
      [
        0.07307,
        -0.99702,
        -0.02494
      ],
      [
        -0.01757,
        0.02371,
        -0.99956
      ]
    ],
    "simulated_seconds_remaining": 32.934,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 10.809597630985081,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.67,
                    "y": -0.025,
                    "z": 0.755,
                    "gripper": 1
                  },
                  "note": "The handle is clearly visible extending forward from the cup. I am positioning farther along that narrow section for a secure grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 22,
    "motion_seconds": 1.452,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "pick up the ladle and place it on the bowl.",
    "joint_positions": [
      0.04921,
      0.47623,
      -0.09204,
      -1.66447,
      0.0196,
      2.12356,
      -0.11674
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.66933,
      -0.02501,
      0.75601
    ],
    "tcp_roll_pitch_yaw": [
      0.00538,
      -0.01441,
      0.00842
    ],
    "tcp_rotation_matrix": [
      [
        0.99717,
        0.07349,
        -0.01615
      ],
      [
        0.07307,
        -0.99701,
        -0.02495
      ],
      [
        -0.01793,
        0.02369,
        -0.99956
      ]
    ],
    "simulated_seconds_remaining": 31.482,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 5.004781377501786,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The straight handle now passes through the finger gap. I am closing around the narrow shaft."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "pick up the ladle and place it on the bowl.",
    "joint_positions": [
      0.05103,
      0.47402,
      -0.08978,
      -1.66259,
      0.02077,
      2.1241,
      -0.11678
    ],
    "gripper_open": 0.0969,
    "tcp_xyz": [
      0.67066,
      -0.02205,
      0.75831
    ],
    "tcp_roll_pitch_yaw": [
      0.00739,
      -0.01906,
      0.01173
    ],
    "tcp_rotation_matrix": [
      [
        0.99699,
        0.07671,
        -0.01144
      ],
      [
        0.07644,
        -0.99681,
        -0.02294
      ],
      [
        -0.01317,
        0.022,
        -0.99967
      ]
    ],
    "simulated_seconds_remaining": 30.558,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 4.003816467709839,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.94,
                    "gripper": 0
                  },
                  "note": "The jaws have closed to the width of the handle. I am lifting while maintaining the grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "pick up the ladle and place it on the bowl.",
    "joint_positions": [
      0.04985,
      0.38166,
      -0.09544,
      -1.33613,
      0.01226,
      1.70604,
      -0.11731
    ],
    "gripper_open": 0.0961,
    "tcp_xyz": [
      0.67073,
      -0.02205,
      0.93882
    ],
    "tcp_roll_pitch_yaw": [
      0.00739,
      -0.01944,
      0.01173
    ],
    "tcp_rotation_matrix": [
      [
        0.99699,
        0.07671,
        -0.01106
      ],
      [
        0.07644,
        -0.99681,
        -0.02294
      ],
      [
        -0.01279,
        0.02202,
        -0.99968
      ]
    ],
    "simulated_seconds_remaining": 29.04,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 9.808404492214322,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": -0.245,
                    "z": 0.97,
                    "gripper": 0
                  },
                  "note": "The ladle has lifted with the gripper. The bowl is to the left in the wrist view, so I am carrying the ladle laterally over it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 27,
    "motion_seconds": 1.782,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "pick up the ladle and place it on the bowl.",
    "joint_positions": [
      -0.24003,
      0.61419,
      -0.17766,
      -0.89728,
      0.07669,
      1.50252,
      -0.45697
    ],
    "gripper_open": 0.096,
    "tcp_xyz": [
      0.67068,
      -0.24383,
      0.96976
    ],
    "tcp_roll_pitch_yaw": [
      0.00732,
      -0.01934,
      0.0114
    ],
    "tcp_rotation_matrix": [
      [
        0.99702,
        0.07638,
        -0.01117
      ],
      [
        0.07611,
        -0.99683,
        -0.023
      ],
      [
        -0.01289,
        0.02208,
        -0.99967
      ]
    ],
    "simulated_seconds_remaining": 27.258,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 10.612144742161036,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.645,
                    "y": -0.305,
                    "z": 0.865,
                    "gripper": 0
                  },
                  "note": "The bowl is beneath the ladle cup but slightly offset. I am centering the cup over the bowl and lowering toward its rim."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "pick up the ladle and place it on the bowl.",
    "joint_positions": [
      -0.28805,
      0.53934,
      -0.19763,
      -1.26927,
      0.0813,
      1.83689,
      -0.55549
    ],
    "gripper_open": 0.0968,
    "tcp_xyz": [
      0.65386,
      -0.3056,
      0.87735
    ],
    "tcp_roll_pitch_yaw": [
      -0.00702,
      -0.05407,
      0.01534
    ],
    "tcp_rotation_matrix": [
      [
        0.99661,
        0.07872,
        0.02383
      ],
      [
        0.07956,
        -0.99615,
        -0.03684
      ],
      [
        0.02084,
        0.03861,
        -0.99904
      ]
    ],
    "simulated_seconds_remaining": 26.136,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 9.408082514069974,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.665,
                    "y": -0.26,
                    "z": 0.92,
                    "gripper": 0
                  },
                  "note": "The bowl opening is visible just to the right of the ladle cup. I am lifting slightly and shifting the cup over the opening."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "pick up the ladle and place it on the bowl.",
    "joint_positions": [
      -0.23509,
      0.51115,
      -0.18548,
      -1.20481,
      0.06662,
      1.74478,
      -0.48549
    ],
    "gripper_open": 0.0965,
    "tcp_xyz": [
      0.66487,
      -0.26078,
      0.91926
    ],
    "tcp_roll_pitch_yaw": [
      -0.00704,
      -0.05432,
      0.01557
    ],
    "tcp_rotation_matrix": [
      [
        0.99659,
        0.07894,
        0.02409
      ],
      [
        0.07979,
        -0.99613,
        -0.03685
      ],
      [
        0.02108,
        0.03864,
        -0.99903
      ]
    ],
    "simulated_seconds_remaining": 25.41,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 5.404593290761113,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.86,
                    "gripper": 0
                  },
                  "note": "The ladle cup is over the bowl opening, with its handle extending across the near rim. I am lowering it onto the bowl."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "pick up the ladle and place it on the bowl.",
    "joint_positions": [
      -0.22649,
      0.50431,
      -0.18229,
      -1.34298,
      0.06908,
      1.93865,
      -0.48642
    ],
    "gripper_open": 0.098,
    "tcp_xyz": [
      0.67937,
      -0.26408,
      0.87593
    ],
    "tcp_roll_pitch_yaw": [
      -0.03001,
      -0.11272,
      0.02141
    ],
    "tcp_rotation_matrix": [
      [
        0.99336,
        0.07979,
        0.08293
      ],
      [
        0.08477,
        -0.99469,
        -0.05839
      ],
      [
        0.07783,
        0.06503,
        -0.99484
      ]
    ],
    "simulated_seconds_remaining": 24.75,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 4.4042218597605824,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 1
                  },
                  "note": "The ladle is supported by the bowl, as indicated by contact during lowering. I am opening the jaws to leave it on the bowl."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

========================================================================
GPT-Astra / Pick & place / 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,
  "status": "completed",
  "success": true,
  "oracle_success": true,
  "action_decisions": 18,
  "wall_seconds": 256.9,
  "usage": {
    "input_tokens": 342245,
    "cached_input_tokens": 319744,
    "cache_write_input_tokens": 0,
    "output_tokens": 4389,
    "reasoning_output_tokens": 2440
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick-and-place 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 45 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 and grasp the requested object, lift it, move it to the named receptacle, and release it in or on that receptacle. Complete the entire pick-and-place 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 guide the pick and place.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [-0.01362, -0.75441, 0.00836, -2.40388, -0.01854, 1.59154, -0.00625], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.30564, -0.00671, 0.98524], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.99831, 0.00016, -0.05808], [-0.00122, -0.99972, -0.02381], [-0.05806, 0.02384, -0.99803]], \"simulated_seconds_remaining\": 45.012, \"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": 0.5,
    "y": 0.1,
    "z": 0.9,
    "gripper": 1,
    "note": "The fork and dark bowl are on the table ahead; moving above the work area for a clearer overhead 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": 0.5,
      "y": 0.1,
      "z": 0.9,
      "gripper": 1
    },
    "note": "Moving above the table to see the fork and bowl more clearly."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [0.03872, -0.10216, 0.1574, -2.05822, 0.00408, 1.89548, 0.19385], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.49884, 0.09939, 0.90042], \"tcp_roll_pitch_yaw\": [-3e-05, 0.0002, 7e-05], \"tcp_rotation_matrix\": [[0.9983, 0.00023, -0.05827], [-0.00116, -0.99971, -0.02385], [-0.05826, 0.02388, -0.99802]], \"simulated_seconds_remaining\": 43.164, \"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": 0.58,
      "y": 0.08,
      "z": 0.81
    },
    "note": "The silver fork is visible near the bowl; approaching its handle while keeping the fingers open."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [0.01741, 0.19612, 0.13317, -1.92347, -0.04613, 2.05593, 0.17219], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.57908, 0.08015, 0.81085], \"tcp_roll_pitch_yaw\": [-6e-05, 0.00048, -3e-05], \"tcp_rotation_matrix\": [[0.99828, 0.00014, -0.05856], [-0.00126, -0.99971, -0.02387], [-0.05855, 0.0239, -0.998]], \"simulated_seconds_remaining\": 42.042, \"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": {
      "x": 0.54,
      "y": 0.12,
      "z": 0.81
    },
    "note": "The fork lies just to one side of the open fingers; shifting sideways and back to center its narrow handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [0.05763, 0.10892, 0.16778, -2.04298, -0.03262, 2.08771, 0.24231], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.54088, 0.11922, 0.81005], \"tcp_roll_pitch_yaw\": [-4e-05, 0.00046, 0.00024], \"tcp_rotation_matrix\": [[0.99829, 0.00041, -0.05853], [-0.00099, -0.99971, -0.02386], [-0.05853, 0.02388, -0.998]], \"simulated_seconds_remaining\": 41.382, \"calls_remaining_including_this\": 54}"
      },
      {
        "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": 0.5,
      "y": 0.12,
      "z": 0.775
    },
    "note": "The fork handle is centered laterally; lowering and moving toward its middle for a stable pinch."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [0.06406, 0.04317, 0.17569, -2.22305, -0.02085, 2.20268, 0.25289], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.50089, 0.12, 0.77575], \"tcp_roll_pitch_yaw\": [-8e-05, 0.00066, 0.00031], \"tcp_rotation_matrix\": [[0.99827, 0.00048, -0.05873], [-0.00092, -0.99971, -0.02391], [-0.05872, 0.02392, -0.99799]], \"simulated_seconds_remaining\": 40.722, \"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": {
      "z": 0.74
    },
    "note": "The handle is between the jaws in the wrist view; lowering the grasp point to the fork's surface height."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [0.06545, 0.09048, 0.1749, -2.25128, -0.03462, 2.28366, 0.26214], \"gripper_open\": 1.0, \"tcp_xyz\": [0.50231, 0.12043, 0.74589], \"tcp_roll_pitch_yaw\": [0.00034, -0.00574, 0.00194], \"tcp_rotation_matrix\": [[0.99863, 0.00196, -0.0523], [0.00073, -0.99972, -0.02358], [-0.05233, 0.02351, -0.99835]], \"simulated_seconds_remaining\": 40.194, \"calls_remaining_including_this\": 52}"
      },
      {
        "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 fork is aligned within the fingers at table height; closing the gripper around its handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [0.073, 0.08036, 0.18508, -2.24209, -0.02953, 2.28583, 0.26127], \"gripper_open\": 0.6118, \"tcp_xyz\": [0.50629, 0.13146, 0.75508], \"tcp_roll_pitch_yaw\": [0.00816, -0.02589, 0.01673], \"tcp_rotation_matrix\": [[0.99935, 0.01648, -0.03195], [0.01597, -0.99974, -0.0162], [-0.03221, 0.01568, -0.99936]], \"simulated_seconds_remaining\": 39.27, \"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": {
      "z": 0.88
    },
    "note": "Lifting to check whether the fork is securely held and clear the table."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [0.07006, -0.06556, 0.18334, -2.07798, 0.0046, 1.97889, 0.23468], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.50638, 0.13148, 0.87879], \"tcp_roll_pitch_yaw\": [0.00822, -0.02626, 0.01673], \"tcp_rotation_matrix\": [[0.99937, 0.01648, -0.03158], [0.01597, -0.99974, -0.01613], [-0.03184, 0.01562, -0.99937]], \"simulated_seconds_remaining\": 38.148, \"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": 0.46,
      "y": 0.12,
      "z": 0.785,
      "gripper": 1,
      "roll": 0,
      "pitch": 0,
      "yaw": 0
    },
    "note": "The fork remained on the table after the first attempt. Repositioning farther along its handle for a cleaner grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [0.07146, -0.08397, 0.1855, -2.34584, 0.00885, 2.20108, 0.25072], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.46052, 0.12013, 0.78609], \"tcp_roll_pitch_yaw\": [4e-05, -4e-05, 0.00022], \"tcp_rotation_matrix\": [[0.99831, 0.00038, -0.05803], [-0.001, -0.99972, -0.02378], [-0.05803, 0.0238, -0.99803]], \"simulated_seconds_remaining\": 37.158, \"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": {
      "z": 0.772,
      "gripper": 0
    },
    "note": "The handle is now centered between the jaws; closing slightly above the table to avoid pressing the fingers into it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [0.07128, -0.06297, 0.18631, -2.36048, 0.00433, 2.23633, 0.2544], \"gripper_open\": 0.0, \"tcp_xyz\": [0.46051, 0.12013, 0.77268], \"tcp_roll_pitch_yaw\": [4e-05, 1e-05, 0.00022], \"tcp_rotation_matrix\": [[0.99831, 0.00038, -0.05808], [-0.001, -0.99972, -0.02379], [-0.05807, 0.02381, -0.99803]], \"simulated_seconds_remaining\": 36.234, \"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": {
      "z": 0.88,
      "gripper": 0
    },
    "note": "Keeping the jaws closed while lifting to verify that the fork follows the gripper."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 11, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [0.07147, -0.18855, 0.17771, -2.2071, 0.02608, 1.95951, 0.23475], \"gripper_open\": 0.0, \"tcp_xyz\": [0.4606, 0.12015, 0.87875], \"tcp_roll_pitch_yaw\": [0.0001, -0.00036, 0.00022], \"tcp_rotation_matrix\": [[0.99833, 0.00037, -0.05771], [-0.001, -0.99972, -0.02372], [-0.05771, 0.02374, -0.99805]], \"simulated_seconds_remaining\": 35.244, \"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"
}

The fork stayed on the table. I’m adjusting the alignment and grasp height for another attempt.


{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.48,
      "y": 0.102,
      "z": 0.758,
      "gripper": 1
    },
    "note": "The closed fingers missed the narrow handle; shifting toward its center and lowering closer to the table."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 12, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [0.05074, 0.0001, 0.16326, -2.32518, -0.01419, 2.26339, 0.22377], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.47971, 0.10215, 0.75918], \"tcp_roll_pitch_yaw\": [5e-05, 0.0, 0.00016], \"tcp_rotation_matrix\": [[0.99831, 0.00032, -0.05807], [-0.00106, -0.99972, -0.02378], [-0.05807, 0.0238, -0.99803]], \"simulated_seconds_remaining\": 34.122, \"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": {
      "x": 0.485,
      "y": 0.112,
      "z": 0.755,
      "gripper": 1
    },
    "note": "The handle is slightly right of the jaw center in the wrist view; making a small lateral correction before closing."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 13, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [0.05862, 0.02475, 0.17086, -2.30587, -0.01844, 2.26813, 0.24214], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.48447, 0.11108, 0.75538], \"tcp_roll_pitch_yaw\": [5e-05, 4e-05, 0.00023], \"tcp_rotation_matrix\": [[0.99831, 0.00039, -0.05812], [-0.00099, -0.99972, -0.02378], [-0.05811, 0.02379, -0.99803]], \"simulated_seconds_remaining\": 33.726, \"calls_remaining_including_this\": 45}"
      },
      {
        "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": {
      "gripper": 0
    },
    "note": "The handle now crosses the center of the open jaws; closing to grip it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 14, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [0.05866, 0.02469, 0.17091, -2.30579, -0.01841, 2.26815, 0.24213], \"gripper_open\": 0.2229, \"tcp_xyz\": [0.48451, 0.11115, 0.75544], \"tcp_roll_pitch_yaw\": [0.0001, -0.0001, 0.00031], \"tcp_rotation_matrix\": [[0.99832, 0.00047, -0.05797], [-0.00091, -0.99972, -0.02373], [-0.05796, 0.02375, -0.99804]], \"simulated_seconds_remaining\": 32.802, \"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": {
      "z": 0.89,
      "gripper": 0
    },
    "note": "The jaws stopped around the handle; lifting with the gripper held closed to verify the grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 15, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [0.05734, -0.13067, 0.16554, -2.11984, 0.01176, 1.92928, 0.21658], \"gripper_open\": 0.2227, \"tcp_xyz\": [0.48456, 0.11116, 0.88871], \"tcp_roll_pitch_yaw\": [0.00013, -0.00028, 0.00031], \"tcp_rotation_matrix\": [[0.99833, 0.00046, -0.05779], [-0.00091, -0.99972, -0.0237], [-0.05778, 0.02371, -0.99805]], \"simulated_seconds_remaining\": 31.614, \"calls_remaining_including_this\": 43}"
      },
      {
        "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": 1,
      "gripper": 0
    },
    "note": "The fork is held securely. Moving higher and forward to bring the bowl into view for placement."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 16, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [0.06696, 0.38629, 0.15236, -1.16593, -0.06857, 1.48656, 0.20659], \"gripper_open\": 0.2231, \"tcp_xyz\": [0.63895, 0.11115, 0.9991], \"tcp_roll_pitch_yaw\": [0.00011, -0.0001, 0.00029], \"tcp_rotation_matrix\": [[0.99832, 0.00045, -0.05797], [-0.00093, -0.99972, -0.02372], [-0.05797, 0.02373, -0.99804]], \"simulated_seconds_remaining\": 30.03, \"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": 0.58,
      "y": -0.06,
      "z": 0.9,
      "gripper": 0
    },
    "note": "The bowl is visible to the left of the held fork in the wrist view; moving the fork over its center."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 17, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [-0.12967, 0.12252, 0.04226, -1.78665, -0.03528, 1.8528, -0.07629], \"gripper_open\": 0.2229, \"tcp_xyz\": [0.58032, -0.05901, 0.90052], \"tcp_roll_pitch_yaw\": [0.00011, 0.00027, 0.0], \"tcp_rotation_matrix\": [[0.9983, 0.00017, -0.05834], [-0.00122, -0.99972, -0.0237], [-0.05833, 0.02373, -0.99802]], \"simulated_seconds_remaining\": 28.38, \"calls_remaining_including_this\": 41}"
      },
      {
        "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": 0.57,
      "y": -0.04,
      "z": 0.825,
      "gripper": 0
    },
    "note": "The bowl is beneath the fork; centering the fork across the opening and lowering toward the rim."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 18, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [-0.11712, 0.12272, 0.04977, -1.95168, -0.04203, 1.99018, -0.03944], \"gripper_open\": 0.2294, \"tcp_xyz\": [0.56064, -0.04612, 0.83521], \"tcp_roll_pitch_yaw\": [-0.00355, 0.02723, -0.00902], \"tcp_rotation_matrix\": [[0.99631, -0.00811, -0.08547], [-0.01042, -0.99959, -0.02659], [-0.08522, 0.02738, -0.99599]], \"simulated_seconds_remaining\": 27.456, \"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": 1
    },
    "note": "The fork has reached the bowl rim and is supported over the opening; opening the jaws to place it on the bowl."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "Episode ended. Do not call more tools. Return a brief final response."
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

Placed the fork on the bowl.

TURN USAGE
{
  "input_tokens": 342245,
  "cached_input_tokens": 319744,
  "cache_write_input_tokens": 0,
  "output_tokens": 4389,
  "reasoning_output_tokens": 2440
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      -0.01362,
      -0.75441,
      0.00836,
      -2.40388,
      -0.01854,
      1.59154,
      -0.00625
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.30564,
      -0.00671,
      0.98524
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99831,
        0.00016,
        -0.05808
      ],
      [
        -0.00122,
        -0.99972,
        -0.02381
      ],
      [
        -0.05806,
        0.02384,
        -0.99803
      ]
    ],
    "simulated_seconds_remaining": 45.012,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 22.41969569493085,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.5,
                    "y": 0.1,
                    "z": 0.9,
                    "gripper": 1
                  },
                  "note": "Moving above the table to see the fork and bowl more clearly."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 28,
    "motion_seconds": 1.848,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      0.03872,
      -0.10216,
      0.1574,
      -2.05822,
      0.00408,
      1.89548,
      0.19385
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.49884,
      0.09939,
      0.90042
    ],
    "tcp_roll_pitch_yaw": [
      -3e-05,
      0.0002,
      7e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.9983,
        0.00023,
        -0.05827
      ],
      [
        -0.00116,
        -0.99971,
        -0.02385
      ],
      [
        -0.05826,
        0.02388,
        -0.99802
      ]
    ],
    "simulated_seconds_remaining": 43.164,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 11.41062518581748,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.58,
                    "y": 0.08,
                    "z": 0.81
                  },
                  "note": "The silver fork is visible near the bowl; approaching its handle while keeping the fingers open."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      0.01741,
      0.19612,
      0.13317,
      -1.92347,
      -0.04613,
      2.05593,
      0.17219
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.57908,
      0.08015,
      0.81085
    ],
    "tcp_roll_pitch_yaw": [
      -6e-05,
      0.00048,
      -3e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99828,
        0.00014,
        -0.05856
      ],
      [
        -0.00126,
        -0.99971,
        -0.02387
      ],
      [
        -0.05855,
        0.0239,
        -0.998
      ]
    ],
    "simulated_seconds_remaining": 42.042,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 18.21624792739749,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.54,
                    "y": 0.12,
                    "z": 0.81
                  },
                  "note": "The fork lies just to one side of the open fingers; shifting sideways and back to center its narrow handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      0.05763,
      0.10892,
      0.16778,
      -2.04298,
      -0.03262,
      2.08771,
      0.24231
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.54088,
      0.11922,
      0.81005
    ],
    "tcp_roll_pitch_yaw": [
      -4e-05,
      0.00046,
      0.00024
    ],
    "tcp_rotation_matrix": [
      [
        0.99829,
        0.00041,
        -0.05853
      ],
      [
        -0.00099,
        -0.99971,
        -0.02386
      ],
      [
        -0.05853,
        0.02388,
        -0.998
      ]
    ],
    "simulated_seconds_remaining": 41.382,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 9.414827005937696,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.5,
                    "y": 0.12,
                    "z": 0.775
                  },
                  "note": "The fork handle is centered laterally; lowering and moving toward its middle for a stable pinch."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      0.06406,
      0.04317,
      0.17569,
      -2.22305,
      -0.02085,
      2.20268,
      0.25289
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.50089,
      0.12,
      0.77575
    ],
    "tcp_roll_pitch_yaw": [
      -8e-05,
      0.00066,
      0.00031
    ],
    "tcp_rotation_matrix": [
      [
        0.99827,
        0.00048,
        -0.05873
      ],
      [
        -0.00092,
        -0.99971,
        -0.02391
      ],
      [
        -0.05872,
        0.02392,
        -0.99799
      ]
    ],
    "simulated_seconds_remaining": 40.722,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 7.807611818425357,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.74
                  },
                  "note": "The handle is between the jaws in the wrist view; lowering the grasp point to the fork's surface height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 8,
    "motion_seconds": 0.528,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      0.06545,
      0.09048,
      0.1749,
      -2.25128,
      -0.03462,
      2.28366,
      0.26214
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.50231,
      0.12043,
      0.74589
    ],
    "tcp_roll_pitch_yaw": [
      0.00034,
      -0.00574,
      0.00194
    ],
    "tcp_rotation_matrix": [
      [
        0.99863,
        0.00196,
        -0.0523
      ],
      [
        0.00073,
        -0.99972,
        -0.02358
      ],
      [
        -0.05233,
        0.02351,
        -0.99835
      ]
    ],
    "simulated_seconds_remaining": 40.194,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 4.604749029502273,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The fork is aligned within the fingers at table height; closing the gripper around its handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      0.073,
      0.08036,
      0.18508,
      -2.24209,
      -0.02953,
      2.28583,
      0.26127
    ],
    "gripper_open": 0.6118,
    "tcp_xyz": [
      0.50629,
      0.13146,
      0.75508
    ],
    "tcp_roll_pitch_yaw": [
      0.00816,
      -0.02589,
      0.01673
    ],
    "tcp_rotation_matrix": [
      [
        0.99935,
        0.01648,
        -0.03195
      ],
      [
        0.01597,
        -0.99974,
        -0.0162
      ],
      [
        -0.03221,
        0.01568,
        -0.99936
      ]
    ],
    "simulated_seconds_remaining": 39.27,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 5.205314107239246,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.88
                  },
                  "note": "Lifting to check whether the fork is securely held and clear the table."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      0.07006,
      -0.06556,
      0.18334,
      -2.07798,
      0.0046,
      1.97889,
      0.23468
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.50638,
      0.13148,
      0.87879
    ],
    "tcp_roll_pitch_yaw": [
      0.00822,
      -0.02626,
      0.01673
    ],
    "tcp_rotation_matrix": [
      [
        0.99937,
        0.01648,
        -0.03158
      ],
      [
        0.01597,
        -0.99974,
        -0.01613
      ],
      [
        -0.03184,
        0.01562,
        -0.99937
      ]
    ],
    "simulated_seconds_remaining": 38.148,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 27.223382581956685,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.46,
                    "y": 0.12,
                    "z": 0.785,
                    "gripper": 1,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 0
                  },
                  "note": "The fork remained on the table after the first attempt. Repositioning farther along its handle for a cleaner grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      0.07146,
      -0.08397,
      0.1855,
      -2.34584,
      0.00885,
      2.20108,
      0.25072
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.46052,
      0.12013,
      0.78609
    ],
    "tcp_roll_pitch_yaw": [
      4e-05,
      -4e-05,
      0.00022
    ],
    "tcp_rotation_matrix": [
      [
        0.99831,
        0.00038,
        -0.05803
      ],
      [
        -0.001,
        -0.99972,
        -0.02378
      ],
      [
        -0.05803,
        0.0238,
        -0.99803
      ]
    ],
    "simulated_seconds_remaining": 37.158,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 5.405261029489338,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.772,
                    "gripper": 0
                  },
                  "note": "The handle is now centered between the jaws; closing slightly above the table to avoid pressing the fingers into it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      0.07128,
      -0.06297,
      0.18631,
      -2.36048,
      0.00433,
      2.23633,
      0.2544
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.46051,
      0.12013,
      0.77268
    ],
    "tcp_roll_pitch_yaw": [
      4e-05,
      1e-05,
      0.00022
    ],
    "tcp_rotation_matrix": [
      [
        0.99831,
        0.00038,
        -0.05808
      ],
      [
        -0.001,
        -0.99972,
        -0.02379
      ],
      [
        -0.05807,
        0.02381,
        -0.99803
      ]
    ],
    "simulated_seconds_remaining": 36.234,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 5.004842302761972,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.88,
                    "gripper": 0
                  },
                  "note": "Keeping the jaws closed while lifting to verify that the fork follows the gripper."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      0.07147,
      -0.18855,
      0.17771,
      -2.2071,
      0.02608,
      1.95951,
      0.23475
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.4606,
      0.12015,
      0.87875
    ],
    "tcp_roll_pitch_yaw": [
      0.0001,
      -0.00036,
      0.00022
    ],
    "tcp_rotation_matrix": [
      [
        0.99833,
        0.00037,
        -0.05771
      ],
      [
        -0.001,
        -0.99972,
        -0.02372
      ],
      [
        -0.05771,
        0.02374,
        -0.99805
      ]
    ],
    "simulated_seconds_remaining": 35.244,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 19.616069089621305,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48,
                    "y": 0.102,
                    "z": 0.758,
                    "gripper": 1
                  },
                  "note": "The closed fingers missed the narrow handle; shifting toward its center and lowering closer to the table."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      0.05074,
      0.0001,
      0.16326,
      -2.32518,
      -0.01419,
      2.26339,
      0.22377
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.47971,
      0.10215,
      0.75918
    ],
    "tcp_roll_pitch_yaw": [
      5e-05,
      0.0,
      0.00016
    ],
    "tcp_rotation_matrix": [
      [
        0.99831,
        0.00032,
        -0.05807
      ],
      [
        -0.00106,
        -0.99972,
        -0.02378
      ],
      [
        -0.05807,
        0.0238,
        -0.99803
      ]
    ],
    "simulated_seconds_remaining": 34.122,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 8.807805389165878,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.485,
                    "y": 0.112,
                    "z": 0.755,
                    "gripper": 1
                  },
                  "note": "The handle is slightly right of the jaw center in the wrist view; making a small lateral correction before closing."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 6,
    "motion_seconds": 0.396,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      0.05862,
      0.02475,
      0.17086,
      -2.30587,
      -0.01844,
      2.26813,
      0.24214
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.48447,
      0.11108,
      0.75538
    ],
    "tcp_roll_pitch_yaw": [
      5e-05,
      4e-05,
      0.00023
    ],
    "tcp_rotation_matrix": [
      [
        0.99831,
        0.00039,
        -0.05812
      ],
      [
        -0.00099,
        -0.99972,
        -0.02378
      ],
      [
        -0.05811,
        0.02379,
        -0.99803
      ]
    ],
    "simulated_seconds_remaining": 33.726,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 4.404480987228453,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The handle now crosses the center of the open jaws; closing to grip it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      0.05866,
      0.02469,
      0.17091,
      -2.30579,
      -0.01841,
      2.26815,
      0.24213
    ],
    "gripper_open": 0.2229,
    "tcp_xyz": [
      0.48451,
      0.11115,
      0.75544
    ],
    "tcp_roll_pitch_yaw": [
      0.0001,
      -0.0001,
      0.00031
    ],
    "tcp_rotation_matrix": [
      [
        0.99832,
        0.00047,
        -0.05797
      ],
      [
        -0.00091,
        -0.99972,
        -0.02373
      ],
      [
        -0.05796,
        0.02375,
        -0.99804
      ]
    ],
    "simulated_seconds_remaining": 32.802,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 4.40704152546823,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.89,
                    "gripper": 0
                  },
                  "note": "The jaws stopped around the handle; lifting with the gripper held closed to verify the grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      0.05734,
      -0.13067,
      0.16554,
      -2.11984,
      0.01176,
      1.92928,
      0.21658
    ],
    "gripper_open": 0.2227,
    "tcp_xyz": [
      0.48456,
      0.11116,
      0.88871
    ],
    "tcp_roll_pitch_yaw": [
      0.00013,
      -0.00028,
      0.00031
    ],
    "tcp_rotation_matrix": [
      [
        0.99833,
        0.00046,
        -0.05779
      ],
      [
        -0.00091,
        -0.99972,
        -0.0237
      ],
      [
        -0.05778,
        0.02371,
        -0.99805
      ]
    ],
    "simulated_seconds_remaining": 31.614,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 20.41802833881229,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.64,
                    "z": 1,
                    "gripper": 0
                  },
                  "note": "The fork is held securely. Moving higher and forward to bring the bowl into view for placement."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 24,
    "motion_seconds": 1.584,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      0.06696,
      0.38629,
      0.15236,
      -1.16593,
      -0.06857,
      1.48656,
      0.20659
    ],
    "gripper_open": 0.2231,
    "tcp_xyz": [
      0.63895,
      0.11115,
      0.9991
    ],
    "tcp_roll_pitch_yaw": [
      0.00011,
      -0.0001,
      0.00029
    ],
    "tcp_rotation_matrix": [
      [
        0.99832,
        0.00045,
        -0.05797
      ],
      [
        -0.00093,
        -0.99972,
        -0.02372
      ],
      [
        -0.05797,
        0.02373,
        -0.99804
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 14.216691253706813,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.58,
                    "y": -0.06,
                    "z": 0.9,
                    "gripper": 0
                  },
                  "note": "The bowl is visible to the left of the held fork in the wrist view; moving the fork over its center."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 25,
    "motion_seconds": 1.6500000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      -0.12967,
      0.12252,
      0.04226,
      -1.78665,
      -0.03528,
      1.8528,
      -0.07629
    ],
    "gripper_open": 0.2229,
    "tcp_xyz": [
      0.58032,
      -0.05901,
      0.90052
    ],
    "tcp_roll_pitch_yaw": [
      0.00011,
      0.00027,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.9983,
        0.00017,
        -0.05834
      ],
      [
        -0.00122,
        -0.99972,
        -0.0237
      ],
      [
        -0.05833,
        0.02373,
        -0.99802
      ]
    ],
    "simulated_seconds_remaining": 28.38,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 13.412157697603106,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.57,
                    "y": -0.04,
                    "z": 0.825,
                    "gripper": 0
                  },
                  "note": "The bowl is beneath the fork; centering the fork across the opening and lowering toward the rim."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      -0.11712,
      0.12272,
      0.04977,
      -1.95168,
      -0.04203,
      1.99018,
      -0.03944
    ],
    "gripper_open": 0.2294,
    "tcp_xyz": [
      0.56064,
      -0.04612,
      0.83521
    ],
    "tcp_roll_pitch_yaw": [
      -0.00355,
      0.02723,
      -0.00902
    ],
    "tcp_rotation_matrix": [
      [
        0.99631,
        -0.00811,
        -0.08547
      ],
      [
        -0.01042,
        -0.99959,
        -0.02659
      ],
      [
        -0.08522,
        0.02738,
        -0.99599
      ]
    ],
    "simulated_seconds_remaining": 27.456,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 6.206214272417128,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 1
                  },
                  "note": "The fork has reached the bowl rim and is supported over the opening; opening the jaws to place it on the bowl."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

========================================================================
GPT-Astra / Pick & place / 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,
  "status": "completed",
  "success": false,
  "oracle_success": false,
  "action_decisions": 36,
  "wall_seconds": 409.2,
  "usage": {
    "input_tokens": 798935,
    "cached_input_tokens": 749056,
    "cache_write_input_tokens": 0,
    "output_tokens": 6480,
    "reasoning_output_tokens": 2634
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick-and-place 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 45 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 and grasp the requested object, lift it, move it to the named receptacle, and release it in or on that receptacle. Complete the entire pick-and-place 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 object and place it in the target receptacle.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.00878, -0.76724, -0.04131, -2.37303, 0.04913, 1.58328, 0.01237], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.30896, 0.00375, 1.00335], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.99916, -0.035, -0.02126], [-0.03324, -0.99639, 0.07817], [-0.02392, -0.0774, -0.99671]], \"simulated_seconds_remaining\": 45.012, \"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": 1.16,
    "note": "The wrist view is partly blocked by the gripper; lifting will give a clearer view of the potato and bowl."
  },
  "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": 1.16
    },
    "note": "The wrist view is partly blocked; lifting gives a clearer view of the potato and bowl."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.01811, -0.60053, -0.04418, -1.84389, 0.0563, 1.22181, 0.03479], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.30899, 0.00375, 1.15868], \"tcp_roll_pitch_yaw\": [1e-05, -0.00021, -1e-05], \"tcp_rotation_matrix\": [[0.99917, -0.03499, -0.02105], [-0.03325, -0.99638, 0.07818], [-0.02371, -0.07742, -0.99672]], \"simulated_seconds_remaining\": 43.692, \"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": 0.26,
      "y": -0.06,
      "z": 1.08
    },
    "note": "The potato is the small brown oval below the cutting board; I am moving the open gripper toward it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [-0.02042, -0.82219, -0.14731, -2.18571, -0.03341, 1.33868, -0.09231], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.26055, -0.0593, 1.08092], \"tcp_roll_pitch_yaw\": [6e-05, -0.00017, -0.00014], \"tcp_rotation_matrix\": [[0.99916, -0.03513, -0.02108], [-0.03338, -0.99638, 0.07823], [-0.02375, -0.07746, -0.99671]], \"simulated_seconds_remaining\": 42.636, \"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": 0.25,
      "y": -0.16,
      "z": 0.97
    },
    "note": "The potato is to the right of the open fingers in the wrist image; I am shifting right and lowering for alignment."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [-0.08566, -0.85832, -0.36006, -2.45412, -0.20219, 1.58227, -0.27937], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.25007, -0.15914, 0.97093], \"tcp_roll_pitch_yaw\": [0.00017, -2e-05, -0.00025], \"tcp_rotation_matrix\": [[0.99915, -0.03525, -0.02122], [-0.03349, -0.99636, 0.07834], [-0.0239, -0.07756, -0.9967]], \"simulated_seconds_remaining\": 41.316, \"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": 0.25,
      "y": 0.1,
      "z": 1.04
    },
    "note": "The last view shows the objects shifted right, so I am correcting leftward in the base frame to bring the potato between the fingers."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.05732, -0.89987, 0.13114, -2.34427, 0.1847, 1.44055, 0.19624], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.25001, 0.09873, 1.03967], \"tcp_roll_pitch_yaw\": [8e-05, -9e-05, -0.00012], \"tcp_rotation_matrix\": [[0.99916, -0.03512, -0.02116], [-0.03336, -0.99638, 0.07825], [-0.02384, -0.07748, -0.99671]], \"simulated_seconds_remaining\": 39.204, \"calls_remaining_including_this\": 53}"
      },
      {
        "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": 0.36,
      "y": 0.1,
      "z": 1.02
    },
    "note": "The potato is just beyond the lower edge of the wrist view; moving forward will expose it above the fingers for precise alignment."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.02356, -0.58446, 0.13966, -2.20692, 0.1576, 1.61603, 0.16624], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.35872, 0.09997, 1.02017], \"tcp_roll_pitch_yaw\": [8e-05, 0.00013, -0.00017], \"tcp_rotation_matrix\": [[0.99915, -0.03519, -0.02138], [-0.03341, -0.99637, 0.07825], [-0.02405, -0.07747, -0.9967]], \"simulated_seconds_remaining\": 38.148, \"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": 0.36,
      "y": 0.1,
      "z": 0.88
    },
    "note": "The brown potato is now visible beneath the cutting board, near the gap between the fingers; I am lowering to inspect the grasp alignment."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.03342, -0.56789, 0.16838, -2.54881, 0.18617, 1.97325, 0.13546], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.35993, 0.09999, 0.88121], \"tcp_roll_pitch_yaw\": [4e-05, 0.00045, -0.00016], \"tcp_rotation_matrix\": [[0.99914, -0.0352, -0.0217], [-0.0334, -0.99638, 0.07821], [-0.02437, -0.07742, -0.9967]], \"simulated_seconds_remaining\": 36.894, \"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": 0.46,
      "y": 0.1,
      "z": 0.92
    },
    "note": "The potato became obscured below the fingers during descent; I am advancing slightly to center it in the grasp region."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [-0.00462, -0.27511, 0.16343, -2.20091, 0.13285, 1.91684, 0.14108], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.45874, 0.09998, 0.91951], \"tcp_roll_pitch_yaw\": [6e-05, 0.00045, -0.00022], \"tcp_rotation_matrix\": [[0.99914, -0.03526, -0.02169], [-0.03346, -0.99637, 0.07824], [-0.02437, -0.07745, -0.9967]], \"simulated_seconds_remaining\": 35.904, \"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": 0.53,
      "y": 0.1,
      "z": 0.92
    },
    "note": "The potato remains low in the wrist image; another small forward adjustment will bring it into the open grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [-0.01612, -0.06208, 0.16409, -1.97454, 0.09606, 1.90179, 0.15032], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.52876, 0.09997, 0.91994], \"tcp_roll_pitch_yaw\": [7e-05, 0.00056, -0.00028], \"tcp_rotation_matrix\": [[0.99914, -0.03532, -0.02179], [-0.03352, -0.99637, 0.07825], [-0.02448, -0.07745, -0.9967]], \"simulated_seconds_remaining\": 35.112, \"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": 0.56,
      "y": 0.11,
      "z": 0.81
    },
    "note": "The potato is clearly visible just ahead of the fingers; I am lowering with a small forward correction to surround it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [-0.00404, 0.11918, 0.17379, -2.03993, 0.07201, 2.14741, 0.16355], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.55956, 0.10987, 0.81113], \"tcp_roll_pitch_yaw\": [4e-05, 0.00093, -0.00027], \"tcp_rotation_matrix\": [[0.99913, -0.03534, -0.02217], [-0.03351, -0.99637, 0.07822], [-0.02485, -0.07741, -0.99669]], \"simulated_seconds_remaining\": 34.056, \"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": 0.63,
      "y": 0.11,
      "z": 0.81
    },
    "note": "At this height the potato sits behind the grasp center; I am moving forward to align the finger gap with its middle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 11, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.00104, 0.32236, 0.16209, -1.76114, 0.03378, 2.06941, 0.17341], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.62877, 0.10997, 0.80997], \"tcp_roll_pitch_yaw\": [5e-05, 0.001, -0.00033], \"tcp_rotation_matrix\": [[0.99913, -0.03541, -0.02223], [-0.03357, -0.99637, 0.07823], [-0.02492, -0.07741, -0.99669]], \"simulated_seconds_remaining\": 33.264, \"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": {
      "x": 0.65,
      "y": 0.115,
      "z": 0.755
    },
    "note": "The potato is centered just ahead of the open fingertips; I am lowering the grasp point to its mid-height."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 12, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.00678, 0.42598, 0.14881, -1.7073, -0.04307, 2.15288, 0.18075], \"gripper_open\": 1.0, \"tcp_xyz\": [0.66138, 0.09605, 0.77418], \"tcp_roll_pitch_yaw\": [-0.05017, -0.04212, 0.01838], \"tcp_rotation_matrix\": [[0.99967, -0.01546, 0.02032], [-0.01603, -0.99947, 0.02847], [0.01987, -0.02879, -0.99939]], \"simulated_seconds_remaining\": 32.604, \"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 potato lies within the finger gap at table level; I am closing the jaws around it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 13, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.00235, 0.41934, 0.14342, -1.70261, -0.04615, 2.15271, 0.18069], \"gripper_open\": 0.8158, \"tcp_xyz\": [0.66503, 0.08915, 0.78054], \"tcp_roll_pitch_yaw\": [-0.05448, -0.05365, 0.01061], \"tcp_rotation_matrix\": [[0.99922, -0.02311, 0.03211], [-0.02389, -0.99942, 0.02413], [0.03154, -0.02487, -0.99919]], \"simulated_seconds_remaining\": 31.68, \"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": 0.98
    },
    "note": "The jaws have stopped against the potato; I am lifting to verify that it is securely held."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 14, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.00758, 0.3499, 0.15234, -1.29407, -0.03318, 1.67595, 0.17629], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.66509, 0.08916, 0.97883], \"tcp_roll_pitch_yaw\": [-0.05444, -0.05403, 0.01061], \"tcp_rotation_matrix\": [[0.99921, -0.0231, 0.03249], [-0.02389, -0.99942, 0.02417], [0.03191, -0.02493, -0.99918]], \"simulated_seconds_remaining\": 30.03, \"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": 0.64,
      "y": 0.105,
      "z": 0.8,
      "roll": 0,
      "pitch": 0,
      "yaw": 0,
      "gripper": 1
    },
    "note": "The potato stayed on the table after the lift; I am repositioning slightly behind it for a centered grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 15, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [-0.00717, 0.36258, 0.16258, -1.72548, 0.02584, 2.07376, 0.16683], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.64011, 0.10487, 0.80115], \"tcp_roll_pitch_yaw\": [-0.00043, -3e-05, 9e-05], \"tcp_rotation_matrix\": [[0.99916, -0.03491, -0.02124], [-0.03316, -0.99642, 0.07774], [-0.02388, -0.07697, -0.99675]], \"simulated_seconds_remaining\": 28.512, \"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": {
      "x": 0.62,
      "y": 0.085,
      "z": 0.79,
      "gripper": 1
    },
    "note": "The potato is slightly left and ahead of the finger gap; I am making a small correction before closing."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 16, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [-0.03182, 0.30807, 0.15605, -1.83378, 0.03837, 2.12591, 0.13107], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.62068, 0.08559, 0.79036], \"tcp_roll_pitch_yaw\": [-0.00047, 4e-05, -3e-05], \"tcp_rotation_matrix\": [[0.99916, -0.03504, -0.0213], [-0.03328, -0.99642, 0.07771], [-0.02395, -0.07693, -0.99675]], \"simulated_seconds_remaining\": 27.984, \"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 potato is centered between the fingertips; I am closing the gripper to secure it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 17, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [-0.03114, 0.30143, 0.15738, -1.82897, 0.03912, 2.12603, 0.13103], \"gripper_open\": 0.0203, \"tcp_xyz\": [0.62323, 0.08708, 0.79672], \"tcp_roll_pitch_yaw\": [0.00092, -0.01141, 0.00132], \"tcp_rotation_matrix\": [[0.99941, -0.03279, -0.00999], [-0.0319, -0.99636, 0.07907], [-0.01255, -0.07871, -0.99682]], \"simulated_seconds_remaining\": 27.06, \"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": 1,
      "z": 0.75
    },
    "note": "The jaws closed fully, indicating the grasp was too high; I am reopening and lowering around the potato."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 18, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [-0.02157, 0.34241, 0.1645, -1.86002, 0.03848, 2.22997, 0.1291], \"gripper_open\": 1.0, \"tcp_xyz\": [0.63077, 0.09882, 0.76669], \"tcp_roll_pitch_yaw\": [0.01041, -0.04306, 0.01262], \"tcp_rotation_matrix\": [[0.99962, -0.01863, 0.02051], [-0.02038, -0.99584, 0.08881], [0.01877, -0.0892, -0.99584]], \"simulated_seconds_remaining\": 26.136, \"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 open fingers now reach the potato's sides at a lower height; I am closing for the grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 19, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [-0.01834, 0.33171, 0.16977, -1.84832, 0.04195, 2.23588, 0.12948], \"gripper_open\": 0.6412, \"tcp_xyz\": [0.63771, 0.10525, 0.77967], \"tcp_roll_pitch_yaw\": [0.01663, -0.07077, 0.01694], \"tcp_rotation_matrix\": [[0.9988, -0.01142, 0.04755], [-0.01593, -0.9953, 0.09556], [0.04624, -0.0962, -0.99429]], \"simulated_seconds_remaining\": 25.212, \"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": 1.02,
      "gripper": 0
    },
    "note": "The jaws are stopped against the potato; I am lifting while maintaining the close command."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 20, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [-0.01793, 0.24878, 0.17653, -1.34603, 0.04425, 1.65306, 0.16336], \"gripper_open\": 0.0, \"tcp_xyz\": [0.63777, 0.10527, 1.01881], \"tcp_roll_pitch_yaw\": [0.01667, -0.07113, 0.01693], \"tcp_rotation_matrix\": [[0.99879, -0.01139, 0.04792], [-0.01593, -0.99529, 0.0956], [0.0466, -0.09625, -0.99427]], \"simulated_seconds_remaining\": 23.298, \"calls_remaining_including_this\": 38}"
      },
      {
        "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"
}

The potato slipped during the lift. I’m adjusting the grasp to its center before trying again.


{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.68,
      "y": 0.11,
      "z": 0.78,
      "roll": 0,
      "pitch": 0,
      "yaw": 0,
      "gripper": 1
    },
    "note": "The potato remained on the table and rotated; I am approaching farther forward so the jaws reach its center."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 21, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.00497, 0.50964, 0.15958, -1.55226, 0.00333, 2.0467, 0.17748], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.67969, 0.10996, 0.78113], \"tcp_roll_pitch_yaw\": [6e-05, -1e-05, 9e-05], \"tcp_rotation_matrix\": [[0.99916, -0.03491, -0.02126], [-0.03315, -0.99638, 0.07823], [-0.02392, -0.07746, -0.99671]], \"simulated_seconds_remaining\": 21.384, \"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": 0.655,
      "y": 0.105,
      "z": 0.755,
      "gripper": 1
    },
    "note": "The potato is now fully visible ahead of the fingertips; I am lowering and bringing the grasp back onto its middle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 22, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [-0.00541, 0.45945, 0.1611, -1.69967, 0.01109, 2.1435, 0.16763], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.65579, 0.10516, 0.7558], \"tcp_roll_pitch_yaw\": [3e-05, 0.00022, 0.0001], \"tcp_rotation_matrix\": [[0.99916, -0.03492, -0.02149], [-0.03314, -0.99639, 0.0782], [-0.02414, -0.07742, -0.99671]], \"simulated_seconds_remaining\": 20.856, \"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 potato is aligned centrally at the lower grasp height; I am closing around its sides."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 23, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [-0.00545, 0.45942, 0.16106, -1.69959, 0.01108, 2.14358, 0.16763], \"gripper_open\": 0.0, \"tcp_xyz\": [0.65584, 0.1051, 0.75585], \"tcp_roll_pitch_yaw\": [2e-05, 4e-05, 2e-05], \"tcp_rotation_matrix\": [[0.99916, -0.03498, -0.0213], [-0.03322, -0.99639, 0.07819], [-0.02396, -0.07741, -0.99671]], \"simulated_seconds_remaining\": 19.932, \"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": 0.585,
      "y": 0.135,
      "z": 0.76,
      "gripper": 1
    },
    "note": "The potato rolled forward when the jaws closed; I am centering the open gap over its new position at the same low height."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 24, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.01825, 0.26999, 0.19099, -1.97677, 0.03814, 2.2372, 0.21359], \"gripper_open\": 0.9988, \"tcp_xyz\": [0.58627, 0.13415, 0.76022], \"tcp_roll_pitch_yaw\": [-0.0002, -0.00061, -0.0005], \"tcp_rotation_matrix\": [[0.99916, -0.03545, -0.02061], [-0.03375, -0.99638, 0.07799], [-0.02331, -0.07723, -0.99674]], \"simulated_seconds_remaining\": 19.008, \"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": {
      "z": 0.72,
      "gripper": 1
    },
    "note": "The potato is between the open jaws in the image; I am lowering farther so the fingers engage below its widest section."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 25, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.02237, 0.32105, 0.18704, -2.0023, 0.02829, 2.3182, 0.21641], \"gripper_open\": 1.0, \"tcp_xyz\": [0.58742, 0.13416, 0.72585], \"tcp_roll_pitch_yaw\": [-0.00035, -0.00564, -0.00161], \"tcp_rotation_matrix\": [[0.99923, -0.03617, -0.01551], [-0.03486, -0.99636, 0.07785], [-0.01827, -0.07725, -0.99684]], \"simulated_seconds_remaining\": 18.414, \"calls_remaining_including_this\": 33}"
      },
      {
        "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 now extend down the potato's sides; I am closing at this deeper grasp height."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 26, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.01895, 0.31446, 0.18278, -1.99966, 0.02647, 2.31614, 0.21709], \"gripper_open\": 0.8173, \"tcp_xyz\": [0.59034, 0.1294, 0.73052], \"tcp_roll_pitch_yaw\": [-0.00266, -0.01312, -0.00851], \"tcp_rotation_matrix\": [[0.99907, -0.0425, -0.00753], [-0.04181, -0.99626, 0.07559], [-0.01072, -0.0752, -0.99711]], \"simulated_seconds_remaining\": 17.49, \"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": {
      "z": 0.94,
      "gripper": 0
    },
    "note": "The jaws are braced against the potato at its sides; I am lifting while keeping them closed."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 27, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.00766, 0.12976, 0.19047, -1.69758, 0.05298, 1.83157, 0.22526], \"gripper_open\": 0.5698, \"tcp_xyz\": [0.5903, 0.12937, 0.93841], \"tcp_roll_pitch_yaw\": [-0.00275, -0.01266, -0.00853], \"tcp_rotation_matrix\": [[0.99906, -0.04255, -0.008], [-0.04183, -0.99627, 0.07551], [-0.01118, -0.0751, -0.99711]], \"simulated_seconds_remaining\": 15.774, \"calls_remaining_including_this\": 31}"
      },
      {
        "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": 0.43,
      "y": -0.15,
      "z": 1,
      "gripper": 0
    },
    "note": "The potato is lifted and remains between the jaws; I am carrying it toward the gray bowl beside the cutting board."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 28, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [-0.23625, -0.30487, -0.11441, -2.02252, 0.03433, 1.68568, -0.30681], \"gripper_open\": 0.5064, \"tcp_xyz\": [0.43055, -0.14894, 0.99947], \"tcp_roll_pitch_yaw\": [-0.00256, -0.012, -0.0088], \"tcp_rotation_matrix\": [[0.99904, -0.04287, -0.00863], [-0.0421, -0.99624, 0.0757], [-0.01184, -0.07526, -0.99709]], \"simulated_seconds_remaining\": 13.266, \"calls_remaining_including_this\": 30}"
      },
      {
        "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": 0.33,
      "y": -0.205,
      "z": 0.98,
      "gripper": 0
    },
    "note": "The bowl is ahead and left of the held potato in the wrist view; I am shifting to place the potato directly over its opening."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 29, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [-0.3152, -0.51303, -0.21812, -2.24048, -0.04451, 1.69329, -0.45442], \"gripper_open\": 0.0, \"tcp_xyz\": [0.33113, -0.20442, 0.98026], \"tcp_roll_pitch_yaw\": [-0.00254, -0.01207, -0.00902], \"tcp_rotation_matrix\": [[0.99904, -0.04308, -0.00855], [-0.04231, -0.99623, 0.07572], [-0.01178, -0.07528, -0.99709]], \"simulated_seconds_remaining\": 12.21, \"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": {
      "z": 1.14,
      "gripper": 1
    },
    "note": "The potato is no longer visible between the jaws; I am opening and lifting to inspect the bowl and nearby surface."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 30, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [-0.29793, -0.39485, -0.21087, -1.72557, -0.01851, 1.29551, -0.45315], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.33116, -0.20444, 1.13875], \"tcp_roll_pitch_yaw\": [-0.00264, -0.01229, -0.00902], \"tcp_rotation_matrix\": [[0.99904, -0.04307, -0.00833], [-0.04232, -0.99624, 0.07562], [-0.01155, -0.07519, -0.9971]], \"simulated_seconds_remaining\": 10.824, \"calls_remaining_including_this\": 28}"
      },
      {
        "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": 0.425,
      "y": -0.2,
      "z": 0.73,
      "gripper": 1,
      "roll": 0,
      "pitch": 0,
      "yaw": 0
    },
    "note": "The potato landed on the table just beside the bowl; I am descending to pick it up again for the short final placement."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 31, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [-0.25591, -0.01239, -0.21034, -2.42504, 0.08194, 2.3597, -0.48887], \"gripper_open\": 0.9987, \"tcp_xyz\": [0.42468, -0.20201, 0.73243], \"tcp_roll_pitch_yaw\": [-0.0013, -0.0022, -0.00289], \"tcp_rotation_matrix\": [[0.99911, -0.03771, -0.01884], [-0.03616, -0.99638, 0.07693], [-0.02168, -0.07618, -0.99686]], \"simulated_seconds_remaining\": 7.722, \"calls_remaining_including_this\": 27}"
      },
      {
        "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": {
      "z": 0.88,
      "gripper": 1
    },
    "note": "The bowl blocks the close wrist view; I am lifting slightly to locate the potato and avoid pushing the receptacle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 32, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [-0.26136, -0.21515, -0.19909, -2.23683, 0.02031, 1.97528, -0.42638], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.42477, -0.20205, 0.87874], \"tcp_roll_pitch_yaw\": [-0.00143, -0.00256, -0.00289], \"tcp_rotation_matrix\": [[0.99912, -0.03769, -0.01849], [-0.03617, -0.99639, 0.0768], [-0.02131, -0.07607, -0.99687]], \"simulated_seconds_remaining\": 6.468, \"calls_remaining_including_this\": 26}"
      },
      {
        "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": 0.45,
      "y": -0.17,
      "z": 0.725,
      "gripper": 1
    },
    "note": "The potato is right of the fingers below the bowl; I am shifting onto its center and lowering for a firm grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 33, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [-0.22144, -0.07338, -0.1685, -2.38036, 0.0996, 2.3806, -0.4193], \"gripper_open\": 1.0, \"tcp_xyz\": [0.47344, -0.18004, 0.78272], \"tcp_roll_pitch_yaw\": [-0.03103, -0.12102, -0.00868], \"tcp_rotation_matrix\": [[0.99428, -0.0378, 0.09986], [-0.0426, -0.99802, 0.04635], [0.09791, -0.05034, -0.99392]], \"simulated_seconds_remaining\": 5.082, \"calls_remaining_including_this\": 25}"
      },
      {
        "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": 0.445,
      "y": -0.11,
      "z": 0.73,
      "gripper": 1,
      "roll": 0,
      "pitch": 0,
      "yaw": 0
    },
    "note": "The potato shifted to the right during contact; I am moving the open gap over its new center."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 34, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [-0.16625, -0.05224, -0.10516, -2.46574, 0.09584, 2.80568, -0.30521], \"gripper_open\": 1.0, \"tcp_xyz\": [0.54405, -0.1503, 0.79252], \"tcp_roll_pitch_yaw\": [-0.14504, -0.4109, -0.00175], \"tcp_rotation_matrix\": [[0.92346, -0.06076, 0.37884], [-0.03796, -0.99701, -0.06737], [0.3818, 0.04783, -0.92301]], \"simulated_seconds_remaining\": 4.158, \"calls_remaining_including_this\": 24}"
      },
      {
        "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,
      "y": -0.07,
      "z": 0.85,
      "roll": 0,
      "pitch": 0,
      "yaw": 0,
      "gripper": 1
    },
    "note": "Contact has tilted the gripper; I am lifting clear and restoring a vertical approach over the potato."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 35, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [-0.11722, -0.0097, -0.04458, -2.0924, 0.08213, 2.0517, -0.16671], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.53033, -0.07062, 0.84957], \"tcp_roll_pitch_yaw\": [-0.00123, -0.00396, -0.00017], \"tcp_rotation_matrix\": [[0.99924, -0.03487, -0.0173], [-0.03344, -0.99647, 0.07695], [-0.01992, -0.07631, -0.99689]], \"simulated_seconds_remaining\": 3.168, \"calls_remaining_including_this\": 23}"
      },
      {
        "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": -0.11,
      "z": 0.73,
      "gripper": 1
    },
    "note": "The potato is left of the finger gap; I am making the final alignment and lowering around it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 36, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [-0.15379, 0.21116, -0.0682, -2.11682, 0.11553, 2.43629, -0.26528], \"gripper_open\": 0.9997, \"tcp_xyz\": [0.58703, -0.12183, 0.75088], \"tcp_roll_pitch_yaw\": [-0.04329, -0.14524, -0.00627], \"tcp_rotation_matrix\": [[0.99166, -0.03594, 0.12379], [-0.04046, -0.9986, 0.03419], [0.12239, -0.03891, -0.99172]], \"simulated_seconds_remaining\": 2.046, \"calls_remaining_including_this\": 22}"
      },
      {
        "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": {
    "note": "I could not secure and place the potato before the remaining motion time became insufficient."
  },
  "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 placement. The potato slipped during transport and remains on the table.

TURN USAGE
{
  "input_tokens": 798935,
  "cached_input_tokens": 749056,
  "cache_write_input_tokens": 0,
  "output_tokens": 6480,
  "reasoning_output_tokens": 2634
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.00878,
      -0.76724,
      -0.04131,
      -2.37303,
      0.04913,
      1.58328,
      0.01237
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.30896,
      0.00375,
      1.00335
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99916,
        -0.035,
        -0.02126
      ],
      [
        -0.03324,
        -0.99639,
        0.07817
      ],
      [
        -0.02392,
        -0.0774,
        -0.99671
      ]
    ],
    "simulated_seconds_remaining": 45.012,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 28.829315180890262,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.16
                  },
                  "note": "The wrist view is partly blocked; lifting gives a clearer view of the potato and bowl."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.01811,
      -0.60053,
      -0.04418,
      -1.84389,
      0.0563,
      1.22181,
      0.03479
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.30899,
      0.00375,
      1.15868
    ],
    "tcp_roll_pitch_yaw": [
      1e-05,
      -0.00021,
      -1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99917,
        -0.03499,
        -0.02105
      ],
      [
        -0.03325,
        -0.99638,
        0.07818
      ],
      [
        -0.02371,
        -0.07742,
        -0.99672
      ]
    ],
    "simulated_seconds_remaining": 43.692,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 9.607405941002071,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.26,
                    "y": -0.06,
                    "z": 1.08
                  },
                  "note": "The potato is the small brown oval below the cutting board; I am moving the open gripper toward it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      -0.02042,
      -0.82219,
      -0.14731,
      -2.18571,
      -0.03341,
      1.33868,
      -0.09231
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.26055,
      -0.0593,
      1.08092
    ],
    "tcp_roll_pitch_yaw": [
      6e-05,
      -0.00017,
      -0.00014
    ],
    "tcp_rotation_matrix": [
      [
        0.99916,
        -0.03513,
        -0.02108
      ],
      [
        -0.03338,
        -0.99638,
        0.07823
      ],
      [
        -0.02375,
        -0.07746,
        -0.99671
      ]
    ],
    "simulated_seconds_remaining": 42.636,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 15.813354911282659,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.25,
                    "y": -0.16,
                    "z": 0.97
                  },
                  "note": "The potato is to the right of the open fingers in the wrist image; I am shifting right and lowering for alignment."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      -0.08566,
      -0.85832,
      -0.36006,
      -2.45412,
      -0.20219,
      1.58227,
      -0.27937
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.25007,
      -0.15914,
      0.97093
    ],
    "tcp_roll_pitch_yaw": [
      0.00017,
      -2e-05,
      -0.00025
    ],
    "tcp_rotation_matrix": [
      [
        0.99915,
        -0.03525,
        -0.02122
      ],
      [
        -0.03349,
        -0.99636,
        0.07834
      ],
      [
        -0.0239,
        -0.07756,
        -0.9967
      ]
    ],
    "simulated_seconds_remaining": 41.316,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 13.210471082478762,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.25,
                    "y": 0.1,
                    "z": 1.04
                  },
                  "note": "The last view shows the objects shifted right, so I am correcting leftward in the base frame to bring the potato between the fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 32,
    "motion_seconds": 2.112,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.05732,
      -0.89987,
      0.13114,
      -2.34427,
      0.1847,
      1.44055,
      0.19624
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.25001,
      0.09873,
      1.03967
    ],
    "tcp_roll_pitch_yaw": [
      8e-05,
      -9e-05,
      -0.00012
    ],
    "tcp_rotation_matrix": [
      [
        0.99916,
        -0.03512,
        -0.02116
      ],
      [
        -0.03336,
        -0.99638,
        0.07825
      ],
      [
        -0.02384,
        -0.07748,
        -0.99671
      ]
    ],
    "simulated_seconds_remaining": 39.204,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 8.607353551313281,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.36,
                    "y": 0.1,
                    "z": 1.02
                  },
                  "note": "The potato is just beyond the lower edge of the wrist view; moving forward will expose it above the fingers for precise alignment."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.02356,
      -0.58446,
      0.13966,
      -2.20692,
      0.1576,
      1.61603,
      0.16624
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.35872,
      0.09997,
      1.02017
    ],
    "tcp_roll_pitch_yaw": [
      8e-05,
      0.00013,
      -0.00017
    ],
    "tcp_rotation_matrix": [
      [
        0.99915,
        -0.03519,
        -0.02138
      ],
      [
        -0.03341,
        -0.99637,
        0.07825
      ],
      [
        -0.02405,
        -0.07747,
        -0.9967
      ]
    ],
    "simulated_seconds_remaining": 38.148,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 7.807807059958577,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.36,
                    "y": 0.1,
                    "z": 0.88
                  },
                  "note": "The brown potato is now visible beneath the cutting board, near the gap between the fingers; I am lowering to inspect the grasp alignment."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.03342,
      -0.56789,
      0.16838,
      -2.54881,
      0.18617,
      1.97325,
      0.13546
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.35993,
      0.09999,
      0.88121
    ],
    "tcp_roll_pitch_yaw": [
      4e-05,
      0.00045,
      -0.00016
    ],
    "tcp_rotation_matrix": [
      [
        0.99914,
        -0.0352,
        -0.0217
      ],
      [
        -0.0334,
        -0.99638,
        0.07821
      ],
      [
        -0.02437,
        -0.07742,
        -0.9967
      ]
    ],
    "simulated_seconds_remaining": 36.894,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 10.008362574502826,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.46,
                    "y": 0.1,
                    "z": 0.92
                  },
                  "note": "The potato became obscured below the fingers during descent; I am advancing slightly to center it in the grasp region."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      -0.00462,
      -0.27511,
      0.16343,
      -2.20091,
      0.13285,
      1.91684,
      0.14108
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.45874,
      0.09998,
      0.91951
    ],
    "tcp_roll_pitch_yaw": [
      6e-05,
      0.00045,
      -0.00022
    ],
    "tcp_rotation_matrix": [
      [
        0.99914,
        -0.03526,
        -0.02169
      ],
      [
        -0.03346,
        -0.99637,
        0.07824
      ],
      [
        -0.02437,
        -0.07745,
        -0.9967
      ]
    ],
    "simulated_seconds_remaining": 35.904,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 7.4060252625495195,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.53,
                    "y": 0.1,
                    "z": 0.92
                  },
                  "note": "The potato remains low in the wrist image; another small forward adjustment will bring it into the open grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      -0.01612,
      -0.06208,
      0.16409,
      -1.97454,
      0.09606,
      1.90179,
      0.15032
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.52876,
      0.09997,
      0.91994
    ],
    "tcp_roll_pitch_yaw": [
      7e-05,
      0.00056,
      -0.00028
    ],
    "tcp_rotation_matrix": [
      [
        0.99914,
        -0.03532,
        -0.02179
      ],
      [
        -0.03352,
        -0.99637,
        0.07825
      ],
      [
        -0.02448,
        -0.07745,
        -0.9967
      ]
    ],
    "simulated_seconds_remaining": 35.112,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 7.606437633745372,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.56,
                    "y": 0.11,
                    "z": 0.81
                  },
                  "note": "The potato is clearly visible just ahead of the fingers; I am lowering with a small forward correction to surround it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      -0.00404,
      0.11918,
      0.17379,
      -2.03993,
      0.07201,
      2.14741,
      0.16355
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.55956,
      0.10987,
      0.81113
    ],
    "tcp_roll_pitch_yaw": [
      4e-05,
      0.00093,
      -0.00027
    ],
    "tcp_rotation_matrix": [
      [
        0.99913,
        -0.03534,
        -0.02217
      ],
      [
        -0.03351,
        -0.99637,
        0.07822
      ],
      [
        -0.02485,
        -0.07741,
        -0.99669
      ]
    ],
    "simulated_seconds_remaining": 34.056,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 6.80693244189024,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.63,
                    "y": 0.11,
                    "z": 0.81
                  },
                  "note": "At this height the potato sits behind the grasp center; I am moving forward to align the finger gap with its middle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.00104,
      0.32236,
      0.16209,
      -1.76114,
      0.03378,
      2.06941,
      0.17341
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.62877,
      0.10997,
      0.80997
    ],
    "tcp_roll_pitch_yaw": [
      5e-05,
      0.001,
      -0.00033
    ],
    "tcp_rotation_matrix": [
      [
        0.99913,
        -0.03541,
        -0.02223
      ],
      [
        -0.03357,
        -0.99637,
        0.07823
      ],
      [
        -0.02492,
        -0.07741,
        -0.99669
      ]
    ],
    "simulated_seconds_remaining": 33.264,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 7.806421299465001,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.65,
                    "y": 0.115,
                    "z": 0.755
                  },
                  "note": "The potato is centered just ahead of the open fingertips; I am lowering the grasp point to its mid-height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.00678,
      0.42598,
      0.14881,
      -1.7073,
      -0.04307,
      2.15288,
      0.18075
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.66138,
      0.09605,
      0.77418
    ],
    "tcp_roll_pitch_yaw": [
      -0.05017,
      -0.04212,
      0.01838
    ],
    "tcp_rotation_matrix": [
      [
        0.99967,
        -0.01546,
        0.02032
      ],
      [
        -0.01603,
        -0.99947,
        0.02847
      ],
      [
        0.01987,
        -0.02879,
        -0.99939
      ]
    ],
    "simulated_seconds_remaining": 32.604,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 7.005787606351078,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The potato lies within the finger gap at table level; I am closing the jaws around it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.00235,
      0.41934,
      0.14342,
      -1.70261,
      -0.04615,
      2.15271,
      0.18069
    ],
    "gripper_open": 0.8158,
    "tcp_xyz": [
      0.66503,
      0.08915,
      0.78054
    ],
    "tcp_roll_pitch_yaw": [
      -0.05448,
      -0.05365,
      0.01061
    ],
    "tcp_rotation_matrix": [
      [
        0.99922,
        -0.02311,
        0.03211
      ],
      [
        -0.02389,
        -0.99942,
        0.02413
      ],
      [
        0.03154,
        -0.02487,
        -0.99919
      ]
    ],
    "simulated_seconds_remaining": 31.68,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 6.405607188120484,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.98
                  },
                  "note": "The jaws have stopped against the potato; I am lifting to verify that it is securely held."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 25,
    "motion_seconds": 1.6500000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.00758,
      0.3499,
      0.15234,
      -1.29407,
      -0.03318,
      1.67595,
      0.17629
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.66509,
      0.08916,
      0.97883
    ],
    "tcp_roll_pitch_yaw": [
      -0.05444,
      -0.05403,
      0.01061
    ],
    "tcp_rotation_matrix": [
      [
        0.99921,
        -0.0231,
        0.03249
      ],
      [
        -0.02389,
        -0.99942,
        0.02417
      ],
      [
        0.03191,
        -0.02493,
        -0.99918
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 14.011470925994217,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.64,
                    "y": 0.105,
                    "z": 0.8,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 0,
                    "gripper": 1
                  },
                  "note": "The potato stayed on the table after the lift; I am repositioning slightly behind it for a centered grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      -0.00717,
      0.36258,
      0.16258,
      -1.72548,
      0.02584,
      2.07376,
      0.16683
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.64011,
      0.10487,
      0.80115
    ],
    "tcp_roll_pitch_yaw": [
      -0.00043,
      -3e-05,
      9e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99916,
        -0.03491,
        -0.02124
      ],
      [
        -0.03316,
        -0.99642,
        0.07774
      ],
      [
        -0.02388,
        -0.07697,
        -0.99675
      ]
    ],
    "simulated_seconds_remaining": 28.512,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 8.206690792925656,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.62,
                    "y": 0.085,
                    "z": 0.79,
                    "gripper": 1
                  },
                  "note": "The potato is slightly left and ahead of the finger gap; I am making a small correction before closing."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 8,
    "motion_seconds": 0.528,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      -0.03182,
      0.30807,
      0.15605,
      -1.83378,
      0.03837,
      2.12591,
      0.13107
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.62068,
      0.08559,
      0.79036
    ],
    "tcp_roll_pitch_yaw": [
      -0.00047,
      4e-05,
      -3e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99916,
        -0.03504,
        -0.0213
      ],
      [
        -0.03328,
        -0.99642,
        0.07771
      ],
      [
        -0.02395,
        -0.07693,
        -0.99675
      ]
    ],
    "simulated_seconds_remaining": 27.984,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 6.2052388889715075,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The potato is centered between the fingertips; 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": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      -0.03114,
      0.30143,
      0.15738,
      -1.82897,
      0.03912,
      2.12603,
      0.13103
    ],
    "gripper_open": 0.0203,
    "tcp_xyz": [
      0.62323,
      0.08708,
      0.79672
    ],
    "tcp_roll_pitch_yaw": [
      0.00092,
      -0.01141,
      0.00132
    ],
    "tcp_rotation_matrix": [
      [
        0.99941,
        -0.03279,
        -0.00999
      ],
      [
        -0.0319,
        -0.99636,
        0.07907
      ],
      [
        -0.01255,
        -0.07871,
        -0.99682
      ]
    ],
    "simulated_seconds_remaining": 27.06,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 13.410184105858207,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 1,
                    "z": 0.75
                  },
                  "note": "The jaws closed fully, indicating the grasp was too high; I am reopening and lowering around the potato."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      -0.02157,
      0.34241,
      0.1645,
      -1.86002,
      0.03848,
      2.22997,
      0.1291
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.63077,
      0.09882,
      0.76669
    ],
    "tcp_roll_pitch_yaw": [
      0.01041,
      -0.04306,
      0.01262
    ],
    "tcp_rotation_matrix": [
      [
        0.99962,
        -0.01863,
        0.02051
      ],
      [
        -0.02038,
        -0.99584,
        0.08881
      ],
      [
        0.01877,
        -0.0892,
        -0.99584
      ]
    ],
    "simulated_seconds_remaining": 26.136,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 6.805904487147927,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The open fingers now reach the potato's sides at a lower height; I am closing for the grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 19,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      -0.01834,
      0.33171,
      0.16977,
      -1.84832,
      0.04195,
      2.23588,
      0.12948
    ],
    "gripper_open": 0.6412,
    "tcp_xyz": [
      0.63771,
      0.10525,
      0.77967
    ],
    "tcp_roll_pitch_yaw": [
      0.01663,
      -0.07077,
      0.01694
    ],
    "tcp_rotation_matrix": [
      [
        0.9988,
        -0.01142,
        0.04755
      ],
      [
        -0.01593,
        -0.9953,
        0.09556
      ],
      [
        0.04624,
        -0.0962,
        -0.99429
      ]
    ],
    "simulated_seconds_remaining": 25.212,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 5.404477162286639,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.02,
                    "gripper": 0
                  },
                  "note": "The jaws are stopped against the potato; I am lifting while maintaining the close command."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 29,
    "motion_seconds": 1.9140000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 20,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      -0.01793,
      0.24878,
      0.17653,
      -1.34603,
      0.04425,
      1.65306,
      0.16336
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.63777,
      0.10527,
      1.01881
    ],
    "tcp_roll_pitch_yaw": [
      0.01667,
      -0.07113,
      0.01693
    ],
    "tcp_rotation_matrix": [
      [
        0.99879,
        -0.01139,
        0.04792
      ],
      [
        -0.01593,
        -0.99529,
        0.0956
      ],
      [
        0.0466,
        -0.09625,
        -0.99427
      ]
    ],
    "simulated_seconds_remaining": 23.298,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 13.610605888068676,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.68,
                    "y": 0.11,
                    "z": 0.78,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 0,
                    "gripper": 1
                  },
                  "note": "The potato remained on the table and rotated; I am approaching farther forward so the jaws reach its center."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 29,
    "motion_seconds": 1.9140000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 21,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.00497,
      0.50964,
      0.15958,
      -1.55226,
      0.00333,
      2.0467,
      0.17748
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.67969,
      0.10996,
      0.78113
    ],
    "tcp_roll_pitch_yaw": [
      6e-05,
      -1e-05,
      9e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99916,
        -0.03491,
        -0.02126
      ],
      [
        -0.03315,
        -0.99638,
        0.07823
      ],
      [
        -0.02392,
        -0.07746,
        -0.99671
      ]
    ],
    "simulated_seconds_remaining": 21.384,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 16.412654136307538,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.655,
                    "y": 0.105,
                    "z": 0.755,
                    "gripper": 1
                  },
                  "note": "The potato is now fully visible ahead of the fingertips; I am lowering and bringing the grasp back onto its middle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 8,
    "motion_seconds": 0.528,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 22,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      -0.00541,
      0.45945,
      0.1611,
      -1.69967,
      0.01109,
      2.1435,
      0.16763
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.65579,
      0.10516,
      0.7558
    ],
    "tcp_roll_pitch_yaw": [
      3e-05,
      0.00022,
      0.0001
    ],
    "tcp_rotation_matrix": [
      [
        0.99916,
        -0.03492,
        -0.02149
      ],
      [
        -0.03314,
        -0.99639,
        0.0782
      ],
      [
        -0.02414,
        -0.07742,
        -0.99671
      ]
    ],
    "simulated_seconds_remaining": 20.856,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 6.004654958844185,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The potato is aligned centrally at the lower grasp height; I am closing around its sides."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 23,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      -0.00545,
      0.45942,
      0.16106,
      -1.69959,
      0.01108,
      2.14358,
      0.16763
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.65584,
      0.1051,
      0.75585
    ],
    "tcp_roll_pitch_yaw": [
      2e-05,
      4e-05,
      2e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99916,
        -0.03498,
        -0.0213
      ],
      [
        -0.03322,
        -0.99639,
        0.07819
      ],
      [
        -0.02396,
        -0.07741,
        -0.99671
      ]
    ],
    "simulated_seconds_remaining": 19.932,
    "calls_remaining_including_this": 35
  },
  "api_seconds": 13.210988122969866,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.585,
                    "y": 0.135,
                    "z": 0.76,
                    "gripper": 1
                  },
                  "note": "The potato rolled forward when the jaws closed; I am centering the open gap over its new position at the same low height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 24,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.01825,
      0.26999,
      0.19099,
      -1.97677,
      0.03814,
      2.2372,
      0.21359
    ],
    "gripper_open": 0.9988,
    "tcp_xyz": [
      0.58627,
      0.13415,
      0.76022
    ],
    "tcp_roll_pitch_yaw": [
      -0.0002,
      -0.00061,
      -0.0005
    ],
    "tcp_rotation_matrix": [
      [
        0.99916,
        -0.03545,
        -0.02061
      ],
      [
        -0.03375,
        -0.99638,
        0.07799
      ],
      [
        -0.02331,
        -0.07723,
        -0.99674
      ]
    ],
    "simulated_seconds_remaining": 19.008,
    "calls_remaining_including_this": 34
  },
  "api_seconds": 7.80689830519259,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.72,
                    "gripper": 1
                  },
                  "note": "The potato is between the open jaws in the image; I am lowering farther so the fingers engage below its widest section."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 25,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.02237,
      0.32105,
      0.18704,
      -2.0023,
      0.02829,
      2.3182,
      0.21641
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.58742,
      0.13416,
      0.72585
    ],
    "tcp_roll_pitch_yaw": [
      -0.00035,
      -0.00564,
      -0.00161
    ],
    "tcp_rotation_matrix": [
      [
        0.99923,
        -0.03617,
        -0.01551
      ],
      [
        -0.03486,
        -0.99636,
        0.07785
      ],
      [
        -0.01827,
        -0.07725,
        -0.99684
      ]
    ],
    "simulated_seconds_remaining": 18.414,
    "calls_remaining_including_this": 33
  },
  "api_seconds": 7.805921499617398,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The fingers now extend down the potato's sides; I am closing at this deeper grasp height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 26,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.01895,
      0.31446,
      0.18278,
      -1.99966,
      0.02647,
      2.31614,
      0.21709
    ],
    "gripper_open": 0.8173,
    "tcp_xyz": [
      0.59034,
      0.1294,
      0.73052
    ],
    "tcp_roll_pitch_yaw": [
      -0.00266,
      -0.01312,
      -0.00851
    ],
    "tcp_rotation_matrix": [
      [
        0.99907,
        -0.0425,
        -0.00753
      ],
      [
        -0.04181,
        -0.99626,
        0.07559
      ],
      [
        -0.01072,
        -0.0752,
        -0.99711
      ]
    ],
    "simulated_seconds_remaining": 17.49,
    "calls_remaining_including_this": 32
  },
  "api_seconds": 5.604549660347402,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.94,
                    "gripper": 0
                  },
                  "note": "The jaws are braced against the potato at its sides; I am lifting while keeping them closed."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 26,
    "motion_seconds": 1.7160000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 27,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.00766,
      0.12976,
      0.19047,
      -1.69758,
      0.05298,
      1.83157,
      0.22526
    ],
    "gripper_open": 0.5698,
    "tcp_xyz": [
      0.5903,
      0.12937,
      0.93841
    ],
    "tcp_roll_pitch_yaw": [
      -0.00275,
      -0.01266,
      -0.00853
    ],
    "tcp_rotation_matrix": [
      [
        0.99906,
        -0.04255,
        -0.008
      ],
      [
        -0.04183,
        -0.99627,
        0.07551
      ],
      [
        -0.01118,
        -0.0751,
        -0.99711
      ]
    ],
    "simulated_seconds_remaining": 15.774,
    "calls_remaining_including_this": 31
  },
  "api_seconds": 13.610422537662089,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.43,
                    "y": -0.15,
                    "z": 1,
                    "gripper": 0
                  },
                  "note": "The potato is lifted and remains between the jaws; I am carrying it toward the gray bowl beside the cutting board."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 38,
    "motion_seconds": 2.508,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 28,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      -0.23625,
      -0.30487,
      -0.11441,
      -2.02252,
      0.03433,
      1.68568,
      -0.30681
    ],
    "gripper_open": 0.5064,
    "tcp_xyz": [
      0.43055,
      -0.14894,
      0.99947
    ],
    "tcp_roll_pitch_yaw": [
      -0.00256,
      -0.012,
      -0.0088
    ],
    "tcp_rotation_matrix": [
      [
        0.99904,
        -0.04287,
        -0.00863
      ],
      [
        -0.0421,
        -0.99624,
        0.0757
      ],
      [
        -0.01184,
        -0.07526,
        -0.99709
      ]
    ],
    "simulated_seconds_remaining": 13.266,
    "calls_remaining_including_this": 30
  },
  "api_seconds": 7.005615130998194,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.33,
                    "y": -0.205,
                    "z": 0.98,
                    "gripper": 0
                  },
                  "note": "The bowl is ahead and left of the held potato in the wrist view; I am shifting to place the potato directly over its opening."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 29,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      -0.3152,
      -0.51303,
      -0.21812,
      -2.24048,
      -0.04451,
      1.69329,
      -0.45442
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.33113,
      -0.20442,
      0.98026
    ],
    "tcp_roll_pitch_yaw": [
      -0.00254,
      -0.01207,
      -0.00902
    ],
    "tcp_rotation_matrix": [
      [
        0.99904,
        -0.04308,
        -0.00855
      ],
      [
        -0.04231,
        -0.99623,
        0.07572
      ],
      [
        -0.01178,
        -0.07528,
        -0.99709
      ]
    ],
    "simulated_seconds_remaining": 12.21,
    "calls_remaining_including_this": 29
  },
  "api_seconds": 9.808045581914485,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.14,
                    "gripper": 1
                  },
                  "note": "The potato is no longer visible between the jaws; I am opening and lifting to inspect the bowl and nearby surface."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 30,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      -0.29793,
      -0.39485,
      -0.21087,
      -1.72557,
      -0.01851,
      1.29551,
      -0.45315
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.33116,
      -0.20444,
      1.13875
    ],
    "tcp_roll_pitch_yaw": [
      -0.00264,
      -0.01229,
      -0.00902
    ],
    "tcp_rotation_matrix": [
      [
        0.99904,
        -0.04307,
        -0.00833
      ],
      [
        -0.04232,
        -0.99624,
        0.07562
      ],
      [
        -0.01155,
        -0.07519,
        -0.9971
      ]
    ],
    "simulated_seconds_remaining": 10.824,
    "calls_remaining_including_this": 28
  },
  "api_seconds": 11.809279602020979,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.425,
                    "y": -0.2,
                    "z": 0.73,
                    "gripper": 1,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 0
                  },
                  "note": "The potato landed on the table just beside the bowl; I am descending to pick it up again for the short final placement."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 47,
    "motion_seconds": 3.1020000000000003,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 31,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      -0.25591,
      -0.01239,
      -0.21034,
      -2.42504,
      0.08194,
      2.3597,
      -0.48887
    ],
    "gripper_open": 0.9987,
    "tcp_xyz": [
      0.42468,
      -0.20201,
      0.73243
    ],
    "tcp_roll_pitch_yaw": [
      -0.0013,
      -0.0022,
      -0.00289
    ],
    "tcp_rotation_matrix": [
      [
        0.99911,
        -0.03771,
        -0.01884
      ],
      [
        -0.03616,
        -0.99638,
        0.07693
      ],
      [
        -0.02168,
        -0.07618,
        -0.99686
      ]
    ],
    "simulated_seconds_remaining": 7.722,
    "calls_remaining_including_this": 27
  },
  "api_seconds": 8.80648219678551,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.88,
                    "gripper": 1
                  },
                  "note": "The bowl blocks the close wrist view; I am lifting slightly to locate the potato and avoid pushing the receptacle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 32,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      -0.26136,
      -0.21515,
      -0.19909,
      -2.23683,
      0.02031,
      1.97528,
      -0.42638
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.42477,
      -0.20205,
      0.87874
    ],
    "tcp_roll_pitch_yaw": [
      -0.00143,
      -0.00256,
      -0.00289
    ],
    "tcp_rotation_matrix": [
      [
        0.99912,
        -0.03769,
        -0.01849
      ],
      [
        -0.03617,
        -0.99639,
        0.0768
      ],
      [
        -0.02131,
        -0.07607,
        -0.99687
      ]
    ],
    "simulated_seconds_remaining": 6.468,
    "calls_remaining_including_this": 26
  },
  "api_seconds": 7.206024958752096,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.45,
                    "y": -0.17,
                    "z": 0.725,
                    "gripper": 1
                  },
                  "note": "The potato is right of the fingers below the bowl; I am shifting onto its center and lowering for a firm grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 33,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      -0.22144,
      -0.07338,
      -0.1685,
      -2.38036,
      0.0996,
      2.3806,
      -0.4193
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.47344,
      -0.18004,
      0.78272
    ],
    "tcp_roll_pitch_yaw": [
      -0.03103,
      -0.12102,
      -0.00868
    ],
    "tcp_rotation_matrix": [
      [
        0.99428,
        -0.0378,
        0.09986
      ],
      [
        -0.0426,
        -0.99802,
        0.04635
      ],
      [
        0.09791,
        -0.05034,
        -0.99392
      ]
    ],
    "simulated_seconds_remaining": 5.082,
    "calls_remaining_including_this": 25
  },
  "api_seconds": 6.405645905062556,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.445,
                    "y": -0.11,
                    "z": 0.73,
                    "gripper": 1,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 0
                  },
                  "note": "The potato shifted to the right during contact; I am moving the open gap over its new center."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 34,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      -0.16625,
      -0.05224,
      -0.10516,
      -2.46574,
      0.09584,
      2.80568,
      -0.30521
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.54405,
      -0.1503,
      0.79252
    ],
    "tcp_roll_pitch_yaw": [
      -0.14504,
      -0.4109,
      -0.00175
    ],
    "tcp_rotation_matrix": [
      [
        0.92346,
        -0.06076,
        0.37884
      ],
      [
        -0.03796,
        -0.99701,
        -0.06737
      ],
      [
        0.3818,
        0.04783,
        -0.92301
      ]
    ],
    "simulated_seconds_remaining": 4.158,
    "calls_remaining_including_this": 24
  },
  "api_seconds": 8.206625661812723,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.53,
                    "y": -0.07,
                    "z": 0.85,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 0,
                    "gripper": 1
                  },
                  "note": "Contact has tilted the gripper; I am lifting clear and restoring a vertical approach over the potato."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 35,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      -0.11722,
      -0.0097,
      -0.04458,
      -2.0924,
      0.08213,
      2.0517,
      -0.16671
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.53033,
      -0.07062,
      0.84957
    ],
    "tcp_roll_pitch_yaw": [
      -0.00123,
      -0.00396,
      -0.00017
    ],
    "tcp_rotation_matrix": [
      [
        0.99924,
        -0.03487,
        -0.0173
      ],
      [
        -0.03344,
        -0.99647,
        0.07695
      ],
      [
        -0.01992,
        -0.07631,
        -0.99689
      ]
    ],
    "simulated_seconds_remaining": 3.168,
    "calls_remaining_including_this": 23
  },
  "api_seconds": 6.205240582115948,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.55,
                    "y": -0.11,
                    "z": 0.73,
                    "gripper": 1
                  },
                  "note": "The potato is left of the finger gap; I am making the final alignment and lowering around it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 36,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      -0.15379,
      0.21116,
      -0.0682,
      -2.11682,
      0.11553,
      2.43629,
      -0.26528
    ],
    "gripper_open": 0.9997,
    "tcp_xyz": [
      0.58703,
      -0.12183,
      0.75088
    ],
    "tcp_roll_pitch_yaw": [
      -0.04329,
      -0.14524,
      -0.00627
    ],
    "tcp_rotation_matrix": [
      [
        0.99166,
        -0.03594,
        0.12379
      ],
      [
        -0.04046,
        -0.9986,
        0.03419
      ],
      [
        0.12239,
        -0.03891,
        -0.99172
      ]
    ],
    "simulated_seconds_remaining": 2.046,
    "calls_remaining_including_this": 22
  },
  "api_seconds": 9.607563564553857,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "give_up",
                "args": {
                  "note": "I could not secure and place the potato before the remaining motion time became insufficient."
                }
              }
            }
          ]
        }
      }
    ]
  }
}

========================================================================
GPT-Astra / Pick & place / 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,
  "status": "completed",
  "success": false,
  "oracle_success": false,
  "action_decisions": 33,
  "wall_seconds": 487.2,
  "usage": {
    "input_tokens": 752046,
    "cached_input_tokens": 721280,
    "cache_write_input_tokens": 0,
    "output_tokens": 7905,
    "reasoning_output_tokens": 4388
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick-and-place 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 45 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 and grasp the requested object, lift it, move it to the named receptacle, and release it in or on that receptacle. Complete the entire pick-and-place 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 through the pick and place.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"pick up the knife and place it on the bowl.\", \"joint_positions\": [-0.00474, -0.78784, -0.03264, -2.36422, 0.02573, 1.60703, 0.02265], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.31467, -0.00446, 1.01568], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.99822, -0.05051, 0.03174], [-0.052, -0.9975, 0.04796], [0.02923, -0.04952, -0.99835]], \"simulated_seconds_remaining\": 45.012, \"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": 0.86,
    "gripper": 1,
    "note": "The knife is beside the book and just left of the bowl. I am moving closer above it to refine its position from 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": 0.43,
      "y": 0,
      "z": 0.86,
      "gripper": 1
    },
    "note": "The knife lies beside the book and left of the bowl. I move closer above it for a precise wrist view."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"pick up the knife and place it on the bowl.\", \"joint_positions\": [0.00905, -0.3839, -0.03078, -2.46845, 0.04332, 2.11478, 0.00978], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.42914, -3e-05, 0.86099], \"tcp_roll_pitch_yaw\": [0.0, 0.00034, 1e-05], \"tcp_rotation_matrix\": [[0.99823, -0.05051, 0.03139], [-0.05198, -0.9975, 0.04796], [0.02889, -0.04951, -0.99836]], \"simulated_seconds_remaining\": 43.428, \"calls_remaining_including_this\": 56}"
      },
      {
        "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": {
      "z": 0.74
    },
    "note": "The knife runs diagonally across the wrist image between the open fingers. I descend while keeping the jaws open to judge the grasp alignment."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"pick up the knife and place it on the bowl.\", \"joint_positions\": [0.01649, -0.20956, -0.03604, -2.61469, 0.0655, 2.43993, -0.015], \"gripper_open\": 1.0, \"tcp_xyz\": [0.43128, -0.00021, 0.75154], \"tcp_roll_pitch_yaw\": [0.00117, -0.0048, -0.00199], \"tcp_rotation_matrix\": [[0.99796, -0.05225, 0.03663], [-0.05401, -0.99733, 0.04906], [0.03397, -0.05093, -0.99812]], \"simulated_seconds_remaining\": 42.306, \"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": {
      "x": 0.49,
      "y": 0.04,
      "z": 0.78
    },
    "note": "The exterior view places the knife just ahead and left of the fingertips. I shift toward it and lift slightly to recover a clear wrist view."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"pick up the knife and place it on the bowl.\", \"joint_positions\": [0.05217, -0.09295, 0.0114, -2.40241, 0.06694, 2.34817, 0.07059], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.48902, 0.03934, 0.77954], \"tcp_roll_pitch_yaw\": [0.00116, -0.00491, -0.00187], \"tcp_rotation_matrix\": [[0.99797, -0.05212, 0.03673], [-0.05389, -0.99734, 0.04905], [0.03408, -0.05093, -0.99812]], \"simulated_seconds_remaining\": 41.514, \"calls_remaining_including_this\": 54}"
      },
      {
        "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": {
      "yaw": 1.3,
      "z": 0.73
    },
    "note": "The knife is directly beneath the wrist, with its length nearly along the jaw opening. I rotate the gripper so the jaws close across the knife."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"pick up the knife and place it on the bowl.\", \"joint_positions\": [0.06811, 0.00148, -0.01852, -2.36237, 0.07137, 2.3776, -1.23359], \"gripper_open\": 1.0, \"tcp_xyz\": [0.50187, 0.03316, 0.75271], \"tcp_roll_pitch_yaw\": [-0.04549, -0.01966, 1.28218], \"tcp_rotation_matrix\": [[0.33241, 0.94306, 0.01222], [0.94175, -0.33259, 0.04997], [0.05119, -0.0051, -0.99868]], \"simulated_seconds_remaining\": 39.468, \"calls_remaining_including_this\": 53}"
      },
      {
        "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": {
      "gripper": 0
    },
    "note": "The knife crosses the gap between the fingertips at table height. I close the jaws to secure it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"pick up the knife and place it on the bowl.\", \"joint_positions\": [0.06845, -0.00574, -0.01809, -2.3588, 0.0717, 2.37453, -1.23351], \"gripper_open\": 0.7244, \"tcp_xyz\": [0.50397, 0.03391, 0.75748], \"tcp_roll_pitch_yaw\": [-0.05293, -0.02282, 1.2833], \"tcp_rotation_matrix\": [[0.33107, 0.94339, 0.02019], [0.94202, -0.33168, 0.0509], [0.05472, 0.00217, -0.9985]], \"simulated_seconds_remaining\": 38.544, \"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": {
      "z": 0.89
    },
    "note": "The knife shifted with jaw closure and the fingers remain separated around it. I lift to verify that it is held."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"pick up the knife and place it on the bowl.\", \"joint_positions\": [0.0655, -0.16717, -0.0189, -2.18028, 0.05234, 2.03553, -1.20888], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.50406, 0.03392, 0.8888], \"tcp_roll_pitch_yaw\": [-0.05328, -0.02296, 1.2833], \"tcp_rotation_matrix\": [[0.33106, 0.94339, 0.02056], [0.94201, -0.33169, 0.05093], [0.05487, 0.00251, -0.99849]], \"simulated_seconds_remaining\": 37.356, \"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": {
      "z": 0.755,
      "yaw": 1.8,
      "gripper": 1
    },
    "note": "The knife remained on the table after the fingers reopened during the lift. I realign the jaws across its width and descend for a new grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"pick up the knife and place it on the bowl.\", \"joint_positions\": [0.08842, 0.01262, -0.0404, -2.33375, 0.07697, 2.34003, -1.7517], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.50398, 0.03392, 0.75572], \"tcp_roll_pitch_yaw\": [-0.0529, -0.02302, 1.79647], \"tcp_rotation_matrix\": [[-0.17404, 0.98471, -0.00747], [0.98321, 0.17419, 0.05444], [0.05491, 0.00213, -0.99849]], \"simulated_seconds_remaining\": 36.168, \"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": {
      "gripper": 0
    },
    "note": "The knife is centered between the open fingers with its length aligned through the gap. I close around its narrow sides."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"pick up the knife and place it on the bowl.\", \"joint_positions\": [0.08789, 0.00537, -0.0411, -2.33175, 0.07655, 2.33471, -1.75128], \"gripper_open\": 0.6213, \"tcp_xyz\": [0.50469, 0.03342, 0.75975], \"tcp_roll_pitch_yaw\": [-0.05682, -0.02259, 1.79555], \"tcp_rotation_matrix\": [[-0.17326, 0.98487, -0.00351], [0.98336, 0.17319, 0.0549], [0.05468, 0.00606, -0.99849]], \"simulated_seconds_remaining\": 35.244, \"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": 0.9,
      "gripper": 0
    },
    "note": "The jaws have contacted the knife. I keep the close command active while lifting it clear of the table."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"pick up the knife and place it on the bowl.\", \"joint_positions\": [0.08521, -0.15458, -0.0413, -2.13517, 0.05304, 1.97936, -1.72175], \"gripper_open\": 0.2476, \"tcp_xyz\": [0.50475, 0.03342, 0.89876], \"tcp_roll_pitch_yaw\": [-0.05704, -0.02254, 1.79556], \"tcp_rotation_matrix\": [[-0.17328, 0.98487, -0.00329], [0.98336, 0.1732, 0.0549], [0.05464, 0.00628, -0.99849]], \"simulated_seconds_remaining\": 33.99, \"calls_remaining_including_this\": 48}"
      },
      {
        "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"
}

The knife is lifted and held between the fingers. I’m moving it over the white bowl.


{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.62,
      "y": -0.13,
      "z": 0.9,
      "gripper": 0
    },
    "note": "The knife remains held in the wrist view. The white bowl is toward the front-right of the knife's original position, so I carry it in that direction at clearance height."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 11, \"instruction\": \"pick up the knife and place it on the bowl.\", \"joint_positions\": [-0.06858, 0.25114, -0.1774, -1.62656, 0.10043, 1.856, -2.01483], \"gripper_open\": 0.2463, \"tcp_xyz\": [0.61919, -0.12903, 0.89986], \"tcp_roll_pitch_yaw\": [-0.0568, -0.02258, 1.79531], \"tcp_rotation_matrix\": [[-0.17303, 0.98491, -0.00351], [0.9834, 0.17296, 0.05489], [0.05467, 0.00605, -0.99849]], \"simulated_seconds_remaining\": 32.34, \"calls_remaining_including_this\": 47}"
      },
      {
        "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": 0.43,
      "y": 0.23,
      "z": 1,
      "gripper": 0
    },
    "note": "The bowl is still below the carried knife in the exterior view. I move back across the table and raise the knife for a wider view of the destination."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 12, \"instruction\": \"pick up the knife and place it on the bowl.\", \"joint_positions\": [0.25562, -0.25487, 0.18183, -1.98138, 0.09848, 1.74949, -1.32954], \"gripper_open\": 0.2369, \"tcp_xyz\": [0.43056, 0.22894, 0.99965], \"tcp_roll_pitch_yaw\": [-0.05676, -0.02253, 1.79561], \"tcp_rotation_matrix\": [[-0.17332, 0.98486, -0.00356], [0.98335, 0.17325, 0.05483], [0.05462, 0.00601, -0.99849]], \"simulated_seconds_remaining\": 29.238, \"calls_remaining_including_this\": 46}"
      },
      {
        "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": 0.53,
      "y": 0.23,
      "z": 0.95,
      "gripper": 0
    },
    "note": "The bowl is now visible to the right of the held knife in the wrist image. I make a controlled lateral adjustment toward its center."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 13, \"instruction\": \"pick up the knife and place it on the bowl.\", \"joint_positions\": [0.2269, 0.02528, 0.15992, -1.79025, 0.04761, 1.83998, -1.36702], \"gripper_open\": 0.2612, \"tcp_xyz\": [0.53072, 0.22776, 0.95453], \"tcp_roll_pitch_yaw\": [-0.06448, -0.02163, 1.79212], \"tcp_rotation_matrix\": [[-0.17014, 0.98541, 0.00436], [0.98393, 0.16964, 0.05565], [0.0541, 0.01376, -0.99844]], \"simulated_seconds_remaining\": 28.182, \"calls_remaining_including_this\": 45}"
      },
      {
        "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": 0.27,
      "z": 0.94,
      "gripper": 0
    },
    "note": "The last adjustment moved the bowl farther right in the wrist view. I correct in the opposite direction to center the knife over it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 14, \"instruction\": \"pick up the knife and place it on the bowl.\", \"joint_positions\": [0.35957, -0.51765, 0.27813, -2.35546, 0.18887, 1.88498, -1.19245], \"gripper_open\": 0.0, \"tcp_xyz\": [0.31129, 0.26981, 0.94014], \"tcp_roll_pitch_yaw\": [-0.06458, -0.02159, 1.79233], \"tcp_rotation_matrix\": [[-0.17035, 0.98537, 0.00445], [0.9839, 0.16985, 0.05564], [0.05407, 0.01386, -0.99844]], \"simulated_seconds_remaining\": 26.4, \"calls_remaining_including_this\": 44}"
      },
      {
        "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": 0.48,
      "y": 0.17,
      "z": 0.87,
      "gripper": 1
    },
    "note": "The knife slipped onto the book during transport; the empty closed jaws confirm the loss. I return above the visible knife to grasp it again."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 15, \"instruction\": \"pick up the knife and place it on the bowl.\", \"joint_positions\": [0.21083, -0.14303, 0.1057, -2.20118, 0.07627, 2.07909, -1.46249], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.47894, 0.17056, 0.87038], \"tcp_roll_pitch_yaw\": [-0.06442, -0.02162, 1.79212], \"tcp_rotation_matrix\": [[-0.17013, 0.98541, 0.0043], [0.98394, 0.16964, 0.05564], [0.0541, 0.0137, -0.99844]], \"simulated_seconds_remaining\": 24.684, \"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": 0.5,
      "y": 0.17,
      "z": 0.78,
      "gripper": 1
    },
    "note": "The knife handle lies near the finger gap on the book. I center the handle and lower to grasp it more securely."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 16, \"instruction\": \"pick up the knife and place it on the bowl.\", \"joint_positions\": [0.2066, 0.01933, 0.10351, -2.2573, 0.06647, 2.29618, -1.47516], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.49963, 0.16997, 0.78113], \"tcp_roll_pitch_yaw\": [-0.06406, -0.02161, 1.79208], \"tcp_rotation_matrix\": [[-0.17009, 0.98542, 0.00396], [0.98394, 0.16961, 0.05555], [0.05407, 0.01334, -0.99845]], \"simulated_seconds_remaining\": 23.76, \"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": {
      "z": 0.758,
      "gripper": 0
    },
    "note": "The narrow handle is now between the fingertips. I lower slightly and close firmly around it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 17, \"instruction\": \"pick up the knife and place it on the bowl.\", \"joint_positions\": [0.20776, 0.04543, 0.10455, -2.27451, 0.06545, 2.34788, -1.47538], \"gripper_open\": 0.0893, \"tcp_xyz\": [0.50131, 0.17114, 0.76476], \"tcp_roll_pitch_yaw\": [-0.07247, -0.02208, 1.7927], \"tcp_rotation_matrix\": [[-0.17096, 0.9852, 0.01202], [0.98374, 0.17, 0.05785], [0.05495, 0.02172, -0.99825]], \"simulated_seconds_remaining\": 22.836, \"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": {
      "z": 0.9,
      "gripper": 0
    },
    "note": "The jaws are nearly closed around the handle. I lift straight up while maintaining closure."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 18, \"instruction\": \"pick up the knife and place it on the bowl.\", \"joint_positions\": [0.2041, -0.10485, 0.09987, -2.0867, 0.0686, 2.0105, -1.46703], \"gripper_open\": 0.052, \"tcp_xyz\": [0.50137, 0.17115, 0.89872], \"tcp_roll_pitch_yaw\": [-0.07271, -0.02209, 1.79271], \"tcp_rotation_matrix\": [[-0.17097, 0.9852, 0.01225], [0.98374, 0.17, 0.05791], [0.05497, 0.02195, -0.99825]], \"simulated_seconds_remaining\": 21.648, \"calls_remaining_including_this\": 40}"
      },
      {
        "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": 0.27,
      "y": 0.24,
      "z": 0.9,
      "gripper": 0
    },
    "note": "The knife is securely lifted by its handle. I carry it toward the bowl's position established in the wrist view."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 19, \"instruction\": \"pick up the knife and place it on the bowl.\", \"joint_positions\": [0.38342, -0.6803, 0.27154, -2.57558, 0.22651, 1.94809, -1.22237], \"gripper_open\": 0.0524, \"tcp_xyz\": [0.27124, 0.23965, 0.89998], \"tcp_roll_pitch_yaw\": [-0.07269, -0.02199, 1.7929], \"tcp_rotation_matrix\": [[-0.17116, 0.98517, 0.01224], [0.98371, 0.17019, 0.05782], [0.05487, 0.02193, -0.99825]], \"simulated_seconds_remaining\": 19.734, \"calls_remaining_including_this\": 39}"
      },
      {
        "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": {
      "y": 0.32,
      "z": 0.84,
      "gripper": 0
    },
    "note": "The handle is above the near edge of the bowl while the blade extends beyond it. I shift the knife so its middle spans the bowl and lower toward the rim."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 20, \"instruction\": \"pick up the knife and place it on the bowl.\", \"joint_positions\": [0.40152, -0.45395, 0.42386, -2.54432, 0.25477, 2.16283, -1.08626], \"gripper_open\": 0.0662, \"tcp_xyz\": [0.27329, 0.31678, 0.84247], \"tcp_roll_pitch_yaw\": [-0.07517, -0.02072, 1.7893], \"tcp_rotation_matrix\": [[-0.16771, 0.98572, 0.01515], [0.98437, 0.16661, 0.05707], [0.05373, 0.02448, -0.99826]], \"simulated_seconds_remaining\": 18.744, \"calls_remaining_including_this\": 38}"
      },
      {
        "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": 0.25,
      "y": 0.22,
      "z": 0.85,
      "gripper": 0
    },
    "note": "The wrist view shows the knife's blade offset toward the far rim. I bring the blade's midpoint over the bowl before releasing."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 21, \"instruction\": \"pick up the knife and place it on the bowl.\", \"joint_positions\": [0.40847, -0.74926, 0.27736, -2.74609, 0.25604, 2.05412, -1.23661], \"gripper_open\": 0.0592, \"tcp_xyz\": [0.25086, 0.22283, 0.85157], \"tcp_roll_pitch_yaw\": [-0.07957, -0.02345, 1.79057], \"tcp_rotation_matrix\": [[-0.16907, 0.98543, 0.01877], [0.98397, 0.16766, 0.0607], [0.05667, 0.02873, -0.99798]], \"simulated_seconds_remaining\": 17.754, \"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": {
      "z": 0.94,
      "gripper": 0
    },
    "note": "The knife contacted the rim and rotated in the grasp. I lift clear to inspect its new orientation before placing it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 22, \"instruction\": \"pick up the knife and place it on the bowl.\", \"joint_positions\": [0.3927, -0.78932, 0.23797, -2.54823, 0.21594, 1.81709, -1.22239], \"gripper_open\": 0.057, \"tcp_xyz\": [0.2509, 0.22287, 0.93866], \"tcp_roll_pitch_yaw\": [-0.07973, -0.02352, 1.79058], \"tcp_rotation_matrix\": [[-0.16909, 0.98542, 0.01891], [0.98397, 0.16768, 0.06081], [0.05675, 0.02889, -0.99797]], \"simulated_seconds_remaining\": 16.896, \"calls_remaining_including_this\": 36}"
      },
      {
        "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": 0.4,
      "y": 0.25,
      "z": 0.94,
      "gripper": 0
    },
    "note": "The blade now extends sideways from the handle. I move the blade's midpoint over the bowl, keeping clearance above its rim."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 23, \"instruction\": \"pick up the knife and place it on the bowl.\", \"joint_positions\": [0.29588, -0.32611, 0.21579, -2.20542, 0.12063, 1.92979, -1.27784], \"gripper_open\": 0.0532, \"tcp_xyz\": [0.39869, 0.24972, 0.93989], \"tcp_roll_pitch_yaw\": [-0.07947, -0.0235, 1.79048], \"tcp_rotation_matrix\": [[-0.16898, 0.98544, 0.01867], [0.98399, 0.16758, 0.06073], [0.05672, 0.02863, -0.99798]], \"simulated_seconds_remaining\": 15.576, \"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": {
      "z": 0.9,
      "gripper": 0
    },
    "note": "The bowl is directly under the blade in the wrist view. I lower a short distance to reduce the drop onto the bowl."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 24, \"instruction\": \"pick up the knife and place it on the bowl.\", \"joint_positions\": [0.29776, -0.30672, 0.22226, -2.28749, 0.12333, 2.03064, -1.281], \"gripper_open\": 0.0517, \"tcp_xyz\": [0.39862, 0.24968, 0.90094], \"tcp_roll_pitch_yaw\": [-0.07907, -0.0234, 1.79048], \"tcp_rotation_matrix\": [[-0.16897, 0.98545, 0.01829], [0.984, 0.1676, 0.06054], [0.0566, 0.02823, -0.998]], \"simulated_seconds_remaining\": 14.982, \"calls_remaining_including_this\": 34}"
      },
      {
        "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": 0.21,
      "gripper": 0
    },
    "note": "The blade overlaps the bowl but is slightly off center. I make a small final adjustment before opening the jaws."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 25, \"instruction\": \"pick up the knife and place it on the bowl.\", \"joint_positions\": [0.27456, -0.36215, 0.17241, -2.34103, 0.12007, 2.02324, -1.35302], \"gripper_open\": 0.0505, \"tcp_xyz\": [0.39863, 0.21102, 0.9009], \"tcp_roll_pitch_yaw\": [-0.07894, -0.02338, 1.7903], \"tcp_rotation_matrix\": [[-0.16879, 0.98548, 0.01819], [0.98403, 0.16743, 0.0605], [0.05657, 0.02811, -0.998]], \"simulated_seconds_remaining\": 14.388, \"calls_remaining_including_this\": 33}"
      },
      {
        "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": 1
    },
    "note": "The exterior view shows the knife aligned over the bowl. I open the fingers to release it onto the bowl."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 26, \"instruction\": \"pick up the knife and place it on the bowl.\", \"joint_positions\": [0.27456, -0.36215, 0.17241, -2.34103, 0.12007, 2.02324, -1.35302], \"gripper_open\": 0.9965, \"tcp_xyz\": [0.39863, 0.21101, 0.9009], \"tcp_roll_pitch_yaw\": [-0.07894, -0.02338, 1.79031], \"tcp_rotation_matrix\": [[-0.1688, 0.98548, 0.01819], [0.98403, 0.16743, 0.0605], [0.05657, 0.02811, -0.998]], \"simulated_seconds_remaining\": 13.464, \"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": {
      "z": 1.03,
      "gripper": 1
    },
    "note": "The knife has been released. I withdraw upward so it can settle and the bowl can be inspected."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 27, \"instruction\": \"pick up the knife and place it on the bowl.\", \"joint_positions\": [0.26778, -0.3775, 0.15639, -2.02808, 0.10634, 1.69557, -1.33647], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.39868, 0.21103, 1.02881], \"tcp_roll_pitch_yaw\": [-0.07924, -0.02345, 1.79031], \"tcp_rotation_matrix\": [[-0.16881, 0.98548, 0.01847], [0.98402, 0.16742, 0.06062], [0.05665, 0.0284, -0.99799]], \"simulated_seconds_remaining\": 12.276, \"calls_remaining_including_this\": 31}"
      },
      {
        "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": 0.3,
      "y": 0.15,
      "z": 1,
      "gripper": 1
    },
    "note": "I move the empty gripper aside to check whether the knife settled on the bowl."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 28, \"instruction\": \"pick up the knife and place it on the bowl.\", \"joint_positions\": [0.27784, -0.74202, 0.1042, -2.37544, 0.12137, 1.67412, -1.39398], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.30105, 0.15065, 1.00036], \"tcp_roll_pitch_yaw\": [-0.07933, -0.02343, 1.7903], \"tcp_rotation_matrix\": [[-0.1688, 0.98548, 0.01855], [0.98402, 0.16741, 0.06063], [0.05664, 0.02849, -0.99799]], \"simulated_seconds_remaining\": 11.154, \"calls_remaining_including_this\": 30}"
      },
      {
        "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": 0.39,
      "y": 0.08,
      "z": 0.77,
      "gripper": 1
    },
    "note": "The knife settled beside the bowl instead of on it. I move down to recover it for a final placement."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 29, \"instruction\": \"pick up the knife and place it on the bowl.\", \"joint_positions\": [0.20012, -0.35098, -0.02182, -2.69074, 0.06998, 2.3674, -1.60963], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.38945, 0.08035, 0.77115], \"tcp_roll_pitch_yaw\": [-0.07897, -0.02348, 1.79022], \"tcp_rotation_matrix\": [[-0.16871, 0.9855, 0.0182], [0.98404, 0.16734, 0.0606], [0.05667, 0.02813, -0.998]], \"simulated_seconds_remaining\": 9.174, \"calls_remaining_including_this\": 29}"
      },
      {
        "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": 0.43,
      "z": 0.755,
      "gripper": 1
    },
    "note": "The knife is just left of the finger gap. I shift a few centimeters to center its middle between the jaws."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 30, \"instruction\": \"pick up the knife and place it on the bowl.\", \"joint_positions\": [0.19753, -0.19809, -0.03412, -2.58827, 0.07566, 2.41668, -1.63176], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.42887, 0.08034, 0.75542], \"tcp_roll_pitch_yaw\": [-0.07888, -0.0235, 1.79018], \"tcp_rotation_matrix\": [[-0.16866, 0.98551, 0.01811], [0.98404, 0.1673, 0.0606], [0.05669, 0.02804, -0.998]], \"simulated_seconds_remaining\": 8.58, \"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 knife is centered in the gap. I close the jaws around its middle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 31, \"instruction\": \"pick up the knife and place it on the bowl.\", \"joint_positions\": [0.19735, -0.20348, -0.03428, -2.58692, 0.07554, 2.4116, -1.63142], \"gripper_open\": 0.7522, \"tcp_xyz\": [0.42907, 0.08035, 0.75786], \"tcp_roll_pitch_yaw\": [-0.08056, -0.02383, 1.78993], \"tcp_rotation_matrix\": [[-0.16847, 0.98551, 0.01969], [0.98405, 0.16699, 0.06127], [0.0571, 0.0297, -0.99793]], \"simulated_seconds_remaining\": 7.656, \"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": {
      "z": 0.88,
      "gripper": 0
    },
    "note": "I maintain jaw closure and lift the recovered knife clear of the table."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 32, \"instruction\": \"pick up the knife and place it on the bowl.\", \"joint_positions\": [0.18979, -0.37575, -0.03035, -2.414, 0.05258, 2.0675, -1.6025], \"gripper_open\": 0.0, \"tcp_xyz\": [0.42916, 0.08036, 0.8788], \"tcp_roll_pitch_yaw\": [-0.08092, -0.02382, 1.78993], \"tcp_rotation_matrix\": [[-0.16848, 0.9855, 0.02004], [0.98405, 0.16698, 0.06134], [0.05711, 0.03006, -0.99792]], \"simulated_seconds_remaining\": 6.534, \"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": {
      "x": 0.27,
      "y": 0.27,
      "z": 0.88,
      "gripper": 0
    },
    "note": "The knife remains between the fingers after lifting. I move its center directly over the bowl for release."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 33, \"instruction\": \"pick up the knife and place it on the bowl.\", \"joint_positions\": [0.41542, -0.61024, 0.31333, -2.57763, 0.23816, 2.03435, -1.16217], \"gripper_open\": 0.0, \"tcp_xyz\": [0.27084, 0.26903, 0.88001], \"tcp_roll_pitch_yaw\": [-0.08098, -0.02377, 1.79015], \"tcp_rotation_matrix\": [[-0.1687, 0.98546, 0.0201], [0.98401, 0.16721, 0.06131], [0.05706, 0.03012, -0.99792]], \"simulated_seconds_remaining\": 4.554, \"calls_remaining_including_this\": 25}"
      },
      {
        "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": "The knife slipped from the grasp and remains beside the bowl. The remaining motion budget is insufficient to recover and complete a verified placement."
  },
  "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 placement. The knife slipped from the gripper and remains beside the bowl.

TURN USAGE
{
  "input_tokens": 752046,
  "cached_input_tokens": 721280,
  "cache_write_input_tokens": 0,
  "output_tokens": 7905,
  "reasoning_output_tokens": 4388
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "pick up the knife and place it on the bowl.",
    "joint_positions": [
      -0.00474,
      -0.78784,
      -0.03264,
      -2.36422,
      0.02573,
      1.60703,
      0.02265
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.31467,
      -0.00446,
      1.01568
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99822,
        -0.05051,
        0.03174
      ],
      [
        -0.052,
        -0.9975,
        0.04796
      ],
      [
        0.02923,
        -0.04952,
        -0.99835
      ]
    ],
    "simulated_seconds_remaining": 45.012,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 33.22862130496651,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.43,
                    "y": 0,
                    "z": 0.86,
                    "gripper": 1
                  },
                  "note": "The knife lies beside the book and left of the bowl. I move closer above it for a precise wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 24,
    "motion_seconds": 1.584,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "pick up the knife and place it on the bowl.",
    "joint_positions": [
      0.00905,
      -0.3839,
      -0.03078,
      -2.46845,
      0.04332,
      2.11478,
      0.00978
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.42914,
      -3e-05,
      0.86099
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.00034,
      1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99823,
        -0.05051,
        0.03139
      ],
      [
        -0.05198,
        -0.9975,
        0.04796
      ],
      [
        0.02889,
        -0.04951,
        -0.99836
      ]
    ],
    "simulated_seconds_remaining": 43.428,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 15.413184739649296,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.74
                  },
                  "note": "The knife runs diagonally across the wrist image between the open fingers. I descend while keeping the jaws open to judge the grasp alignment."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "pick up the knife and place it on the bowl.",
    "joint_positions": [
      0.01649,
      -0.20956,
      -0.03604,
      -2.61469,
      0.0655,
      2.43993,
      -0.015
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.43128,
      -0.00021,
      0.75154
    ],
    "tcp_roll_pitch_yaw": [
      0.00117,
      -0.0048,
      -0.00199
    ],
    "tcp_rotation_matrix": [
      [
        0.99796,
        -0.05225,
        0.03663
      ],
      [
        -0.05401,
        -0.99733,
        0.04906
      ],
      [
        0.03397,
        -0.05093,
        -0.99812
      ]
    ],
    "simulated_seconds_remaining": 42.306,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 16.61401403043419,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.49,
                    "y": 0.04,
                    "z": 0.78
                  },
                  "note": "The exterior view places the knife just ahead and left of the fingertips. I shift toward it and lift slightly to recover a clear wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "pick up the knife and place it on the bowl.",
    "joint_positions": [
      0.05217,
      -0.09295,
      0.0114,
      -2.40241,
      0.06694,
      2.34817,
      0.07059
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.48902,
      0.03934,
      0.77954
    ],
    "tcp_roll_pitch_yaw": [
      0.00116,
      -0.00491,
      -0.00187
    ],
    "tcp_rotation_matrix": [
      [
        0.99797,
        -0.05212,
        0.03673
      ],
      [
        -0.05389,
        -0.99734,
        0.04905
      ],
      [
        0.03408,
        -0.05093,
        -0.99812
      ]
    ],
    "simulated_seconds_remaining": 41.514,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 13.015064615756273,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "yaw": 1.3,
                    "z": 0.73
                  },
                  "note": "The knife is directly beneath the wrist, with its length nearly along the jaw opening. I rotate the gripper so the jaws close across the knife."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 31,
    "motion_seconds": 2.0460000000000003,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "pick up the knife and place it on the bowl.",
    "joint_positions": [
      0.06811,
      0.00148,
      -0.01852,
      -2.36237,
      0.07137,
      2.3776,
      -1.23359
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.50187,
      0.03316,
      0.75271
    ],
    "tcp_roll_pitch_yaw": [
      -0.04549,
      -0.01966,
      1.28218
    ],
    "tcp_rotation_matrix": [
      [
        0.33241,
        0.94306,
        0.01222
      ],
      [
        0.94175,
        -0.33259,
        0.04997
      ],
      [
        0.05119,
        -0.0051,
        -0.99868
      ]
    ],
    "simulated_seconds_remaining": 39.468,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 9.60744277201593,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The knife crosses the gap between the fingertips at table height. I close the jaws to secure it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "pick up the knife and place it on the bowl.",
    "joint_positions": [
      0.06845,
      -0.00574,
      -0.01809,
      -2.3588,
      0.0717,
      2.37453,
      -1.23351
    ],
    "gripper_open": 0.7244,
    "tcp_xyz": [
      0.50397,
      0.03391,
      0.75748
    ],
    "tcp_roll_pitch_yaw": [
      -0.05293,
      -0.02282,
      1.2833
    ],
    "tcp_rotation_matrix": [
      [
        0.33107,
        0.94339,
        0.02019
      ],
      [
        0.94202,
        -0.33168,
        0.0509
      ],
      [
        0.05472,
        0.00217,
        -0.9985
      ]
    ],
    "simulated_seconds_remaining": 38.544,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 9.008299015462399,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.89
                  },
                  "note": "The knife shifted with jaw closure and the fingers remain separated around it. I lift to verify that it is held."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "pick up the knife and place it on the bowl.",
    "joint_positions": [
      0.0655,
      -0.16717,
      -0.0189,
      -2.18028,
      0.05234,
      2.03553,
      -1.20888
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.50406,
      0.03392,
      0.8888
    ],
    "tcp_roll_pitch_yaw": [
      -0.05328,
      -0.02296,
      1.2833
    ],
    "tcp_rotation_matrix": [
      [
        0.33106,
        0.94339,
        0.02056
      ],
      [
        0.94201,
        -0.33169,
        0.05093
      ],
      [
        0.05487,
        0.00251,
        -0.99849
      ]
    ],
    "simulated_seconds_remaining": 37.356,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 19.017546420916915,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.755,
                    "yaw": 1.8,
                    "gripper": 1
                  },
                  "note": "The knife remained on the table after the fingers reopened during the lift. I realign the jaws across its width and descend for a new grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "pick up the knife and place it on the bowl.",
    "joint_positions": [
      0.08842,
      0.01262,
      -0.0404,
      -2.33375,
      0.07697,
      2.34003,
      -1.7517
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.50398,
      0.03392,
      0.75572
    ],
    "tcp_roll_pitch_yaw": [
      -0.0529,
      -0.02302,
      1.79647
    ],
    "tcp_rotation_matrix": [
      [
        -0.17404,
        0.98471,
        -0.00747
      ],
      [
        0.98321,
        0.17419,
        0.05444
      ],
      [
        0.05491,
        0.00213,
        -0.99849
      ]
    ],
    "simulated_seconds_remaining": 36.168,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 5.404962241649628,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The knife is centered between the open fingers with its length aligned through the gap. I close around its narrow sides."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "pick up the knife and place it on the bowl.",
    "joint_positions": [
      0.08789,
      0.00537,
      -0.0411,
      -2.33175,
      0.07655,
      2.33471,
      -1.75128
    ],
    "gripper_open": 0.6213,
    "tcp_xyz": [
      0.50469,
      0.03342,
      0.75975
    ],
    "tcp_roll_pitch_yaw": [
      -0.05682,
      -0.02259,
      1.79555
    ],
    "tcp_rotation_matrix": [
      [
        -0.17326,
        0.98487,
        -0.00351
      ],
      [
        0.98336,
        0.17319,
        0.0549
      ],
      [
        0.05468,
        0.00606,
        -0.99849
      ]
    ],
    "simulated_seconds_remaining": 35.244,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 5.605214915238321,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.9,
                    "gripper": 0
                  },
                  "note": "The jaws have contacted the knife. I keep the close command active while lifting it clear of the table."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "pick up the knife and place it on the bowl.",
    "joint_positions": [
      0.08521,
      -0.15458,
      -0.0413,
      -2.13517,
      0.05304,
      1.97936,
      -1.72175
    ],
    "gripper_open": 0.2476,
    "tcp_xyz": [
      0.50475,
      0.03342,
      0.89876
    ],
    "tcp_roll_pitch_yaw": [
      -0.05704,
      -0.02254,
      1.79556
    ],
    "tcp_rotation_matrix": [
      [
        -0.17328,
        0.98487,
        -0.00329
      ],
      [
        0.98336,
        0.1732,
        0.0549
      ],
      [
        0.05464,
        0.00628,
        -0.99849
      ]
    ],
    "simulated_seconds_remaining": 33.99,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 18.01469001546502,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.62,
                    "y": -0.13,
                    "z": 0.9,
                    "gripper": 0
                  },
                  "note": "The knife remains held in the wrist view. The white bowl is toward the front-right of the knife's original position, so I carry it in that direction at clearance height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 25,
    "motion_seconds": 1.6500000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "pick up the knife and place it on the bowl.",
    "joint_positions": [
      -0.06858,
      0.25114,
      -0.1774,
      -1.62656,
      0.10043,
      1.856,
      -2.01483
    ],
    "gripper_open": 0.2463,
    "tcp_xyz": [
      0.61919,
      -0.12903,
      0.89986
    ],
    "tcp_roll_pitch_yaw": [
      -0.0568,
      -0.02258,
      1.79531
    ],
    "tcp_rotation_matrix": [
      [
        -0.17303,
        0.98491,
        -0.00351
      ],
      [
        0.9834,
        0.17296,
        0.05489
      ],
      [
        0.05467,
        0.00605,
        -0.99849
      ]
    ],
    "simulated_seconds_remaining": 32.34,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 21.016840406693518,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.43,
                    "y": 0.23,
                    "z": 1,
                    "gripper": 0
                  },
                  "note": "The bowl is still below the carried knife in the exterior view. I move back across the table and raise the knife for a wider view of the destination."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 47,
    "motion_seconds": 3.1020000000000003,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "pick up the knife and place it on the bowl.",
    "joint_positions": [
      0.25562,
      -0.25487,
      0.18183,
      -1.98138,
      0.09848,
      1.74949,
      -1.32954
    ],
    "gripper_open": 0.2369,
    "tcp_xyz": [
      0.43056,
      0.22894,
      0.99965
    ],
    "tcp_roll_pitch_yaw": [
      -0.05676,
      -0.02253,
      1.79561
    ],
    "tcp_rotation_matrix": [
      [
        -0.17332,
        0.98486,
        -0.00356
      ],
      [
        0.98335,
        0.17325,
        0.05483
      ],
      [
        0.05462,
        0.00601,
        -0.99849
      ]
    ],
    "simulated_seconds_remaining": 29.238,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 29.222405465319753,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.53,
                    "y": 0.23,
                    "z": 0.95,
                    "gripper": 0
                  },
                  "note": "The bowl is now visible to the right of the held knife in the wrist image. I make a controlled lateral adjustment toward its center."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "pick up the knife and place it on the bowl.",
    "joint_positions": [
      0.2269,
      0.02528,
      0.15992,
      -1.79025,
      0.04761,
      1.83998,
      -1.36702
    ],
    "gripper_open": 0.2612,
    "tcp_xyz": [
      0.53072,
      0.22776,
      0.95453
    ],
    "tcp_roll_pitch_yaw": [
      -0.06448,
      -0.02163,
      1.79212
    ],
    "tcp_rotation_matrix": [
      [
        -0.17014,
        0.98541,
        0.00436
      ],
      [
        0.98393,
        0.16964,
        0.05565
      ],
      [
        0.0541,
        0.01376,
        -0.99844
      ]
    ],
    "simulated_seconds_remaining": 28.182,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 11.409441870637238,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.31,
                    "y": 0.27,
                    "z": 0.94,
                    "gripper": 0
                  },
                  "note": "The last adjustment moved the bowl farther right in the wrist view. I correct in the opposite direction to center the knife over it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 27,
    "motion_seconds": 1.782,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "pick up the knife and place it on the bowl.",
    "joint_positions": [
      0.35957,
      -0.51765,
      0.27813,
      -2.35546,
      0.18887,
      1.88498,
      -1.19245
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.31129,
      0.26981,
      0.94014
    ],
    "tcp_roll_pitch_yaw": [
      -0.06458,
      -0.02159,
      1.79233
    ],
    "tcp_rotation_matrix": [
      [
        -0.17035,
        0.98537,
        0.00445
      ],
      [
        0.9839,
        0.16985,
        0.05564
      ],
      [
        0.05407,
        0.01386,
        -0.99844
      ]
    ],
    "simulated_seconds_remaining": 26.4,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 16.01393805630505,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48,
                    "y": 0.17,
                    "z": 0.87,
                    "gripper": 1
                  },
                  "note": "The knife slipped onto the book during transport; the empty closed jaws confirm the loss. I return above the visible knife to grasp it again."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 26,
    "motion_seconds": 1.7160000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "pick up the knife and place it on the bowl.",
    "joint_positions": [
      0.21083,
      -0.14303,
      0.1057,
      -2.20118,
      0.07627,
      2.07909,
      -1.46249
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.47894,
      0.17056,
      0.87038
    ],
    "tcp_roll_pitch_yaw": [
      -0.06442,
      -0.02162,
      1.79212
    ],
    "tcp_rotation_matrix": [
      [
        -0.17013,
        0.98541,
        0.0043
      ],
      [
        0.98394,
        0.16964,
        0.05564
      ],
      [
        0.0541,
        0.0137,
        -0.99844
      ]
    ],
    "simulated_seconds_remaining": 24.684,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 12.81118558254093,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.5,
                    "y": 0.17,
                    "z": 0.78,
                    "gripper": 1
                  },
                  "note": "The knife handle lies near the finger gap on the book. I center the handle and lower to grasp it more securely."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "pick up the knife and place it on the bowl.",
    "joint_positions": [
      0.2066,
      0.01933,
      0.10351,
      -2.2573,
      0.06647,
      2.29618,
      -1.47516
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.49963,
      0.16997,
      0.78113
    ],
    "tcp_roll_pitch_yaw": [
      -0.06406,
      -0.02161,
      1.79208
    ],
    "tcp_rotation_matrix": [
      [
        -0.17009,
        0.98542,
        0.00396
      ],
      [
        0.98394,
        0.16961,
        0.05555
      ],
      [
        0.05407,
        0.01334,
        -0.99845
      ]
    ],
    "simulated_seconds_remaining": 23.76,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 6.0059322053566575,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.758,
                    "gripper": 0
                  },
                  "note": "The narrow handle is now between the fingertips. I lower slightly and close firmly around it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "pick up the knife and place it on the bowl.",
    "joint_positions": [
      0.20776,
      0.04543,
      0.10455,
      -2.27451,
      0.06545,
      2.34788,
      -1.47538
    ],
    "gripper_open": 0.0893,
    "tcp_xyz": [
      0.50131,
      0.17114,
      0.76476
    ],
    "tcp_roll_pitch_yaw": [
      -0.07247,
      -0.02208,
      1.7927
    ],
    "tcp_rotation_matrix": [
      [
        -0.17096,
        0.9852,
        0.01202
      ],
      [
        0.98374,
        0.17,
        0.05785
      ],
      [
        0.05495,
        0.02172,
        -0.99825
      ]
    ],
    "simulated_seconds_remaining": 22.836,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 5.405205889604986,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.9,
                    "gripper": 0
                  },
                  "note": "The jaws are nearly closed around the handle. I lift straight up while maintaining closure."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "pick up the knife and place it on the bowl.",
    "joint_positions": [
      0.2041,
      -0.10485,
      0.09987,
      -2.0867,
      0.0686,
      2.0105,
      -1.46703
    ],
    "gripper_open": 0.052,
    "tcp_xyz": [
      0.50137,
      0.17115,
      0.89872
    ],
    "tcp_roll_pitch_yaw": [
      -0.07271,
      -0.02209,
      1.79271
    ],
    "tcp_rotation_matrix": [
      [
        -0.17097,
        0.9852,
        0.01225
      ],
      [
        0.98374,
        0.17,
        0.05791
      ],
      [
        0.05497,
        0.02195,
        -0.99825
      ]
    ],
    "simulated_seconds_remaining": 21.648,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 13.21165824122727,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.27,
                    "y": 0.24,
                    "z": 0.9,
                    "gripper": 0
                  },
                  "note": "The knife is securely lifted by its handle. I carry it toward the bowl's position established in the wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 29,
    "motion_seconds": 1.9140000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 19,
  "state": {
    "instruction": "pick up the knife and place it on the bowl.",
    "joint_positions": [
      0.38342,
      -0.6803,
      0.27154,
      -2.57558,
      0.22651,
      1.94809,
      -1.22237
    ],
    "gripper_open": 0.0524,
    "tcp_xyz": [
      0.27124,
      0.23965,
      0.89998
    ],
    "tcp_roll_pitch_yaw": [
      -0.07269,
      -0.02199,
      1.7929
    ],
    "tcp_rotation_matrix": [
      [
        -0.17116,
        0.98517,
        0.01224
      ],
      [
        0.98371,
        0.17019,
        0.05782
      ],
      [
        0.05487,
        0.02193,
        -0.99825
      ]
    ],
    "simulated_seconds_remaining": 19.734,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 9.408336309716105,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.32,
                    "z": 0.84,
                    "gripper": 0
                  },
                  "note": "The handle is above the near edge of the bowl while the blade extends beyond it. I shift the knife so its middle spans the bowl and lower toward the rim."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 20,
  "state": {
    "instruction": "pick up the knife and place it on the bowl.",
    "joint_positions": [
      0.40152,
      -0.45395,
      0.42386,
      -2.54432,
      0.25477,
      2.16283,
      -1.08626
    ],
    "gripper_open": 0.0662,
    "tcp_xyz": [
      0.27329,
      0.31678,
      0.84247
    ],
    "tcp_roll_pitch_yaw": [
      -0.07517,
      -0.02072,
      1.7893
    ],
    "tcp_rotation_matrix": [
      [
        -0.16771,
        0.98572,
        0.01515
      ],
      [
        0.98437,
        0.16661,
        0.05707
      ],
      [
        0.05373,
        0.02448,
        -0.99826
      ]
    ],
    "simulated_seconds_remaining": 18.744,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 37.62979571521282,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.25,
                    "y": 0.22,
                    "z": 0.85,
                    "gripper": 0
                  },
                  "note": "The wrist view shows the knife's blade offset toward the far rim. I bring the blade's midpoint over the bowl before releasing."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 21,
  "state": {
    "instruction": "pick up the knife and place it on the bowl.",
    "joint_positions": [
      0.40847,
      -0.74926,
      0.27736,
      -2.74609,
      0.25604,
      2.05412,
      -1.23661
    ],
    "gripper_open": 0.0592,
    "tcp_xyz": [
      0.25086,
      0.22283,
      0.85157
    ],
    "tcp_roll_pitch_yaw": [
      -0.07957,
      -0.02345,
      1.79057
    ],
    "tcp_rotation_matrix": [
      [
        -0.16907,
        0.98543,
        0.01877
      ],
      [
        0.98397,
        0.16766,
        0.0607
      ],
      [
        0.05667,
        0.02873,
        -0.99798
      ]
    ],
    "simulated_seconds_remaining": 17.754,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 9.208038444630802,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.94,
                    "gripper": 0
                  },
                  "note": "The knife contacted the rim and rotated in the grasp. I lift clear to inspect its new orientation before placing it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 22,
  "state": {
    "instruction": "pick up the knife and place it on the bowl.",
    "joint_positions": [
      0.3927,
      -0.78932,
      0.23797,
      -2.54823,
      0.21594,
      1.81709,
      -1.22239
    ],
    "gripper_open": 0.057,
    "tcp_xyz": [
      0.2509,
      0.22287,
      0.93866
    ],
    "tcp_roll_pitch_yaw": [
      -0.07973,
      -0.02352,
      1.79058
    ],
    "tcp_rotation_matrix": [
      [
        -0.16909,
        0.98542,
        0.01891
      ],
      [
        0.98397,
        0.16768,
        0.06081
      ],
      [
        0.05675,
        0.02889,
        -0.99797
      ]
    ],
    "simulated_seconds_remaining": 16.896,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 8.207474719733,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "y": 0.25,
                    "z": 0.94,
                    "gripper": 0
                  },
                  "note": "The blade now extends sideways from the handle. I move the blade's midpoint over the bowl, keeping clearance above its rim."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 23,
  "state": {
    "instruction": "pick up the knife and place it on the bowl.",
    "joint_positions": [
      0.29588,
      -0.32611,
      0.21579,
      -2.20542,
      0.12063,
      1.92979,
      -1.27784
    ],
    "gripper_open": 0.0532,
    "tcp_xyz": [
      0.39869,
      0.24972,
      0.93989
    ],
    "tcp_roll_pitch_yaw": [
      -0.07947,
      -0.0235,
      1.79048
    ],
    "tcp_rotation_matrix": [
      [
        -0.16898,
        0.98544,
        0.01867
      ],
      [
        0.98399,
        0.16758,
        0.06073
      ],
      [
        0.05672,
        0.02863,
        -0.99798
      ]
    ],
    "simulated_seconds_remaining": 15.576,
    "calls_remaining_including_this": 35
  },
  "api_seconds": 10.208406411111355,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.9,
                    "gripper": 0
                  },
                  "note": "The bowl is directly under the blade in the wrist view. I lower a short distance to reduce the drop onto the bowl."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 24,
  "state": {
    "instruction": "pick up the knife and place it on the bowl.",
    "joint_positions": [
      0.29776,
      -0.30672,
      0.22226,
      -2.28749,
      0.12333,
      2.03064,
      -1.281
    ],
    "gripper_open": 0.0517,
    "tcp_xyz": [
      0.39862,
      0.24968,
      0.90094
    ],
    "tcp_roll_pitch_yaw": [
      -0.07907,
      -0.0234,
      1.79048
    ],
    "tcp_rotation_matrix": [
      [
        -0.16897,
        0.98545,
        0.01829
      ],
      [
        0.984,
        0.1676,
        0.06054
      ],
      [
        0.0566,
        0.02823,
        -0.998
      ]
    ],
    "simulated_seconds_remaining": 14.982,
    "calls_remaining_including_this": 34
  },
  "api_seconds": 11.410017622634768,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.21,
                    "gripper": 0
                  },
                  "note": "The blade overlaps the bowl but is slightly off center. I make a small final adjustment before opening the jaws."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 25,
  "state": {
    "instruction": "pick up the knife and place it on the bowl.",
    "joint_positions": [
      0.27456,
      -0.36215,
      0.17241,
      -2.34103,
      0.12007,
      2.02324,
      -1.35302
    ],
    "gripper_open": 0.0505,
    "tcp_xyz": [
      0.39863,
      0.21102,
      0.9009
    ],
    "tcp_roll_pitch_yaw": [
      -0.07894,
      -0.02338,
      1.7903
    ],
    "tcp_rotation_matrix": [
      [
        -0.16879,
        0.98548,
        0.01819
      ],
      [
        0.98403,
        0.16743,
        0.0605
      ],
      [
        0.05657,
        0.02811,
        -0.998
      ]
    ],
    "simulated_seconds_remaining": 14.388,
    "calls_remaining_including_this": 33
  },
  "api_seconds": 6.806016379967332,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 1
                  },
                  "note": "The exterior view shows the knife aligned over the bowl. I open the fingers to release it onto the bowl."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 26,
  "state": {
    "instruction": "pick up the knife and place it on the bowl.",
    "joint_positions": [
      0.27456,
      -0.36215,
      0.17241,
      -2.34103,
      0.12007,
      2.02324,
      -1.35302
    ],
    "gripper_open": 0.9965,
    "tcp_xyz": [
      0.39863,
      0.21101,
      0.9009
    ],
    "tcp_roll_pitch_yaw": [
      -0.07894,
      -0.02338,
      1.79031
    ],
    "tcp_rotation_matrix": [
      [
        -0.1688,
        0.98548,
        0.01819
      ],
      [
        0.98403,
        0.16743,
        0.0605
      ],
      [
        0.05657,
        0.02811,
        -0.998
      ]
    ],
    "simulated_seconds_remaining": 13.464,
    "calls_remaining_including_this": 32
  },
  "api_seconds": 9.208310688845813,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.03,
                    "gripper": 1
                  },
                  "note": "The knife has been released. I withdraw upward so it can settle and the bowl can be inspected."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 27,
  "state": {
    "instruction": "pick up the knife and place it on the bowl.",
    "joint_positions": [
      0.26778,
      -0.3775,
      0.15639,
      -2.02808,
      0.10634,
      1.69557,
      -1.33647
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.39868,
      0.21103,
      1.02881
    ],
    "tcp_roll_pitch_yaw": [
      -0.07924,
      -0.02345,
      1.79031
    ],
    "tcp_rotation_matrix": [
      [
        -0.16881,
        0.98548,
        0.01847
      ],
      [
        0.98402,
        0.16742,
        0.06062
      ],
      [
        0.05665,
        0.0284,
        -0.99799
      ]
    ],
    "simulated_seconds_remaining": 12.276,
    "calls_remaining_including_this": 31
  },
  "api_seconds": 7.405736582353711,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.3,
                    "y": 0.15,
                    "z": 1,
                    "gripper": 1
                  },
                  "note": "I move the empty gripper aside to check whether the knife settled on the bowl."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 28,
  "state": {
    "instruction": "pick up the knife and place it on the bowl.",
    "joint_positions": [
      0.27784,
      -0.74202,
      0.1042,
      -2.37544,
      0.12137,
      1.67412,
      -1.39398
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.30105,
      0.15065,
      1.00036
    ],
    "tcp_roll_pitch_yaw": [
      -0.07933,
      -0.02343,
      1.7903
    ],
    "tcp_rotation_matrix": [
      [
        -0.1688,
        0.98548,
        0.01855
      ],
      [
        0.98402,
        0.16741,
        0.06063
      ],
      [
        0.05664,
        0.02849,
        -0.99799
      ]
    ],
    "simulated_seconds_remaining": 11.154,
    "calls_remaining_including_this": 30
  },
  "api_seconds": 13.8115370022133,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.39,
                    "y": 0.08,
                    "z": 0.77,
                    "gripper": 1
                  },
                  "note": "The knife settled beside the bowl instead of on it. I move down to recover it for a final placement."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 30,
    "motion_seconds": 1.98,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 29,
  "state": {
    "instruction": "pick up the knife and place it on the bowl.",
    "joint_positions": [
      0.20012,
      -0.35098,
      -0.02182,
      -2.69074,
      0.06998,
      2.3674,
      -1.60963
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.38945,
      0.08035,
      0.77115
    ],
    "tcp_roll_pitch_yaw": [
      -0.07897,
      -0.02348,
      1.79022
    ],
    "tcp_rotation_matrix": [
      [
        -0.16871,
        0.9855,
        0.0182
      ],
      [
        0.98404,
        0.16734,
        0.0606
      ],
      [
        0.05667,
        0.02813,
        -0.998
      ]
    ],
    "simulated_seconds_remaining": 9.174,
    "calls_remaining_including_this": 29
  },
  "api_seconds": 6.8059733137488365,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.43,
                    "z": 0.755,
                    "gripper": 1
                  },
                  "note": "The knife is just left of the finger gap. I shift a few centimeters to center its middle between the jaws."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 30,
  "state": {
    "instruction": "pick up the knife and place it on the bowl.",
    "joint_positions": [
      0.19753,
      -0.19809,
      -0.03412,
      -2.58827,
      0.07566,
      2.41668,
      -1.63176
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.42887,
      0.08034,
      0.75542
    ],
    "tcp_roll_pitch_yaw": [
      -0.07888,
      -0.0235,
      1.79018
    ],
    "tcp_rotation_matrix": [
      [
        -0.16866,
        0.98551,
        0.01811
      ],
      [
        0.98404,
        0.1673,
        0.0606
      ],
      [
        0.05669,
        0.02804,
        -0.998
      ]
    ],
    "simulated_seconds_remaining": 8.58,
    "calls_remaining_including_this": 28
  },
  "api_seconds": 7.4057602090761065,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The knife is centered in the gap. I close the jaws around its middle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 31,
  "state": {
    "instruction": "pick up the knife and place it on the bowl.",
    "joint_positions": [
      0.19735,
      -0.20348,
      -0.03428,
      -2.58692,
      0.07554,
      2.4116,
      -1.63142
    ],
    "gripper_open": 0.7522,
    "tcp_xyz": [
      0.42907,
      0.08035,
      0.75786
    ],
    "tcp_roll_pitch_yaw": [
      -0.08056,
      -0.02383,
      1.78993
    ],
    "tcp_rotation_matrix": [
      [
        -0.16847,
        0.98551,
        0.01969
      ],
      [
        0.98405,
        0.16699,
        0.06127
      ],
      [
        0.0571,
        0.0297,
        -0.99793
      ]
    ],
    "simulated_seconds_remaining": 7.656,
    "calls_remaining_including_this": 27
  },
  "api_seconds": 6.005533033050597,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.88,
                    "gripper": 0
                  },
                  "note": "I maintain jaw closure and lift the recovered knife clear of the table."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 32,
  "state": {
    "instruction": "pick up the knife and place it on the bowl.",
    "joint_positions": [
      0.18979,
      -0.37575,
      -0.03035,
      -2.414,
      0.05258,
      2.0675,
      -1.6025
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.42916,
      0.08036,
      0.8788
    ],
    "tcp_roll_pitch_yaw": [
      -0.08092,
      -0.02382,
      1.78993
    ],
    "tcp_rotation_matrix": [
      [
        -0.16848,
        0.9855,
        0.02004
      ],
      [
        0.98405,
        0.16698,
        0.06134
      ],
      [
        0.05711,
        0.03006,
        -0.99792
      ]
    ],
    "simulated_seconds_remaining": 6.534,
    "calls_remaining_including_this": 26
  },
  "api_seconds": 16.81409979145974,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.27,
                    "y": 0.27,
                    "z": 0.88,
                    "gripper": 0
                  },
                  "note": "The knife remains between the fingers after lifting. I move its center directly over the bowl for release."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 30,
    "motion_seconds": 1.98,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 33,
  "state": {
    "instruction": "pick up the knife and place it on the bowl.",
    "joint_positions": [
      0.41542,
      -0.61024,
      0.31333,
      -2.57763,
      0.23816,
      2.03435,
      -1.16217
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.27084,
      0.26903,
      0.88001
    ],
    "tcp_roll_pitch_yaw": [
      -0.08098,
      -0.02377,
      1.79015
    ],
    "tcp_rotation_matrix": [
      [
        -0.1687,
        0.98546,
        0.0201
      ],
      [
        0.98401,
        0.16721,
        0.06131
      ],
      [
        0.05706,
        0.03012,
        -0.99792
      ]
    ],
    "simulated_seconds_remaining": 4.554,
    "calls_remaining_including_this": 25
  },
  "api_seconds": 7.806923670694232,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "give_up",
                "args": {
                  "note": "The knife slipped from the grasp and remains beside the bowl. The remaining motion budget is insufficient to recover and complete a verified placement."
                }
              }
            }
          ]
        }
      }
    ]
  }
}

========================================================================
GPT-Astra / Pick & place / 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,
  "status": "completed",
  "success": true,
  "oracle_success": true,
  "action_decisions": 13,
  "wall_seconds": 183.15,
  "usage": {
    "input_tokens": 235301,
    "cached_input_tokens": 214912,
    "cache_write_input_tokens": 0,
    "output_tokens": 2759,
    "reasoning_output_tokens": 1198
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick-and-place 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 45 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 and grasp the requested object, lift it, move it to the named receptacle, and release it in or on that receptacle. Complete the entire pick-and-place 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 camera feedback to pick up the object and place it in the receptacle.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"pick up the spoon and place it on the bowl.\", \"joint_positions\": [0.04081, -0.81299, 0.04004, -2.32223, -0.03013, 1.54387, 0.02902], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.30203, 0.01632, 1.03747], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.99857, 0.03737, 0.03815], [0.0395, -0.99761, -0.05668], [0.03594, 0.0581, -0.99766]], \"simulated_seconds_remaining\": 45.012, \"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": 0.88,
    "gripper": 1,
    "note": "The spoon lies beside the black bowl. I lower the open gripper to get a clearer view for 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": 0.88,
      "gripper": 1
    },
    "note": "The spoon is beside the black bowl. Lowering the open gripper gives a clearer alignment view."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"pick up the spoon and place it on the bowl.\", \"joint_positions\": [0.0466, -0.85746, 0.04572, -2.74739, -0.02657, 1.92375, 0.04737], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.30198, 0.01631, 0.88129], \"tcp_roll_pitch_yaw\": [-3e-05, 0.00031, -0.0], \"tcp_rotation_matrix\": [[0.99858, 0.03739, 0.03784], [0.0395, -0.99761, -0.05671], [0.03563, 0.05813, -0.99767]], \"simulated_seconds_remaining\": 43.692, \"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": 0.38,
      "y": -0.06,
      "z": 0.96
    },
    "note": "The closer view places the spoon beyond the lower-right edge. I shift toward that side while raising slightly to recover the whole utensil."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"pick up the spoon and place it on the bowl.\", \"joint_positions\": [-0.023, -0.59661, -0.07962, -2.38682, -0.10124, 1.83341, -0.10401], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.37924, -0.05925, 0.95924], \"tcp_roll_pitch_yaw\": [2e-05, 0.00024, -0.0001], \"tcp_rotation_matrix\": [[0.99859, 0.03729, 0.03791], [0.03941, -0.99762, -0.05666], [0.03571, 0.05808, -0.99767]], \"simulated_seconds_remaining\": 42.504, \"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": 0.28,
      "y": 0.08,
      "z": 0.95,
      "yaw": 1.57
    },
    "note": "The spoon runs horizontally in the wrist image. I align above its handle and rotate the jaws to close across the narrow shaft."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"pick up the spoon and place it on the bowl.\", \"joint_positions\": [0.49075, -0.94622, -0.16264, -2.61505, -0.12037, 1.74141, -1.19687], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.28028, 0.07963, 0.95003], \"tcp_roll_pitch_yaw\": [1e-05, 0.00024, 1.56549], \"tcp_rotation_matrix\": [[-0.0342, 0.9978, 0.05687], [0.99878, 0.03209, 0.03761], [0.0357, 0.05809, -0.99767]], \"simulated_seconds_remaining\": 40.128, \"calls_remaining_including_this\": 54}"
      },
      {
        "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": 0.38,
      "y": 0.045,
      "z": 0.89
    },
    "note": "The spoon is left of the gripper after rotation. I center the shaft between the jaws and descend closer to the tabletop."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"pick up the spoon and place it on the bowl.\", \"joint_positions\": [0.47879, -0.62715, -0.33314, -2.56117, -0.18593, 2.0179, -1.32866], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.3789, 0.04537, 0.89059], \"tcp_roll_pitch_yaw\": [0.00024, 0.00025, 1.56543], \"tcp_rotation_matrix\": [[-0.03414, 0.99781, 0.05665], [0.99878, 0.03204, 0.03759], [0.0357, 0.05786, -0.99769]], \"simulated_seconds_remaining\": 39.006, \"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": 0.445,
      "y": 0.075,
      "z": 0.84
    },
    "note": "The spoon shaft remains left of the jaw gap. I shift the gap over the shaft while lowering for a grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"pick up the spoon and place it on the bowl.\", \"joint_positions\": [0.54483, -0.34033, -0.37565, -2.46805, -0.11998, 2.20915, -1.35024], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.44392, 0.07456, 0.84072], \"tcp_roll_pitch_yaw\": [0.00048, 0.00034, 1.56551], \"tcp_rotation_matrix\": [[-0.03421, 0.99782, 0.0564], [0.99878, 0.03212, 0.03752], [0.03562, 0.05761, -0.9977]], \"simulated_seconds_remaining\": 38.148, \"calls_remaining_including_this\": 52}"
      },
      {
        "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": 0.075,
      "z": 0.78
    },
    "note": "The shaft is close to the jaw gap. I make a small lateral correction and lower to the spoon’s height."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"pick up the spoon and place it on the bowl.\", \"joint_positions\": [0.56898, -0.13484, -0.42293, -2.43866, -0.03815, 2.37635, -1.42954], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.47931, 0.07499, 0.78097], \"tcp_roll_pitch_yaw\": [0.00076, 0.00041, 1.56553], \"tcp_rotation_matrix\": [[-0.03422, 0.99784, 0.05612], [0.99878, 0.03214, 0.03744], [0.03556, 0.05733, -0.99772]], \"simulated_seconds_remaining\": 37.356, \"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": 0.495,
      "z": 0.735
    },
    "note": "The spoon shaft is now between the open fingers. I lower the grasp point to surround it before closing."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"pick up the spoon and place it on the bowl.\", \"joint_positions\": [0.57591, -0.01938, -0.43613, -2.41455, 0.04831, 2.44786, -1.49995], \"gripper_open\": 1.0, \"tcp_xyz\": [0.49339, 0.0757, 0.74687], \"tcp_roll_pitch_yaw\": [0.01149, -0.00794, 1.56514], \"tcp_rotation_matrix\": [[-0.03344, 0.99841, 0.04548], [0.99846, 0.03135, 0.04582], [0.04432, 0.04694, -0.99791]], \"simulated_seconds_remaining\": 36.762, \"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": {
      "gripper": 0
    },
    "note": "The spoon’s narrow shaft is centered between the fingers at tabletop height. I close the jaws to grasp it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"pick up the spoon and place it on the bowl.\", \"joint_positions\": [0.57575, -0.02467, -0.43626, -2.41359, 0.04823, 2.44291, -1.4998], \"gripper_open\": 0.932, \"tcp_xyz\": [0.49334, 0.07597, 0.74919], \"tcp_roll_pitch_yaw\": [0.01105, -0.01041, 1.56496], \"tcp_rotation_matrix\": [[-0.03328, 0.99839, 0.04594], [0.99835, 0.03105, 0.04827], [0.04677, 0.04747, -0.99778]], \"simulated_seconds_remaining\": 35.838, \"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": 0.775,
      "gripper": 0
    },
    "note": "The jaws have barely closed, suggesting tabletop contact. I raise them slightly while continuing to close around the spoon."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"pick up the spoon and place it on the bowl.\", \"joint_positions\": [0.57329, -0.07344, -0.43372, -2.39204, 0.01529, 2.37709, -1.47398], \"gripper_open\": 0.2194, \"tcp_xyz\": [0.4932, 0.07596, 0.7739], \"tcp_roll_pitch_yaw\": [0.01155, -0.01035, 1.56498], \"tcp_rotation_matrix\": [[-0.03327, 0.99841, 0.04543], [0.99835, 0.03108, 0.04822], [0.04673, 0.04696, -0.9978]], \"simulated_seconds_remaining\": 34.914, \"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": {
      "z": 0.94
    },
    "note": "The fingers have closed around the spoon and it has tilted with the grip. I lift clear of the table to verify it is held."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 11, \"instruction\": \"pick up the spoon and place it on the bowl.\", \"joint_positions\": [0.56725, -0.25432, -0.39454, -2.12729, -0.06189, 1.94493, -1.40034], \"gripper_open\": 0.219, \"tcp_xyz\": [0.49326, 0.07597, 0.93869], \"tcp_roll_pitch_yaw\": [0.01135, -0.01042, 1.56498], \"tcp_rotation_matrix\": [[-0.03328, 0.9984, 0.04563], [0.99835, 0.03108, 0.04828], [0.04679, 0.04717, -0.99779]], \"simulated_seconds_remaining\": 33.528, \"calls_remaining_including_this\": 47}"
      },
      {
        "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"
}

The spoon is securely lifted. I’ll move it over the bowl and lower it for release.


{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.43,
      "y": -0.2,
      "z": 0.96
    },
    "note": "The spoon remains held after lifting. I carry it toward the black bowl, keeping it above the rim."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 12, \"instruction\": \"pick up the spoon and place it on the bowl.\", \"joint_positions\": [0.36901, -0.40171, -0.71324, -2.11895, -0.20591, 1.83239, -1.85898], \"gripper_open\": 0.2184, \"tcp_xyz\": [0.43027, -0.19877, 0.95987], \"tcp_roll_pitch_yaw\": [0.0114, -0.01047, 1.5647], \"tcp_rotation_matrix\": [[-0.033, 0.99841, 0.0456], [0.99836, 0.03079, 0.04832], [0.04684, 0.04712, -0.99779]], \"simulated_seconds_remaining\": 31.35, \"calls_remaining_including_this\": 46}"
      },
      {
        "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": 0.365,
      "y": -0.27,
      "z": 0.88
    },
    "note": "The bowl is slightly ahead and right in the wrist view. I center the held spoon over its opening and lower toward the rim."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 13, \"instruction\": \"pick up the spoon and place it on the bowl.\", \"joint_positions\": [0.2692, -0.47474, -0.84234, -2.3278, -0.312, 1.99569, -1.99013], \"gripper_open\": 0.2189, \"tcp_xyz\": [0.36565, -0.26928, 0.88082], \"tcp_roll_pitch_yaw\": [0.0115, -0.01058, 1.56449], \"tcp_rotation_matrix\": [[-0.03279, 0.99843, 0.04551], [0.99836, 0.03058, 0.04842], [0.04695, 0.04703, -0.99779]], \"simulated_seconds_remaining\": 30.228, \"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": {
      "y": -0.225,
      "z": 0.835
    },
    "note": "The bowl is beneath the grasp, but the spoon extends beyond it. I shift to center the spoon’s full length over the bowl and lower for release."
  },
  "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 spoon was lifted and moved over the bowl, but the episode ended before I could release it.

TURN USAGE
{
  "input_tokens": 235301,
  "cached_input_tokens": 214912,
  "cache_write_input_tokens": 0,
  "output_tokens": 2759,
  "reasoning_output_tokens": 1198
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "pick up the spoon and place it on the bowl.",
    "joint_positions": [
      0.04081,
      -0.81299,
      0.04004,
      -2.32223,
      -0.03013,
      1.54387,
      0.02902
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.30203,
      0.01632,
      1.03747
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99857,
        0.03737,
        0.03815
      ],
      [
        0.0395,
        -0.99761,
        -0.05668
      ],
      [
        0.03594,
        0.0581,
        -0.99766
      ]
    ],
    "simulated_seconds_remaining": 45.012,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 23.220425123348832,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.88,
                    "gripper": 1
                  },
                  "note": "The spoon is beside the black bowl. Lowering the open gripper gives a clearer alignment view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "pick up the spoon and place it on the bowl.",
    "joint_positions": [
      0.0466,
      -0.85746,
      0.04572,
      -2.74739,
      -0.02657,
      1.92375,
      0.04737
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.30198,
      0.01631,
      0.88129
    ],
    "tcp_roll_pitch_yaw": [
      -3e-05,
      0.00031,
      -0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99858,
        0.03739,
        0.03784
      ],
      [
        0.0395,
        -0.99761,
        -0.05671
      ],
      [
        0.03563,
        0.05813,
        -0.99767
      ]
    ],
    "simulated_seconds_remaining": 43.692,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 11.209903155453503,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.38,
                    "y": -0.06,
                    "z": 0.96
                  },
                  "note": "The closer view places the spoon beyond the lower-right edge. I shift toward that side while raising slightly to recover the whole utensil."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "pick up the spoon and place it on the bowl.",
    "joint_positions": [
      -0.023,
      -0.59661,
      -0.07962,
      -2.38682,
      -0.10124,
      1.83341,
      -0.10401
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.37924,
      -0.05925,
      0.95924
    ],
    "tcp_roll_pitch_yaw": [
      2e-05,
      0.00024,
      -0.0001
    ],
    "tcp_rotation_matrix": [
      [
        0.99859,
        0.03729,
        0.03791
      ],
      [
        0.03941,
        -0.99762,
        -0.05666
      ],
      [
        0.03571,
        0.05808,
        -0.99767
      ]
    ],
    "simulated_seconds_remaining": 42.504,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 12.012400628067553,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.28,
                    "y": 0.08,
                    "z": 0.95,
                    "yaw": 1.57
                  },
                  "note": "The spoon runs horizontally in the wrist image. I align above its handle and rotate the jaws to close across the narrow shaft."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 36,
    "motion_seconds": 2.3760000000000003,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "pick up the spoon and place it on the bowl.",
    "joint_positions": [
      0.49075,
      -0.94622,
      -0.16264,
      -2.61505,
      -0.12037,
      1.74141,
      -1.19687
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.28028,
      0.07963,
      0.95003
    ],
    "tcp_roll_pitch_yaw": [
      1e-05,
      0.00024,
      1.56549
    ],
    "tcp_rotation_matrix": [
      [
        -0.0342,
        0.9978,
        0.05687
      ],
      [
        0.99878,
        0.03209,
        0.03761
      ],
      [
        0.0357,
        0.05809,
        -0.99767
      ]
    ],
    "simulated_seconds_remaining": 40.128,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 16.01381906773895,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.38,
                    "y": 0.045,
                    "z": 0.89
                  },
                  "note": "The spoon is left of the gripper after rotation. I center the shaft between the jaws and descend closer to the tabletop."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "pick up the spoon and place it on the bowl.",
    "joint_positions": [
      0.47879,
      -0.62715,
      -0.33314,
      -2.56117,
      -0.18593,
      2.0179,
      -1.32866
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.3789,
      0.04537,
      0.89059
    ],
    "tcp_roll_pitch_yaw": [
      0.00024,
      0.00025,
      1.56543
    ],
    "tcp_rotation_matrix": [
      [
        -0.03414,
        0.99781,
        0.05665
      ],
      [
        0.99878,
        0.03204,
        0.03759
      ],
      [
        0.0357,
        0.05786,
        -0.99769
      ]
    ],
    "simulated_seconds_remaining": 39.006,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 9.407148908823729,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.445,
                    "y": 0.075,
                    "z": 0.84
                  },
                  "note": "The spoon shaft remains left of the jaw gap. I shift the gap over the shaft while lowering for a grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "pick up the spoon and place it on the bowl.",
    "joint_positions": [
      0.54483,
      -0.34033,
      -0.37565,
      -2.46805,
      -0.11998,
      2.20915,
      -1.35024
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44392,
      0.07456,
      0.84072
    ],
    "tcp_roll_pitch_yaw": [
      0.00048,
      0.00034,
      1.56551
    ],
    "tcp_rotation_matrix": [
      [
        -0.03421,
        0.99782,
        0.0564
      ],
      [
        0.99878,
        0.03212,
        0.03752
      ],
      [
        0.03562,
        0.05761,
        -0.9977
      ]
    ],
    "simulated_seconds_remaining": 38.148,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 7.207007461227477,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48,
                    "y": 0.075,
                    "z": 0.78
                  },
                  "note": "The shaft is close to the jaw gap. I make a small lateral correction and lower to the spoon’s height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "pick up the spoon and place it on the bowl.",
    "joint_positions": [
      0.56898,
      -0.13484,
      -0.42293,
      -2.43866,
      -0.03815,
      2.37635,
      -1.42954
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.47931,
      0.07499,
      0.78097
    ],
    "tcp_roll_pitch_yaw": [
      0.00076,
      0.00041,
      1.56553
    ],
    "tcp_rotation_matrix": [
      [
        -0.03422,
        0.99784,
        0.05612
      ],
      [
        0.99878,
        0.03214,
        0.03744
      ],
      [
        0.03556,
        0.05733,
        -0.99772
      ]
    ],
    "simulated_seconds_remaining": 37.356,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 7.006202945485711,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.495,
                    "z": 0.735
                  },
                  "note": "The spoon shaft is now between the open fingers. I lower the grasp point to surround it before closing."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "pick up the spoon and place it on the bowl.",
    "joint_positions": [
      0.57591,
      -0.01938,
      -0.43613,
      -2.41455,
      0.04831,
      2.44786,
      -1.49995
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.49339,
      0.0757,
      0.74687
    ],
    "tcp_roll_pitch_yaw": [
      0.01149,
      -0.00794,
      1.56514
    ],
    "tcp_rotation_matrix": [
      [
        -0.03344,
        0.99841,
        0.04548
      ],
      [
        0.99846,
        0.03135,
        0.04582
      ],
      [
        0.04432,
        0.04694,
        -0.99791
      ]
    ],
    "simulated_seconds_remaining": 36.762,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 5.404953080229461,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The spoon’s narrow shaft is centered between the fingers at tabletop height. I close the jaws to grasp it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "pick up the spoon and place it on the bowl.",
    "joint_positions": [
      0.57575,
      -0.02467,
      -0.43626,
      -2.41359,
      0.04823,
      2.44291,
      -1.4998
    ],
    "gripper_open": 0.932,
    "tcp_xyz": [
      0.49334,
      0.07597,
      0.74919
    ],
    "tcp_roll_pitch_yaw": [
      0.01105,
      -0.01041,
      1.56496
    ],
    "tcp_rotation_matrix": [
      [
        -0.03328,
        0.99839,
        0.04594
      ],
      [
        0.99835,
        0.03105,
        0.04827
      ],
      [
        0.04677,
        0.04747,
        -0.99778
      ]
    ],
    "simulated_seconds_remaining": 35.838,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 5.4047455014660954,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.775,
                    "gripper": 0
                  },
                  "note": "The jaws have barely closed, suggesting tabletop contact. I raise them slightly while continuing to close around the spoon."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "pick up the spoon and place it on the bowl.",
    "joint_positions": [
      0.57329,
      -0.07344,
      -0.43372,
      -2.39204,
      0.01529,
      2.37709,
      -1.47398
    ],
    "gripper_open": 0.2194,
    "tcp_xyz": [
      0.4932,
      0.07596,
      0.7739
    ],
    "tcp_roll_pitch_yaw": [
      0.01155,
      -0.01035,
      1.56498
    ],
    "tcp_rotation_matrix": [
      [
        -0.03327,
        0.99841,
        0.04543
      ],
      [
        0.99835,
        0.03108,
        0.04822
      ],
      [
        0.04673,
        0.04696,
        -0.9978
      ]
    ],
    "simulated_seconds_remaining": 34.914,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 5.205109611153603,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.94
                  },
                  "note": "The fingers have closed around the spoon and it has tilted with the grip. I lift clear of the table to verify it is held."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "pick up the spoon and place it on the bowl.",
    "joint_positions": [
      0.56725,
      -0.25432,
      -0.39454,
      -2.12729,
      -0.06189,
      1.94493,
      -1.40034
    ],
    "gripper_open": 0.219,
    "tcp_xyz": [
      0.49326,
      0.07597,
      0.93869
    ],
    "tcp_roll_pitch_yaw": [
      0.01135,
      -0.01042,
      1.56498
    ],
    "tcp_rotation_matrix": [
      [
        -0.03328,
        0.9984,
        0.04563
      ],
      [
        0.99835,
        0.03108,
        0.04828
      ],
      [
        0.04679,
        0.04717,
        -0.99779
      ]
    ],
    "simulated_seconds_remaining": 33.528,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 9.008160886354744,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.43,
                    "y": -0.2,
                    "z": 0.96
                  },
                  "note": "The spoon remains held after lifting. I carry it toward the black bowl, keeping it above the rim."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 33,
    "motion_seconds": 2.178,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "pick up the spoon and place it on the bowl.",
    "joint_positions": [
      0.36901,
      -0.40171,
      -0.71324,
      -2.11895,
      -0.20591,
      1.83239,
      -1.85898
    ],
    "gripper_open": 0.2184,
    "tcp_xyz": [
      0.43027,
      -0.19877,
      0.95987
    ],
    "tcp_roll_pitch_yaw": [
      0.0114,
      -0.01047,
      1.5647
    ],
    "tcp_rotation_matrix": [
      [
        -0.033,
        0.99841,
        0.0456
      ],
      [
        0.99836,
        0.03079,
        0.04832
      ],
      [
        0.04684,
        0.04712,
        -0.99779
      ]
    ],
    "simulated_seconds_remaining": 31.35,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 8.407613418996334,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.365,
                    "y": -0.27,
                    "z": 0.88
                  },
                  "note": "The bowl is slightly ahead and right in the wrist view. I center the held spoon over its opening and lower toward the rim."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "pick up the spoon and place it on the bowl.",
    "joint_positions": [
      0.2692,
      -0.47474,
      -0.84234,
      -2.3278,
      -0.312,
      1.99569,
      -1.99013
    ],
    "gripper_open": 0.2189,
    "tcp_xyz": [
      0.36565,
      -0.26928,
      0.88082
    ],
    "tcp_roll_pitch_yaw": [
      0.0115,
      -0.01058,
      1.56449
    ],
    "tcp_rotation_matrix": [
      [
        -0.03279,
        0.99843,
        0.04551
      ],
      [
        0.99836,
        0.03058,
        0.04842
      ],
      [
        0.04695,
        0.04703,
        -0.99779
      ]
    ],
    "simulated_seconds_remaining": 30.228,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 10.810404841788113,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": -0.225,
                    "z": 0.835
                  },
                  "note": "The bowl is beneath the grasp, but the spoon extends beyond it. I shift to center the spoon’s full length over the bowl and lower for release."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

========================================================================
GPT-Astra / Pick & place / 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,
  "status": "completed",
  "success": false,
  "oracle_success": false,
  "action_decisions": 38,
  "wall_seconds": 514.3,
  "usage": {
    "input_tokens": 880848,
    "cached_input_tokens": 832896,
    "cache_write_input_tokens": 0,
    "output_tokens": 7696,
    "reasoning_output_tokens": 3637
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick-and-place 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 45 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 and grasp the requested object, lift it, move it to the named receptacle, and release it in or on that receptacle. Complete the entire pick-and-place 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 object and place it in the requested receptacle.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [-0.00567, -0.74533, 0.04957, -2.3176, -0.00655, 1.6055, 0.03431], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.32694, 0.0121, 1.02397], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.99942, -0.00353, 0.03384], [-0.0022, -0.99923, -0.03911], [0.03395, 0.03901, -0.99866]], \"simulated_seconds_remaining\": 45.012, \"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": 0.91,
    "gripper": 1,
    "note": "The wrist view shows a dark bowl beside a green tissue packet. I move closer above the tabletop for a clearer view and 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": 0.48,
      "y": 0,
      "z": 0.91,
      "gripper": 1
    },
    "note": "The wrist view shows a dark bowl beside a green tissue packet. I move closer above the tabletop for clearer alignment."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [-0.02714, -0.26846, 0.04204, -2.23001, -0.03118, 1.99465, 0.02882], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.47889, 7e-05, 0.9107], \"tcp_roll_pitch_yaw\": [1e-05, 0.00028, -3e-05], \"tcp_rotation_matrix\": [[0.99943, -0.00355, 0.03356], [-0.00223, -0.99923, -0.0391], [0.03367, 0.03901, -0.99867]], \"simulated_seconds_remaining\": 43.428, \"calls_remaining_including_this\": 56}"
      },
      {
        "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": -0.14,
      "z": 0.85
    },
    "note": "The tissue packet is to the right of the bowl in the wrist view. I shift toward it and lower slightly to establish its position."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [-0.14782, -0.31204, -0.14504, -2.43008, -0.08724, 2.16258, -0.23658], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.43037, -0.13892, 0.85046], \"tcp_roll_pitch_yaw\": [7e-05, 0.00038, -0.00027], \"tcp_rotation_matrix\": [[0.99943, -0.00379, 0.03345], [-0.00248, -0.99923, -0.03905], [0.03357, 0.03895, -0.99868]], \"simulated_seconds_remaining\": 42.042, \"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": 0.19,
      "z": 0.88
    },
    "note": "The bowl moved right when I shifted negative y, establishing that the tissue lies toward positive y. I correct across the tabletop toward the tissue."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [0.11247, -0.12944, 0.27263, -2.15552, -0.01575, 2.04721, 0.3932], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.47978, 0.18874, 0.87987], \"tcp_roll_pitch_yaw\": [5e-05, 0.00037, -1e-05], \"tcp_rotation_matrix\": [[0.99943, -0.00352, 0.03347], [-0.00221, -0.99923, -0.03906], [0.03358, 0.03897, -0.99868]], \"simulated_seconds_remaining\": 39.534, \"calls_remaining_including_this\": 54}"
      },
      {
        "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": 0.465,
      "y": 0.19,
      "z": 0.78
    },
    "note": "The tissue packet is now between the fingers in the wrist view. I lower toward it while keeping the jaws open."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [0.11762, -0.05006, 0.28686, -2.33823, -0.04704, 2.30475, 0.43836], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.46511, 0.18995, 0.78115], \"tcp_roll_pitch_yaw\": [-7e-05, 0.00069, -1e-05], \"tcp_rotation_matrix\": [[0.99944, -0.00351, 0.03315], [-0.00221, -0.99923, -0.03918], [0.03326, 0.03908, -0.99868]], \"simulated_seconds_remaining\": 38.544, \"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": {
      "z": 0.73
    },
    "note": "The packet remains centered beneath the open jaws and is close to the tabletop. I descend the last five centimeters to surround it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [0.11655, 0.04139, 0.28641, -2.38016, -0.09335, 2.43257, 0.47601], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.46504, 0.18991, 0.73107], \"tcp_roll_pitch_yaw\": [-0.00018, 0.00099, -4e-05], \"tcp_rotation_matrix\": [[0.99945, -0.00353, 0.03285], [-0.00224, -0.99923, -0.03929], [0.03297, 0.03919, -0.99869]], \"simulated_seconds_remaining\": 37.884, \"calls_remaining_including_this\": 52}"
      },
      {
        "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 now straddle the tissue packet at tabletop height. I close the gripper to secure it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [0.11655, 0.04139, 0.28641, -2.38016, -0.09335, 2.43257, 0.47601], \"gripper_open\": 0.0, \"tcp_xyz\": [0.46504, 0.18991, 0.73106], \"tcp_roll_pitch_yaw\": [-0.00018, 0.00098, -4e-05], \"tcp_rotation_matrix\": [[0.99945, -0.00353, 0.03286], [-0.00223, -0.99923, -0.03929], [0.03297, 0.03919, -0.99869]], \"simulated_seconds_remaining\": 36.96, \"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": {
      "z": 0.9
    },
    "note": "The gripper has closed, but the packet is partly obscured. I lift vertically to verify whether it is held."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [0.11936, -0.18368, 0.27388, -2.16247, 0.0006, 2.00134, 0.39189], \"gripper_open\": 0.0, \"tcp_xyz\": [0.46513, 0.18994, 0.89881], \"tcp_roll_pitch_yaw\": [-8e-05, 0.00064, -4e-05], \"tcp_rotation_matrix\": [[0.99944, -0.00354, 0.0332], [-0.00224, -0.99923, -0.03919], [0.03331, 0.03909, -0.99868]], \"simulated_seconds_remaining\": 35.508, \"calls_remaining_including_this\": 50}"
      },
      {
        "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": 0.445,
      "y": 0.14,
      "z": 0.84,
      "gripper": 1
    },
    "note": "The packet stayed on the table, so the first closure missed it. It sits left of the finger midpoint; I reopen and correct the alignment toward its center."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [0.09278, -0.24177, 0.22518, -2.3789, 0.00722, 2.16238, 0.31116], \"gripper_open\": 0.9965, \"tcp_xyz\": [0.44526, 0.14064, 0.84076], \"tcp_roll_pitch_yaw\": [-0.00012, 0.00083, -0.00014], \"tcp_rotation_matrix\": [[0.99945, -0.00364, 0.033], [-0.00234, -0.99923, -0.03923], [0.03312, 0.03914, -0.99868]], \"simulated_seconds_remaining\": 34.584, \"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": 0.505,
      "y": 0.14,
      "z": 0.78
    },
    "note": "The packet is horizontally aligned but remains beyond the fingertip midpoint in the wrist view. I advance six centimeters and lower to improve the grasp position."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [0.06768, 0.00719, 0.21979, -2.27313, -0.06507, 2.29939, 0.3334], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.50403, 0.13996, 0.78085], \"tcp_roll_pitch_yaw\": [-0.00016, 0.00108, -0.00023], \"tcp_rotation_matrix\": [[0.99946, -0.00372, 0.03275], [-0.00243, -0.99923, -0.03928], [0.03287, 0.03918, -0.99869]], \"simulated_seconds_remaining\": 33.726, \"calls_remaining_including_this\": 48}"
      },
      {
        "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": 0.12,
      "z": 0.735
    },
    "note": "The green tissue packet is visible between the jaws. I make a small lateral correction and lower the fingers around its sides."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 11, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [0.05431, 0.06708, 0.20631, -2.26684, -0.09653, 2.35521, 0.32054], \"gripper_open\": 1.0, \"tcp_xyz\": [0.51679, 0.12747, 0.75791], \"tcp_roll_pitch_yaw\": [-0.00754, -0.00383, 0.00971], \"tcp_rotation_matrix\": [[0.99926, 0.006, 0.03811], [0.00776, -0.9989, -0.04627], [0.03779, 0.04653, -0.9982]], \"simulated_seconds_remaining\": 33.066, \"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 descent stopped at the packet, indicating contact. I close the jaws at this height to grip its sides."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 12, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [0.05317, 0.05921, 0.20488, -2.26301, -0.09844, 2.35237, 0.32012], \"gripper_open\": 0.8491, \"tcp_xyz\": [0.51942, 0.12616, 0.76343], \"tcp_roll_pitch_yaw\": [-0.00857, -0.01309, 0.00869], \"tcp_rotation_matrix\": [[0.99887, 0.00453, 0.04732], [0.00677, -0.99886, -0.04725], [0.04705, 0.04752, -0.99776]], \"simulated_seconds_remaining\": 32.142, \"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": {
      "z": 0.94
    },
    "note": "The jaws remain separated around the packet, consistent with a grasp. I lift it above the bowl rim and check that it follows."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 13, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [0.05223, -0.11397, 0.20127, -1.99339, -0.03709, 1.91591, 0.25892], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.5195, 0.12619, 0.93876], \"tcp_roll_pitch_yaw\": [-0.0085, -0.01346, 0.0087], \"tcp_rotation_matrix\": [[0.99885, 0.00452, 0.04769], [0.00677, -0.99886, -0.04719], [0.04742, 0.04745, -0.99775]], \"simulated_seconds_remaining\": 30.69, \"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": {
      "z": 0.758,
      "roll": 0,
      "pitch": 0,
      "yaw": 0,
      "gripper": 1
    },
    "note": "The packet stayed on the table because the partially blocked jaw opening was retained during lifting. I return to the grasp position and will explicitly keep the gripper closed during transport."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 14, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [0.05186, 0.07204, 0.20277, -2.25558, -0.08553, 2.34726, 0.31607], \"gripper_open\": 0.9976, \"tcp_xyz\": [0.51948, 0.12617, 0.75932], \"tcp_roll_pitch_yaw\": [-0.00012, 1e-05, 5e-05], \"tcp_rotation_matrix\": [[0.99942, -0.00347, 0.03383], [-0.00215, -0.99923, -0.03922], [0.03394, 0.03913, -0.99866]], \"simulated_seconds_remaining\": 29.172, \"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": {
      "gripper": 0
    },
    "note": "The open fingers again surround the tissue packet. I close them before lifting with an explicit closed-gripper command."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 15, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [0.05198, 0.06611, 0.20298, -2.25267, -0.08687, 2.3452, 0.31532], \"gripper_open\": 0.857, \"tcp_xyz\": [0.52119, 0.12638, 0.76351], \"tcp_roll_pitch_yaw\": [-0.00068, -0.007, 0.00191], \"tcp_rotation_matrix\": [[0.99916, -0.00189, 0.04091], [-0.00027, -0.99921, -0.03971], [0.04095, 0.03966, -0.99837]], \"simulated_seconds_remaining\": 28.248, \"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": {
      "z": 0.94,
      "gripper": 0
    },
    "note": "The packet blocks the closing jaws. I maintain the close command while lifting vertically to retain the grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 16, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [0.05023, -0.10517, 0.19972, -1.98247, -0.02946, 1.9095, 0.25965], \"gripper_open\": 0.0, \"tcp_xyz\": [0.52126, 0.12641, 0.93876], \"tcp_roll_pitch_yaw\": [-0.00061, -0.00737, 0.00192], \"tcp_rotation_matrix\": [[0.99915, -0.0019, 0.04128], [-0.00027, -0.99921, -0.03964], [0.04132, 0.0396, -0.99836]], \"simulated_seconds_remaining\": 26.796, \"calls_remaining_including_this\": 42}"
      },
      {
        "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": 0.535,
      "y": 0.14,
      "z": 0.84,
      "yaw": -0.5,
      "roll": 0,
      "pitch": 0,
      "gripper": 1
    },
    "note": "The packet slipped free and rotated slightly. I rotate the jaws to span its narrower dimension and reposition above its center for a deeper grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 17, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [0.05285, 0.03344, 0.22462, -2.06937, -0.06837, 2.09757, 0.81037], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.53483, 0.13987, 0.84066], \"tcp_roll_pitch_yaw\": [-0.00021, 0.00022, -0.49556], \"tcp_rotation_matrix\": [[0.87816, -0.47825, 0.01088], [-0.47718, -0.87735, -0.05057], [0.03373, 0.03922, -0.99866]], \"simulated_seconds_remaining\": 25.806, \"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": {
      "yaw": 0.55,
      "z": 0.83,
      "gripper": 1
    },
    "note": "The rotated wrist view shows the jaws crossing the packet diagonally. I turn the other way so the fingers align with its long sides."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 18, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [0.03675, 0.01337, 0.22998, -2.13374, -0.03876, 2.18956, -0.25415], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.53483, 0.13987, 0.83004], \"tcp_roll_pitch_yaw\": [-0.00018, 0.00023, 0.54539], \"tcp_rotation_matrix\": [[0.85558, 0.51534, 0.04912], [0.51658, -0.85609, -0.01615], [0.03372, 0.03919, -0.99866]], \"simulated_seconds_remaining\": 24.09, \"calls_remaining_including_this\": 40}"
      },
      {
        "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": 0.505,
      "y": 0.09,
      "z": 0.745,
      "gripper": 1
    },
    "note": "The packet's long sides are now nearly parallel to the fingers, but its center is left of the gap. I shift toward its center while descending."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 19, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [-0.0007, 0.00946, 0.19451, -2.35122, -0.04504, 2.43033, -0.3223], \"gripper_open\": 1.0, \"tcp_xyz\": [0.51162, 0.09592, 0.75845], \"tcp_roll_pitch_yaw\": [-0.01137, -0.02229, 0.55237], \"tcp_rotation_matrix\": [[0.85089, 0.52008, 0.07422], [0.52233, -0.85264, -0.01353], [0.05624, 0.05028, -0.99715]], \"simulated_seconds_remaining\": 23.1, \"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": 0.49,
      "y": 0.055,
      "z": 0.79,
      "roll": 0,
      "pitch": 0,
      "gripper": 1
    },
    "note": "One finger is contacting the packet's upper surface. I lift slightly and shift the gap rightward over the packet before lowering again."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 20, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [-0.03349, -0.10607, 0.15392, -2.38911, -0.00719, 2.33281, -0.42483], \"gripper_open\": 0.997, \"tcp_xyz\": [0.49075, 0.05602, 0.78956], \"tcp_roll_pitch_yaw\": [-0.00068, -0.00122, 0.55251], \"tcp_rotation_matrix\": [[0.85183, 0.52136, 0.05073], [0.52264, -0.85241, -0.01547], [0.03517, 0.03969, -0.99859]], \"simulated_seconds_remaining\": 22.44, \"calls_remaining_including_this\": 38}"
      },
      {
        "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": 0.7,
      "gripper": 1
    },
    "note": "The packet is centered in the finger gap. I lower the open jaws around it for a full side grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 21, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [-0.03311, 0.00257, 0.1573, -2.44032, -0.05619, 2.77995, -0.38449], \"gripper_open\": 1.0, \"tcp_xyz\": [0.55891, 0.06923, 0.76971], \"tcp_roll_pitch_yaw\": [-0.12505, -0.26267, 0.58029], \"tcp_rotation_matrix\": [[0.79865, 0.50258, 0.33101], [0.52603, -0.85019, 0.02167], [0.29231, 0.15682, -0.94338]], \"simulated_seconds_remaining\": 21.516, \"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": 0.53,
      "y": 0.23,
      "z": 0.88,
      "roll": 0,
      "pitch": 0,
      "yaw": 0,
      "gripper": 1
    },
    "note": "The descent contacted the bowl and deflected the wrist. I lift clear and use the exterior view to reposition directly above the tissue on the left."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 22, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [0.11705, 0.06418, 0.31766, -1.93534, -0.07783, 2.01098, 0.46667], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.53018, 0.22942, 0.87957], \"tcp_roll_pitch_yaw\": [-3e-05, -0.00159, 0.00288], \"tcp_rotation_matrix\": [[0.99937, -0.00071, 0.03554], [0.00068, -0.99924, -0.03903], [0.03554, 0.03903, -0.99861]], \"simulated_seconds_remaining\": 19.932, \"calls_remaining_including_this\": 36}"
      },
      {
        "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": 0.465,
      "y": 0.14,
      "z": 0.745,
      "gripper": 1
    },
    "note": "The wrist view places the packet left of the grasp gap. I shift back and across to bring its body between the fingertips at table height."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 23, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [0.05402, -0.0366, 0.2557, -2.43051, -0.05842, 2.41594, 0.35307], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.46545, 0.14063, 0.74595], \"tcp_roll_pitch_yaw\": [-0.0001, -0.0013, 0.00278], \"tcp_rotation_matrix\": [[0.99938, -0.0008, 0.03525], [0.00058, -0.99923, -0.03911], [0.03525, 0.03911, -0.99861]], \"simulated_seconds_remaining\": 18.48, \"calls_remaining_including_this\": 35}"
      },
      {
        "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": {
      "gripper": 0
    },
    "note": "The packet is underneath the finger gap with the wrist level and unobstructed. I close the jaws around it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 24, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [0.05402, -0.0366, 0.2557, -2.43051, -0.05842, 2.41594, 0.35307], \"gripper_open\": 0.0, \"tcp_xyz\": [0.46544, 0.14062, 0.74594], \"tcp_roll_pitch_yaw\": [-0.0001, -0.0013, 0.00278], \"tcp_rotation_matrix\": [[0.99938, -0.0008, 0.03525], [0.00058, -0.99923, -0.03911], [0.03525, 0.03911, -0.99861]], \"simulated_seconds_remaining\": 17.556, \"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": 0.575,
      "y": 0.15,
      "z": 0.83,
      "gripper": 1
    },
    "note": "The jaws closed empty; the packet is farther forward than the last grasp. I reopen, lift clear, and move forward over its center."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 25, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [0.0428, 0.1472, 0.23888, -1.96293, -0.09664, 2.12728, 0.32915], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.57397, 0.1499, 0.82921], \"tcp_roll_pitch_yaw\": [-4e-05, -0.00148, 0.00273], \"tcp_rotation_matrix\": [[0.99937, -0.00085, 0.03543], [0.00053, -0.99924, -0.03905], [0.03543, 0.03905, -0.99861]], \"simulated_seconds_remaining\": 16.368, \"calls_remaining_including_this\": 33}"
      },
      {
        "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": 0.12,
      "z": 0.725,
      "gripper": 1
    },
    "note": "The packet is now forward between the fingertips. I correct slightly sideways and lower around its narrow body."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 26, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [0.01974, 0.09916, 0.20632, -2.08212, -0.14368, 2.33171, 0.32208], \"gripper_open\": 1.0, \"tcp_xyz\": [0.59105, 0.11825, 0.82288], \"tcp_roll_pitch_yaw\": [-0.00744, -0.13814, -0.00138], \"tcp_rotation_matrix\": [[0.98522, -0.01127, 0.17093], [-0.00331, -0.9989, -0.04678], [0.17127, 0.04552, -0.98417]], \"simulated_seconds_remaining\": 15.378, \"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": {
      "gripper": 0
    },
    "note": "The fingers have contacted the tissue near its center. I close at the reached height to capture it without forcing the descent."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 27, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [0.01977, 0.08482, 0.20654, -2.07645, -0.14415, 2.32661, 0.32359], \"gripper_open\": 0.7721, \"tcp_xyz\": [0.59326, 0.11836, 0.83356], \"tcp_roll_pitch_yaw\": [-0.00748, -0.15335, -0.003], \"tcp_rotation_matrix\": [[0.98249, -0.01358, 0.1858], [-0.0049, -0.99888, -0.04713], [0.18623, 0.04539, -0.98146]], \"simulated_seconds_remaining\": 14.454, \"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": {
      "z": 0.97,
      "gripper": 0
    },
    "note": "The jaws are blocked around the tissue. I maintain closing force and lift to check the grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 28, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [0.01904, -0.0049, 0.20972, -1.83361, -0.09586, 1.99922, 0.27058], \"gripper_open\": 0.0, \"tcp_xyz\": [0.59333, 0.11838, 0.9688], \"tcp_roll_pitch_yaw\": [-0.00742, -0.15373, -0.003], \"tcp_rotation_matrix\": [[0.98242, -0.0136, 0.18617], [-0.0049, -0.99888, -0.04707], [0.1866, 0.04533, -0.98139]], \"simulated_seconds_remaining\": 13.266, \"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": 0.59,
      "y": 0.19,
      "z": 0.84,
      "roll": 0,
      "pitch": 0,
      "yaw": 0.55,
      "gripper": 1
    },
    "note": "The packet slipped again. I align the gripper with its long edges and move the grasp toward the packet's center for another attempt."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 29, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [0.06419, 0.20532, 0.27523, -1.86226, -0.10031, 2.09997, -0.16217], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.58996, 0.18961, 0.84062], \"tcp_roll_pitch_yaw\": [-0.00021, -0.00059, 0.54668], \"tcp_rotation_matrix\": [[0.85488, 0.51642, 0.04985], [0.51767, -0.85544, -0.01569], [0.03454, 0.03922, -0.99863]], \"simulated_seconds_remaining\": 12.012, \"calls_remaining_including_this\": 29}"
      },
      {
        "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": 0.15,
      "z": 0.775,
      "gripper": 1
    },
    "note": "The tissue is aligned lengthwise but ahead and left of the jaws. I center the opening over it and descend carefully."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 30, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [0.02909, 0.12795, 0.26038, -2.12106, -0.08573, 2.32991, -0.21088], \"gripper_open\": 1.0, \"tcp_xyz\": [0.56073, 0.15849, 0.78775], \"tcp_roll_pitch_yaw\": [-0.01236, -0.04203, 0.55699], \"tcp_rotation_matrix\": [[0.84734, 0.52311, 0.09149], [0.52559, -0.85073, -0.00363], [0.07594, 0.05116, -0.9958]], \"simulated_seconds_remaining\": 11.154, \"calls_remaining_including_this\": 28}"
      },
      {
        "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": 0.07,
      "z": 0.81,
      "roll": 0,
      "pitch": 0,
      "gripper": 1
    },
    "note": "The packet remains left of the gap after the diagonal move. I shift laterally to center it between both fingers."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 31, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [-0.05995, 0.07055, 0.19626, -2.11972, -0.04515, 2.23602, -0.39138], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.56077, 0.07117, 0.80971], \"tcp_roll_pitch_yaw\": [-0.00021, -0.00066, 0.5568], \"tcp_rotation_matrix\": [[0.8496, 0.52504, 0.05007], [0.52629, -0.85017, -0.01514], [0.03461, 0.03922, -0.99863]], \"simulated_seconds_remaining\": 10.23, \"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": 0.55,
      "y": 0.04,
      "z": 0.735,
      "gripper": 1
    },
    "note": "The packet is nearly centered and the jaws align with its narrow dimension. I make the final small correction and lower around the sides."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 32, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [-0.08111, 0.09383, 0.17858, -2.22759, -0.0411, 2.42296, -0.42637], \"gripper_open\": 1.0, \"tcp_xyz\": [0.56075, 0.05244, 0.76741], \"tcp_roll_pitch_yaw\": [-0.01613, -0.05417, 0.55592], \"tcp_rotation_matrix\": [[0.84699, 0.52139, 0.10373], [0.52427, -0.85155, -0.00055], [0.08804, 0.05485, -0.99461]], \"simulated_seconds_remaining\": 9.372, \"calls_remaining_including_this\": 26}"
      },
      {
        "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 packet now fills the space between the jaws. I close to secure it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 33, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [-0.07999, 0.08798, 0.18018, -2.22258, -0.03998, 2.42435, -0.42574], \"gripper_open\": 0.8971, \"tcp_xyz\": [0.56403, 0.05427, 0.77311], \"tcp_roll_pitch_yaw\": [-0.02144, -0.06516, 0.55743], \"tcp_rotation_matrix\": [[0.84523, 0.52171, 0.11579], [0.52515, -0.85101, 0.00087], [0.099, 0.06007, -0.99327]], \"simulated_seconds_remaining\": 8.448, \"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": {
      "z": 0.97,
      "gripper": 0
    },
    "note": "The jaws are pressing against the packet's sides. I keep them closed while lifting clear of the tabletop."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 34, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [-0.08412, -0.08272, 0.17735, -1.90412, 0.00495, 1.93869, -0.46098], \"gripper_open\": 0.0, \"tcp_xyz\": [0.5641, 0.05428, 0.96877], \"tcp_roll_pitch_yaw\": [-0.02163, -0.06549, 0.55744], \"tcp_rotation_matrix\": [[0.84519, 0.52168, 0.11617], [0.52515, -0.85101, 0.00089], [0.09932, 0.06026, -0.99323]], \"simulated_seconds_remaining\": 6.864, \"calls_remaining_including_this\": 24}"
      },
      {
        "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": 0.09,
      "z": 0.79,
      "roll": 0,
      "pitch": 0,
      "gripper": 1
    },
    "note": "The packet remained on the table. I move the grasp farther along its body and reopen for one final centered attempt."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 35, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [-0.03055, 0.3261, 0.19505, -1.82069, -0.10351, 2.18516, -0.34424], \"gripper_open\": 0.9992, \"tcp_xyz\": [0.63928, 0.09009, 0.79117], \"tcp_roll_pitch_yaw\": [0.00019, -9e-05, 0.55796], \"tcp_rotation_matrix\": [[0.84901, 0.52606, 0.04939], [0.52728, -0.84956, -0.01505], [0.03404, 0.03882, -0.99867]], \"simulated_seconds_remaining\": 5.28, \"calls_remaining_including_this\": 23}"
      },
      {
        "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": 0.14,
      "gripper": 0
    },
    "note": "The tissue is just right of the closing gap. I shift across its center and close the jaws to capture it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 36, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [0.02607, 0.35187, 0.21293, -1.7787, -0.12309, 2.16804, -0.25869], \"gripper_open\": 0.2331, \"tcp_xyz\": [0.64082, 0.1354, 0.79338], \"tcp_roll_pitch_yaw\": [-0.00367, -0.00241, 0.55311], \"tcp_rotation_matrix\": [[0.85142, 0.52177, 0.05331], [0.52322, -0.85202, -0.01736], [0.03637, 0.04267, -0.99843]], \"simulated_seconds_remaining\": 4.356, \"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": 0.94,
      "gripper": 0
    },
    "note": "The gripper is partly closed around the tissue. I lift while maintaining the grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 37, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [0.0257, 0.26851, 0.22499, -1.5216, -0.09188, 1.82987, -0.28727], \"gripper_open\": 0.2258, \"tcp_xyz\": [0.64077, 0.13538, 0.93834], \"tcp_roll_pitch_yaw\": [-0.00349, -0.00193, 0.55311], \"tcp_rotation_matrix\": [[0.85144, 0.52179, 0.05281], [0.52323, -0.85202, -0.01745], [0.03589, 0.04249, -0.99845]], \"simulated_seconds_remaining\": 3.102, \"calls_remaining_including_this\": 21}"
      },
      {
        "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": 0.61,
      "y": -0.065,
      "z": 0.91,
      "gripper": 0
    },
    "note": "The tissue has lifted with the gripper. I carry it rightward in the exterior view to the bowl while keeping the jaws closed."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 38, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [-0.1882, 0.12753, 0.09353, -1.78132, -0.0262, 1.96164, -0.63634], \"gripper_open\": 0.2247, \"tcp_xyz\": [0.61007, -0.06384, 0.90977], \"tcp_roll_pitch_yaw\": [-0.003, -0.00128, 0.55276], \"tcp_rotation_matrix\": [[0.85165, 0.52153, 0.052], [0.52293, -0.8522, -0.0174], [0.03524, 0.04201, -0.9985]], \"simulated_seconds_remaining\": 1.452, \"calls_remaining_including_this\": 20}"
      },
      {
        "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": -0.21,
      "z": 0.85,
      "gripper": 1
    },
    "note": "The bowl has shifted farther right. I move the tissue toward its opening and release it over the bowl."
  },
  "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 and released the tissue toward the bowl, but the episode ended before I could verify its final placement.

TURN USAGE
{
  "input_tokens": 880848,
  "cached_input_tokens": 832896,
  "cache_write_input_tokens": 0,
  "output_tokens": 7696,
  "reasoning_output_tokens": 3637
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      -0.00567,
      -0.74533,
      0.04957,
      -2.3176,
      -0.00655,
      1.6055,
      0.03431
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.32694,
      0.0121,
      1.02397
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99942,
        -0.00353,
        0.03384
      ],
      [
        -0.0022,
        -0.99923,
        -0.03911
      ],
      [
        0.03395,
        0.03901,
        -0.99866
      ]
    ],
    "simulated_seconds_remaining": 45.012,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 23.418519914150238,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48,
                    "y": 0,
                    "z": 0.91,
                    "gripper": 1
                  },
                  "note": "The wrist view shows a dark bowl beside a green tissue packet. I move closer above the tabletop for clearer alignment."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 24,
    "motion_seconds": 1.584,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      -0.02714,
      -0.26846,
      0.04204,
      -2.23001,
      -0.03118,
      1.99465,
      0.02882
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.47889,
      7e-05,
      0.9107
    ],
    "tcp_roll_pitch_yaw": [
      1e-05,
      0.00028,
      -3e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99943,
        -0.00355,
        0.03356
      ],
      [
        -0.00223,
        -0.99923,
        -0.0391
      ],
      [
        0.03367,
        0.03901,
        -0.99867
      ]
    ],
    "simulated_seconds_remaining": 43.428,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 16.21523106098175,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.43,
                    "y": -0.14,
                    "z": 0.85
                  },
                  "note": "The tissue packet is to the right of the bowl in the wrist view. I shift toward it and lower slightly to establish its position."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      -0.14782,
      -0.31204,
      -0.14504,
      -2.43008,
      -0.08724,
      2.16258,
      -0.23658
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.43037,
      -0.13892,
      0.85046
    ],
    "tcp_roll_pitch_yaw": [
      7e-05,
      0.00038,
      -0.00027
    ],
    "tcp_rotation_matrix": [
      [
        0.99943,
        -0.00379,
        0.03345
      ],
      [
        -0.00248,
        -0.99923,
        -0.03905
      ],
      [
        0.03357,
        0.03895,
        -0.99868
      ]
    ],
    "simulated_seconds_remaining": 42.042,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 10.40803797263652,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48,
                    "y": 0.19,
                    "z": 0.88
                  },
                  "note": "The bowl moved right when I shifted negative y, establishing that the tissue lies toward positive y. I correct across the tabletop toward the tissue."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 38,
    "motion_seconds": 2.508,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      0.11247,
      -0.12944,
      0.27263,
      -2.15552,
      -0.01575,
      2.04721,
      0.3932
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.47978,
      0.18874,
      0.87987
    ],
    "tcp_roll_pitch_yaw": [
      5e-05,
      0.00037,
      -1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99943,
        -0.00352,
        0.03347
      ],
      [
        -0.00221,
        -0.99923,
        -0.03906
      ],
      [
        0.03358,
        0.03897,
        -0.99868
      ]
    ],
    "simulated_seconds_remaining": 39.534,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 9.811182282865047,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.465,
                    "y": 0.19,
                    "z": 0.78
                  },
                  "note": "The tissue packet is now between the fingers in the wrist view. I lower toward it while keeping the jaws open."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      0.11762,
      -0.05006,
      0.28686,
      -2.33823,
      -0.04704,
      2.30475,
      0.43836
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.46511,
      0.18995,
      0.78115
    ],
    "tcp_roll_pitch_yaw": [
      -7e-05,
      0.00069,
      -1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99944,
        -0.00351,
        0.03315
      ],
      [
        -0.00221,
        -0.99923,
        -0.03918
      ],
      [
        0.03326,
        0.03908,
        -0.99868
      ]
    ],
    "simulated_seconds_remaining": 38.544,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 5.805097358301282,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.73
                  },
                  "note": "The packet remains centered beneath the open jaws and is close to the tabletop. I descend the last five centimeters to surround it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      0.11655,
      0.04139,
      0.28641,
      -2.38016,
      -0.09335,
      2.43257,
      0.47601
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.46504,
      0.18991,
      0.73107
    ],
    "tcp_roll_pitch_yaw": [
      -0.00018,
      0.00099,
      -4e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99945,
        -0.00353,
        0.03285
      ],
      [
        -0.00224,
        -0.99923,
        -0.03929
      ],
      [
        0.03297,
        0.03919,
        -0.99869
      ]
    ],
    "simulated_seconds_remaining": 37.884,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 4.804615870118141,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The fingers now straddle the tissue packet at tabletop height. I close the gripper to secure it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      0.11655,
      0.04139,
      0.28641,
      -2.38016,
      -0.09335,
      2.43257,
      0.47601
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.46504,
      0.18991,
      0.73106
    ],
    "tcp_roll_pitch_yaw": [
      -0.00018,
      0.00098,
      -4e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99945,
        -0.00353,
        0.03286
      ],
      [
        -0.00223,
        -0.99923,
        -0.03929
      ],
      [
        0.03297,
        0.03919,
        -0.99869
      ]
    ],
    "simulated_seconds_remaining": 36.96,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 5.605570633895695,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.9
                  },
                  "note": "The gripper has closed, but the packet is partly obscured. I lift vertically to verify whether it is held."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 22,
    "motion_seconds": 1.452,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      0.11936,
      -0.18368,
      0.27388,
      -2.16247,
      0.0006,
      2.00134,
      0.39189
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.46513,
      0.18994,
      0.89881
    ],
    "tcp_roll_pitch_yaw": [
      -8e-05,
      0.00064,
      -4e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99944,
        -0.00354,
        0.0332
      ],
      [
        -0.00224,
        -0.99923,
        -0.03919
      ],
      [
        0.03331,
        0.03909,
        -0.99868
      ]
    ],
    "simulated_seconds_remaining": 35.508,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 17.413735130801797,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.445,
                    "y": 0.14,
                    "z": 0.84,
                    "gripper": 1
                  },
                  "note": "The packet stayed on the table, so the first closure missed it. It sits left of the finger midpoint; I reopen and correct the alignment toward its center."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      0.09278,
      -0.24177,
      0.22518,
      -2.3789,
      0.00722,
      2.16238,
      0.31116
    ],
    "gripper_open": 0.9965,
    "tcp_xyz": [
      0.44526,
      0.14064,
      0.84076
    ],
    "tcp_roll_pitch_yaw": [
      -0.00012,
      0.00083,
      -0.00014
    ],
    "tcp_rotation_matrix": [
      [
        0.99945,
        -0.00364,
        0.033
      ],
      [
        -0.00234,
        -0.99923,
        -0.03923
      ],
      [
        0.03312,
        0.03914,
        -0.99868
      ]
    ],
    "simulated_seconds_remaining": 34.584,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 12.61037358827889,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.505,
                    "y": 0.14,
                    "z": 0.78
                  },
                  "note": "The packet is horizontally aligned but remains beyond the fingertip midpoint in the wrist view. I advance six centimeters and lower to improve the grasp position."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      0.06768,
      0.00719,
      0.21979,
      -2.27313,
      -0.06507,
      2.29939,
      0.3334
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.50403,
      0.13996,
      0.78085
    ],
    "tcp_roll_pitch_yaw": [
      -0.00016,
      0.00108,
      -0.00023
    ],
    "tcp_rotation_matrix": [
      [
        0.99946,
        -0.00372,
        0.03275
      ],
      [
        -0.00243,
        -0.99923,
        -0.03928
      ],
      [
        0.03287,
        0.03918,
        -0.99869
      ]
    ],
    "simulated_seconds_remaining": 33.726,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 7.20594531390816,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.52,
                    "y": 0.12,
                    "z": 0.735
                  },
                  "note": "The green tissue packet is visible between the jaws. I make a small lateral correction and lower the fingers around its sides."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      0.05431,
      0.06708,
      0.20631,
      -2.26684,
      -0.09653,
      2.35521,
      0.32054
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.51679,
      0.12747,
      0.75791
    ],
    "tcp_roll_pitch_yaw": [
      -0.00754,
      -0.00383,
      0.00971
    ],
    "tcp_rotation_matrix": [
      [
        0.99926,
        0.006,
        0.03811
      ],
      [
        0.00776,
        -0.9989,
        -0.04627
      ],
      [
        0.03779,
        0.04653,
        -0.9982
      ]
    ],
    "simulated_seconds_remaining": 33.066,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 6.004886373877525,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The descent stopped at the packet, indicating contact. I close the jaws at this height to grip its sides."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      0.05317,
      0.05921,
      0.20488,
      -2.26301,
      -0.09844,
      2.35237,
      0.32012
    ],
    "gripper_open": 0.8491,
    "tcp_xyz": [
      0.51942,
      0.12616,
      0.76343
    ],
    "tcp_roll_pitch_yaw": [
      -0.00857,
      -0.01309,
      0.00869
    ],
    "tcp_rotation_matrix": [
      [
        0.99887,
        0.00453,
        0.04732
      ],
      [
        0.00677,
        -0.99886,
        -0.04725
      ],
      [
        0.04705,
        0.04752,
        -0.99776
      ]
    ],
    "simulated_seconds_remaining": 32.142,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 5.204542726278305,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.94
                  },
                  "note": "The jaws remain separated around the packet, consistent with a grasp. I lift it above the bowl rim and check that it follows."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 22,
    "motion_seconds": 1.452,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      0.05223,
      -0.11397,
      0.20127,
      -1.99339,
      -0.03709,
      1.91591,
      0.25892
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.5195,
      0.12619,
      0.93876
    ],
    "tcp_roll_pitch_yaw": [
      -0.0085,
      -0.01346,
      0.0087
    ],
    "tcp_rotation_matrix": [
      [
        0.99885,
        0.00452,
        0.04769
      ],
      [
        0.00677,
        -0.99886,
        -0.04719
      ],
      [
        0.04742,
        0.04745,
        -0.99775
      ]
    ],
    "simulated_seconds_remaining": 30.69,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 9.211375701241195,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.758,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 0,
                    "gripper": 1
                  },
                  "note": "The packet stayed on the table because the partially blocked jaw opening was retained during lifting. I return to the grasp position and will explicitly keep the gripper closed during transport."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      0.05186,
      0.07204,
      0.20277,
      -2.25558,
      -0.08553,
      2.34726,
      0.31607
    ],
    "gripper_open": 0.9976,
    "tcp_xyz": [
      0.51948,
      0.12617,
      0.75932
    ],
    "tcp_roll_pitch_yaw": [
      -0.00012,
      1e-05,
      5e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99942,
        -0.00347,
        0.03383
      ],
      [
        -0.00215,
        -0.99923,
        -0.03922
      ],
      [
        0.03394,
        0.03913,
        -0.99866
      ]
    ],
    "simulated_seconds_remaining": 29.172,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 5.2046698946505785,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The open fingers again surround the tissue packet. I close them before lifting with an explicit closed-gripper command."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      0.05198,
      0.06611,
      0.20298,
      -2.25267,
      -0.08687,
      2.3452,
      0.31532
    ],
    "gripper_open": 0.857,
    "tcp_xyz": [
      0.52119,
      0.12638,
      0.76351
    ],
    "tcp_roll_pitch_yaw": [
      -0.00068,
      -0.007,
      0.00191
    ],
    "tcp_rotation_matrix": [
      [
        0.99916,
        -0.00189,
        0.04091
      ],
      [
        -0.00027,
        -0.99921,
        -0.03971
      ],
      [
        0.04095,
        0.03966,
        -0.99837
      ]
    ],
    "simulated_seconds_remaining": 28.248,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 7.406258066184819,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.94,
                    "gripper": 0
                  },
                  "note": "The packet blocks the closing jaws. I maintain the close command while lifting vertically to retain the grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 22,
    "motion_seconds": 1.452,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      0.05023,
      -0.10517,
      0.19972,
      -1.98247,
      -0.02946,
      1.9095,
      0.25965
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.52126,
      0.12641,
      0.93876
    ],
    "tcp_roll_pitch_yaw": [
      -0.00061,
      -0.00737,
      0.00192
    ],
    "tcp_rotation_matrix": [
      [
        0.99915,
        -0.0019,
        0.04128
      ],
      [
        -0.00027,
        -0.99921,
        -0.03964
      ],
      [
        0.04132,
        0.0396,
        -0.99836
      ]
    ],
    "simulated_seconds_remaining": 26.796,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 20.015270649455488,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.535,
                    "y": 0.14,
                    "z": 0.84,
                    "yaw": -0.5,
                    "roll": 0,
                    "pitch": 0,
                    "gripper": 1
                  },
                  "note": "The packet slipped free and rotated slightly. I rotate the jaws to span its narrower dimension and reposition above its center for a deeper grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      0.05285,
      0.03344,
      0.22462,
      -2.06937,
      -0.06837,
      2.09757,
      0.81037
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.53483,
      0.13987,
      0.84066
    ],
    "tcp_roll_pitch_yaw": [
      -0.00021,
      0.00022,
      -0.49556
    ],
    "tcp_rotation_matrix": [
      [
        0.87816,
        -0.47825,
        0.01088
      ],
      [
        -0.47718,
        -0.87735,
        -0.05057
      ],
      [
        0.03373,
        0.03922,
        -0.99866
      ]
    ],
    "simulated_seconds_remaining": 25.806,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 8.806849154643714,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "yaw": 0.55,
                    "z": 0.83,
                    "gripper": 1
                  },
                  "note": "The rotated wrist view shows the jaws crossing the packet diagonally. I turn the other way so the fingers align with its long sides."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 26,
    "motion_seconds": 1.7160000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      0.03675,
      0.01337,
      0.22998,
      -2.13374,
      -0.03876,
      2.18956,
      -0.25415
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.53483,
      0.13987,
      0.83004
    ],
    "tcp_roll_pitch_yaw": [
      -0.00018,
      0.00023,
      0.54539
    ],
    "tcp_rotation_matrix": [
      [
        0.85558,
        0.51534,
        0.04912
      ],
      [
        0.51658,
        -0.85609,
        -0.01615
      ],
      [
        0.03372,
        0.03919,
        -0.99866
      ]
    ],
    "simulated_seconds_remaining": 24.09,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 11.808413337916136,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.505,
                    "y": 0.09,
                    "z": 0.745,
                    "gripper": 1
                  },
                  "note": "The packet's long sides are now nearly parallel to the fingers, but its center is left of the gap. I shift toward its center while descending."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 19,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      -0.0007,
      0.00946,
      0.19451,
      -2.35122,
      -0.04504,
      2.43033,
      -0.3223
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.51162,
      0.09592,
      0.75845
    ],
    "tcp_roll_pitch_yaw": [
      -0.01137,
      -0.02229,
      0.55237
    ],
    "tcp_rotation_matrix": [
      [
        0.85089,
        0.52008,
        0.07422
      ],
      [
        0.52233,
        -0.85264,
        -0.01353
      ],
      [
        0.05624,
        0.05028,
        -0.99715
      ]
    ],
    "simulated_seconds_remaining": 23.1,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 14.010746428743005,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.49,
                    "y": 0.055,
                    "z": 0.79,
                    "roll": 0,
                    "pitch": 0,
                    "gripper": 1
                  },
                  "note": "One finger is contacting the packet's upper surface. I lift slightly and shift the gap rightward over the packet before lowering again."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 20,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      -0.03349,
      -0.10607,
      0.15392,
      -2.38911,
      -0.00719,
      2.33281,
      -0.42483
    ],
    "gripper_open": 0.997,
    "tcp_xyz": [
      0.49075,
      0.05602,
      0.78956
    ],
    "tcp_roll_pitch_yaw": [
      -0.00068,
      -0.00122,
      0.55251
    ],
    "tcp_rotation_matrix": [
      [
        0.85183,
        0.52136,
        0.05073
      ],
      [
        0.52264,
        -0.85241,
        -0.01547
      ],
      [
        0.03517,
        0.03969,
        -0.99859
      ]
    ],
    "simulated_seconds_remaining": 22.44,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 5.40461016073823,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.7,
                    "gripper": 1
                  },
                  "note": "The packet is centered in the finger gap. I lower the open jaws around it for a full side grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 21,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      -0.03311,
      0.00257,
      0.1573,
      -2.44032,
      -0.05619,
      2.77995,
      -0.38449
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.55891,
      0.06923,
      0.76971
    ],
    "tcp_roll_pitch_yaw": [
      -0.12505,
      -0.26267,
      0.58029
    ],
    "tcp_rotation_matrix": [
      [
        0.79865,
        0.50258,
        0.33101
      ],
      [
        0.52603,
        -0.85019,
        0.02167
      ],
      [
        0.29231,
        0.15682,
        -0.94338
      ]
    ],
    "simulated_seconds_remaining": 21.516,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 20.618272360414267,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.53,
                    "y": 0.23,
                    "z": 0.88,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 0,
                    "gripper": 1
                  },
                  "note": "The descent contacted the bowl and deflected the wrist. I lift clear and use the exterior view to reposition directly above the tissue on the left."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 24,
    "motion_seconds": 1.584,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 22,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      0.11705,
      0.06418,
      0.31766,
      -1.93534,
      -0.07783,
      2.01098,
      0.46667
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.53018,
      0.22942,
      0.87957
    ],
    "tcp_roll_pitch_yaw": [
      -3e-05,
      -0.00159,
      0.00288
    ],
    "tcp_rotation_matrix": [
      [
        0.99937,
        -0.00071,
        0.03554
      ],
      [
        0.00068,
        -0.99924,
        -0.03903
      ],
      [
        0.03554,
        0.03903,
        -0.99861
      ]
    ],
    "simulated_seconds_remaining": 19.932,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 21.01559786591679,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.465,
                    "y": 0.14,
                    "z": 0.745,
                    "gripper": 1
                  },
                  "note": "The wrist view places the packet left of the grasp gap. I shift back and across to bring its body between the fingertips at table height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 22,
    "motion_seconds": 1.452,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 23,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      0.05402,
      -0.0366,
      0.2557,
      -2.43051,
      -0.05842,
      2.41594,
      0.35307
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.46545,
      0.14063,
      0.74595
    ],
    "tcp_roll_pitch_yaw": [
      -0.0001,
      -0.0013,
      0.00278
    ],
    "tcp_rotation_matrix": [
      [
        0.99938,
        -0.0008,
        0.03525
      ],
      [
        0.00058,
        -0.99923,
        -0.03911
      ],
      [
        0.03525,
        0.03911,
        -0.99861
      ]
    ],
    "simulated_seconds_remaining": 18.48,
    "calls_remaining_including_this": 35
  },
  "api_seconds": 6.004739413969219,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The packet is underneath the finger gap with the wrist level and unobstructed. I close the jaws around it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 24,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      0.05402,
      -0.0366,
      0.2557,
      -2.43051,
      -0.05842,
      2.41594,
      0.35307
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.46544,
      0.14062,
      0.74594
    ],
    "tcp_roll_pitch_yaw": [
      -0.0001,
      -0.0013,
      0.00278
    ],
    "tcp_rotation_matrix": [
      [
        0.99938,
        -0.0008,
        0.03525
      ],
      [
        0.00058,
        -0.99923,
        -0.03911
      ],
      [
        0.03525,
        0.03911,
        -0.99861
      ]
    ],
    "simulated_seconds_remaining": 17.556,
    "calls_remaining_including_this": 34
  },
  "api_seconds": 10.407893291674554,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.575,
                    "y": 0.15,
                    "z": 0.83,
                    "gripper": 1
                  },
                  "note": "The jaws closed empty; the packet is farther forward than the last grasp. I reopen, lift clear, and move forward over its center."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 25,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      0.0428,
      0.1472,
      0.23888,
      -1.96293,
      -0.09664,
      2.12728,
      0.32915
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.57397,
      0.1499,
      0.82921
    ],
    "tcp_roll_pitch_yaw": [
      -4e-05,
      -0.00148,
      0.00273
    ],
    "tcp_rotation_matrix": [
      [
        0.99937,
        -0.00085,
        0.03543
      ],
      [
        0.00053,
        -0.99924,
        -0.03905
      ],
      [
        0.03543,
        0.03905,
        -0.99861
      ]
    ],
    "simulated_seconds_remaining": 16.368,
    "calls_remaining_including_this": 33
  },
  "api_seconds": 7.005714973434806,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.12,
                    "z": 0.725,
                    "gripper": 1
                  },
                  "note": "The packet is now forward between the fingertips. I correct slightly sideways and lower around its narrow body."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 26,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      0.01974,
      0.09916,
      0.20632,
      -2.08212,
      -0.14368,
      2.33171,
      0.32208
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.59105,
      0.11825,
      0.82288
    ],
    "tcp_roll_pitch_yaw": [
      -0.00744,
      -0.13814,
      -0.00138
    ],
    "tcp_rotation_matrix": [
      [
        0.98522,
        -0.01127,
        0.17093
      ],
      [
        -0.00331,
        -0.9989,
        -0.04678
      ],
      [
        0.17127,
        0.04552,
        -0.98417
      ]
    ],
    "simulated_seconds_remaining": 15.378,
    "calls_remaining_including_this": 32
  },
  "api_seconds": 7.205706432461739,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The fingers have contacted the tissue near its center. I close at the reached height to capture it without forcing the descent."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 27,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      0.01977,
      0.08482,
      0.20654,
      -2.07645,
      -0.14415,
      2.32661,
      0.32359
    ],
    "gripper_open": 0.7721,
    "tcp_xyz": [
      0.59326,
      0.11836,
      0.83356
    ],
    "tcp_roll_pitch_yaw": [
      -0.00748,
      -0.15335,
      -0.003
    ],
    "tcp_rotation_matrix": [
      [
        0.98249,
        -0.01358,
        0.1858
      ],
      [
        -0.0049,
        -0.99888,
        -0.04713
      ],
      [
        0.18623,
        0.04539,
        -0.98146
      ]
    ],
    "simulated_seconds_remaining": 14.454,
    "calls_remaining_including_this": 31
  },
  "api_seconds": 4.805862654000521,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.97,
                    "gripper": 0
                  },
                  "note": "The jaws are blocked around the tissue. I maintain closing force and lift to check the grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 28,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      0.01904,
      -0.0049,
      0.20972,
      -1.83361,
      -0.09586,
      1.99922,
      0.27058
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.59333,
      0.11838,
      0.9688
    ],
    "tcp_roll_pitch_yaw": [
      -0.00742,
      -0.15373,
      -0.003
    ],
    "tcp_rotation_matrix": [
      [
        0.98242,
        -0.0136,
        0.18617
      ],
      [
        -0.0049,
        -0.99888,
        -0.04707
      ],
      [
        0.1866,
        0.04533,
        -0.98139
      ]
    ],
    "simulated_seconds_remaining": 13.266,
    "calls_remaining_including_this": 30
  },
  "api_seconds": 11.809945637360215,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.59,
                    "y": 0.19,
                    "z": 0.84,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 0.55,
                    "gripper": 1
                  },
                  "note": "The packet slipped again. I align the gripper with its long edges and move the grasp toward the packet's center for another attempt."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 29,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      0.06419,
      0.20532,
      0.27523,
      -1.86226,
      -0.10031,
      2.09997,
      -0.16217
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.58996,
      0.18961,
      0.84062
    ],
    "tcp_roll_pitch_yaw": [
      -0.00021,
      -0.00059,
      0.54668
    ],
    "tcp_rotation_matrix": [
      [
        0.85488,
        0.51642,
        0.04985
      ],
      [
        0.51767,
        -0.85544,
        -0.01569
      ],
      [
        0.03454,
        0.03922,
        -0.99863
      ]
    ],
    "simulated_seconds_remaining": 12.012,
    "calls_remaining_including_this": 29
  },
  "api_seconds": 11.80840175691992,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.55,
                    "y": 0.15,
                    "z": 0.775,
                    "gripper": 1
                  },
                  "note": "The tissue is aligned lengthwise but ahead and left of the jaws. I center the opening over it and descend carefully."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 30,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      0.02909,
      0.12795,
      0.26038,
      -2.12106,
      -0.08573,
      2.32991,
      -0.21088
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.56073,
      0.15849,
      0.78775
    ],
    "tcp_roll_pitch_yaw": [
      -0.01236,
      -0.04203,
      0.55699
    ],
    "tcp_rotation_matrix": [
      [
        0.84734,
        0.52311,
        0.09149
      ],
      [
        0.52559,
        -0.85073,
        -0.00363
      ],
      [
        0.07594,
        0.05116,
        -0.9958
      ]
    ],
    "simulated_seconds_remaining": 11.154,
    "calls_remaining_including_this": 28
  },
  "api_seconds": 14.211027956567705,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.07,
                    "z": 0.81,
                    "roll": 0,
                    "pitch": 0,
                    "gripper": 1
                  },
                  "note": "The packet remains left of the gap after the diagonal move. I shift laterally to center it between both fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 31,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      -0.05995,
      0.07055,
      0.19626,
      -2.11972,
      -0.04515,
      2.23602,
      -0.39138
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.56077,
      0.07117,
      0.80971
    ],
    "tcp_roll_pitch_yaw": [
      -0.00021,
      -0.00066,
      0.5568
    ],
    "tcp_rotation_matrix": [
      [
        0.8496,
        0.52504,
        0.05007
      ],
      [
        0.52629,
        -0.85017,
        -0.01514
      ],
      [
        0.03461,
        0.03922,
        -0.99863
      ]
    ],
    "simulated_seconds_remaining": 10.23,
    "calls_remaining_including_this": 27
  },
  "api_seconds": 6.205073619261384,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.55,
                    "y": 0.04,
                    "z": 0.735,
                    "gripper": 1
                  },
                  "note": "The packet is nearly centered and the jaws align with its narrow dimension. I make the final small correction and lower around the sides."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 32,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      -0.08111,
      0.09383,
      0.17858,
      -2.22759,
      -0.0411,
      2.42296,
      -0.42637
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.56075,
      0.05244,
      0.76741
    ],
    "tcp_roll_pitch_yaw": [
      -0.01613,
      -0.05417,
      0.55592
    ],
    "tcp_rotation_matrix": [
      [
        0.84699,
        0.52139,
        0.10373
      ],
      [
        0.52427,
        -0.85155,
        -0.00055
      ],
      [
        0.08804,
        0.05485,
        -0.99461
      ]
    ],
    "simulated_seconds_remaining": 9.372,
    "calls_remaining_including_this": 26
  },
  "api_seconds": 4.4065439170226455,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The packet now fills the space between the jaws. I close to secure it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 33,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      -0.07999,
      0.08798,
      0.18018,
      -2.22258,
      -0.03998,
      2.42435,
      -0.42574
    ],
    "gripper_open": 0.8971,
    "tcp_xyz": [
      0.56403,
      0.05427,
      0.77311
    ],
    "tcp_roll_pitch_yaw": [
      -0.02144,
      -0.06516,
      0.55743
    ],
    "tcp_rotation_matrix": [
      [
        0.84523,
        0.52171,
        0.11579
      ],
      [
        0.52515,
        -0.85101,
        0.00087
      ],
      [
        0.099,
        0.06007,
        -0.99327
      ]
    ],
    "simulated_seconds_remaining": 8.448,
    "calls_remaining_including_this": 25
  },
  "api_seconds": 5.004454344511032,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.97,
                    "gripper": 0
                  },
                  "note": "The jaws are pressing against the packet's sides. I keep them closed while lifting clear of the tabletop."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 24,
    "motion_seconds": 1.584,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 34,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      -0.08412,
      -0.08272,
      0.17735,
      -1.90412,
      0.00495,
      1.93869,
      -0.46098
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.5641,
      0.05428,
      0.96877
    ],
    "tcp_roll_pitch_yaw": [
      -0.02163,
      -0.06549,
      0.55744
    ],
    "tcp_rotation_matrix": [
      [
        0.84519,
        0.52168,
        0.11617
      ],
      [
        0.52515,
        -0.85101,
        0.00089
      ],
      [
        0.09932,
        0.06026,
        -0.99323
      ]
    ],
    "simulated_seconds_remaining": 6.864,
    "calls_remaining_including_this": 24
  },
  "api_seconds": 13.211651299148798,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.64,
                    "y": 0.09,
                    "z": 0.79,
                    "roll": 0,
                    "pitch": 0,
                    "gripper": 1
                  },
                  "note": "The packet remained on the table. I move the grasp farther along its body and reopen for one final centered attempt."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 24,
    "motion_seconds": 1.584,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 35,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      -0.03055,
      0.3261,
      0.19505,
      -1.82069,
      -0.10351,
      2.18516,
      -0.34424
    ],
    "gripper_open": 0.9992,
    "tcp_xyz": [
      0.63928,
      0.09009,
      0.79117
    ],
    "tcp_roll_pitch_yaw": [
      0.00019,
      -9e-05,
      0.55796
    ],
    "tcp_rotation_matrix": [
      [
        0.84901,
        0.52606,
        0.04939
      ],
      [
        0.52728,
        -0.84956,
        -0.01505
      ],
      [
        0.03404,
        0.03882,
        -0.99867
      ]
    ],
    "simulated_seconds_remaining": 5.28,
    "calls_remaining_including_this": 23
  },
  "api_seconds": 9.00790636613965,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.14,
                    "gripper": 0
                  },
                  "note": "The tissue is just right of the closing gap. I shift across its center and close the jaws to capture it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 36,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      0.02607,
      0.35187,
      0.21293,
      -1.7787,
      -0.12309,
      2.16804,
      -0.25869
    ],
    "gripper_open": 0.2331,
    "tcp_xyz": [
      0.64082,
      0.1354,
      0.79338
    ],
    "tcp_roll_pitch_yaw": [
      -0.00367,
      -0.00241,
      0.55311
    ],
    "tcp_rotation_matrix": [
      [
        0.85142,
        0.52177,
        0.05331
      ],
      [
        0.52322,
        -0.85202,
        -0.01736
      ],
      [
        0.03637,
        0.04267,
        -0.99843
      ]
    ],
    "simulated_seconds_remaining": 4.356,
    "calls_remaining_including_this": 22
  },
  "api_seconds": 5.604652556590736,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.94,
                    "gripper": 0
                  },
                  "note": "The gripper is partly closed around the tissue. I lift while maintaining the grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 37,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      0.0257,
      0.26851,
      0.22499,
      -1.5216,
      -0.09188,
      1.82987,
      -0.28727
    ],
    "gripper_open": 0.2258,
    "tcp_xyz": [
      0.64077,
      0.13538,
      0.93834
    ],
    "tcp_roll_pitch_yaw": [
      -0.00349,
      -0.00193,
      0.55311
    ],
    "tcp_rotation_matrix": [
      [
        0.85144,
        0.52179,
        0.05281
      ],
      [
        0.52323,
        -0.85202,
        -0.01745
      ],
      [
        0.03589,
        0.04249,
        -0.99845
      ]
    ],
    "simulated_seconds_remaining": 3.102,
    "calls_remaining_including_this": 21
  },
  "api_seconds": 9.206843147985637,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.61,
                    "y": -0.065,
                    "z": 0.91,
                    "gripper": 0
                  },
                  "note": "The tissue has lifted with the gripper. I carry it rightward in the exterior view to the bowl while keeping the jaws closed."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 25,
    "motion_seconds": 1.6500000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 38,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      -0.1882,
      0.12753,
      0.09353,
      -1.78132,
      -0.0262,
      1.96164,
      -0.63634
    ],
    "gripper_open": 0.2247,
    "tcp_xyz": [
      0.61007,
      -0.06384,
      0.90977
    ],
    "tcp_roll_pitch_yaw": [
      -0.003,
      -0.00128,
      0.55276
    ],
    "tcp_rotation_matrix": [
      [
        0.85165,
        0.52153,
        0.052
      ],
      [
        0.52293,
        -0.8522,
        -0.0174
      ],
      [
        0.03524,
        0.04201,
        -0.9985
      ]
    ],
    "simulated_seconds_remaining": 1.452,
    "calls_remaining_including_this": 20
  },
  "api_seconds": 13.612702797167003,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.55,
                    "y": -0.21,
                    "z": 0.85,
                    "gripper": 1
                  },
                  "note": "The bowl has shifted farther right. I move the tissue toward its opening and release it over the bowl."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 22,
    "motion_seconds": 1.452,
    "status": "executing; next observation shows actual arrival"
  }
}

========================================================================
GPT-Astra / Pick & place / 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,
  "status": "completed",
  "success": false,
  "oracle_success": false,
  "action_decisions": 36,
  "wall_seconds": 412.27,
  "usage": {
    "input_tokens": 838449,
    "cached_input_tokens": 800768,
    "cache_write_input_tokens": 0,
    "output_tokens": 6590,
    "reasoning_output_tokens": 2839
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick-and-place 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 45 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 and grasp the requested object, lift it, move it to the named receptacle, and release it in or on that receptacle. Complete the entire pick-and-place 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 object and place it in the requested receptacle.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.0021, -0.74503, -0.0053, -2.33679, -0.01415, 1.57165, -0.02263], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.31475, -0.00462, 1.01194], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.99957, 0.02113, -0.02014], [0.02092, -0.99973, -0.01052], [-0.02035, 0.01009, -0.99974]], \"simulated_seconds_remaining\": 45.012, \"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": 0.4,
    "y": 0,
    "z": 0.86,
    "note": "The wrist image shows the bowl and bottles below; I move closer while staying above them to resolve the bottle 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": 0.4,
      "y": 0,
      "z": 0.86
    },
    "note": "The wrist image shows the bowl and bottles below; I move closer while staying above them to resolve the bottle position."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.00575, -0.44461, 2e-05, -2.50259, -0.0108, 2.04424, -0.0102], \"gripper_open\": 1.0, \"tcp_xyz\": [0.4009, 0.00022, 0.86372], \"tcp_roll_pitch_yaw\": [0.00081, -0.00643, -5e-05], \"tcp_rotation_matrix\": [[0.99969, 0.02102, -0.0137], [0.02089, -0.99973, -0.0097], [-0.0139, 0.00942, -0.99986]], \"simulated_seconds_remaining\": 43.56, \"calls_remaining_including_this\": 56}"
      },
      {
        "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": 0.49,
      "y": 0.1,
      "z": 0.86
    },
    "note": "The bottle and bowl remain to the right of the wrist view. I shift laterally above the table to center the objects."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.07809, -0.13605, 0.12051, -2.21166, 0.01071, 2.06116, 0.17113], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.4891, 0.09905, 0.86001], \"tcp_roll_pitch_yaw\": [0.00078, -0.00638, 0.00011], \"tcp_rotation_matrix\": [[0.99968, 0.02118, -0.01375], [0.02105, -0.99973, -0.00974], [-0.01396, 0.00945, -0.99986]], \"simulated_seconds_remaining\": 42.372, \"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": 0.42,
      "y": 0.145,
      "z": 0.78
    },
    "note": "The blue bottle lies beside the dark bowl. I align the open fingers over its narrow neck and descend for a closer view."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.13893, -0.19752, 0.19304, -2.49485, 0.04346, 2.28404, 0.27801], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.42073, 0.14451, 0.78086], \"tcp_roll_pitch_yaw\": [0.0007, -0.00617, 0.00027], \"tcp_rotation_matrix\": [[0.99967, 0.02134, -0.01397], [0.02121, -0.99973, -0.00982], [-0.01417, 0.00952, -0.99985]], \"simulated_seconds_remaining\": 41.316, \"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": {
      "z": 0.71
    },
    "note": "The blue bottle’s neck is centered between the fingers. I lower the grasp point to surround it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.12761, -0.15441, 0.19437, -2.54431, 0.00629, 2.41763, 0.30694], \"gripper_open\": 1.0, \"tcp_xyz\": [0.42866, 0.13764, 0.75305], \"tcp_roll_pitch_yaw\": [-0.00551, -0.05199, -0.01205], \"tcp_rotation_matrix\": [[0.99947, 0.00824, 0.03165], [0.00877, -0.99983, -0.01641], [0.0315, 0.01667, -0.99936]], \"simulated_seconds_remaining\": 40.524, \"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": {
      "gripper": 0
    },
    "note": "The fingers surround the blue bottle near its neck, and descent has stopped at contact. I close the gripper to secure it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.12447, -0.1617, 0.19049, -2.54112, 0.00422, 2.41474, 0.30795], \"gripper_open\": 0.8762, \"tcp_xyz\": [0.43154, 0.13493, 0.75739], \"tcp_roll_pitch_yaw\": [-0.0051, -0.05981, -0.01855], \"tcp_rotation_matrix\": [[0.99922, 0.00164, 0.03936], [0.00228, -0.99986, -0.01635], [0.03933, 0.01643, -0.99909]], \"simulated_seconds_remaining\": 39.6, \"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": {
      "z": 0.93
    },
    "note": "The gripper has closed against the object. I lift to check whether the bottle is securely held and clear of the bowl."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.13097, -0.36472, 0.1647, -2.26967, 0.03403, 1.94281, 0.27218], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.43162, 0.13495, 0.92877], \"tcp_roll_pitch_yaw\": [-0.00501, -0.06015, -0.01856], \"tcp_rotation_matrix\": [[0.99921, 0.00163, 0.0397], [0.00228, -0.99987, -0.01627], [0.03967, 0.01634, -0.99908]], \"simulated_seconds_remaining\": 38.148, \"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": {
      "x": 0.4,
      "y": 0.175,
      "z": 0.79,
      "roll": 0,
      "pitch": 0,
      "yaw": 0.6,
      "gripper": 1
    },
    "note": "The bottle stayed on the table. I refine alignment toward its narrower blue neck and rotate the fingers across it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.25486, -0.23696, 0.16166, -2.50753, 0.03057, 2.25548, -0.2251], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.40012, 0.17476, 0.79072], \"tcp_roll_pitch_yaw\": [-9e-05, -2e-05, 0.59621], \"tcp_rotation_matrix\": [[0.81537, 0.57884, -0.01069], [0.57858, -0.81538, -0.02007], [-0.02034, 0.01018, -0.99974]], \"simulated_seconds_remaining\": 36.894, \"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": 0.46,
      "y": 0.14,
      "z": 0.79,
      "gripper": 1
    },
    "note": "The rotated wrist view places the bottle neck below and left of the finger gap. I shift the gripper to bring that neck into the gap."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.19984, -0.10708, 0.10292, -2.37249, -0.00636, 2.24975, -0.3109], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.45884, 0.14063, 0.79], \"tcp_roll_pitch_yaw\": [-4e-05, -1e-05, 0.59598], \"tcp_rotation_matrix\": [[0.8155, 0.57866, -0.01073], [0.5784, -0.81551, -0.02003], [-0.02034, 0.01013, -0.99974]], \"simulated_seconds_remaining\": 36.168, \"calls_remaining_including_this\": 49}"
      },
      {
        "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": 0.755,
      "gripper": 1
    },
    "note": "The bottle’s narrow end is now between the fingertips. I lower slightly to put both fingers alongside it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.19829, -0.05979, 0.10303, -2.39637, -0.01646, 2.34762, -0.30377], \"gripper_open\": 1.0, \"tcp_xyz\": [0.46721, 0.142, 0.76554], \"tcp_roll_pitch_yaw\": [-0.00973, -0.02527, 0.59574], \"tcp_rotation_matrix\": [[0.81592, 0.57796, 0.01561], [0.57815, -0.81581, -0.01388], [0.00471, 0.02035, -0.99978]], \"simulated_seconds_remaining\": 35.64, \"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"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "gripper": 0
    },
    "note": "The blue neck lies inside the finger gap. I close both jaws around it before lifting."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 11, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.19369, -0.06939, 0.09723, -2.38818, -0.01987, 2.3489, -0.30321], \"gripper_open\": 0.7133, \"tcp_xyz\": [0.47408, 0.13826, 0.7739], \"tcp_roll_pitch_yaw\": [-0.01819, -0.04262, 0.5875], \"tcp_rotation_matrix\": [[0.82056, 0.57051, 0.03461], [0.57114, -0.82078, -0.01144], [0.02188, 0.02915, -0.99934]], \"simulated_seconds_remaining\": 34.716, \"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": {
      "z": 0.95,
      "gripper": 0
    },
    "note": "The jaws are resisted by the bottle. I maintain closing force while lifting it clear of the table."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 12, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.19486, -0.23629, 0.08971, -2.09852, 0.00038, 1.89321, -0.32544], \"gripper_open\": 0.2948, \"tcp_xyz\": [0.4741, 0.13827, 0.9486], \"tcp_roll_pitch_yaw\": [-0.01818, -0.04264, 0.58749], \"tcp_rotation_matrix\": [[0.82057, 0.5705, 0.03461], [0.57113, -0.82078, -0.01142], [0.0219, 0.02914, -0.99934]], \"simulated_seconds_remaining\": 33.264, \"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": 0.37,
      "y": 0.12,
      "z": 0.95,
      "gripper": 0
    },
    "note": "The bottle is visibly lifted in the gripper. I carry it above the dark bowl, which sits behind it in the wrist view."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 13, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.21538, -0.56216, 0.09056, -2.38108, 0.02839, 1.85031, -0.32242], \"gripper_open\": 0.2903, \"tcp_xyz\": [0.37126, 0.12023, 0.94992], \"tcp_roll_pitch_yaw\": [-0.01812, -0.04242, 0.58753], \"tcp_rotation_matrix\": [[0.82055, 0.57054, 0.0344], [0.57116, -0.82076, -0.01149], [0.02168, 0.02908, -0.99934]], \"simulated_seconds_remaining\": 32.274, \"calls_remaining_including_this\": 45}"
      },
      {
        "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": 0.82,
      "gripper": 0
    },
    "note": "The bowl is now directly below the held bottle. I lower carefully toward its rim while keeping the grip closed."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 14, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.21724, -0.47018, 0.10598, -2.63615, 0.03293, 2.2111, -0.3146], \"gripper_open\": 0.2959, \"tcp_xyz\": [0.37486, 0.1219, 0.82637], \"tcp_roll_pitch_yaw\": [-0.02193, -0.05572, 0.58841], \"tcp_rotation_matrix\": [[0.81978, 0.5707, 0.04757], [0.57161, -0.82049, -0.00725], [0.0349, 0.03314, -0.99884]], \"simulated_seconds_remaining\": 31.086, \"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": 0.445,
      "y": 0.2,
      "z": 0.88,
      "gripper": 0
    },
    "note": "The exterior view shows the bottle beside the bowl rather than centered over it. I raise slightly and shift its body toward the bowl’s center."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 15, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.23909, -0.23178, 0.18293, -2.27293, 0.01812, 2.08495, -0.19883], \"gripper_open\": 0.2931, \"tcp_xyz\": [0.44413, 0.19898, 0.87921], \"tcp_roll_pitch_yaw\": [-0.02194, -0.05528, 0.58839], \"tcp_rotation_matrix\": [[0.8198, 0.5707, 0.04721], [0.57161, -0.82049, -0.0075], [0.03446, 0.03314, -0.99886]], \"simulated_seconds_remaining\": 30.03, \"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": {
      "z": 0.795,
      "gripper": 0
    },
    "note": "Both views now show the bottle’s body over the bowl. I lower until the bottle is supported near the bowl."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 16, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.23671, -0.13689, 0.19233, -2.39166, -0.00169, 2.30836, -0.17929], \"gripper_open\": 0.3105, \"tcp_xyz\": [0.44725, 0.20018, 0.80053], \"tcp_roll_pitch_yaw\": [-0.02465, -0.06622, 0.58872], \"tcp_rotation_matrix\": [[0.81928, 0.57047, 0.0578], [0.57159, -0.82053, -0.00368], [0.04533, 0.03605, -0.99832]], \"simulated_seconds_remaining\": 29.106, \"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": {
      "gripper": 1
    },
    "note": "The bottle has reached the bowl and shifted against its support. I open the fingers to leave it on the bowl."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 17, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.2367, -0.13693, 0.19231, -2.39164, -0.00169, 2.30836, -0.17929], \"gripper_open\": 0.9965, \"tcp_xyz\": [0.44727, 0.20016, 0.80054], \"tcp_roll_pitch_yaw\": [-0.02466, -0.06627, 0.58869], \"tcp_rotation_matrix\": [[0.8193, 0.57044, 0.05785], [0.57157, -0.82055, -0.00366], [0.04538, 0.03607, -0.99832]], \"simulated_seconds_remaining\": 28.182, \"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": {
      "z": 0.98,
      "gripper": 1
    },
    "note": "The bottle is released across the bowl. I raise the empty gripper to let it settle and verify the placement."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 18, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.23687, -0.27232, 0.17407, -2.05958, 0.02116, 1.84323, -0.2076], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.44733, 0.20019, 0.9788], \"tcp_roll_pitch_yaw\": [-0.02474, -0.06661, 0.5887], \"tcp_rotation_matrix\": [[0.81929, 0.57043, 0.05817], [0.57156, -0.82055, -0.00354], [0.04571, 0.03615, -0.9983]], \"simulated_seconds_remaining\": 26.664, \"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": 0.42,
      "y": 0.12,
      "z": 0.8,
      "gripper": 1
    },
    "note": "After settling, most of the bottle rests beside the bowl’s left edge. I return to its neck to improve the placement."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 19, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.19158, -0.29789, 0.09566, -2.55905, 0.01139, 2.31698, -0.33192], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.42013, 0.12051, 0.80114], \"tcp_roll_pitch_yaw\": [-0.02462, -0.06629, 0.58861], \"tcp_rotation_matrix\": [[0.81935, 0.57037, 0.05784], [0.57149, -0.8206, -0.00362], [0.0454, 0.03602, -0.99832]], \"simulated_seconds_remaining\": 25.08, \"calls_remaining_including_this\": 39}"
      },
      {
        "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": 0.15,
      "z": 0.77,
      "gripper": 1
    },
    "note": "The bottle neck is just below the finger gap. I move along the bottle toward the neck and lower for a secure grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 20, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.19773, -0.1088, 0.12431, -2.45004, -0.01218, 2.39563, -0.27787], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.45904, 0.14932, 0.77067], \"tcp_roll_pitch_yaw\": [-0.02458, -0.06612, 0.58866], \"tcp_rotation_matrix\": [[0.81933, 0.57042, 0.05768], [0.57154, -0.82057, -0.00368], [0.04523, 0.03598, -0.99833]], \"simulated_seconds_remaining\": 24.42, \"calls_remaining_including_this\": 38}"
      },
      {
        "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 neck is positioned between the fingers. I close the gripper for the placement adjustment."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 21, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.19759, -0.11242, 0.12407, -2.44741, -0.01196, 2.39548, -0.27748], \"gripper_open\": 0.2697, \"tcp_xyz\": [0.46072, 0.14966, 0.77353], \"tcp_roll_pitch_yaw\": [-0.02642, -0.07193, 0.58788], \"tcp_rotation_matrix\": [[0.81956, 0.56946, 0.06352], [0.57072, -0.82115, -0.00204], [0.05099, 0.03792, -0.99798]], \"simulated_seconds_remaining\": 23.496, \"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": {
      "z": 0.92,
      "gripper": 0
    },
    "note": "The jaws have closed around the neck. I lift the bottle before shifting it farther over the bowl."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 22, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.20054, -0.27715, 0.11311, -2.22279, 0.01053, 2.00758, -0.30117], \"gripper_open\": 0.0, \"tcp_xyz\": [0.4608, 0.14969, 0.91876], \"tcp_roll_pitch_yaw\": [-0.02653, -0.07228, 0.58788], \"tcp_rotation_matrix\": [[0.81955, 0.56944, 0.06387], [0.57071, -0.82115, -0.00194], [0.05134, 0.03804, -0.99796]], \"simulated_seconds_remaining\": 22.242, \"calls_remaining_including_this\": 36}"
      },
      {
        "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": {
      "z": 0.715,
      "gripper": 1
    },
    "note": "The bottle remained on the bowl edge, so the fingers closed above its neck. I reopen and descend farther to reach the neck."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 23, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.19692, -0.07107, 0.12852, -2.4822, -0.0385, 2.51391, -0.25744], \"gripper_open\": 1.0, \"tcp_xyz\": [0.46758, 0.15269, 0.75126], \"tcp_roll_pitch_yaw\": [-0.04734, -0.11048, 0.59567], \"tcp_rotation_matrix\": [[0.81314, 0.57216, 0.10697], [0.57522, -0.81799, 0.00265], [0.08902, 0.05937, -0.99426]], \"simulated_seconds_remaining\": 20.592, \"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": 0.49,
      "y": 0.14,
      "z": 0.75,
      "gripper": 0
    },
    "note": "The descent has reached contact beside the bottle. I shift slightly toward the neck and close around it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 24, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.1801, -0.02686, 0.11081, -2.42373, -0.04226, 2.51055, -0.29179], \"gripper_open\": 0.3514, \"tcp_xyz\": [0.49171, 0.14302, 0.75432], \"tcp_roll_pitch_yaw\": [-0.05052, -0.12037, 0.59868], \"tcp_rotation_matrix\": [[0.81068, 0.57371, 0.11685], [0.5771, -0.81665, 0.00588], [0.0988, 0.06266, -0.99313]], \"simulated_seconds_remaining\": 19.668, \"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": {
      "z": 0.93,
      "gripper": 0
    },
    "note": "The fingers are stopped around the neck. I lift with the gripper held closed to confirm the second grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 25, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.18428, -0.23587, 0.10228, -2.1718, -0.0038, 2.05156, -0.32884], \"gripper_open\": 0.0, \"tcp_xyz\": [0.49179, 0.14305, 0.92877], \"tcp_roll_pitch_yaw\": [-0.05065, -0.12073, 0.5987], \"tcp_rotation_matrix\": [[0.81064, 0.57369, 0.11721], [0.57709, -0.81666, 0.00598], [0.09915, 0.06279, -0.99309]], \"simulated_seconds_remaining\": 18.216, \"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": "move_to",
  "arguments": {
    "targets": {
      "x": 0.46,
      "y": 0.11,
      "z": 0.755,
      "roll": 0,
      "pitch": 0,
      "yaw": 0.6,
      "gripper": 1
    },
    "note": "The neck slipped out during lifting. I reposition the open fingers slightly farther down the neck for a deeper grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 26, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.16326, -0.07063, 0.07807, -2.431, -0.01602, 2.346, -0.36855], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.46017, 0.11021, 0.75617], \"tcp_roll_pitch_yaw\": [-0.00026, -0.0006, 0.59993], \"tcp_rotation_matrix\": [[0.81323, 0.58186, -0.01004], [0.58161, -0.81322, -0.01992], [-0.01976, 0.01036, -0.99975]], \"simulated_seconds_remaining\": 16.698, \"calls_remaining_including_this\": 32}"
      },
      {
        "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": 0.455,
      "y": 0.135,
      "z": 0.735,
      "gripper": 0
    },
    "note": "The neck sits at the inner edge of the right finger. I center it with a small lateral correction and close lower on the neck."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 27, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.18734, -0.02835, 0.10543, -2.44175, -0.01976, 2.3997, -0.31345], \"gripper_open\": 0.0001, \"tcp_xyz\": [0.45562, 0.13444, 0.73627], \"tcp_roll_pitch_yaw\": [-0.00089, -0.00208, 0.5998], \"tcp_rotation_matrix\": [[0.81333, 0.58174, -0.00847], [0.58151, -0.8133, -0.01961], [-0.01829, 0.01102, -0.99977]], \"simulated_seconds_remaining\": 15.774, \"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": 0.45,
      "y": 0.07,
      "z": 0.79,
      "gripper": 1
    },
    "note": "The neck has moved away from the jaws. I align over the bottle’s wider body, which is clearly visible, for a direct grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 28, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.13005, -0.17908, 0.03317, -2.45578, -0.01571, 2.26539, -0.44785], \"gripper_open\": 0.9965, \"tcp_xyz\": [0.45015, 0.07085, 0.78932], \"tcp_roll_pitch_yaw\": [-0.00097, -0.00225, 0.59962], \"tcp_rotation_matrix\": [[0.81344, 0.58159, -0.00828], [0.58137, -0.8134, -0.01958], [-0.01812, 0.01111, -0.99977]], \"simulated_seconds_remaining\": 14.85, \"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": {
      "z": 0.72,
      "gripper": 1
    },
    "note": "The bottle body is centered in the finger opening. I lower the open jaws alongside it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 29, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.12822, -0.04995, 0.03415, -2.51781, -0.02572, 2.45606, -0.4383], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.45006, 0.07083, 0.72111], \"tcp_roll_pitch_yaw\": [-0.00083, -0.00195, 0.59961], \"tcp_rotation_matrix\": [[0.81343, 0.58159, -0.00861], [0.58136, -0.81341, -0.01963], [-0.01842, 0.01097, -0.99977]], \"simulated_seconds_remaining\": 14.058, \"calls_remaining_including_this\": 29}"
      },
      {
        "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 fingers now flank the blue body below its top surface. I close to grasp it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 30, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.12822, -0.04995, 0.03415, -2.51781, -0.02572, 2.45606, -0.4383], \"gripper_open\": 0.0, \"tcp_xyz\": [0.45006, 0.07083, 0.72109], \"tcp_roll_pitch_yaw\": [-0.00083, -0.00195, 0.59961], \"tcp_rotation_matrix\": [[0.81343, 0.58159, -0.0086], [0.58136, -0.81341, -0.01963], [-0.01842, 0.01097, -0.99977]], \"simulated_seconds_remaining\": 13.134, \"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": {
      "z": 0.64,
      "gripper": 1
    },
    "note": "The jaws closed without holding the bottle, indicating they were still above it. I reopen and lower to the bottle’s resting height."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 31, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.12573, 0.02308, 0.02671, -2.53596, -0.05024, 2.6074, -0.41528], \"gripper_open\": 1.0, \"tcp_xyz\": [0.46549, 0.06872, 0.69434], \"tcp_roll_pitch_yaw\": [-0.03281, -0.05379, 0.5908], \"tcp_rotation_matrix\": [[0.8186, 0.572, 0.05202], [0.57343, -0.81908, -0.01726], [0.03274, 0.04396, -0.9985]], \"simulated_seconds_remaining\": 12.21, \"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": {
      "gripper": 0
    },
    "note": "The gripper has reached contact at the bottle’s height. I close around its body."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 32, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.11958, 0.01282, 0.01876, -2.5316, -0.05145, 2.6063, -0.41373], \"gripper_open\": 0.8503, \"tcp_xyz\": [0.47065, 0.06257, 0.70075], \"tcp_roll_pitch_yaw\": [-0.03952, -0.0657, 0.57652], \"tcp_rotation_matrix\": [[0.82641, 0.55926, 0.06538], [0.56131, -0.82743, -0.01714], [0.04451, 0.05087, -0.99771]], \"simulated_seconds_remaining\": 11.286, \"calls_remaining_including_this\": 26}"
      },
      {
        "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": 0.9,
      "gripper": 0
    },
    "note": "The jaws are held apart by the bottle body. I keep them closed while lifting for transfer."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 33, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.12489, -0.29497, 0.01774, -2.29451, -0.0239, 2.06217, -0.44286], \"gripper_open\": 0.0, \"tcp_xyz\": [0.47074, 0.06259, 0.89879], \"tcp_roll_pitch_yaw\": [-0.03967, -0.06603, 0.57653], \"tcp_rotation_matrix\": [[0.82639, 0.55925, 0.06574], [0.56131, -0.82743, -0.01709], [0.04484, 0.05102, -0.99769]], \"simulated_seconds_remaining\": 9.636, \"calls_remaining_including_this\": 25}"
      },
      {
        "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": 0.425,
      "y": 0.015,
      "z": 0.69,
      "gripper": 1
    },
    "note": "The bottle slipped free. I move the open gripper farther across the body so it sits deeper between the jaws."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 34, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.07994, -0.08963, -0.04125, -2.69573, -0.0514, 2.67035, -0.51167], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.42518, 0.01527, 0.69116], \"tcp_roll_pitch_yaw\": [-0.03948, -0.0657, 0.57647], \"tcp_rotation_matrix\": [[0.82644, 0.55922, 0.06536], [0.56127, -0.82746, -0.01712], [0.04451, 0.05083, -0.99772]], \"simulated_seconds_remaining\": 7.854, \"calls_remaining_including_this\": 24}"
      },
      {
        "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": 0.455,
      "y": 0.04,
      "z": 0.685,
      "gripper": 0
    },
    "note": "The bottle is now deeper than the fingertip gap. I make a small correction and close around the body at table height."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 35, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.10147, 0.00503, -0.01789, -2.60416, -0.05082, 2.64045, -0.46014], \"gripper_open\": 0.0001, \"tcp_xyz\": [0.44494, 0.03477, 0.68052], \"tcp_roll_pitch_yaw\": [-0.02599, -0.03692, 0.56782], \"tcp_rotation_matrix\": [[0.83183, 0.554, 0.03375], [0.5548, -0.8317, -0.02175], [0.01602, 0.03682, -0.99919]], \"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": {
      "z": 0.81,
      "gripper": 0
    },
    "note": "I lift to check whether the bottle is captured before moving toward the bowl."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 36, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.10484, -0.26512, -0.01621, -2.50003, -0.03768, 2.26665, -0.47508], \"gripper_open\": 0.0, \"tcp_xyz\": [0.44506, 0.03478, 0.80882], \"tcp_roll_pitch_yaw\": [-0.02615, -0.03725, 0.56782], \"tcp_rotation_matrix\": [[0.83182, 0.55399, 0.03412], [0.5548, -0.8317, -0.02172], [0.01635, 0.03699, -0.99918]], \"simulated_seconds_remaining\": 5.742, \"calls_remaining_including_this\": 22}"
      },
      {
        "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 lifted and released the bottle at the bowl, but it settled beside the rim. Repeated attempts to improve placement did not secure another grasp, and too little motion time remains to complete a reliable transfer."
  },
  "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 placement. The bottle settled beside the bowl’s rim, and I couldn’t secure it again.

TURN USAGE
{
  "input_tokens": 838449,
  "cached_input_tokens": 800768,
  "cache_write_input_tokens": 0,
  "output_tokens": 6590,
  "reasoning_output_tokens": 2839
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.0021,
      -0.74503,
      -0.0053,
      -2.33679,
      -0.01415,
      1.57165,
      -0.02263
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.31475,
      -0.00462,
      1.01194
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99957,
        0.02113,
        -0.02014
      ],
      [
        0.02092,
        -0.99973,
        -0.01052
      ],
      [
        -0.02035,
        0.01009,
        -0.99974
      ]
    ],
    "simulated_seconds_remaining": 45.012,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 24.82038375362754,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "y": 0,
                    "z": 0.86
                  },
                  "note": "The wrist image shows the bowl and bottles below; I move closer while staying above them to resolve the bottle position."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 22,
    "motion_seconds": 1.452,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.00575,
      -0.44461,
      2e-05,
      -2.50259,
      -0.0108,
      2.04424,
      -0.0102
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.4009,
      0.00022,
      0.86372
    ],
    "tcp_roll_pitch_yaw": [
      0.00081,
      -0.00643,
      -5e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99969,
        0.02102,
        -0.0137
      ],
      [
        0.02089,
        -0.99973,
        -0.0097
      ],
      [
        -0.0139,
        0.00942,
        -0.99986
      ]
    ],
    "simulated_seconds_remaining": 43.56,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 8.205783714540303,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.49,
                    "y": 0.1,
                    "z": 0.86
                  },
                  "note": "The bottle and bowl remain to the right of the wrist view. I shift laterally above the table to center the objects."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.07809,
      -0.13605,
      0.12051,
      -2.21166,
      0.01071,
      2.06116,
      0.17113
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.4891,
      0.09905,
      0.86001
    ],
    "tcp_roll_pitch_yaw": [
      0.00078,
      -0.00638,
      0.00011
    ],
    "tcp_rotation_matrix": [
      [
        0.99968,
        0.02118,
        -0.01375
      ],
      [
        0.02105,
        -0.99973,
        -0.00974
      ],
      [
        -0.01396,
        0.00945,
        -0.99986
      ]
    ],
    "simulated_seconds_remaining": 42.372,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 16.01256713550538,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.42,
                    "y": 0.145,
                    "z": 0.78
                  },
                  "note": "The blue bottle lies beside the dark bowl. I align the open fingers over its narrow neck and descend for a closer view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.13893,
      -0.19752,
      0.19304,
      -2.49485,
      0.04346,
      2.28404,
      0.27801
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.42073,
      0.14451,
      0.78086
    ],
    "tcp_roll_pitch_yaw": [
      0.0007,
      -0.00617,
      0.00027
    ],
    "tcp_rotation_matrix": [
      [
        0.99967,
        0.02134,
        -0.01397
      ],
      [
        0.02121,
        -0.99973,
        -0.00982
      ],
      [
        -0.01417,
        0.00952,
        -0.99985
      ]
    ],
    "simulated_seconds_remaining": 41.316,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 9.608305661007762,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.71
                  },
                  "note": "The blue bottle’s neck is centered between the fingers. I lower the grasp point to surround it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.12761,
      -0.15441,
      0.19437,
      -2.54431,
      0.00629,
      2.41763,
      0.30694
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.42866,
      0.13764,
      0.75305
    ],
    "tcp_roll_pitch_yaw": [
      -0.00551,
      -0.05199,
      -0.01205
    ],
    "tcp_rotation_matrix": [
      [
        0.99947,
        0.00824,
        0.03165
      ],
      [
        0.00877,
        -0.99983,
        -0.01641
      ],
      [
        0.0315,
        0.01667,
        -0.99936
      ]
    ],
    "simulated_seconds_remaining": 40.524,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 5.404837105423212,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The fingers surround the blue bottle near its neck, and descent has stopped at contact. I close the gripper to secure it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.12447,
      -0.1617,
      0.19049,
      -2.54112,
      0.00422,
      2.41474,
      0.30795
    ],
    "gripper_open": 0.8762,
    "tcp_xyz": [
      0.43154,
      0.13493,
      0.75739
    ],
    "tcp_roll_pitch_yaw": [
      -0.0051,
      -0.05981,
      -0.01855
    ],
    "tcp_rotation_matrix": [
      [
        0.99922,
        0.00164,
        0.03936
      ],
      [
        0.00228,
        -0.99986,
        -0.01635
      ],
      [
        0.03933,
        0.01643,
        -0.99909
      ]
    ],
    "simulated_seconds_remaining": 39.6,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 5.805105058476329,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.93
                  },
                  "note": "The gripper has closed against the object. I lift to check whether the bottle is securely held and clear of the bowl."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 22,
    "motion_seconds": 1.452,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.13097,
      -0.36472,
      0.1647,
      -2.26967,
      0.03403,
      1.94281,
      0.27218
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.43162,
      0.13495,
      0.92877
    ],
    "tcp_roll_pitch_yaw": [
      -0.00501,
      -0.06015,
      -0.01856
    ],
    "tcp_rotation_matrix": [
      [
        0.99921,
        0.00163,
        0.0397
      ],
      [
        0.00228,
        -0.99987,
        -0.01627
      ],
      [
        0.03967,
        0.01634,
        -0.99908
      ]
    ],
    "simulated_seconds_remaining": 38.148,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 15.212001514621079,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "y": 0.175,
                    "z": 0.79,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 0.6,
                    "gripper": 1
                  },
                  "note": "The bottle stayed on the table. I refine alignment toward its narrower blue neck and rotate the fingers across it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.25486,
      -0.23696,
      0.16166,
      -2.50753,
      0.03057,
      2.25548,
      -0.2251
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.40012,
      0.17476,
      0.79072
    ],
    "tcp_roll_pitch_yaw": [
      -9e-05,
      -2e-05,
      0.59621
    ],
    "tcp_rotation_matrix": [
      [
        0.81537,
        0.57884,
        -0.01069
      ],
      [
        0.57858,
        -0.81538,
        -0.02007
      ],
      [
        -0.02034,
        0.01018,
        -0.99974
      ]
    ],
    "simulated_seconds_remaining": 36.894,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 19.618949441239238,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.46,
                    "y": 0.14,
                    "z": 0.79,
                    "gripper": 1
                  },
                  "note": "The rotated wrist view places the bottle neck below and left of the finger gap. I shift the gripper to bring that neck into the gap."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.19984,
      -0.10708,
      0.10292,
      -2.37249,
      -0.00636,
      2.24975,
      -0.3109
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.45884,
      0.14063,
      0.79
    ],
    "tcp_roll_pitch_yaw": [
      -4e-05,
      -1e-05,
      0.59598
    ],
    "tcp_rotation_matrix": [
      [
        0.8155,
        0.57866,
        -0.01073
      ],
      [
        0.5784,
        -0.81551,
        -0.02003
      ],
      [
        -0.02034,
        0.01013,
        -0.99974
      ]
    ],
    "simulated_seconds_remaining": 36.168,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 6.805474990047514,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.755,
                    "gripper": 1
                  },
                  "note": "The bottle’s narrow end is now between the fingertips. I lower slightly to put both fingers alongside it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 8,
    "motion_seconds": 0.528,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.19829,
      -0.05979,
      0.10303,
      -2.39637,
      -0.01646,
      2.34762,
      -0.30377
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.46721,
      0.142,
      0.76554
    ],
    "tcp_roll_pitch_yaw": [
      -0.00973,
      -0.02527,
      0.59574
    ],
    "tcp_rotation_matrix": [
      [
        0.81592,
        0.57796,
        0.01561
      ],
      [
        0.57815,
        -0.81581,
        -0.01388
      ],
      [
        0.00471,
        0.02035,
        -0.99978
      ]
    ],
    "simulated_seconds_remaining": 35.64,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 4.604039723053575,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The blue neck lies inside the finger gap. I close both jaws around it before lifting."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.19369,
      -0.06939,
      0.09723,
      -2.38818,
      -0.01987,
      2.3489,
      -0.30321
    ],
    "gripper_open": 0.7133,
    "tcp_xyz": [
      0.47408,
      0.13826,
      0.7739
    ],
    "tcp_roll_pitch_yaw": [
      -0.01819,
      -0.04262,
      0.5875
    ],
    "tcp_rotation_matrix": [
      [
        0.82056,
        0.57051,
        0.03461
      ],
      [
        0.57114,
        -0.82078,
        -0.01144
      ],
      [
        0.02188,
        0.02915,
        -0.99934
      ]
    ],
    "simulated_seconds_remaining": 34.716,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 4.404202243313193,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.95,
                    "gripper": 0
                  },
                  "note": "The jaws are resisted by the bottle. I maintain closing force while lifting it clear of the table."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 22,
    "motion_seconds": 1.452,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.19486,
      -0.23629,
      0.08971,
      -2.09852,
      0.00038,
      1.89321,
      -0.32544
    ],
    "gripper_open": 0.2948,
    "tcp_xyz": [
      0.4741,
      0.13827,
      0.9486
    ],
    "tcp_roll_pitch_yaw": [
      -0.01818,
      -0.04264,
      0.58749
    ],
    "tcp_rotation_matrix": [
      [
        0.82057,
        0.5705,
        0.03461
      ],
      [
        0.57113,
        -0.82078,
        -0.01142
      ],
      [
        0.0219,
        0.02914,
        -0.99934
      ]
    ],
    "simulated_seconds_remaining": 33.264,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 17.212655747309327,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.37,
                    "y": 0.12,
                    "z": 0.95,
                    "gripper": 0
                  },
                  "note": "The bottle is visibly lifted in the gripper. I carry it above the dark bowl, which sits behind it in the wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.21538,
      -0.56216,
      0.09056,
      -2.38108,
      0.02839,
      1.85031,
      -0.32242
    ],
    "gripper_open": 0.2903,
    "tcp_xyz": [
      0.37126,
      0.12023,
      0.94992
    ],
    "tcp_roll_pitch_yaw": [
      -0.01812,
      -0.04242,
      0.58753
    ],
    "tcp_rotation_matrix": [
      [
        0.82055,
        0.57054,
        0.0344
      ],
      [
        0.57116,
        -0.82076,
        -0.01149
      ],
      [
        0.02168,
        0.02908,
        -0.99934
      ]
    ],
    "simulated_seconds_remaining": 32.274,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 15.610865084454417,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.82,
                    "gripper": 0
                  },
                  "note": "The bowl is now directly below the held bottle. I lower carefully toward its rim while keeping the grip closed."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.21724,
      -0.47018,
      0.10598,
      -2.63615,
      0.03293,
      2.2111,
      -0.3146
    ],
    "gripper_open": 0.2959,
    "tcp_xyz": [
      0.37486,
      0.1219,
      0.82637
    ],
    "tcp_roll_pitch_yaw": [
      -0.02193,
      -0.05572,
      0.58841
    ],
    "tcp_rotation_matrix": [
      [
        0.81978,
        0.5707,
        0.04757
      ],
      [
        0.57161,
        -0.82049,
        -0.00725
      ],
      [
        0.0349,
        0.03314,
        -0.99884
      ]
    ],
    "simulated_seconds_remaining": 31.086,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 14.01004829723388,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.445,
                    "y": 0.2,
                    "z": 0.88,
                    "gripper": 0
                  },
                  "note": "The exterior view shows the bottle beside the bowl rather than centered over it. I raise slightly and shift its body toward the bowl’s center."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.23909,
      -0.23178,
      0.18293,
      -2.27293,
      0.01812,
      2.08495,
      -0.19883
    ],
    "gripper_open": 0.2931,
    "tcp_xyz": [
      0.44413,
      0.19898,
      0.87921
    ],
    "tcp_roll_pitch_yaw": [
      -0.02194,
      -0.05528,
      0.58839
    ],
    "tcp_rotation_matrix": [
      [
        0.8198,
        0.5707,
        0.04721
      ],
      [
        0.57161,
        -0.82049,
        -0.0075
      ],
      [
        0.03446,
        0.03314,
        -0.99886
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 5.60451983846724,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.795,
                    "gripper": 0
                  },
                  "note": "Both views now show the bottle’s body over the bowl. I lower until the bottle is supported near the bowl."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.23671,
      -0.13689,
      0.19233,
      -2.39166,
      -0.00169,
      2.30836,
      -0.17929
    ],
    "gripper_open": 0.3105,
    "tcp_xyz": [
      0.44725,
      0.20018,
      0.80053
    ],
    "tcp_roll_pitch_yaw": [
      -0.02465,
      -0.06622,
      0.58872
    ],
    "tcp_rotation_matrix": [
      [
        0.81928,
        0.57047,
        0.0578
      ],
      [
        0.57159,
        -0.82053,
        -0.00368
      ],
      [
        0.04533,
        0.03605,
        -0.99832
      ]
    ],
    "simulated_seconds_remaining": 29.106,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 7.005970852449536,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 1
                  },
                  "note": "The bottle has reached the bowl and shifted against its support. I open the fingers to leave it on the bowl."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.2367,
      -0.13693,
      0.19231,
      -2.39164,
      -0.00169,
      2.30836,
      -0.17929
    ],
    "gripper_open": 0.9965,
    "tcp_xyz": [
      0.44727,
      0.20016,
      0.80054
    ],
    "tcp_roll_pitch_yaw": [
      -0.02466,
      -0.06627,
      0.58869
    ],
    "tcp_rotation_matrix": [
      [
        0.8193,
        0.57044,
        0.05785
      ],
      [
        0.57157,
        -0.82055,
        -0.00366
      ],
      [
        0.04538,
        0.03607,
        -0.99832
      ]
    ],
    "simulated_seconds_remaining": 28.182,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 5.004393908195198,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.98,
                    "gripper": 1
                  },
                  "note": "The bottle is released across the bowl. I raise the empty gripper to let it settle and verify the placement."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.23687,
      -0.27232,
      0.17407,
      -2.05958,
      0.02116,
      1.84323,
      -0.2076
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44733,
      0.20019,
      0.9788
    ],
    "tcp_roll_pitch_yaw": [
      -0.02474,
      -0.06661,
      0.5887
    ],
    "tcp_rotation_matrix": [
      [
        0.81929,
        0.57043,
        0.05817
      ],
      [
        0.57156,
        -0.82055,
        -0.00354
      ],
      [
        0.04571,
        0.03615,
        -0.9983
      ]
    ],
    "simulated_seconds_remaining": 26.664,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 17.61399445962161,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.42,
                    "y": 0.12,
                    "z": 0.8,
                    "gripper": 1
                  },
                  "note": "After settling, most of the bottle rests beside the bowl’s left edge. I return to its neck to improve the placement."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 24,
    "motion_seconds": 1.584,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 19,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.19158,
      -0.29789,
      0.09566,
      -2.55905,
      0.01139,
      2.31698,
      -0.33192
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.42013,
      0.12051,
      0.80114
    ],
    "tcp_roll_pitch_yaw": [
      -0.02462,
      -0.06629,
      0.58861
    ],
    "tcp_rotation_matrix": [
      [
        0.81935,
        0.57037,
        0.05784
      ],
      [
        0.57149,
        -0.8206,
        -0.00362
      ],
      [
        0.0454,
        0.03602,
        -0.99832
      ]
    ],
    "simulated_seconds_remaining": 25.08,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 11.608427846804261,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.46,
                    "y": 0.15,
                    "z": 0.77,
                    "gripper": 1
                  },
                  "note": "The bottle neck is just below the finger gap. I move along the bottle toward the neck and lower for a secure grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 20,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.19773,
      -0.1088,
      0.12431,
      -2.45004,
      -0.01218,
      2.39563,
      -0.27787
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.45904,
      0.14932,
      0.77067
    ],
    "tcp_roll_pitch_yaw": [
      -0.02458,
      -0.06612,
      0.58866
    ],
    "tcp_rotation_matrix": [
      [
        0.81933,
        0.57042,
        0.05768
      ],
      [
        0.57154,
        -0.82057,
        -0.00368
      ],
      [
        0.04523,
        0.03598,
        -0.99833
      ]
    ],
    "simulated_seconds_remaining": 24.42,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 5.203947065398097,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The neck is positioned between the fingers. I close the gripper for the placement adjustment."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 21,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.19759,
      -0.11242,
      0.12407,
      -2.44741,
      -0.01196,
      2.39548,
      -0.27748
    ],
    "gripper_open": 0.2697,
    "tcp_xyz": [
      0.46072,
      0.14966,
      0.77353
    ],
    "tcp_roll_pitch_yaw": [
      -0.02642,
      -0.07193,
      0.58788
    ],
    "tcp_rotation_matrix": [
      [
        0.81956,
        0.56946,
        0.06352
      ],
      [
        0.57072,
        -0.82115,
        -0.00204
      ],
      [
        0.05099,
        0.03792,
        -0.99798
      ]
    ],
    "simulated_seconds_remaining": 23.496,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 7.005717374384403,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.92,
                    "gripper": 0
                  },
                  "note": "The jaws have closed around the neck. I lift the bottle before shifting it farther over the bowl."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 22,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.20054,
      -0.27715,
      0.11311,
      -2.22279,
      0.01053,
      2.00758,
      -0.30117
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.4608,
      0.14969,
      0.91876
    ],
    "tcp_roll_pitch_yaw": [
      -0.02653,
      -0.07228,
      0.58788
    ],
    "tcp_rotation_matrix": [
      [
        0.81955,
        0.56944,
        0.06387
      ],
      [
        0.57071,
        -0.82115,
        -0.00194
      ],
      [
        0.05134,
        0.03804,
        -0.99796
      ]
    ],
    "simulated_seconds_remaining": 22.242,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 9.807198597118258,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.715,
                    "gripper": 1
                  },
                  "note": "The bottle remained on the bowl edge, so the fingers closed above its neck. I reopen and descend farther to reach the neck."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 25,
    "motion_seconds": 1.6500000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 23,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.19692,
      -0.07107,
      0.12852,
      -2.4822,
      -0.0385,
      2.51391,
      -0.25744
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.46758,
      0.15269,
      0.75126
    ],
    "tcp_roll_pitch_yaw": [
      -0.04734,
      -0.11048,
      0.59567
    ],
    "tcp_rotation_matrix": [
      [
        0.81314,
        0.57216,
        0.10697
      ],
      [
        0.57522,
        -0.81799,
        0.00265
      ],
      [
        0.08902,
        0.05937,
        -0.99426
      ]
    ],
    "simulated_seconds_remaining": 20.592,
    "calls_remaining_including_this": 35
  },
  "api_seconds": 5.604586084373295,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.49,
                    "y": 0.14,
                    "z": 0.75,
                    "gripper": 0
                  },
                  "note": "The descent has reached contact beside the bottle. I shift slightly toward the neck and close around it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 24,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.1801,
      -0.02686,
      0.11081,
      -2.42373,
      -0.04226,
      2.51055,
      -0.29179
    ],
    "gripper_open": 0.3514,
    "tcp_xyz": [
      0.49171,
      0.14302,
      0.75432
    ],
    "tcp_roll_pitch_yaw": [
      -0.05052,
      -0.12037,
      0.59868
    ],
    "tcp_rotation_matrix": [
      [
        0.81068,
        0.57371,
        0.11685
      ],
      [
        0.5771,
        -0.81665,
        0.00588
      ],
      [
        0.0988,
        0.06266,
        -0.99313
      ]
    ],
    "simulated_seconds_remaining": 19.668,
    "calls_remaining_including_this": 34
  },
  "api_seconds": 4.603898891247809,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.93,
                    "gripper": 0
                  },
                  "note": "The fingers are stopped around the neck. I lift with the gripper held closed to confirm the second grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 22,
    "motion_seconds": 1.452,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 25,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.18428,
      -0.23587,
      0.10228,
      -2.1718,
      -0.0038,
      2.05156,
      -0.32884
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.49179,
      0.14305,
      0.92877
    ],
    "tcp_roll_pitch_yaw": [
      -0.05065,
      -0.12073,
      0.5987
    ],
    "tcp_rotation_matrix": [
      [
        0.81064,
        0.57369,
        0.11721
      ],
      [
        0.57709,
        -0.81666,
        0.00598
      ],
      [
        0.09915,
        0.06279,
        -0.99309
      ]
    ],
    "simulated_seconds_remaining": 18.216,
    "calls_remaining_including_this": 33
  },
  "api_seconds": 16.41333131864667,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.46,
                    "y": 0.11,
                    "z": 0.755,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 0.6,
                    "gripper": 1
                  },
                  "note": "The neck slipped out during lifting. I reposition the open fingers slightly farther down the neck for a deeper grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 26,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.16326,
      -0.07063,
      0.07807,
      -2.431,
      -0.01602,
      2.346,
      -0.36855
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.46017,
      0.11021,
      0.75617
    ],
    "tcp_roll_pitch_yaw": [
      -0.00026,
      -0.0006,
      0.59993
    ],
    "tcp_rotation_matrix": [
      [
        0.81323,
        0.58186,
        -0.01004
      ],
      [
        0.58161,
        -0.81322,
        -0.01992
      ],
      [
        -0.01976,
        0.01036,
        -0.99975
      ]
    ],
    "simulated_seconds_remaining": 16.698,
    "calls_remaining_including_this": 32
  },
  "api_seconds": 9.00728880893439,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.455,
                    "y": 0.135,
                    "z": 0.735,
                    "gripper": 0
                  },
                  "note": "The neck sits at the inner edge of the right finger. I center it with a small lateral correction and close lower on the neck."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 27,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.18734,
      -0.02835,
      0.10543,
      -2.44175,
      -0.01976,
      2.3997,
      -0.31345
    ],
    "gripper_open": 0.0001,
    "tcp_xyz": [
      0.45562,
      0.13444,
      0.73627
    ],
    "tcp_roll_pitch_yaw": [
      -0.00089,
      -0.00208,
      0.5998
    ],
    "tcp_rotation_matrix": [
      [
        0.81333,
        0.58174,
        -0.00847
      ],
      [
        0.58151,
        -0.8133,
        -0.01961
      ],
      [
        -0.01829,
        0.01102,
        -0.99977
      ]
    ],
    "simulated_seconds_remaining": 15.774,
    "calls_remaining_including_this": 31
  },
  "api_seconds": 8.206285834312439,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.45,
                    "y": 0.07,
                    "z": 0.79,
                    "gripper": 1
                  },
                  "note": "The neck has moved away from the jaws. I align over the bottle’s wider body, which is clearly visible, for a direct grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 28,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.13005,
      -0.17908,
      0.03317,
      -2.45578,
      -0.01571,
      2.26539,
      -0.44785
    ],
    "gripper_open": 0.9965,
    "tcp_xyz": [
      0.45015,
      0.07085,
      0.78932
    ],
    "tcp_roll_pitch_yaw": [
      -0.00097,
      -0.00225,
      0.59962
    ],
    "tcp_rotation_matrix": [
      [
        0.81344,
        0.58159,
        -0.00828
      ],
      [
        0.58137,
        -0.8134,
        -0.01958
      ],
      [
        -0.01812,
        0.01111,
        -0.99977
      ]
    ],
    "simulated_seconds_remaining": 14.85,
    "calls_remaining_including_this": 30
  },
  "api_seconds": 6.605285197496414,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.72,
                    "gripper": 1
                  },
                  "note": "The bottle body is centered in the finger opening. I lower the open jaws alongside it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 29,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.12822,
      -0.04995,
      0.03415,
      -2.51781,
      -0.02572,
      2.45606,
      -0.4383
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.45006,
      0.07083,
      0.72111
    ],
    "tcp_roll_pitch_yaw": [
      -0.00083,
      -0.00195,
      0.59961
    ],
    "tcp_rotation_matrix": [
      [
        0.81343,
        0.58159,
        -0.00861
      ],
      [
        0.58136,
        -0.81341,
        -0.01963
      ],
      [
        -0.01842,
        0.01097,
        -0.99977
      ]
    ],
    "simulated_seconds_remaining": 14.058,
    "calls_remaining_including_this": 29
  },
  "api_seconds": 9.40945468749851,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The fingers now flank the blue body below its top surface. I close to grasp it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 30,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.12822,
      -0.04995,
      0.03415,
      -2.51781,
      -0.02572,
      2.45606,
      -0.4383
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.45006,
      0.07083,
      0.72109
    ],
    "tcp_roll_pitch_yaw": [
      -0.00083,
      -0.00195,
      0.59961
    ],
    "tcp_rotation_matrix": [
      [
        0.81343,
        0.58159,
        -0.0086
      ],
      [
        0.58136,
        -0.81341,
        -0.01963
      ],
      [
        -0.01842,
        0.01097,
        -0.99977
      ]
    ],
    "simulated_seconds_remaining": 13.134,
    "calls_remaining_including_this": 28
  },
  "api_seconds": 8.807033077813685,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.64,
                    "gripper": 1
                  },
                  "note": "The jaws closed without holding the bottle, indicating they were still above it. I reopen and lower to the bottle’s resting height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 31,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.12573,
      0.02308,
      0.02671,
      -2.53596,
      -0.05024,
      2.6074,
      -0.41528
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.46549,
      0.06872,
      0.69434
    ],
    "tcp_roll_pitch_yaw": [
      -0.03281,
      -0.05379,
      0.5908
    ],
    "tcp_rotation_matrix": [
      [
        0.8186,
        0.572,
        0.05202
      ],
      [
        0.57343,
        -0.81908,
        -0.01726
      ],
      [
        0.03274,
        0.04396,
        -0.9985
      ]
    ],
    "simulated_seconds_remaining": 12.21,
    "calls_remaining_including_this": 27
  },
  "api_seconds": 6.405225023627281,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The gripper has reached contact at the bottle’s height. I close around its body."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 32,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.11958,
      0.01282,
      0.01876,
      -2.5316,
      -0.05145,
      2.6063,
      -0.41373
    ],
    "gripper_open": 0.8503,
    "tcp_xyz": [
      0.47065,
      0.06257,
      0.70075
    ],
    "tcp_roll_pitch_yaw": [
      -0.03952,
      -0.0657,
      0.57652
    ],
    "tcp_rotation_matrix": [
      [
        0.82641,
        0.55926,
        0.06538
      ],
      [
        0.56131,
        -0.82743,
        -0.01714
      ],
      [
        0.04451,
        0.05087,
        -0.99771
      ]
    ],
    "simulated_seconds_remaining": 11.286,
    "calls_remaining_including_this": 26
  },
  "api_seconds": 4.60388686042279,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.9,
                    "gripper": 0
                  },
                  "note": "The jaws are held apart by the bottle body. I keep them closed while lifting for transfer."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 25,
    "motion_seconds": 1.6500000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 33,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.12489,
      -0.29497,
      0.01774,
      -2.29451,
      -0.0239,
      2.06217,
      -0.44286
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.47074,
      0.06259,
      0.89879
    ],
    "tcp_roll_pitch_yaw": [
      -0.03967,
      -0.06603,
      0.57653
    ],
    "tcp_rotation_matrix": [
      [
        0.82639,
        0.55925,
        0.06574
      ],
      [
        0.56131,
        -0.82743,
        -0.01709
      ],
      [
        0.04484,
        0.05102,
        -0.99769
      ]
    ],
    "simulated_seconds_remaining": 9.636,
    "calls_remaining_including_this": 25
  },
  "api_seconds": 8.406888250261545,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.425,
                    "y": 0.015,
                    "z": 0.69,
                    "gripper": 1
                  },
                  "note": "The bottle slipped free. I move the open gripper farther across the body so it sits deeper between the jaws."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 27,
    "motion_seconds": 1.782,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 34,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.07994,
      -0.08963,
      -0.04125,
      -2.69573,
      -0.0514,
      2.67035,
      -0.51167
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.42518,
      0.01527,
      0.69116
    ],
    "tcp_roll_pitch_yaw": [
      -0.03948,
      -0.0657,
      0.57647
    ],
    "tcp_rotation_matrix": [
      [
        0.82644,
        0.55922,
        0.06536
      ],
      [
        0.56127,
        -0.82746,
        -0.01712
      ],
      [
        0.04451,
        0.05083,
        -0.99772
      ]
    ],
    "simulated_seconds_remaining": 7.854,
    "calls_remaining_including_this": 24
  },
  "api_seconds": 7.005683803930879,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.455,
                    "y": 0.04,
                    "z": 0.685,
                    "gripper": 0
                  },
                  "note": "The bottle is now deeper than the fingertip gap. I make a small correction and close around the body at table height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 35,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.10147,
      0.00503,
      -0.01789,
      -2.60416,
      -0.05082,
      2.64045,
      -0.46014
    ],
    "gripper_open": 0.0001,
    "tcp_xyz": [
      0.44494,
      0.03477,
      0.68052
    ],
    "tcp_roll_pitch_yaw": [
      -0.02599,
      -0.03692,
      0.56782
    ],
    "tcp_rotation_matrix": [
      [
        0.83183,
        0.554,
        0.03375
      ],
      [
        0.5548,
        -0.8317,
        -0.02175
      ],
      [
        0.01602,
        0.03682,
        -0.99919
      ]
    ],
    "simulated_seconds_remaining": 6.93,
    "calls_remaining_including_this": 23
  },
  "api_seconds": 6.605420349165797,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.81,
                    "gripper": 0
                  },
                  "note": "I lift to check whether the bottle is captured before moving toward the bowl."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 36,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.10484,
      -0.26512,
      -0.01621,
      -2.50003,
      -0.03768,
      2.26665,
      -0.47508
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.44506,
      0.03478,
      0.80882
    ],
    "tcp_roll_pitch_yaw": [
      -0.02615,
      -0.03725,
      0.56782
    ],
    "tcp_rotation_matrix": [
      [
        0.83182,
        0.55399,
        0.03412
      ],
      [
        0.5548,
        -0.8317,
        -0.02172
      ],
      [
        0.01635,
        0.03699,
        -0.99918
      ]
    ],
    "simulated_seconds_remaining": 5.742,
    "calls_remaining_including_this": 22
  },
  "api_seconds": 12.613327662460506,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "give_up",
                "args": {
                  "note": "I lifted and released the bottle at the bowl, but it settled beside the rim. Repeated attempts to improve placement did not secure another grasp, and too little motion time remains to complete a reliable transfer."
                }
              }
            }
          ]
        }
      }
    ]
  }
}

========================================================================
GPT-Astra / Pick & place / 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,
  "status": "completed",
  "success": false,
  "oracle_success": false,
  "action_decisions": 28,
  "wall_seconds": 364.85,
  "usage": {
    "input_tokens": 617393,
    "cached_input_tokens": 594048,
    "cache_write_input_tokens": 0,
    "output_tokens": 5840,
    "reasoning_output_tokens": 2525
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick-and-place 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 45 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 and grasp the requested object, lift it, move it to the named receptacle, and release it in or on that receptacle. Complete the entire pick-and-place 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 object and place it in the requested receptacle.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"pick up the towel and place it on the bowl.\", \"joint_positions\": [-0.04062, -0.82618, -0.01316, -2.35304, -0.03669, 1.55888, 0.0321], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.29898, -0.0256, 1.02812], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.99607, -0.08311, 0.03056], [-0.08225, -0.9962, -0.02856], [0.03282, 0.02593, -0.99912]], \"simulated_seconds_remaining\": 45.012, \"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": {
      "z": 1.24
    },
    "note": "The wrist view is close to the toilet and the towel is partly obscured on the right; raising the open gripper gives a clearer view."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"pick up the towel and place it on the bowl.\", \"joint_positions\": [-0.04062, -0.82618, -0.01316, -2.35304, -0.03669, 1.55888, 0.0321], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.29898, -0.0256, 1.02812], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.99607, -0.08311, 0.03056], [-0.08225, -0.9962, -0.02856], [0.03282, 0.02593, -0.99912]], \"simulated_seconds_remaining\": 45.012, \"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": {
      "z": 1.18
    },
    "note": "The higher target was outside the workspace; raising to 1.18 meters should reveal the towel and bowl within the allowed bounds."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"pick up the towel and place it on the bowl.\", \"joint_positions\": [-0.0411, -0.63476, -0.00929, -1.81866, -0.0347, 1.21623, 0.02157], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.29901, -0.0256, 1.17872], \"tcp_roll_pitch_yaw\": [-1e-05, -0.00019, 0.0], \"tcp_rotation_matrix\": [[0.99607, -0.08312, 0.03075], [-0.08225, -0.9962, -0.02856], [0.033, 0.02592, -0.99912]], \"simulated_seconds_remaining\": 43.692, \"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": 0.45,
      "y": -0.25,
      "z": 1.12
    },
    "note": "The towel is on the fixture to the right of the toilet; moving the open gripper toward that side should bring it into the wrist view."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"pick up the towel and place it on the bowl.\", \"joint_positions\": [-0.12188, -0.11164, -0.34464, -1.51532, -0.04977, 1.45045, -0.38931], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.44925, -0.24892, 1.12019], \"tcp_roll_pitch_yaw\": [8e-05, 5e-05, -0.00015], \"tcp_rotation_matrix\": [[0.99606, -0.08326, 0.03051], [-0.0824, -0.99619, -0.02848], [0.03276, 0.02585, -0.99913]], \"simulated_seconds_remaining\": 41.58, \"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": {
      "y": 0.15
    },
    "note": "The bowl shifted toward the wrist image edge, while the towel remains obscured; moving laterally across the scene will expose the nearby fixture."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"pick up the towel and place it on the bowl.\", \"joint_positions\": [0.14977, -0.21738, 0.15985, -1.62969, -0.00206, 1.43547, 0.38865], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.44923, 0.14875, 1.12016], \"tcp_roll_pitch_yaw\": [5e-05, 9e-05, 0.00014], \"tcp_rotation_matrix\": [[0.99609, -0.08298, 0.03048], [-0.08211, -0.99622, -0.0285], [0.03273, 0.02589, -0.99913]], \"simulated_seconds_remaining\": 38.61, \"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"
}

The bowl is on the toilet tank. I’m bringing the towel beside the sink into view so I can approach it directly.


{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.1,
      "y": -0.5,
      "z": 1.05
    },
    "note": "The towel is beside the robot on the right fixture, below the current wrist field of view; moving back and right positions the camera over it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"pick up the towel and place it on the bowl.\", \"joint_positions\": [0.07247, -0.56076, -1.08467, -1.75341, -0.48184, 1.52065, -0.90536], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.1006, -0.49882, 1.0501], \"tcp_roll_pitch_yaw\": [0.00014, 3e-05, -5e-05], \"tcp_rotation_matrix\": [[0.99607, -0.08316, 0.03053], [-0.0823, -0.9962, -0.02841], [0.03277, 0.02579, -0.99913]], \"simulated_seconds_remaining\": 33.396, \"calls_remaining_including_this\": 52}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 79, \"motion_seconds\": 5.214, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "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": -0.6,
      "z": 1.02
    },
    "note": "The right-hand fixture now appears at the top of the wrist view; moving forward over it will reveal the towel's graspable surface."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"pick up the towel and place it on the bowl.\", \"joint_positions\": [0.07247, -0.56076, -1.08467, -1.75341, -0.48184, 1.52065, -0.90536], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.1006, -0.49882, 1.0501], \"tcp_roll_pitch_yaw\": [0.00014, 3e-05, -5e-05], \"tcp_rotation_matrix\": [[0.99607, -0.08316, 0.03053], [-0.0823, -0.9962, -0.02841], [0.03277, 0.02579, -0.99913]], \"simulated_seconds_remaining\": 33.396, \"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": -0.15,
      "y": -0.5,
      "z": 1
    },
    "note": "The forward reach was rejected. The fixture lies toward the rear of the wrist view, so I am moving back in a smaller reachable step to inspect it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"pick up the towel and place it on the bowl.\", \"joint_positions\": [-0.20758, -0.81633, -1.16023, -1.81466, -0.71519, 1.48888, -1.23263], \"gripper_open\": 0.9966, \"tcp_xyz\": [-0.14878, -0.49999, 1.00024], \"tcp_roll_pitch_yaw\": [0.00017, -0.0001, -0.00034], \"tcp_rotation_matrix\": [[0.99604, -0.08346, 0.03065], [-0.0826, -0.99618, -0.0284], [0.0329, 0.02575, -0.99913]], \"simulated_seconds_remaining\": 31.416, \"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": -0.29,
      "y": -0.67,
      "z": 0.98
    },
    "note": "The towel is visible as white fabric draped over the wooden rack at the left of the wrist image; shifting back and toward it centers the grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"pick up the towel and place it on the bowl.\", \"joint_positions\": [-0.20758, -0.81633, -1.16023, -1.81466, -0.71519, 1.48888, -1.23263], \"gripper_open\": 0.9966, \"tcp_xyz\": [-0.14878, -0.49999, 1.00024], \"tcp_roll_pitch_yaw\": [0.00017, -0.0001, -0.00034], \"tcp_rotation_matrix\": [[0.99604, -0.08346, 0.03065], [-0.0826, -0.99618, -0.0284], [0.0329, 0.02575, -0.99913]], \"simulated_seconds_remaining\": 31.416, \"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": -0.25,
      "y": -0.56,
      "z": 0.94
    },
    "note": "The combined offset was too large for the IK solver; this smaller step keeps the visible towel in view while approaching the rack."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"pick up the towel and place it on the bowl.\", \"joint_positions\": [-0.00917, -0.86423, -1.46659, -1.60781, -0.83144, 1.54664, -1.39959], \"gripper_open\": 0.9966, \"tcp_xyz\": [-0.24907, -0.55937, 0.94054], \"tcp_roll_pitch_yaw\": [0.00025, -0.00023, -0.00051], \"tcp_rotation_matrix\": [[0.99602, -0.08363, 0.03077], [-0.08277, -0.99617, -0.02833], [0.03302, 0.02567, -0.99913]], \"simulated_seconds_remaining\": 30.228, \"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": -0.23,
      "y": -0.62,
      "z": 0.81
    },
    "note": "The towel's white fold is beside the wooden support, just left of the gripper center; I am aligning over that fold and lowering with the jaws open."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 11, \"instruction\": \"pick up the towel and place it on the bowl.\", \"joint_positions\": [0.19763, -0.99134, -1.69162, -1.62423, -0.96632, 1.73894, -1.32324], \"gripper_open\": 1.0, \"tcp_xyz\": [-0.22518, -0.62121, 0.8141], \"tcp_roll_pitch_yaw\": [-0.00434, -0.00193, 0.00749], \"tcp_rotation_matrix\": [[0.99659, -0.07571, 0.03274], [-0.07465, -0.99668, -0.03265], [0.0351, 0.03009, -0.99893]], \"simulated_seconds_remaining\": 28.974, \"calls_remaining_including_this\": 47}"
      },
      {
        "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": -0.25,
      "y": -0.615,
      "z": 0.72
    },
    "note": "The white towel fold is centered between the rack supports; I am lowering the open fingers to surround the fabric."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 12, \"instruction\": \"pick up the towel and place it on the bowl.\", \"joint_positions\": [0.19092, -1.07534, -1.76565, -1.68414, -0.9568, 1.90653, -1.32556], \"gripper_open\": 1.0, \"tcp_xyz\": [-0.20991, -0.63234, 0.75208], \"tcp_roll_pitch_yaw\": [-0.05807, -0.11269, 0.00452], \"tcp_rotation_matrix\": [[0.98588, -0.08751, 0.14273], [-0.07575, -0.99342, -0.08585], [0.14931, 0.07382, -0.98603]], \"simulated_seconds_remaining\": 28.05, \"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 are at the visible towel fold near the rack; closing now tests whether the fabric is between the jaws."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 13, \"instruction\": \"pick up the towel and place it on the bowl.\", \"joint_positions\": [0.19089, -1.07534, -1.76568, -1.68421, -0.9568, 1.90639, -1.32557], \"gripper_open\": 0.0, \"tcp_xyz\": [-0.20991, -0.63228, 0.75203], \"tcp_roll_pitch_yaw\": [-0.05787, -0.11266, 0.00454], \"tcp_rotation_matrix\": [[0.98589, -0.08746, 0.14271], [-0.07573, -0.99344, -0.08564], [0.14926, 0.07363, -0.98605]], \"simulated_seconds_remaining\": 27.126, \"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": -0.15,
      "y": -0.5,
      "roll": 0,
      "pitch": 0,
      "yaw": 0,
      "gripper": 1
    },
    "note": "The jaws closed fully, indicating the towel was missed, and the lower pose contacted the fixture; lifting and reopening clears the rack for a corrected approach."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 14, \"instruction\": \"pick up the towel and place it on the bowl.\", \"joint_positions\": [-0.17617, -0.74794, -1.15028, -1.67241, -0.66193, 1.40237, -1.27589], \"gripper_open\": 0.9966, \"tcp_xyz\": [-0.1502, -0.50059, 1.04886], \"tcp_roll_pitch_yaw\": [-0.00044, -0.00042, 7e-05], \"tcp_rotation_matrix\": [[0.99606, -0.08306, 0.03098], [-0.08216, -0.9962, -0.029], [0.03327, 0.02634, -0.9991]], \"simulated_seconds_remaining\": 24.618, \"calls_remaining_including_this\": 44}"
      },
      {
        "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"
}

The first grasp missed. I’m correcting the approach toward the draped fabric and keeping enough clearance from the fixture.


{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": -0.36,
      "y": -0.7,
      "z": 0.88
    },
    "note": "The draped tan fabric lies farther back and left in the wrist view than the white fixture; moving over its exposed edge sets up a grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 15, \"instruction\": \"pick up the towel and place it on the bowl.\", \"joint_positions\": [-0.17617, -0.74794, -1.15028, -1.67241, -0.66193, 1.40237, -1.27589], \"gripper_open\": 0.9966, \"tcp_xyz\": [-0.1502, -0.50059, 1.04886], \"tcp_roll_pitch_yaw\": [-0.00044, -0.00042, 7e-05], \"tcp_rotation_matrix\": [[0.99606, -0.08306, 0.03098], [-0.08216, -0.9962, -0.029], [0.03327, 0.02634, -0.9991]], \"simulated_seconds_remaining\": 24.618, \"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": -0.31,
      "y": -0.59,
      "z": 0.96,
      "roll": -0.5
    },
    "note": "The far corner is out of reach with the straight-down wrist; a closer target and modest wrist tilt should reach the fabric's near edge."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 16, \"instruction\": \"pick up the towel and place it on the bowl.\", \"joint_positions\": [-0.30755, -1.07302, -1.32089, -1.8732, -0.83593, 2.04058, -1.42255], \"gripper_open\": 0.9954, \"tcp_xyz\": [-0.26857, -0.58543, 0.97264], \"tcp_roll_pitch_yaw\": [-0.4929, -0.19228, 0.01649], \"tcp_rotation_matrix\": [[0.96556, -0.16174, 0.2038], [-0.04102, -0.86813, -0.49463], [0.25693, 0.46924, -0.84487]], \"simulated_seconds_remaining\": 22.968, \"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": {
      "x": -0.27,
      "y": -0.63,
      "z": 0.92,
      "gripper": 0
    },
    "note": "The tan draped edge now runs directly ahead of the fingertips; I am moving slightly toward its near end and closing around it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 17, \"instruction\": \"pick up the towel and place it on the bowl.\", \"joint_positions\": [-0.17131, -1.08601, -1.39416, -1.81579, -0.89107, 2.16748, -1.42121], \"gripper_open\": 0.0, \"tcp_xyz\": [-0.24909, -0.64246, 0.97152], \"tcp_roll_pitch_yaw\": [-0.59281, -0.18159, 0.06102], \"tcp_rotation_matrix\": [[0.96772, -0.1363, 0.21198], [0.00915, -0.82158, -0.57002], [0.25185, 0.55356, -0.79381]], \"simulated_seconds_remaining\": 22.044, \"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": -0.18,
      "y": -0.53,
      "z": 1.16,
      "roll": 0,
      "pitch": 0,
      "yaw": 0,
      "gripper": 1
    },
    "note": "The wrist is contacting the large tan surface and the jaws are empty; raising above it will let me approach the towel from the top."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 18, \"instruction\": \"pick up the towel and place it on the bowl.\", \"joint_positions\": [0.28621, -0.59646, -1.48595, -1.0118, -0.65687, 1.10315, -1.4611], \"gripper_open\": 0.9966, \"tcp_xyz\": [-0.18021, -0.53067, 1.15921], \"tcp_roll_pitch_yaw\": [-0.00289, -0.00065, 0.00025], \"tcp_rotation_matrix\": [[0.99607, -0.08289, 0.03121], [-0.08191, -0.99614, -0.03144], [0.0337, 0.02876, -0.99902]], \"simulated_seconds_remaining\": 20.196, \"calls_remaining_including_this\": 40}"
      },
      {
        "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": -0.25,
      "y": -0.57,
      "z": 1.08
    },
    "note": "From above, the white towel lies between the tan supports; I am positioning the open jaws over the exposed white center at the higher surface level."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 19, \"instruction\": \"pick up the towel and place it on the bowl.\", \"joint_positions\": [0.28702, -0.72067, -1.57545, -1.07997, -0.74731, 1.24139, -1.53146], \"gripper_open\": 0.9966, \"tcp_xyz\": [-0.2493, -0.56952, 1.08082], \"tcp_roll_pitch_yaw\": [-0.00272, -0.00078, 8e-05], \"tcp_rotation_matrix\": [[0.99605, -0.08306, 0.03134], [-0.08208, -0.99613, -0.03127], [0.03381, 0.02858, -0.99902]], \"simulated_seconds_remaining\": 19.14, \"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": -0.32,
      "y": -0.6,
      "z": 1.03
    },
    "note": "The towel remains just ahead of the jaw tips; a short backward shift aligns the fingers with its exposed edge while staying above the support."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 20, \"instruction\": \"pick up the towel and place it on the bowl.\", \"joint_positions\": [0.43547, -0.83886, -1.72077, -0.89217, -0.85607, 1.25945, -1.65761], \"gripper_open\": 1.0, \"tcp_xyz\": [-0.31794, -0.59998, 1.03234], \"tcp_roll_pitch_yaw\": [-0.00554, -0.0006, 0.00153], \"tcp_rotation_matrix\": [[0.99618, -0.08161, 0.03121], [-0.08054, -0.99617, -0.03404], [0.03387, 0.0314, -0.99893]], \"simulated_seconds_remaining\": 18.216, \"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": {
      "z": 1.01,
      "gripper": 0
    },
    "note": "The draped tan towel edge is now between the fingertips; closing at this height should capture it without descending into the fixture."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 21, \"instruction\": \"pick up the towel and place it on the bowl.\", \"joint_positions\": [0.35431, -0.81714, -1.67908, -0.99888, -0.84516, 1.35665, -1.62584], \"gripper_open\": 0.7385, \"tcp_xyz\": [-0.3173, -0.60768, 1.03807], \"tcp_roll_pitch_yaw\": [-0.06804, 0.02495, -0.00517], \"tcp_rotation_matrix\": [[0.99629, -0.08588, 0.00523], [-0.08498, -0.9917, -0.09644], [0.01347, 0.09564, -0.99532]], \"simulated_seconds_remaining\": 17.292, \"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": -0.23,
      "y": -0.51,
      "z": 1.17
    },
    "note": "The jaws remain separated around the fabric, indicating contact; lifting inward will verify the towel is held and clear the sink."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 22, \"instruction\": \"pick up the towel and place it on the bowl.\", \"joint_positions\": [0.07516, -0.5906, -1.38764, -1.09583, -0.65722, 1.17776, -1.54141], \"gripper_open\": 0.9966, \"tcp_xyz\": [-0.23056, -0.51074, 1.16913], \"tcp_roll_pitch_yaw\": [-0.06822, 0.02505, -0.00508], \"tcp_rotation_matrix\": [[0.9963, -0.08577, 0.00514], [-0.08488, -0.9917, -0.09662], [0.01338, 0.09583, -0.99531]], \"simulated_seconds_remaining\": 15.774, \"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": -0.32,
      "y": -0.6,
      "z": 1.035,
      "roll": 0,
      "pitch": 0,
      "yaw": 0,
      "gripper": 1
    },
    "note": "The gripper reopened during the lift, leaving the towel on the fixture; returning to the same edge will allow a grasp with an explicitly maintained close command."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 23, \"instruction\": \"pick up the towel and place it on the bowl.\", \"joint_positions\": [0.46344, -0.83764, -1.73959, -0.85226, -0.85849, 1.23955, -1.67003], \"gripper_open\": 0.9966, \"tcp_xyz\": [-0.31939, -0.59934, 1.03585], \"tcp_roll_pitch_yaw\": [-0.00033, -0.0, -7e-05], \"tcp_rotation_matrix\": [[0.99607, -0.08318, 0.03056], [-0.0823, -0.99619, -0.02889], [0.03285, 0.02626, -0.99912]], \"simulated_seconds_remaining\": 14.256, \"calls_remaining_including_this\": 35}"
      },
      {
        "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 towel edge is again between the open jaws; closing without lowering avoids pressing it against the fixture."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 24, \"instruction\": \"pick up the towel and place it on the bowl.\", \"joint_positions\": [0.46436, -0.83195, -1.73495, -0.84823, -0.85808, 1.25554, -1.66949], \"gripper_open\": 0.6617, \"tcp_xyz\": [-0.31841, -0.6038, 1.04296], \"tcp_roll_pitch_yaw\": [-0.02442, 0.00544, -0.0], \"tcp_rotation_matrix\": [[0.99625, -0.08284, 0.02513], [-0.08143, -0.99527, -0.05294], [0.0294, 0.0507, -0.99828]], \"simulated_seconds_remaining\": 13.332, \"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": -0.2,
      "y": -0.48,
      "z": 1.17,
      "gripper": 0
    },
    "note": "The jaws have contacted the towel; keeping the close command active while lifting checks that the fabric comes free."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 25, \"instruction\": \"pick up the towel and place it on the bowl.\", \"joint_positions\": [-0.06661, -0.57852, -1.2541, -1.20925, -0.59517, 1.15096, -1.48638], \"gripper_open\": 0.0, \"tcp_xyz\": [-0.20068, -0.48081, 1.16928], \"tcp_roll_pitch_yaw\": [-0.02457, 0.0055, 0.00011], \"tcp_rotation_matrix\": [[0.99626, -0.08273, 0.02507], [-0.08131, -0.99527, -0.05309], [0.02935, 0.05086, -0.99827]], \"simulated_seconds_remaining\": 11.616, \"calls_remaining_including_this\": 33}"
      },
      {
        "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": -0.16,
      "y": -0.4,
      "z": 0.85,
      "gripper": 1,
      "roll": 0,
      "pitch": 0,
      "yaw": 0
    },
    "note": "The tan edge stayed on the fixture; the white towel is on the nearer rim. I am approaching that white fold from the clear inner side."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 26, \"instruction\": \"pick up the towel and place it on the bowl.\", \"joint_positions\": [-0.60246, -1.01606, -1.12233, -2.39308, -0.86262, 1.74252, -1.19023], \"gripper_open\": 0.9966, \"tcp_xyz\": [-0.16018, -0.40029, 0.85125], \"tcp_roll_pitch_yaw\": [0.0001, 1e-05, -2e-05], \"tcp_rotation_matrix\": [[0.99607, -0.08313, 0.03055], [-0.08227, -0.9962, -0.02846], [0.0328, 0.02583, -0.99913]], \"simulated_seconds_remaining\": 9.108, \"calls_remaining_including_this\": 32}"
      },
      {
        "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": -0.19,
      "y": -0.48,
      "z": 0.73,
      "gripper": 1
    },
    "note": "The white fold lies just left of the fingertips on the near rim; shifting toward it and lowering places the jaws around that edge."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 27, \"instruction\": \"pick up the towel and place it on the bowl.\", \"joint_positions\": [-0.26299, -0.95998, -1.57929, -2.25014, -1.05405, 1.9817, -1.17832], \"gripper_open\": 0.9966, \"tcp_xyz\": [-0.18971, -0.47923, 0.7311], \"tcp_roll_pitch_yaw\": [0.00019, -0.00011, -4e-05], \"tcp_rotation_matrix\": [[0.99606, -0.08315, 0.03067], [-0.08229, -0.9962, -0.02836], [0.03291, 0.02573, -0.99913]], \"simulated_seconds_remaining\": 7.854, \"calls_remaining_including_this\": 31}"
      },
      {
        "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": -0.29,
      "y": -0.56,
      "z": 0.76,
      "gripper": 0
    },
    "note": "The towel's irregular white edge is visible beside the fingertips; I am reaching across that edge and closing for a final grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 28, \"instruction\": \"pick up the towel and place it on the bowl.\", \"joint_positions\": [-0.03443, -1.00502, -1.70708, -1.83131, -1.01663, 1.8481, -1.38868], \"gripper_open\": 0.0, \"tcp_xyz\": [-0.28421, -0.55369, 0.75808], \"tcp_roll_pitch_yaw\": [0.00546, 0.00335, 0.01204], \"tcp_rotation_matrix\": [[0.99709, -0.07105, 0.02748], [-0.07043, -0.99726, -0.02277], [0.02903, 0.02077, -0.99936]], \"simulated_seconds_remaining\": 6.666, \"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": "give_up",
  "arguments": {
    "reason": "I could not secure the towel after several visually guided grasp attempts, and the remaining motion budget is insufficient to complete the transfer.",
    "note": "The jaws are empty and the towel remains on the fixture; I cannot complete the placement within the remaining motion time."
  },
  "result": null,
  "error": {
    "message": "tool call error: tool call failed for `robot/give_up`\n\nCaused by:\n    Mcp error: -32602: Unexpected argument"
  },
  "status": "failed"
}

{
  "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 towel, and the remaining motion budget is insufficient to complete the transfer to the bowl."
  },
  "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 towel within the motion budget. It was not placed on the bowl.

TURN USAGE
{
  "input_tokens": 617393,
  "cached_input_tokens": 594048,
  "cache_write_input_tokens": 0,
  "output_tokens": 5840,
  "reasoning_output_tokens": 2525
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "pick up the towel and place it on the bowl.",
    "joint_positions": [
      -0.04062,
      -0.82618,
      -0.01316,
      -2.35304,
      -0.03669,
      1.55888,
      0.0321
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.29898,
      -0.0256,
      1.02812
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99607,
        -0.08311,
        0.03056
      ],
      [
        -0.08225,
        -0.9962,
        -0.02856
      ],
      [
        0.03282,
        0.02593,
        -0.99912
      ]
    ],
    "simulated_seconds_remaining": 45.012,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 22.216242774389684,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.24
                  },
                  "note": "The wrist view is close to the toilet and the towel is partly obscured on the right; raising the open gripper gives a clearer view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "Target outside robot workspace bounds (+/-1.2 m)",
    "movement_executed": false
  }
}

{
  "call": 2,
  "state": {
    "instruction": "pick up the towel and place it on the bowl.",
    "joint_positions": [
      -0.04062,
      -0.82618,
      -0.01316,
      -2.35304,
      -0.03669,
      1.55888,
      0.0321
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.29898,
      -0.0256,
      1.02812
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99607,
        -0.08311,
        0.03056
      ],
      [
        -0.08225,
        -0.9962,
        -0.02856
      ],
      [
        0.03282,
        0.02593,
        -0.99912
      ]
    ],
    "simulated_seconds_remaining": 45.012,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 5.204837940633297,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.18
                  },
                  "note": "The higher target was outside the workspace; raising to 1.18 meters should reveal the towel and bowl within the allowed bounds."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "pick up the towel and place it on the bowl.",
    "joint_positions": [
      -0.0411,
      -0.63476,
      -0.00929,
      -1.81866,
      -0.0347,
      1.21623,
      0.02157
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.29901,
      -0.0256,
      1.17872
    ],
    "tcp_roll_pitch_yaw": [
      -1e-05,
      -0.00019,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99607,
        -0.08312,
        0.03075
      ],
      [
        -0.08225,
        -0.9962,
        -0.02856
      ],
      [
        0.033,
        0.02592,
        -0.99912
      ]
    ],
    "simulated_seconds_remaining": 43.692,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 10.608751774765551,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.45,
                    "y": -0.25,
                    "z": 1.12
                  },
                  "note": "The towel is on the fixture to the right of the toilet; moving the open gripper toward that side should bring it into the wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 32,
    "motion_seconds": 2.112,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "pick up the towel and place it on the bowl.",
    "joint_positions": [
      -0.12188,
      -0.11164,
      -0.34464,
      -1.51532,
      -0.04977,
      1.45045,
      -0.38931
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44925,
      -0.24892,
      1.12019
    ],
    "tcp_roll_pitch_yaw": [
      8e-05,
      5e-05,
      -0.00015
    ],
    "tcp_rotation_matrix": [
      [
        0.99606,
        -0.08326,
        0.03051
      ],
      [
        -0.0824,
        -0.99619,
        -0.02848
      ],
      [
        0.03276,
        0.02585,
        -0.99913
      ]
    ],
    "simulated_seconds_remaining": 41.58,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 10.40851704776287,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.15
                  },
                  "note": "The bowl shifted toward the wrist image edge, while the towel remains obscured; moving laterally across the scene will expose the nearby fixture."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 45,
    "motion_seconds": 2.97,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "pick up the towel and place it on the bowl.",
    "joint_positions": [
      0.14977,
      -0.21738,
      0.15985,
      -1.62969,
      -0.00206,
      1.43547,
      0.38865
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44923,
      0.14875,
      1.12016
    ],
    "tcp_roll_pitch_yaw": [
      5e-05,
      9e-05,
      0.00014
    ],
    "tcp_rotation_matrix": [
      [
        0.99609,
        -0.08298,
        0.03048
      ],
      [
        -0.08211,
        -0.99622,
        -0.0285
      ],
      [
        0.03273,
        0.02589,
        -0.99913
      ]
    ],
    "simulated_seconds_remaining": 38.61,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 16.613774911500514,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.1,
                    "y": -0.5,
                    "z": 1.05
                  },
                  "note": "The towel is beside the robot on the right fixture, below the current wrist field of view; moving back and right positions the camera over it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 79,
    "motion_seconds": 5.214,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "pick up the towel and place it on the bowl.",
    "joint_positions": [
      0.07247,
      -0.56076,
      -1.08467,
      -1.75341,
      -0.48184,
      1.52065,
      -0.90536
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.1006,
      -0.49882,
      1.0501
    ],
    "tcp_roll_pitch_yaw": [
      0.00014,
      3e-05,
      -5e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99607,
        -0.08316,
        0.03053
      ],
      [
        -0.0823,
        -0.9962,
        -0.02841
      ],
      [
        0.03277,
        0.02579,
        -0.99913
      ]
    ],
    "simulated_seconds_remaining": 33.396,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 13.410478355363011,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "y": -0.6,
                    "z": 1.02
                  },
                  "note": "The right-hand fixture now appears at the top of the wrist view; moving forward over it will reveal the towel's graspable surface."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 7,
  "state": {
    "instruction": "pick up the towel and place it on the bowl.",
    "joint_positions": [
      0.07247,
      -0.56076,
      -1.08467,
      -1.75341,
      -0.48184,
      1.52065,
      -0.90536
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.1006,
      -0.49882,
      1.0501
    ],
    "tcp_roll_pitch_yaw": [
      0.00014,
      3e-05,
      -5e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99607,
        -0.08316,
        0.03053
      ],
      [
        -0.0823,
        -0.9962,
        -0.02841
      ],
      [
        0.03277,
        0.02579,
        -0.99913
      ]
    ],
    "simulated_seconds_remaining": 33.396,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 11.008315620012581,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": -0.15,
                    "y": -0.5,
                    "z": 1
                  },
                  "note": "The forward reach was rejected. The fixture lies toward the rear of the wrist view, so I am moving back in a smaller reachable step to inspect it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 30,
    "motion_seconds": 1.98,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "pick up the towel and place it on the bowl.",
    "joint_positions": [
      -0.20758,
      -0.81633,
      -1.16023,
      -1.81466,
      -0.71519,
      1.48888,
      -1.23263
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      -0.14878,
      -0.49999,
      1.00024
    ],
    "tcp_roll_pitch_yaw": [
      0.00017,
      -0.0001,
      -0.00034
    ],
    "tcp_rotation_matrix": [
      [
        0.99604,
        -0.08346,
        0.03065
      ],
      [
        -0.0826,
        -0.99618,
        -0.0284
      ],
      [
        0.0329,
        0.02575,
        -0.99913
      ]
    ],
    "simulated_seconds_remaining": 31.416,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 8.806876433081925,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": -0.29,
                    "y": -0.67,
                    "z": 0.98
                  },
                  "note": "The towel is visible as white fabric draped over the wooden rack at the left of the wrist image; shifting back and toward it centers the grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 9,
  "state": {
    "instruction": "pick up the towel and place it on the bowl.",
    "joint_positions": [
      -0.20758,
      -0.81633,
      -1.16023,
      -1.81466,
      -0.71519,
      1.48888,
      -1.23263
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      -0.14878,
      -0.49999,
      1.00024
    ],
    "tcp_roll_pitch_yaw": [
      0.00017,
      -0.0001,
      -0.00034
    ],
    "tcp_rotation_matrix": [
      [
        0.99604,
        -0.08346,
        0.03065
      ],
      [
        -0.0826,
        -0.99618,
        -0.0284
      ],
      [
        0.0329,
        0.02575,
        -0.99913
      ]
    ],
    "simulated_seconds_remaining": 31.416,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 4.80576207023114,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": -0.25,
                    "y": -0.56,
                    "z": 0.94
                  },
                  "note": "The combined offset was too large for the IK solver; this smaller step keeps the visible towel in view while approaching the rack."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "pick up the towel and place it on the bowl.",
    "joint_positions": [
      -0.00917,
      -0.86423,
      -1.46659,
      -1.60781,
      -0.83144,
      1.54664,
      -1.39959
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      -0.24907,
      -0.55937,
      0.94054
    ],
    "tcp_roll_pitch_yaw": [
      0.00025,
      -0.00023,
      -0.00051
    ],
    "tcp_rotation_matrix": [
      [
        0.99602,
        -0.08363,
        0.03077
      ],
      [
        -0.08277,
        -0.99617,
        -0.02833
      ],
      [
        0.03302,
        0.02567,
        -0.99913
      ]
    ],
    "simulated_seconds_remaining": 30.228,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 13.01001047436148,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": -0.23,
                    "y": -0.62,
                    "z": 0.81
                  },
                  "note": "The towel's white fold is beside the wooden support, just left of the gripper center; I am aligning over that fold and lowering with the jaws open."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "pick up the towel and place it on the bowl.",
    "joint_positions": [
      0.19763,
      -0.99134,
      -1.69162,
      -1.62423,
      -0.96632,
      1.73894,
      -1.32324
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      -0.22518,
      -0.62121,
      0.8141
    ],
    "tcp_roll_pitch_yaw": [
      -0.00434,
      -0.00193,
      0.00749
    ],
    "tcp_rotation_matrix": [
      [
        0.99659,
        -0.07571,
        0.03274
      ],
      [
        -0.07465,
        -0.99668,
        -0.03265
      ],
      [
        0.0351,
        0.03009,
        -0.99893
      ]
    ],
    "simulated_seconds_remaining": 28.974,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 9.807743377052248,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": -0.25,
                    "y": -0.615,
                    "z": 0.72
                  },
                  "note": "The white towel fold is centered between the rack supports; I am lowering the open fingers to surround the fabric."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "pick up the towel and place it on the bowl.",
    "joint_positions": [
      0.19092,
      -1.07534,
      -1.76565,
      -1.68414,
      -0.9568,
      1.90653,
      -1.32556
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      -0.20991,
      -0.63234,
      0.75208
    ],
    "tcp_roll_pitch_yaw": [
      -0.05807,
      -0.11269,
      0.00452
    ],
    "tcp_rotation_matrix": [
      [
        0.98588,
        -0.08751,
        0.14273
      ],
      [
        -0.07575,
        -0.99342,
        -0.08585
      ],
      [
        0.14931,
        0.07382,
        -0.98603
      ]
    ],
    "simulated_seconds_remaining": 28.05,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 7.206417655572295,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The fingers are at the visible towel fold near the rack; closing now tests whether the fabric is between the jaws."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "pick up the towel and place it on the bowl.",
    "joint_positions": [
      0.19089,
      -1.07534,
      -1.76568,
      -1.68421,
      -0.9568,
      1.90639,
      -1.32557
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      -0.20991,
      -0.63228,
      0.75203
    ],
    "tcp_roll_pitch_yaw": [
      -0.05787,
      -0.11266,
      0.00454
    ],
    "tcp_rotation_matrix": [
      [
        0.98589,
        -0.08746,
        0.14271
      ],
      [
        -0.07573,
        -0.99344,
        -0.08564
      ],
      [
        0.14926,
        0.07363,
        -0.98605
      ]
    ],
    "simulated_seconds_remaining": 27.126,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 6.605767425149679,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.05,
                    "x": -0.15,
                    "y": -0.5,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 0,
                    "gripper": 1
                  },
                  "note": "The jaws closed fully, indicating the towel was missed, and the lower pose contacted the fixture; lifting and reopening clears the rack for a corrected approach."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 38,
    "motion_seconds": 2.508,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "pick up the towel and place it on the bowl.",
    "joint_positions": [
      -0.17617,
      -0.74794,
      -1.15028,
      -1.67241,
      -0.66193,
      1.40237,
      -1.27589
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      -0.1502,
      -0.50059,
      1.04886
    ],
    "tcp_roll_pitch_yaw": [
      -0.00044,
      -0.00042,
      7e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99606,
        -0.08306,
        0.03098
      ],
      [
        -0.08216,
        -0.9962,
        -0.029
      ],
      [
        0.03327,
        0.02634,
        -0.9991
      ]
    ],
    "simulated_seconds_remaining": 24.618,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 20.215698971413076,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": -0.36,
                    "y": -0.7,
                    "z": 0.88
                  },
                  "note": "The draped tan fabric lies farther back and left in the wrist view than the white fixture; moving over its exposed edge sets up a grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 15,
  "state": {
    "instruction": "pick up the towel and place it on the bowl.",
    "joint_positions": [
      -0.17617,
      -0.74794,
      -1.15028,
      -1.67241,
      -0.66193,
      1.40237,
      -1.27589
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      -0.1502,
      -0.50059,
      1.04886
    ],
    "tcp_roll_pitch_yaw": [
      -0.00044,
      -0.00042,
      7e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99606,
        -0.08306,
        0.03098
      ],
      [
        -0.08216,
        -0.9962,
        -0.029
      ],
      [
        0.03327,
        0.02634,
        -0.9991
      ]
    ],
    "simulated_seconds_remaining": 24.618,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 9.407733560539782,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": -0.31,
                    "y": -0.59,
                    "z": 0.96,
                    "roll": -0.5
                  },
                  "note": "The far corner is out of reach with the straight-down wrist; a closer target and modest wrist tilt should reach the fabric's near edge."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 25,
    "motion_seconds": 1.6500000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "pick up the towel and place it on the bowl.",
    "joint_positions": [
      -0.30755,
      -1.07302,
      -1.32089,
      -1.8732,
      -0.83593,
      2.04058,
      -1.42255
    ],
    "gripper_open": 0.9954,
    "tcp_xyz": [
      -0.26857,
      -0.58543,
      0.97264
    ],
    "tcp_roll_pitch_yaw": [
      -0.4929,
      -0.19228,
      0.01649
    ],
    "tcp_rotation_matrix": [
      [
        0.96556,
        -0.16174,
        0.2038
      ],
      [
        -0.04102,
        -0.86813,
        -0.49463
      ],
      [
        0.25693,
        0.46924,
        -0.84487
      ]
    ],
    "simulated_seconds_remaining": 22.968,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 22.619095033034682,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": -0.27,
                    "y": -0.63,
                    "z": 0.92,
                    "gripper": 0
                  },
                  "note": "The tan draped edge now runs directly ahead of the fingertips; I am moving slightly toward its near end and closing around it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "pick up the towel and place it on the bowl.",
    "joint_positions": [
      -0.17131,
      -1.08601,
      -1.39416,
      -1.81579,
      -0.89107,
      2.16748,
      -1.42121
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      -0.24909,
      -0.64246,
      0.97152
    ],
    "tcp_roll_pitch_yaw": [
      -0.59281,
      -0.18159,
      0.06102
    ],
    "tcp_rotation_matrix": [
      [
        0.96772,
        -0.1363,
        0.21198
      ],
      [
        0.00915,
        -0.82158,
        -0.57002
      ],
      [
        0.25185,
        0.55356,
        -0.79381
      ]
    ],
    "simulated_seconds_remaining": 22.044,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 16.611808803863823,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": -0.18,
                    "y": -0.53,
                    "z": 1.16,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 0,
                    "gripper": 1
                  },
                  "note": "The wrist is contacting the large tan surface and the jaws are empty; raising above it will let me approach the towel from the top."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 28,
    "motion_seconds": 1.848,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "pick up the towel and place it on the bowl.",
    "joint_positions": [
      0.28621,
      -0.59646,
      -1.48595,
      -1.0118,
      -0.65687,
      1.10315,
      -1.4611
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      -0.18021,
      -0.53067,
      1.15921
    ],
    "tcp_roll_pitch_yaw": [
      -0.00289,
      -0.00065,
      0.00025
    ],
    "tcp_rotation_matrix": [
      [
        0.99607,
        -0.08289,
        0.03121
      ],
      [
        -0.08191,
        -0.99614,
        -0.03144
      ],
      [
        0.0337,
        0.02876,
        -0.99902
      ]
    ],
    "simulated_seconds_remaining": 20.196,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 14.811213008128107,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": -0.25,
                    "y": -0.57,
                    "z": 1.08
                  },
                  "note": "From above, the white towel lies between the tan supports; I am positioning the open jaws over the exposed white center at the higher surface level."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 19,
  "state": {
    "instruction": "pick up the towel and place it on the bowl.",
    "joint_positions": [
      0.28702,
      -0.72067,
      -1.57545,
      -1.07997,
      -0.74731,
      1.24139,
      -1.53146
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      -0.2493,
      -0.56952,
      1.08082
    ],
    "tcp_roll_pitch_yaw": [
      -0.00272,
      -0.00078,
      8e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99605,
        -0.08306,
        0.03134
      ],
      [
        -0.08208,
        -0.99613,
        -0.03127
      ],
      [
        0.03381,
        0.02858,
        -0.99902
      ]
    ],
    "simulated_seconds_remaining": 19.14,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 12.810032220557332,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": -0.32,
                    "y": -0.6,
                    "z": 1.03
                  },
                  "note": "The towel remains just ahead of the jaw tips; a short backward shift aligns the fingers with its exposed edge while staying above the support."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 20,
  "state": {
    "instruction": "pick up the towel and place it on the bowl.",
    "joint_positions": [
      0.43547,
      -0.83886,
      -1.72077,
      -0.89217,
      -0.85607,
      1.25945,
      -1.65761
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      -0.31794,
      -0.59998,
      1.03234
    ],
    "tcp_roll_pitch_yaw": [
      -0.00554,
      -0.0006,
      0.00153
    ],
    "tcp_rotation_matrix": [
      [
        0.99618,
        -0.08161,
        0.03121
      ],
      [
        -0.08054,
        -0.99617,
        -0.03404
      ],
      [
        0.03387,
        0.0314,
        -0.99893
      ]
    ],
    "simulated_seconds_remaining": 18.216,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 8.606930722482502,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.01,
                    "gripper": 0
                  },
                  "note": "The draped tan towel edge is now between the fingertips; closing at this height should capture it without descending into the fixture."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 21,
  "state": {
    "instruction": "pick up the towel and place it on the bowl.",
    "joint_positions": [
      0.35431,
      -0.81714,
      -1.67908,
      -0.99888,
      -0.84516,
      1.35665,
      -1.62584
    ],
    "gripper_open": 0.7385,
    "tcp_xyz": [
      -0.3173,
      -0.60768,
      1.03807
    ],
    "tcp_roll_pitch_yaw": [
      -0.06804,
      0.02495,
      -0.00517
    ],
    "tcp_rotation_matrix": [
      [
        0.99629,
        -0.08588,
        0.00523
      ],
      [
        -0.08498,
        -0.9917,
        -0.09644
      ],
      [
        0.01347,
        0.09564,
        -0.99532
      ]
    ],
    "simulated_seconds_remaining": 17.292,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 5.004092511720955,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": -0.23,
                    "y": -0.51,
                    "z": 1.17
                  },
                  "note": "The jaws remain separated around the fabric, indicating contact; lifting inward will verify the towel is held and clear the sink."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 22,
  "state": {
    "instruction": "pick up the towel and place it on the bowl.",
    "joint_positions": [
      0.07516,
      -0.5906,
      -1.38764,
      -1.09583,
      -0.65722,
      1.17776,
      -1.54141
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      -0.23056,
      -0.51074,
      1.16913
    ],
    "tcp_roll_pitch_yaw": [
      -0.06822,
      0.02505,
      -0.00508
    ],
    "tcp_rotation_matrix": [
      [
        0.9963,
        -0.08577,
        0.00514
      ],
      [
        -0.08488,
        -0.9917,
        -0.09662
      ],
      [
        0.01338,
        0.09583,
        -0.99531
      ]
    ],
    "simulated_seconds_remaining": 15.774,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 7.405788606032729,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": -0.32,
                    "y": -0.6,
                    "z": 1.035,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 0,
                    "gripper": 1
                  },
                  "note": "The gripper reopened during the lift, leaving the towel on the fixture; returning to the same edge will allow a grasp with an explicitly maintained close command."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 23,
  "state": {
    "instruction": "pick up the towel and place it on the bowl.",
    "joint_positions": [
      0.46344,
      -0.83764,
      -1.73959,
      -0.85226,
      -0.85849,
      1.23955,
      -1.67003
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      -0.31939,
      -0.59934,
      1.03585
    ],
    "tcp_roll_pitch_yaw": [
      -0.00033,
      -0.0,
      -7e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99607,
        -0.08318,
        0.03056
      ],
      [
        -0.0823,
        -0.99619,
        -0.02889
      ],
      [
        0.03285,
        0.02626,
        -0.99912
      ]
    ],
    "simulated_seconds_remaining": 14.256,
    "calls_remaining_including_this": 35
  },
  "api_seconds": 5.6049594497308135,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The towel edge is again between the open jaws; closing without lowering avoids pressing it against the fixture."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 24,
  "state": {
    "instruction": "pick up the towel and place it on the bowl.",
    "joint_positions": [
      0.46436,
      -0.83195,
      -1.73495,
      -0.84823,
      -0.85808,
      1.25554,
      -1.66949
    ],
    "gripper_open": 0.6617,
    "tcp_xyz": [
      -0.31841,
      -0.6038,
      1.04296
    ],
    "tcp_roll_pitch_yaw": [
      -0.02442,
      0.00544,
      -0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99625,
        -0.08284,
        0.02513
      ],
      [
        -0.08143,
        -0.99527,
        -0.05294
      ],
      [
        0.0294,
        0.0507,
        -0.99828
      ]
    ],
    "simulated_seconds_remaining": 13.332,
    "calls_remaining_including_this": 34
  },
  "api_seconds": 6.8059276137501,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": -0.2,
                    "y": -0.48,
                    "z": 1.17,
                    "gripper": 0
                  },
                  "note": "The jaws have contacted the towel; keeping the close command active while lifting checks that the fabric comes free."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 26,
    "motion_seconds": 1.7160000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 25,
  "state": {
    "instruction": "pick up the towel and place it on the bowl.",
    "joint_positions": [
      -0.06661,
      -0.57852,
      -1.2541,
      -1.20925,
      -0.59517,
      1.15096,
      -1.48638
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      -0.20068,
      -0.48081,
      1.16928
    ],
    "tcp_roll_pitch_yaw": [
      -0.02457,
      0.0055,
      0.00011
    ],
    "tcp_rotation_matrix": [
      [
        0.99626,
        -0.08273,
        0.02507
      ],
      [
        -0.08131,
        -0.99527,
        -0.05309
      ],
      [
        0.02935,
        0.05086,
        -0.99827
      ]
    ],
    "simulated_seconds_remaining": 11.616,
    "calls_remaining_including_this": 33
  },
  "api_seconds": 10.209837216883898,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": -0.16,
                    "y": -0.4,
                    "z": 0.85,
                    "gripper": 1,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 0
                  },
                  "note": "The tan edge stayed on the fixture; the white towel is on the nearer rim. I am approaching that white fold from the clear inner side."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 38,
    "motion_seconds": 2.508,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 26,
  "state": {
    "instruction": "pick up the towel and place it on the bowl.",
    "joint_positions": [
      -0.60246,
      -1.01606,
      -1.12233,
      -2.39308,
      -0.86262,
      1.74252,
      -1.19023
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      -0.16018,
      -0.40029,
      0.85125
    ],
    "tcp_roll_pitch_yaw": [
      0.0001,
      1e-05,
      -2e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99607,
        -0.08313,
        0.03055
      ],
      [
        -0.08227,
        -0.9962,
        -0.02846
      ],
      [
        0.0328,
        0.02583,
        -0.99913
      ]
    ],
    "simulated_seconds_remaining": 9.108,
    "calls_remaining_including_this": 32
  },
  "api_seconds": 7.606136871501803,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": -0.19,
                    "y": -0.48,
                    "z": 0.73,
                    "gripper": 1
                  },
                  "note": "The white fold lies just left of the fingertips on the near rim; shifting toward it and lowering places the jaws around that edge."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 27,
  "state": {
    "instruction": "pick up the towel and place it on the bowl.",
    "joint_positions": [
      -0.26299,
      -0.95998,
      -1.57929,
      -2.25014,
      -1.05405,
      1.9817,
      -1.17832
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      -0.18971,
      -0.47923,
      0.7311
    ],
    "tcp_roll_pitch_yaw": [
      0.00019,
      -0.00011,
      -4e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99606,
        -0.08315,
        0.03067
      ],
      [
        -0.08229,
        -0.9962,
        -0.02836
      ],
      [
        0.03291,
        0.02573,
        -0.99913
      ]
    ],
    "simulated_seconds_remaining": 7.854,
    "calls_remaining_including_this": 31
  },
  "api_seconds": 9.407450946047902,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": -0.29,
                    "y": -0.56,
                    "z": 0.76,
                    "gripper": 0
                  },
                  "note": "The towel's irregular white edge is visible beside the fingertips; I am reaching across that edge and closing for a final grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 28,
  "state": {
    "instruction": "pick up the towel and place it on the bowl.",
    "joint_positions": [
      -0.03443,
      -1.00502,
      -1.70708,
      -1.83131,
      -1.01663,
      1.8481,
      -1.38868
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      -0.28421,
      -0.55369,
      0.75808
    ],
    "tcp_roll_pitch_yaw": [
      0.00546,
      0.00335,
      0.01204
    ],
    "tcp_rotation_matrix": [
      [
        0.99709,
        -0.07105,
        0.02748
      ],
      [
        -0.07043,
        -0.99726,
        -0.02277
      ],
      [
        0.02903,
        0.02077,
        -0.99936
      ]
    ],
    "simulated_seconds_remaining": 6.666,
    "calls_remaining_including_this": 30
  },
  "api_seconds": 16.612432871945202,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "give_up",
                "args": {
                  "note": "I could not secure the towel, and the remaining motion budget is insufficient to complete the transfer to the bowl."
                }
              }
            }
          ]
        }
      }
    ]
  }
}

========================================================================
GPT-Astra / Pick & place / 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,
  "status": "completed",
  "success": false,
  "oracle_success": false,
  "action_decisions": 27,
  "wall_seconds": 421.92,
  "usage": {
    "input_tokens": 592598,
    "cached_input_tokens": 547072,
    "cache_write_input_tokens": 0,
    "output_tokens": 6484,
    "reasoning_output_tokens": 3419
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick-and-place 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 45 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 and grasp the requested object, lift it, move it to the named receptacle, and release it in or on that receptacle. Complete the entire pick-and-place 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 each motion.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [0.02906, -0.80475, 0.03623, -2.39559, 0.01873, 1.54574, 0.01712], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.29036, 0.02299, 1.00041], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.99832, 0.03669, -0.04494], [0.03628, -0.99929, -0.0098], [-0.04527, 0.00815, -0.99894]], \"simulated_seconds_remaining\": 45.012, \"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": 0.02,
    "z": 0.85,
    "gripper": 1,
    "note": "The fork is visible near the center of the wrist image, with the bowl farther across the table. I lower and move forward to get a closer view of the fork."
  },
  "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": 0.02,
      "z": 0.85,
      "gripper": 1
    },
    "note": "The fork is visible near the center of the wrist image. I move forward and lower to get a closer view for grasp alignment."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [0.01329, -0.31583, 0.03502, -2.41485, 0.00359, 2.05353, 0.0081], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.42902, 0.02001, 0.85091], \"tcp_roll_pitch_yaw\": [-1e-05, 0.00031, -2e-05], \"tcp_rotation_matrix\": [[0.9983, 0.03667, -0.04525], [0.03626, -0.99929, -0.0098], [-0.04558, 0.00815, -0.99893]], \"simulated_seconds_remaining\": 43.362, \"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": 0.34,
      "z": 0.79
    },
    "note": "The fork shifted toward the top of the wrist view as I advanced. I back up and lower to bring its handle between the fingertips."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [0.02416, -0.52783, 0.03952, -2.76054, 0.01558, 2.18709, 0.01203], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.34108, 0.02001, 0.79075], \"tcp_roll_pitch_yaw\": [-3e-05, 0.00045, 0.0], \"tcp_rotation_matrix\": [[0.9983, 0.03669, -0.04538], [0.03628, -0.99929, -0.00983], [-0.04571, 0.00816, -0.99892]], \"simulated_seconds_remaining\": 42.372, \"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": 0.3,
      "y": 0.045,
      "z": 0.73
    },
    "note": "The handle is just above and left of the gap between the fingers. I adjust backward and sideways while lowering toward the table."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [0.06653, -0.55643, 0.0802, -2.92469, 0.05203, 2.35626, 0.06666], \"gripper_open\": 1.0, \"tcp_xyz\": [0.3124, 0.04158, 0.74425], \"tcp_roll_pitch_yaw\": [0.00253, -0.03307, -0.00576], \"tcp_rotation_matrix\": [[0.99946, 0.03073, -0.01193], [0.03064, -0.9995, -0.0072], [-0.01214, 0.00683, -0.9999]], \"simulated_seconds_remaining\": 41.58, \"calls_remaining_including_this\": 54}"
      },
      {
        "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": 0.005,
      "z": 0.745
    },
    "note": "The handle is at finger height but left of the grasp gap. I shift right across the table to center the narrow shaft before closing."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [0.0059, -0.53948, 0.02091, -2.91066, 0.00547, 2.36051, -0.0113], \"gripper_open\": 0.9967, \"tcp_xyz\": [0.32021, 0.00651, 0.74544], \"tcp_roll_pitch_yaw\": [0.0026, -0.0344, -0.00527], \"tcp_rotation_matrix\": [[0.99946, 0.0312, -0.01059], [0.03113, -0.99949, -0.00714], [-0.01081, 0.00681, -0.99992]], \"simulated_seconds_remaining\": 41.052, \"calls_remaining_including_this\": 53}"
      },
      {
        "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": -0.045,
      "z": 0.76
    },
    "note": "The fork shaft remains near the left fingertip. I lift slightly and shift farther sideways to place the shaft in the center of the open gripper."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [-0.07528, -0.56532, -0.06287, -2.88562, -0.05695, 2.31088, -0.12061], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.32025, -0.04383, 0.75969], \"tcp_roll_pitch_yaw\": [0.00265, -0.03451, -0.00544], \"tcp_rotation_matrix\": [[0.99946, 0.03104, -0.01049], [0.03096, -0.9995, -0.00709], [-0.0107, 0.00677, -0.99992]], \"simulated_seconds_remaining\": 40.392, \"calls_remaining_including_this\": 52}"
      },
      {
        "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": -0.095
    },
    "note": "The shaft is still left of the open finger gap. I continue the lateral correction at a small clearance above the fork."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [-0.14786, -0.52915, -0.14582, -2.8563, -0.11354, 2.32036, -0.22663], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.32027, -0.09384, 0.7597], \"tcp_roll_pitch_yaw\": [0.0027, -0.03452, -0.00562], \"tcp_rotation_matrix\": [[0.99947, 0.03086, -0.01047], [0.03079, -0.9995, -0.00704], [-0.01068, 0.00671, -0.99992]], \"simulated_seconds_remaining\": 39.732, \"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": {
      "z": 0.735,
      "gripper": 0
    },
    "note": "The fork shaft is now centered between the fingertips. I lower slightly and close the jaws around it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [-0.14587, -0.528, -0.14938, -2.86351, -0.1138, 2.33892, -0.22778], \"gripper_open\": 0.3657, \"tcp_xyz\": [0.32161, -0.09373, 0.75782], \"tcp_roll_pitch_yaw\": [0.00286, -0.04489, -0.00469], \"tcp_rotation_matrix\": [[0.9995, 0.03172, -0.0001], [0.03172, -0.99947, -0.00694], [-0.00032, 0.00694, -0.99998]], \"simulated_seconds_remaining\": 38.808, \"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": {
      "z": 0.92
    },
    "note": "The fingers have closed around the fork shaft. I lift vertically to verify that the fork is securely held and clear the table."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [-0.138, -0.72203, -0.11427, -2.56185, -0.08539, 1.84375, -0.23269], \"gripper_open\": 0.143, \"tcp_xyz\": [0.32167, -0.09375, 0.9187], \"tcp_roll_pitch_yaw\": [0.00282, -0.04507, -0.0047], \"tcp_rotation_matrix\": [[0.9995, 0.03171, 8e-05], [0.03171, -0.99947, -0.00698], [-0.00014, 0.00698, -0.99998]], \"simulated_seconds_remaining\": 37.422, \"calls_remaining_including_this\": 49}"
      },
      {
        "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": 0.25,
      "z": 0.95
    },
    "note": "The fork rose with the gripper and remains held. The bowl is to the left in the wrist view, so I carry the fork laterally toward it at clearance height."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [0.10951, -0.60919, 0.46806, -2.34511, 0.26057, 1.77767, 0.41502], \"gripper_open\": 0.1432, \"tcp_xyz\": [0.30006, 0.24865, 0.94983], \"tcp_roll_pitch_yaw\": [0.00271, -0.045, -0.00451], \"tcp_rotation_matrix\": [[0.99949, 0.03189, 1e-05], [0.03189, -0.99947, -0.00709], [-0.00021, 0.00709, -0.99997]], \"simulated_seconds_remaining\": 34.848, \"calls_remaining_including_this\": 48}"
      },
      {
        "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": 0.4,
      "y": -0.35,
      "z": 0.98
    },
    "note": "The bowl moved out of the wrist view during the lateral transfer. I correct across the table toward the bowl visible in the exterior image, keeping the fork raised."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 11, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [-0.24185, -0.1183, -0.4458, -1.87426, -0.05757, 1.77139, -0.70536], \"gripper_open\": 0.1435, \"tcp_xyz\": [0.39972, -0.34869, 0.97983], \"tcp_roll_pitch_yaw\": [0.00283, -0.04481, -0.00474], \"tcp_rotation_matrix\": [[0.9995, 0.03167, -0.00017], [0.03167, -0.99947, -0.00697], [-0.00039, 0.00696, -0.99998]], \"simulated_seconds_remaining\": 30.492, \"calls_remaining_including_this\": 47}"
      },
      {
        "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": 0.25,
      "y": -0.35,
      "z": 0.9
    },
    "note": "The round bowl is now visible directly above the held fork in the wrist view. I move backward and lower to align the fork over its opening."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 12, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [-0.36907, -0.45371, -0.51165, -2.35841, -0.23839, 1.95137, -0.77903], \"gripper_open\": 0.1433, \"tcp_xyz\": [0.25107, -0.35001, 0.90056], \"tcp_roll_pitch_yaw\": [0.003, -0.04471, -0.00494], \"tcp_rotation_matrix\": [[0.9995, 0.03148, -0.00027], [0.03148, -0.99948, -0.0068], [-0.00049, 0.00679, -0.99998]], \"simulated_seconds_remaining\": 29.04, \"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"
}

The fork is secure. I’m checking the receptacle alignment before releasing it.


{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.48,
      "y": -0.48,
      "z": 1.02
    },
    "note": "The dark round object is distinct from the light bowl visible on the table. I raise the fork and move toward the light receptacle to inspect its opening."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 13, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [-0.45104, 0.50908, -0.53406, -0.99549, 0.24807, 1.45233, -0.92788], \"gripper_open\": 0.1441, \"tcp_xyz\": [0.47897, -0.47944, 1.01931], \"tcp_roll_pitch_yaw\": [0.00307, -0.04452, -0.00506], \"tcp_rotation_matrix\": [[0.99951, 0.03137, -0.00047], [0.03136, -0.99949, -0.00673], [-0.00068, 0.00671, -0.99998]], \"simulated_seconds_remaining\": 26.796, \"calls_remaining_including_this\": 45}"
      },
      {
        "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": 0.65,
      "y": 0,
      "z": 1.05
    },
    "note": "The light object in the wrist view is a ridged tray. I keep the fork lifted and reposition toward the small gray bowl visible farther across the table."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 14, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [0.19407, 0.38754, -0.27902, -1.0523, 0.09857, 1.42666, -0.0827], \"gripper_open\": 0.1439, \"tcp_xyz\": [0.64956, -0.00112, 1.04978], \"tcp_roll_pitch_yaw\": [0.00311, -0.04429, -0.00475], \"tcp_rotation_matrix\": [[0.9995, 0.03168, -0.0007], [0.03167, -0.99948, -0.00669], [-0.00091, 0.00666, -0.99998]], \"simulated_seconds_remaining\": 23.1, \"calls_remaining_including_this\": 44}"
      },
      {
        "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": 0.78,
      "y": -0.1,
      "z": 0.98
    },
    "note": "The wrist view is over the plant, while the gray bowl lies beyond it in the exterior view. I move farther across the tabletop to bring the bowl into view."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 15, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [0.19407, 0.38754, -0.27902, -1.0523, 0.09857, 1.42666, -0.0827], \"gripper_open\": 0.1439, \"tcp_xyz\": [0.64956, -0.00112, 1.04978], \"tcp_roll_pitch_yaw\": [0.00311, -0.04429, -0.00475], \"tcp_rotation_matrix\": [[0.9995, 0.03168, -0.0007], [0.03167, -0.99948, -0.00669], [-0.00091, 0.00666, -0.99998]], \"simulated_seconds_remaining\": 23.1, \"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": 0.7,
      "y": 0.18,
      "z": 0.9
    },
    "note": "The farther target exceeded the arm's reach. I use a nearer, lower pose toward the gray bowl while keeping the fork closed in the gripper."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 16, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [0.37927, 0.59314, -0.19514, -1.11351, 0.10303, 1.69456, 0.17189], \"gripper_open\": 0.144, \"tcp_xyz\": [0.69964, 0.17912, 0.90058], \"tcp_roll_pitch_yaw\": [0.00303, -0.04383, -0.00453], \"tcp_rotation_matrix\": [[0.99949, 0.0319, -0.00116], [0.03189, -0.99947, -0.00676], [-0.00137, 0.00672, -0.99998]], \"simulated_seconds_remaining\": 21.186, \"calls_remaining_including_this\": 42}"
      },
      {
        "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": 0.82
    },
    "note": "The exterior view now places the gripper above the small gray bowl. I lower carefully to bring the held fork close to the bowl rim."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 17, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [0.39053, 0.60019, -0.19185, -1.30585, 0.10707, 1.89247, 0.16537], \"gripper_open\": 0.1439, \"tcp_xyz\": [0.69954, 0.1791, 0.82097], \"tcp_roll_pitch_yaw\": [0.00288, -0.0433, -0.00452], \"tcp_rotation_matrix\": [[0.99949, 0.03191, -0.00169], [0.03189, -0.99947, -0.00692], [-0.00191, 0.00686, -0.99997]], \"simulated_seconds_remaining\": 20.328, \"calls_remaining_including_this\": 41}"
      },
      {
        "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": 0.74,
      "y": 0.08,
      "z": 0.87
    },
    "note": "The bowl is slightly beyond the fork in the exterior view. I lift a little and shift toward its center before placing the fork."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 18, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [0.23859, 0.69953, -0.21534, -1.02062, 0.13234, 1.70524, 0.02302], \"gripper_open\": 0.1441, \"tcp_xyz\": [0.73956, 0.08095, 0.86938], \"tcp_roll_pitch_yaw\": [0.00277, -0.04326, -0.00483], \"tcp_rotation_matrix\": [[0.9995, 0.03159, -0.00173], [0.03158, -0.99948, -0.00702], [-0.00195, 0.00696, -0.99997]], \"simulated_seconds_remaining\": 19.272, \"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": 0.79,
      "y": 0.08,
      "z": 0.79
    },
    "note": "The fork is close to the gray bowl, which is partly hidden by the gripper. I advance slightly and lower to position the fork over the rim."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 19, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [0.23859, 0.69953, -0.21534, -1.02062, 0.13234, 1.70524, 0.02302], \"gripper_open\": 0.1441, \"tcp_xyz\": [0.73956, 0.08095, 0.86938], \"tcp_roll_pitch_yaw\": [0.00277, -0.04326, -0.00483], \"tcp_rotation_matrix\": [[0.9995, 0.03159, -0.00173], [0.03158, -0.99948, -0.00702], [-0.00195, 0.00696, -0.99997]], \"simulated_seconds_remaining\": 19.272, \"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": {
      "x": 0.76,
      "y": 0.04,
      "z": 0.82
    },
    "note": "The larger advance was rejected. I split it into a smaller adjustment toward the bowl and descend a few centimeters."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 20, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [0.17894, 0.78789, -0.21668, -0.99579, 0.1488, 1.76729, -0.03611], \"gripper_open\": 0.1441, \"tcp_xyz\": [0.75952, 0.04066, 0.8207], \"tcp_roll_pitch_yaw\": [0.00265, -0.04277, -0.00504], \"tcp_rotation_matrix\": [[0.9995, 0.03139, -0.00222], [0.03137, -0.99948, -0.00714], [-0.00245, 0.00706, -0.99997]], \"simulated_seconds_remaining\": 18.546, \"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": 0.8,
      "y": 0.08,
      "z": 0.82,
      "pitch": 0.25
    },
    "note": "The bowl lies just beyond the current grasp point. I slightly tilt the wrist to extend the reach and center the fork over the bowl."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 21, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [0.17894, 0.78789, -0.21668, -0.99579, 0.1488, 1.76729, -0.03611], \"gripper_open\": 0.1441, \"tcp_xyz\": [0.75952, 0.04066, 0.8207], \"tcp_roll_pitch_yaw\": [0.00265, -0.04277, -0.00504], \"tcp_rotation_matrix\": [[0.9995, 0.03139, -0.00222], [0.03137, -0.99948, -0.00714], [-0.00245, 0.00706, -0.99997]], \"simulated_seconds_remaining\": 18.546, \"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": {
      "pitch": -0.35,
      "z": 0.85
    },
    "note": "The extension was rejected, so I first tilt the wrist toward the bowl at the current position to improve reach."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 22, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [0.26217, 0.47734, -0.24694, -1.53231, 0.1155, 2.29498, -0.03496], \"gripper_open\": 0.1437, \"tcp_xyz\": [0.7595, 0.04068, 0.84956], \"tcp_roll_pitch_yaw\": [0.00262, -0.34554, -0.00504], \"tcp_rotation_matrix\": [[0.95478, 0.02761, 0.29603], [0.03159, -0.99946, -0.00867], [0.29563, 0.01763, -0.95514]], \"simulated_seconds_remaining\": 17.82, \"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": 0.83,
      "y": -0.03,
      "z": 0.85
    },
    "note": "The gray bowl's rim is now visible at the lower left of the wrist view. I advance and shift sideways to bring it beneath the fork."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 23, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [0.10199, 0.76009, -0.22669, -1.0676, 0.18507, 2.11123, -0.14182], \"gripper_open\": 0.1437, \"tcp_xyz\": [0.82907, -0.02929, 0.84977], \"tcp_roll_pitch_yaw\": [0.00252, -0.34521, -0.00527], \"tcp_rotation_matrix\": [[0.95488, 0.02735, 0.29572], [0.03136, -0.99947, -0.00884], [0.29532, 0.01771, -0.95523]], \"simulated_seconds_remaining\": 16.83, \"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": 0.86,
      "y": -0.1,
      "z": 0.85,
      "pitch": -0.5
    },
    "note": "The bowl is beneath the left side of the gripper. I shift the fork over its center, using a little more wrist tilt to maintain reach."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 24, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [0.00185, 0.78862, -0.20434, -1.08329, 0.2469, 2.30336, -0.26359], \"gripper_open\": 0.1436, \"tcp_xyz\": [0.85951, -0.09929, 0.84976], \"tcp_roll_pitch_yaw\": [0.00253, -0.49754, -0.00555], \"tcp_rotation_matrix\": [[0.89903, 0.02401, 0.43723], [0.03141, -0.99946, -0.00969], [0.43676, 0.02245, -0.8993]], \"simulated_seconds_remaining\": 16.038, \"calls_remaining_including_this\": 34}"
      },
      {
        "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": 0.9,
      "z": 0.82,
      "pitch": -0.65
    },
    "note": "The bowl is centered under the gripper. I move the fork slightly farther over the bowl and lower it toward the rim for a gentle release."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 25, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [-0.01523, 0.88722, -0.16932, -1.04832, 0.29122, 2.52621, -0.2973], \"gripper_open\": 0.1449, \"tcp_xyz\": [0.90068, -0.09936, 0.82736], \"tcp_roll_pitch_yaw\": [0.00136, -0.65665, -0.00466], \"tcp_rotation_matrix\": [[0.81847, 0.02026, 0.57419], [0.03253, -0.99941, -0.01111], [0.57363, 0.02777, -0.81864]], \"simulated_seconds_remaining\": 15.378, \"calls_remaining_including_this\": 33}"
      },
      {
        "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": 1
    },
    "note": "The fork's lower section is positioned over the bowl opening and rim. I open the gripper to place it on the bowl."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 26, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [-0.01523, 0.88722, -0.16932, -1.04832, 0.29122, 2.52621, -0.2973], \"gripper_open\": 0.9965, \"tcp_xyz\": [0.90069, -0.09936, 0.82736], \"tcp_roll_pitch_yaw\": [0.00136, -0.65671, -0.00466], \"tcp_rotation_matrix\": [[0.81844, 0.02026, 0.57424], [0.03253, -0.99941, -0.01111], [0.57367, 0.02778, -0.81861]], \"simulated_seconds_remaining\": 14.454, \"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": 0.8,
      "z": 0.97
    },
    "note": "The jaws are open and the fork is resting across the bowl. I withdraw upward and backward to verify that it remains on the receptacle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 27, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [0.04747, 0.39135, -0.21987, -1.50124, 0.24125, 2.4831, -0.30479], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.80082, -0.09939, 0.96917], \"tcp_roll_pitch_yaw\": [0.00132, -0.65711, -0.00467], \"tcp_rotation_matrix\": [[0.81821, 0.02021, 0.57457], [0.03252, -0.99941, -0.01116], [0.574, 0.02782, -0.81838]], \"simulated_seconds_remaining\": 13.002, \"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": "done",
  "arguments": {},
  "result": null,
  "error": {
    "message": "tool call error: tool call failed for `robot/done`\n\nCaused by:\n    Mcp error: -32602: A short note is required"
  },
  "status": "failed"
}

{
  "type": "mcp_tool_call",
  "tool": "done",
  "arguments": {
    "note": "The fork has been released and remains resting across the gray bowl after the gripper withdrew."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "Episode ended. Do not call more tools. Return a brief final response."
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

Placed the fork on the bowl.

TURN USAGE
{
  "input_tokens": 592598,
  "cached_input_tokens": 547072,
  "cache_write_input_tokens": 0,
  "output_tokens": 6484,
  "reasoning_output_tokens": 3419
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      0.02906,
      -0.80475,
      0.03623,
      -2.39559,
      0.01873,
      1.54574,
      0.01712
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.29036,
      0.02299,
      1.00041
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99832,
        0.03669,
        -0.04494
      ],
      [
        0.03628,
        -0.99929,
        -0.0098
      ],
      [
        -0.04527,
        0.00815,
        -0.99894
      ]
    ],
    "simulated_seconds_remaining": 45.012,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 29.42322639748454,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.43,
                    "y": 0.02,
                    "z": 0.85,
                    "gripper": 1
                  },
                  "note": "The fork is visible near the center of the wrist image. I move forward and lower to get a closer view for grasp alignment."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 25,
    "motion_seconds": 1.6500000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      0.01329,
      -0.31583,
      0.03502,
      -2.41485,
      0.00359,
      2.05353,
      0.0081
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.42902,
      0.02001,
      0.85091
    ],
    "tcp_roll_pitch_yaw": [
      -1e-05,
      0.00031,
      -2e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.9983,
        0.03667,
        -0.04525
      ],
      [
        0.03626,
        -0.99929,
        -0.0098
      ],
      [
        -0.04558,
        0.00815,
        -0.99893
      ]
    ],
    "simulated_seconds_remaining": 43.362,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 18.014312685467303,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.34,
                    "z": 0.79
                  },
                  "note": "The fork shifted toward the top of the wrist view as I advanced. I back up and lower to bring its handle between the fingertips."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      0.02416,
      -0.52783,
      0.03952,
      -2.76054,
      0.01558,
      2.18709,
      0.01203
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.34108,
      0.02001,
      0.79075
    ],
    "tcp_roll_pitch_yaw": [
      -3e-05,
      0.00045,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.9983,
        0.03669,
        -0.04538
      ],
      [
        0.03628,
        -0.99929,
        -0.00983
      ],
      [
        -0.04571,
        0.00816,
        -0.99892
      ]
    ],
    "simulated_seconds_remaining": 42.372,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 11.811316270381212,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.3,
                    "y": 0.045,
                    "z": 0.73
                  },
                  "note": "The handle is just above and left of the gap between the fingers. I adjust backward and sideways while lowering toward the table."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      0.06653,
      -0.55643,
      0.0802,
      -2.92469,
      0.05203,
      2.35626,
      0.06666
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.3124,
      0.04158,
      0.74425
    ],
    "tcp_roll_pitch_yaw": [
      0.00253,
      -0.03307,
      -0.00576
    ],
    "tcp_rotation_matrix": [
      [
        0.99946,
        0.03073,
        -0.01193
      ],
      [
        0.03064,
        -0.9995,
        -0.0072
      ],
      [
        -0.01214,
        0.00683,
        -0.9999
      ]
    ],
    "simulated_seconds_remaining": 41.58,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 7.805777277797461,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.32,
                    "y": 0.005,
                    "z": 0.745
                  },
                  "note": "The handle is at finger height but left of the grasp gap. I shift right across the table to center the narrow shaft before closing."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 8,
    "motion_seconds": 0.528,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      0.0059,
      -0.53948,
      0.02091,
      -2.91066,
      0.00547,
      2.36051,
      -0.0113
    ],
    "gripper_open": 0.9967,
    "tcp_xyz": [
      0.32021,
      0.00651,
      0.74544
    ],
    "tcp_roll_pitch_yaw": [
      0.0026,
      -0.0344,
      -0.00527
    ],
    "tcp_rotation_matrix": [
      [
        0.99946,
        0.0312,
        -0.01059
      ],
      [
        0.03113,
        -0.99949,
        -0.00714
      ],
      [
        -0.01081,
        0.00681,
        -0.99992
      ]
    ],
    "simulated_seconds_remaining": 41.052,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 7.406099430285394,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": -0.045,
                    "z": 0.76
                  },
                  "note": "The fork shaft remains near the left fingertip. I lift slightly and shift farther sideways to place the shaft in the center of the open gripper."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      -0.07528,
      -0.56532,
      -0.06287,
      -2.88562,
      -0.05695,
      2.31088,
      -0.12061
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.32025,
      -0.04383,
      0.75969
    ],
    "tcp_roll_pitch_yaw": [
      0.00265,
      -0.03451,
      -0.00544
    ],
    "tcp_rotation_matrix": [
      [
        0.99946,
        0.03104,
        -0.01049
      ],
      [
        0.03096,
        -0.9995,
        -0.00709
      ],
      [
        -0.0107,
        0.00677,
        -0.99992
      ]
    ],
    "simulated_seconds_remaining": 40.392,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 9.011349650099874,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": -0.095
                  },
                  "note": "The shaft is still left of the open finger gap. I continue the lateral correction at a small clearance above the fork."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      -0.14786,
      -0.52915,
      -0.14582,
      -2.8563,
      -0.11354,
      2.32036,
      -0.22663
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.32027,
      -0.09384,
      0.7597
    ],
    "tcp_roll_pitch_yaw": [
      0.0027,
      -0.03452,
      -0.00562
    ],
    "tcp_rotation_matrix": [
      [
        0.99947,
        0.03086,
        -0.01047
      ],
      [
        0.03079,
        -0.9995,
        -0.00704
      ],
      [
        -0.01068,
        0.00671,
        -0.99992
      ]
    ],
    "simulated_seconds_remaining": 39.732,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 5.404813721776009,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.735,
                    "gripper": 0
                  },
                  "note": "The fork shaft is now centered between the fingertips. I lower slightly and close the jaws around it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      -0.14587,
      -0.528,
      -0.14938,
      -2.86351,
      -0.1138,
      2.33892,
      -0.22778
    ],
    "gripper_open": 0.3657,
    "tcp_xyz": [
      0.32161,
      -0.09373,
      0.75782
    ],
    "tcp_roll_pitch_yaw": [
      0.00286,
      -0.04489,
      -0.00469
    ],
    "tcp_rotation_matrix": [
      [
        0.9995,
        0.03172,
        -0.0001
      ],
      [
        0.03172,
        -0.99947,
        -0.00694
      ],
      [
        -0.00032,
        0.00694,
        -0.99998
      ]
    ],
    "simulated_seconds_remaining": 38.808,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 4.604281205683947,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.92
                  },
                  "note": "The fingers have closed around the fork shaft. I lift vertically to verify that the fork is securely held and clear the table."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      -0.138,
      -0.72203,
      -0.11427,
      -2.56185,
      -0.08539,
      1.84375,
      -0.23269
    ],
    "gripper_open": 0.143,
    "tcp_xyz": [
      0.32167,
      -0.09375,
      0.9187
    ],
    "tcp_roll_pitch_yaw": [
      0.00282,
      -0.04507,
      -0.0047
    ],
    "tcp_rotation_matrix": [
      [
        0.9995,
        0.03171,
        8e-05
      ],
      [
        0.03171,
        -0.99947,
        -0.00698
      ],
      [
        -0.00014,
        0.00698,
        -0.99998
      ]
    ],
    "simulated_seconds_remaining": 37.422,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 16.01296957489103,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.3,
                    "y": 0.25,
                    "z": 0.95
                  },
                  "note": "The fork rose with the gripper and remains held. The bowl is to the left in the wrist view, so I carry the fork laterally toward it at clearance height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 39,
    "motion_seconds": 2.5740000000000003,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      0.10951,
      -0.60919,
      0.46806,
      -2.34511,
      0.26057,
      1.77767,
      0.41502
    ],
    "gripper_open": 0.1432,
    "tcp_xyz": [
      0.30006,
      0.24865,
      0.94983
    ],
    "tcp_roll_pitch_yaw": [
      0.00271,
      -0.045,
      -0.00451
    ],
    "tcp_rotation_matrix": [
      [
        0.99949,
        0.03189,
        1e-05
      ],
      [
        0.03189,
        -0.99947,
        -0.00709
      ],
      [
        -0.00021,
        0.00709,
        -0.99997
      ]
    ],
    "simulated_seconds_remaining": 34.848,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 9.60639273095876,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "y": -0.35,
                    "z": 0.98
                  },
                  "note": "The bowl moved out of the wrist view during the lateral transfer. I correct across the table toward the bowl visible in the exterior image, keeping the fork raised."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 66,
    "motion_seconds": 4.356,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      -0.24185,
      -0.1183,
      -0.4458,
      -1.87426,
      -0.05757,
      1.77139,
      -0.70536
    ],
    "gripper_open": 0.1435,
    "tcp_xyz": [
      0.39972,
      -0.34869,
      0.97983
    ],
    "tcp_roll_pitch_yaw": [
      0.00283,
      -0.04481,
      -0.00474
    ],
    "tcp_rotation_matrix": [
      [
        0.9995,
        0.03167,
        -0.00017
      ],
      [
        0.03167,
        -0.99947,
        -0.00697
      ],
      [
        -0.00039,
        0.00696,
        -0.99998
      ]
    ],
    "simulated_seconds_remaining": 30.492,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 12.409750039689243,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.25,
                    "y": -0.35,
                    "z": 0.9
                  },
                  "note": "The round bowl is now visible directly above the held fork in the wrist view. I move backward and lower to align the fork over its opening."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 22,
    "motion_seconds": 1.452,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      -0.36907,
      -0.45371,
      -0.51165,
      -2.35841,
      -0.23839,
      1.95137,
      -0.77903
    ],
    "gripper_open": 0.1433,
    "tcp_xyz": [
      0.25107,
      -0.35001,
      0.90056
    ],
    "tcp_roll_pitch_yaw": [
      0.003,
      -0.04471,
      -0.00494
    ],
    "tcp_rotation_matrix": [
      [
        0.9995,
        0.03148,
        -0.00027
      ],
      [
        0.03148,
        -0.99948,
        -0.0068
      ],
      [
        -0.00049,
        0.00679,
        -0.99998
      ]
    ],
    "simulated_seconds_remaining": 29.04,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 30.62278668116778,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48,
                    "y": -0.48,
                    "z": 1.02
                  },
                  "note": "The dark round object is distinct from the light bowl visible on the table. I raise the fork and move toward the light receptacle to inspect its opening."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 34,
    "motion_seconds": 2.244,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      -0.45104,
      0.50908,
      -0.53406,
      -0.99549,
      0.24807,
      1.45233,
      -0.92788
    ],
    "gripper_open": 0.1441,
    "tcp_xyz": [
      0.47897,
      -0.47944,
      1.01931
    ],
    "tcp_roll_pitch_yaw": [
      0.00307,
      -0.04452,
      -0.00506
    ],
    "tcp_rotation_matrix": [
      [
        0.99951,
        0.03137,
        -0.00047
      ],
      [
        0.03136,
        -0.99949,
        -0.00673
      ],
      [
        -0.00068,
        0.00671,
        -0.99998
      ]
    ],
    "simulated_seconds_remaining": 26.796,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 8.807146121747792,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.65,
                    "y": 0,
                    "z": 1.05
                  },
                  "note": "The light object in the wrist view is a ridged tray. I keep the fork lifted and reposition toward the small gray bowl visible farther across the table."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 56,
    "motion_seconds": 3.696,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      0.19407,
      0.38754,
      -0.27902,
      -1.0523,
      0.09857,
      1.42666,
      -0.0827
    ],
    "gripper_open": 0.1439,
    "tcp_xyz": [
      0.64956,
      -0.00112,
      1.04978
    ],
    "tcp_roll_pitch_yaw": [
      0.00311,
      -0.04429,
      -0.00475
    ],
    "tcp_rotation_matrix": [
      [
        0.9995,
        0.03168,
        -0.0007
      ],
      [
        0.03167,
        -0.99948,
        -0.00669
      ],
      [
        -0.00091,
        0.00666,
        -0.99998
      ]
    ],
    "simulated_seconds_remaining": 23.1,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 15.210656999610364,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.78,
                    "y": -0.1,
                    "z": 0.98
                  },
                  "note": "The wrist view is over the plant, while the gray bowl lies beyond it in the exterior view. I move farther across the tabletop to bring the bowl into view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 15,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      0.19407,
      0.38754,
      -0.27902,
      -1.0523,
      0.09857,
      1.42666,
      -0.0827
    ],
    "gripper_open": 0.1439,
    "tcp_xyz": [
      0.64956,
      -0.00112,
      1.04978
    ],
    "tcp_roll_pitch_yaw": [
      0.00311,
      -0.04429,
      -0.00475
    ],
    "tcp_rotation_matrix": [
      [
        0.9995,
        0.03168,
        -0.0007
      ],
      [
        0.03167,
        -0.99948,
        -0.00669
      ],
      [
        -0.00091,
        0.00666,
        -0.99998
      ]
    ],
    "simulated_seconds_remaining": 23.1,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 7.406075925566256,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.7,
                    "y": 0.18,
                    "z": 0.9
                  },
                  "note": "The farther target exceeded the arm's reach. I use a nearer, lower pose toward the gray bowl while keeping the fork closed in the gripper."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 29,
    "motion_seconds": 1.9140000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      0.37927,
      0.59314,
      -0.19514,
      -1.11351,
      0.10303,
      1.69456,
      0.17189
    ],
    "gripper_open": 0.144,
    "tcp_xyz": [
      0.69964,
      0.17912,
      0.90058
    ],
    "tcp_roll_pitch_yaw": [
      0.00303,
      -0.04383,
      -0.00453
    ],
    "tcp_rotation_matrix": [
      [
        0.99949,
        0.0319,
        -0.00116
      ],
      [
        0.03189,
        -0.99947,
        -0.00676
      ],
      [
        -0.00137,
        0.00672,
        -0.99998
      ]
    ],
    "simulated_seconds_remaining": 21.186,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 6.6101856688037515,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.82
                  },
                  "note": "The exterior view now places the gripper above the small gray bowl. I lower carefully to bring the held fork close to the bowl rim."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      0.39053,
      0.60019,
      -0.19185,
      -1.30585,
      0.10707,
      1.89247,
      0.16537
    ],
    "gripper_open": 0.1439,
    "tcp_xyz": [
      0.69954,
      0.1791,
      0.82097
    ],
    "tcp_roll_pitch_yaw": [
      0.00288,
      -0.0433,
      -0.00452
    ],
    "tcp_rotation_matrix": [
      [
        0.99949,
        0.03191,
        -0.00169
      ],
      [
        0.03189,
        -0.99947,
        -0.00692
      ],
      [
        -0.00191,
        0.00686,
        -0.99997
      ]
    ],
    "simulated_seconds_remaining": 20.328,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 12.810271770693362,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.74,
                    "y": 0.08,
                    "z": 0.87
                  },
                  "note": "The bowl is slightly beyond the fork in the exterior view. I lift a little and shift toward its center before placing the fork."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      0.23859,
      0.69953,
      -0.21534,
      -1.02062,
      0.13234,
      1.70524,
      0.02302
    ],
    "gripper_open": 0.1441,
    "tcp_xyz": [
      0.73956,
      0.08095,
      0.86938
    ],
    "tcp_roll_pitch_yaw": [
      0.00277,
      -0.04326,
      -0.00483
    ],
    "tcp_rotation_matrix": [
      [
        0.9995,
        0.03159,
        -0.00173
      ],
      [
        0.03158,
        -0.99948,
        -0.00702
      ],
      [
        -0.00195,
        0.00696,
        -0.99997
      ]
    ],
    "simulated_seconds_remaining": 19.272,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 11.008415340445936,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.79,
                    "y": 0.08,
                    "z": 0.79
                  },
                  "note": "The fork is close to the gray bowl, which is partly hidden by the gripper. I advance slightly and lower to position the fork over the rim."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 19,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      0.23859,
      0.69953,
      -0.21534,
      -1.02062,
      0.13234,
      1.70524,
      0.02302
    ],
    "gripper_open": 0.1441,
    "tcp_xyz": [
      0.73956,
      0.08095,
      0.86938
    ],
    "tcp_roll_pitch_yaw": [
      0.00277,
      -0.04326,
      -0.00483
    ],
    "tcp_rotation_matrix": [
      [
        0.9995,
        0.03159,
        -0.00173
      ],
      [
        0.03158,
        -0.99948,
        -0.00702
      ],
      [
        -0.00195,
        0.00696,
        -0.99997
      ]
    ],
    "simulated_seconds_remaining": 19.272,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 11.810904656536877,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.76,
                    "y": 0.04,
                    "z": 0.82
                  },
                  "note": "The larger advance was rejected. I split it into a smaller adjustment toward the bowl and descend a few centimeters."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 20,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      0.17894,
      0.78789,
      -0.21668,
      -0.99579,
      0.1488,
      1.76729,
      -0.03611
    ],
    "gripper_open": 0.1441,
    "tcp_xyz": [
      0.75952,
      0.04066,
      0.8207
    ],
    "tcp_roll_pitch_yaw": [
      0.00265,
      -0.04277,
      -0.00504
    ],
    "tcp_rotation_matrix": [
      [
        0.9995,
        0.03139,
        -0.00222
      ],
      [
        0.03137,
        -0.99948,
        -0.00714
      ],
      [
        -0.00245,
        0.00706,
        -0.99997
      ]
    ],
    "simulated_seconds_remaining": 18.546,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 30.021946104243398,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.8,
                    "y": 0.08,
                    "z": 0.82,
                    "pitch": 0.25
                  },
                  "note": "The bowl lies just beyond the current grasp point. I slightly tilt the wrist to extend the reach and center the fork over the bowl."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 21,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      0.17894,
      0.78789,
      -0.21668,
      -0.99579,
      0.1488,
      1.76729,
      -0.03611
    ],
    "gripper_open": 0.1441,
    "tcp_xyz": [
      0.75952,
      0.04066,
      0.8207
    ],
    "tcp_roll_pitch_yaw": [
      0.00265,
      -0.04277,
      -0.00504
    ],
    "tcp_rotation_matrix": [
      [
        0.9995,
        0.03139,
        -0.00222
      ],
      [
        0.03137,
        -0.99948,
        -0.00714
      ],
      [
        -0.00245,
        0.00706,
        -0.99997
      ]
    ],
    "simulated_seconds_remaining": 18.546,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 8.207085695117712,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.35,
                    "z": 0.85
                  },
                  "note": "The extension was rejected, so I first tilt the wrist toward the bowl at the current position to improve reach."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 22,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      0.26217,
      0.47734,
      -0.24694,
      -1.53231,
      0.1155,
      2.29498,
      -0.03496
    ],
    "gripper_open": 0.1437,
    "tcp_xyz": [
      0.7595,
      0.04068,
      0.84956
    ],
    "tcp_roll_pitch_yaw": [
      0.00262,
      -0.34554,
      -0.00504
    ],
    "tcp_rotation_matrix": [
      [
        0.95478,
        0.02761,
        0.29603
      ],
      [
        0.03159,
        -0.99946,
        -0.00867
      ],
      [
        0.29563,
        0.01763,
        -0.95514
      ]
    ],
    "simulated_seconds_remaining": 17.82,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 7.806522446684539,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.83,
                    "y": -0.03,
                    "z": 0.85
                  },
                  "note": "The gray bowl's rim is now visible at the lower left of the wrist view. I advance and shift sideways to bring it beneath the fork."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 23,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      0.10199,
      0.76009,
      -0.22669,
      -1.0676,
      0.18507,
      2.11123,
      -0.14182
    ],
    "gripper_open": 0.1437,
    "tcp_xyz": [
      0.82907,
      -0.02929,
      0.84977
    ],
    "tcp_roll_pitch_yaw": [
      0.00252,
      -0.34521,
      -0.00527
    ],
    "tcp_rotation_matrix": [
      [
        0.95488,
        0.02735,
        0.29572
      ],
      [
        0.03136,
        -0.99947,
        -0.00884
      ],
      [
        0.29532,
        0.01771,
        -0.95523
      ]
    ],
    "simulated_seconds_remaining": 16.83,
    "calls_remaining_including_this": 35
  },
  "api_seconds": 7.00875526946038,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.86,
                    "y": -0.1,
                    "z": 0.85,
                    "pitch": -0.5
                  },
                  "note": "The bowl is beneath the left side of the gripper. I shift the fork over its center, using a little more wrist tilt to maintain reach."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 24,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      0.00185,
      0.78862,
      -0.20434,
      -1.08329,
      0.2469,
      2.30336,
      -0.26359
    ],
    "gripper_open": 0.1436,
    "tcp_xyz": [
      0.85951,
      -0.09929,
      0.84976
    ],
    "tcp_roll_pitch_yaw": [
      0.00253,
      -0.49754,
      -0.00555
    ],
    "tcp_rotation_matrix": [
      [
        0.89903,
        0.02401,
        0.43723
      ],
      [
        0.03141,
        -0.99946,
        -0.00969
      ],
      [
        0.43676,
        0.02245,
        -0.8993
      ]
    ],
    "simulated_seconds_remaining": 16.038,
    "calls_remaining_including_this": 34
  },
  "api_seconds": 20.01427737250924,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.9,
                    "z": 0.82,
                    "pitch": -0.65
                  },
                  "note": "The bowl is centered under the gripper. I move the fork slightly farther over the bowl and lower it toward the rim for a gentle release."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 25,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      -0.01523,
      0.88722,
      -0.16932,
      -1.04832,
      0.29122,
      2.52621,
      -0.2973
    ],
    "gripper_open": 0.1449,
    "tcp_xyz": [
      0.90068,
      -0.09936,
      0.82736
    ],
    "tcp_roll_pitch_yaw": [
      0.00136,
      -0.65665,
      -0.00466
    ],
    "tcp_rotation_matrix": [
      [
        0.81847,
        0.02026,
        0.57419
      ],
      [
        0.03253,
        -0.99941,
        -0.01111
      ],
      [
        0.57363,
        0.02777,
        -0.81864
      ]
    ],
    "simulated_seconds_remaining": 15.378,
    "calls_remaining_including_this": 33
  },
  "api_seconds": 9.207338897511363,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 1
                  },
                  "note": "The fork's lower section is positioned over the bowl opening and rim. I open the gripper to place it on the bowl."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 26,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      -0.01523,
      0.88722,
      -0.16932,
      -1.04832,
      0.29122,
      2.52621,
      -0.2973
    ],
    "gripper_open": 0.9965,
    "tcp_xyz": [
      0.90069,
      -0.09936,
      0.82736
    ],
    "tcp_roll_pitch_yaw": [
      0.00136,
      -0.65671,
      -0.00466
    ],
    "tcp_rotation_matrix": [
      [
        0.81844,
        0.02026,
        0.57424
      ],
      [
        0.03253,
        -0.99941,
        -0.01111
      ],
      [
        0.57367,
        0.02778,
        -0.81861
      ]
    ],
    "simulated_seconds_remaining": 14.454,
    "calls_remaining_including_this": 32
  },
  "api_seconds": 5.604635074734688,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.8,
                    "z": 0.97
                  },
                  "note": "The jaws are open and the fork is resting across the bowl. I withdraw upward and backward to verify that it remains on the receptacle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 22,
    "motion_seconds": 1.452,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 27,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      0.04747,
      0.39135,
      -0.21987,
      -1.50124,
      0.24125,
      2.4831,
      -0.30479
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.80082,
      -0.09939,
      0.96917
    ],
    "tcp_roll_pitch_yaw": [
      0.00132,
      -0.65711,
      -0.00467
    ],
    "tcp_rotation_matrix": [
      [
        0.81821,
        0.02021,
        0.57457
      ],
      [
        0.03252,
        -0.99941,
        -0.01116
      ],
      [
        0.574,
        0.02782,
        -0.81838
      ]
    ],
    "simulated_seconds_remaining": 13.002,
    "calls_remaining_including_this": 31
  },
  "api_seconds": 10.208811050280929,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "done",
                "args": {
                  "note": "The fork has been released and remains resting across the gray bowl after the gripper withdrew."
                }
              }
            }
          ]
        }
      }
    ]
  }
}

========================================================================
GPT-Astra / Pick & place / 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,
  "status": "completed",
  "success": true,
  "oracle_success": true,
  "action_decisions": 29,
  "wall_seconds": 309.48,
  "usage": {
    "input_tokens": 602854,
    "cached_input_tokens": 568448,
    "cache_write_input_tokens": 0,
    "output_tokens": 5374,
    "reasoning_output_tokens": 2218
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick-and-place 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 45 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 and grasp the requested object, lift it, move it to the named receptacle, and release it in or on that receptacle. Complete the entire pick-and-place 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 object and place it in the requested receptacle.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"pick up the spatula and place it on the bowl.\", \"joint_positions\": [0.01987, -0.82223, 0.04297, -2.30797, -0.00311, 1.60408, -0.03034], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.31805, 0.01926, 1.05337], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.98974, 0.07887, 0.11915], [0.08282, -0.99616, -0.02854], [0.11644, 0.03812, -0.99247]], \"simulated_seconds_remaining\": 45.012, \"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": 0.02,
    "z": 0.94,
    "gripper": 1,
    "note": "The bowl is beside a dark spatula on the tabletop. I move closer for a clear overhead view of the spatula."
  },
  "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": 0.02,
      "z": 0.94,
      "gripper": 1
    },
    "note": "The bowl is beside a dark spatula on the tabletop. I move closer for a clear overhead view of the spatula."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"pick up the spatula and place it on the bowl.\", \"joint_positions\": [0.00859, -0.50143, 0.04834, -2.38324, -0.01266, 1.99977, -0.02428], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.42904, 0.01998, 0.94083], \"tcp_roll_pitch_yaw\": [-1e-05, 0.00033, -2e-05], \"tcp_rotation_matrix\": [[0.98978, 0.07886, 0.11883], [0.0828, -0.99616, -0.02856], [0.11612, 0.0381, -0.9925]], \"simulated_seconds_remaining\": 43.626, \"calls_remaining_including_this\": 56}"
      },
      {
        "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": 0.47,
      "y": 0.07,
      "z": 0.86
    },
    "note": "The spatula has a pale blade left of the bowl and a narrow dark handle toward me. I approach the handle with the gripper open."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"pick up the spatula and place it on the bowl.\", \"joint_positions\": [0.0352, -0.29965, 0.12519, -2.41207, -0.01255, 2.22754, 0.08273], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.46943, 0.06938, 0.86092], \"tcp_roll_pitch_yaw\": [-8e-05, 0.00062, 7e-05], \"tcp_rotation_matrix\": [[0.98981, 0.07896, 0.11853], [0.0829, -0.99615, -0.02862], [0.11582, 0.03815, -0.99254]], \"simulated_seconds_remaining\": 42.636, \"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": {
      "y": -0.015,
      "z": 0.87
    },
    "note": "The handle is left of the gripper center in the wrist view. I shift sideways toward it while maintaining clearance above the table."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"pick up the spatula and place it on the bowl.\", \"joint_positions\": [-0.0298, -0.32633, 0.01087, -2.41734, -0.02845, 2.21024, -0.08473], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.46945, -0.01378, 0.86987], \"tcp_roll_pitch_yaw\": [-4e-05, 0.00059, -0.0002], \"tcp_rotation_matrix\": [[0.98982, 0.0787, 0.11856], [0.08263, -0.99617, -0.0286], [0.11585, 0.03811, -0.99254]], \"simulated_seconds_remaining\": 41.778, \"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": {
      "y": -0.035,
      "z": 0.795
    },
    "note": "The spatula handle now lies between the fingers in the wrist image. I lower toward the handle and refine the sideways alignment."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"pick up the spatula and place it on the bowl.\", \"joint_positions\": [-0.04883, -0.2241, -0.0178, -2.52222, -0.0372, 2.41797, -0.121], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.46937, -0.03465, 0.79618], \"tcp_roll_pitch_yaw\": [-1e-05, 0.00096, -0.00027], \"tcp_rotation_matrix\": [[0.98987, 0.07864, 0.11819], [0.08255, -0.99618, -0.02858], [0.11549, 0.03805, -0.99258]], \"simulated_seconds_remaining\": 40.986, \"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": 0.51,
      "z": 0.765
    },
    "note": "The pale blade is just above the finger gap, with its handle extending below it. I advance along the handle and lower to grasp height."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"pick up the spatula and place it on the bowl.\", \"joint_positions\": [-0.04655, -0.05583, -0.01535, -2.42624, -0.0364, 2.48997, -0.11529], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.50902, -0.03465, 0.76566], \"tcp_roll_pitch_yaw\": [0.0, 0.00114, -0.00027], \"tcp_rotation_matrix\": [[0.98989, 0.07865, 0.11802], [0.08256, -0.99618, -0.02857], [0.11532, 0.03803, -0.9926]], \"simulated_seconds_remaining\": 40.326, \"calls_remaining_including_this\": 52}"
      },
      {
        "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": 0.735,
      "gripper": 0
    },
    "note": "The narrow handle is aligned in the finger gap below the blade. I lower the final few centimeters and close the jaws around it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"pick up the spatula and place it on the bowl.\", \"joint_positions\": [-0.04298, -0.04027, -0.01057, -2.43935, -0.03736, 2.56517, -0.11224], \"gripper_open\": 0.0167, \"tcp_xyz\": [0.51939, -0.03035, 0.76111], \"tcp_roll_pitch_yaw\": [-0.00149, -0.04538, 0.00764], \"tcp_rotation_matrix\": [[0.98278, 0.0846, 0.16428], [0.09051, -0.99548, -0.02877], [0.1611, 0.04314, -0.98599]], \"simulated_seconds_remaining\": 39.402, \"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": {
      "z": 0.9
    },
    "note": "The jaws have closed, but the blade remains visible to the left. I lift to check whether the spatula is secured."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"pick up the spatula and place it on the bowl.\", \"joint_positions\": [-0.04054, -0.22636, -0.0095, -2.25795, -0.02799, 2.19808, -0.12372], \"gripper_open\": 0.0, \"tcp_xyz\": [0.51947, -0.03036, 0.89884], \"tcp_roll_pitch_yaw\": [-0.00151, -0.04575, 0.00764], \"tcp_rotation_matrix\": [[0.98272, 0.08459, 0.16463], [0.09051, -0.99548, -0.02878], [0.16146, 0.04319, -0.98593]], \"simulated_seconds_remaining\": 38.148, \"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"
}

The first grasp missed the handle. I can now see it clearly and will realign the fingers for another attempt.


{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.48,
      "y": -0.105,
      "z": 0.86,
      "gripper": 1,
      "pitch": 0,
      "roll": 0,
      "yaw": 0
    },
    "note": "The spatula stayed on the table; its handle is left and above the grasp center. I reopen and shift over the exposed handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"pick up the spatula and place it on the bowl.\", \"joint_positions\": [-0.10261, -0.25238, -0.10517, -2.37036, -0.03789, 2.24232, -0.26545], \"gripper_open\": 0.9965, \"tcp_xyz\": [0.48052, -0.10405, 0.8605], \"tcp_roll_pitch_yaw\": [2e-05, -0.00055, -0.00012], \"tcp_rotation_matrix\": [[0.98968, 0.07873, 0.11969], [0.0827, -0.99617, -0.02854], [0.11699, 0.03814, -0.9924]], \"simulated_seconds_remaining\": 37.224, \"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": 0.52,
      "y": -0.119,
      "z": 0.785
    },
    "note": "The handle is now centered between the open jaws. I descend while advancing slightly so the handle stays at the grasp point."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"pick up the spatula and place it on the bowl.\", \"joint_positions\": [-0.09921, -0.03498, -0.11559, -2.33352, -0.00675, 2.42769, -0.29981], \"gripper_open\": 0.9996, \"tcp_xyz\": [0.52167, -0.11398, 0.78926], \"tcp_roll_pitch_yaw\": [-0.00032, -0.00618, 0.00847], \"tcp_rotation_matrix\": [[0.98826, 0.08706, 0.12552], [0.09123, -0.99544, -0.0278], [0.12253, 0.03893, -0.9917]], \"simulated_seconds_remaining\": 36.366, \"calls_remaining_including_this\": 48}"
      },
      {
        "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 spatula handle runs through the center of the finger gap. I close the gripper at this height to capture it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 11, \"instruction\": \"pick up the spatula and place it on the bowl.\", \"joint_positions\": [-0.09921, -0.03498, -0.11559, -2.33352, -0.00675, 2.42769, -0.29981], \"gripper_open\": 0.0, \"tcp_xyz\": [0.52168, -0.11399, 0.78926], \"tcp_roll_pitch_yaw\": [-0.00033, -0.00619, 0.00847], \"tcp_rotation_matrix\": [[0.98826, 0.08706, 0.12553], [0.09123, -0.99544, -0.02781], [0.12254, 0.03893, -0.9917]], \"simulated_seconds_remaining\": 35.442, \"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": {
      "z": 0.91
    },
    "note": "The fingers are closed around the handle location. I lift vertically to verify that the spatula follows."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 12, \"instruction\": \"pick up the spatula and place it on the bowl.\", \"joint_positions\": [-0.09907, -0.16843, -0.1101, -2.15749, -0.02294, 2.11926, -0.28775], \"gripper_open\": 0.0, \"tcp_xyz\": [0.52176, -0.114, 0.90884], \"tcp_roll_pitch_yaw\": [-0.00038, -0.00655, 0.00847], \"tcp_rotation_matrix\": [[0.98822, 0.08705, 0.12589], [0.09123, -0.99544, -0.02786], [0.12289, 0.03902, -0.99165]], \"simulated_seconds_remaining\": 34.32, \"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": {
      "x": 0.55,
      "y": -0.11,
      "z": 0.765,
      "gripper": 1
    },
    "note": "The spatula remained on the table, so the jaws were above or short of the handle. I reopen and descend farther, advancing to place the handle deeper between the fingers."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 13, \"instruction\": \"pick up the spatula and place it on the bowl.\", \"joint_positions\": [-0.09157, 0.0755, -0.10558, -2.26314, 0.00828, 2.46708, -0.29213], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.54965, -0.11001, 0.76619], \"tcp_roll_pitch_yaw\": [-0.00032, -0.00616, 0.00849], \"tcp_rotation_matrix\": [[0.98826, 0.08709, 0.12551], [0.09125, -0.99544, -0.0278], [0.12251, 0.03892, -0.9917]], \"simulated_seconds_remaining\": 33.066, \"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": 0.585,
      "y": -0.105,
      "z": 0.765
    },
    "note": "The handle is visible just behind the finger tips. I advance a small amount along it so the jaws straddle its middle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 14, \"instruction\": \"pick up the spatula and place it on the bowl.\", \"joint_positions\": [-0.0824, 0.16465, -0.09588, -2.14613, 0.01594, 2.43876, -0.27722], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.58382, -0.10513, 0.76502], \"tcp_roll_pitch_yaw\": [-0.00032, -0.00614, 0.00857], \"tcp_rotation_matrix\": [[0.98826, 0.08717, 0.12549], [0.09133, -0.99543, -0.02779], [0.12249, 0.03892, -0.99171]], \"simulated_seconds_remaining\": 32.538, \"calls_remaining_including_this\": 44}"
      },
      {
        "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": 0.605,
      "y": -0.095,
      "z": 0.762,
      "gripper": 0
    },
    "note": "The middle of the handle is now between the jaws. I make a final small alignment and close at tabletop height."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 15, \"instruction\": \"pick up the spatula and place it on the bowl.\", \"joint_positions\": [-0.06985, 0.21823, -0.08701, -2.07892, 0.01604, 2.42493, -0.25472], \"gripper_open\": 0.0, \"tcp_xyz\": [0.60414, -0.09544, 0.76213], \"tcp_roll_pitch_yaw\": [-0.00034, -0.00615, 0.00854], \"tcp_rotation_matrix\": [[0.98826, 0.08714, 0.1255], [0.0913, -0.99543, -0.02781], [0.1225, 0.03894, -0.9917]], \"simulated_seconds_remaining\": 31.614, \"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": {
      "z": 0.92
    },
    "note": "The handle meets the closed jaws and the blade has shifted with the grasp. I lift to test whether it is held securely."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 16, \"instruction\": \"pick up the spatula and place it on the bowl.\", \"joint_positions\": [-0.06593, 0.06242, -0.09013, -1.86325, -0.00271, 2.05445, -0.24413], \"gripper_open\": 0.0001, \"tcp_xyz\": [0.60422, -0.09545, 0.91879], \"tcp_roll_pitch_yaw\": [-0.00038, -0.00655, 0.00854], \"tcp_rotation_matrix\": [[0.98821, 0.08712, 0.1259], [0.09131, -0.99543, -0.02785], [0.12289, 0.03902, -0.99165]], \"simulated_seconds_remaining\": 30.294, \"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": {
      "x": 0.585,
      "y": -0.09,
      "z": 0.735,
      "gripper": 1
    },
    "note": "The handle slipped free again. I reopen and lower directly around its narrow shaft to get the fingers beneath its sides."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 17, \"instruction\": \"pick up the spatula and place it on the bowl.\", \"joint_positions\": [-0.0667, 0.19236, -0.08502, -2.16397, 0.01484, 2.50242, -0.25097], \"gripper_open\": 1.0, \"tcp_xyz\": [0.58962, -0.09063, 0.74817], \"tcp_roll_pitch_yaw\": [-0.00188, -0.02432, 0.00976], \"tcp_rotation_matrix\": [[0.98576, 0.0876, 0.14354], [0.09266, -0.99527, -0.02901], [0.14032, 0.04189, -0.98922]], \"simulated_seconds_remaining\": 28.776, \"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": {
      "gripper": 0
    },
    "note": "The open fingers now reach the tabletop on either side of the shaft. I close around the handle at this lower height."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 18, \"instruction\": \"pick up the spatula and place it on the bowl.\", \"joint_positions\": [-0.06089, 0.18021, -0.07738, -2.15717, 0.01764, 2.50158, -0.25107], \"gripper_open\": 0.571, \"tcp_xyz\": [0.59563, -0.08276, 0.75837], \"tcp_roll_pitch_yaw\": [-0.00041, -0.04278, 0.02127], \"tcp_rotation_matrix\": [[0.98187, 0.09832, 0.16207], [0.10377, -0.99427, -0.02551], [0.15863, 0.04187, -0.98645]], \"simulated_seconds_remaining\": 27.852, \"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": {
      "z": 0.94
    },
    "note": "The jaws stopped partway closed against the spatula, indicating contact. I lift it clear of the table."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 19, \"instruction\": \"pick up the spatula and place it on the bowl.\", \"joint_positions\": [-0.05734, -0.00304, -0.07952, -1.90399, -0.00384, 2.06612, -0.23723], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.5957, -0.08277, 0.93882], \"tcp_roll_pitch_yaw\": [-0.00045, -0.04317, 0.02127], \"tcp_rotation_matrix\": [[0.98181, 0.0983, 0.16245], [0.10378, -0.99427, -0.02554], [0.15901, 0.04194, -0.98639]], \"simulated_seconds_remaining\": 26.334, \"calls_remaining_including_this\": 39}"
      },
      {
        "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": 0.59,
      "y": -0.085,
      "z": 0.743,
      "gripper": 1,
      "pitch": 0,
      "roll": 0,
      "yaw": 0
    },
    "note": "The fingers reopened during the lift. I return to the handle and will explicitly keep the close command active while lifting."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 20, \"instruction\": \"pick up the spatula and place it on the bowl.\", \"joint_positions\": [-0.06123, 0.203, -0.08012, -2.14188, 0.00784, 2.47202, -0.22637], \"gripper_open\": 1.0, \"tcp_xyz\": [0.5913, -0.0851, 0.7481], \"tcp_roll_pitch_yaw\": [-0.00032, -0.0055, 0.00068], \"tcp_rotation_matrix\": [[0.98903, 0.07934, 0.12463], [0.08353, -0.99609, -0.02878], [0.12186, 0.03887, -0.99179]], \"simulated_seconds_remaining\": 24.75, \"calls_remaining_including_this\": 38}"
      },
      {
        "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 shaft is inside the jaw gap at table height. I close the fingers around it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 21, \"instruction\": \"pick up the spatula and place it on the bowl.\", \"joint_positions\": [-0.0549, 0.19178, -0.07175, -2.13523, 0.01107, 2.47152, -0.22642], \"gripper_open\": 0.5968, \"tcp_xyz\": [0.5972, -0.07635, 0.7577], \"tcp_roll_pitch_yaw\": [0.00203, -0.02326, 0.01308], \"tcp_rotation_matrix\": [[0.98559, 0.09103, 0.14254], [0.09548, -0.99513, -0.02466], [0.1396, 0.03792, -0.98948]], \"simulated_seconds_remaining\": 23.826, \"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": {
      "z": 0.94,
      "gripper": 0
    },
    "note": "The jaws are in contact with the spatula. I lift while continuously commanding them closed."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 22, \"instruction\": \"pick up the spatula and place it on the bowl.\", \"joint_positions\": [-0.05149, 0.01319, -0.07364, -1.87787, -0.00638, 2.03642, -0.21649], \"gripper_open\": 0.0, \"tcp_xyz\": [0.59727, -0.07635, 0.93882], \"tcp_roll_pitch_yaw\": [0.002, -0.02364, 0.01308], \"tcp_rotation_matrix\": [[0.98554, 0.09102, 0.14292], [0.09548, -0.99512, -0.02469], [0.13998, 0.03798, -0.98943]], \"simulated_seconds_remaining\": 22.308, \"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": 0.565,
      "y": -0.085,
      "z": 0.72,
      "gripper": 1,
      "pitch": 0,
      "roll": 0,
      "yaw": 0
    },
    "note": "The shaft is still on the surface. I reposition slightly toward its free end and lower the open fingers fully around it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 23, \"instruction\": \"pick up the spatula and place it on the bowl.\", \"joint_positions\": [-0.06429, 0.14364, -0.08034, -2.23927, 0.00791, 2.54911, -0.23315], \"gripper_open\": 1.0, \"tcp_xyz\": [0.57495, -0.08458, 0.74845], \"tcp_roll_pitch_yaw\": [-0.00264, -0.04437, 0.00341], \"tcp_rotation_matrix\": [[0.98332, 0.08038, 0.16316], [0.08648, -0.99578, -0.03061], [0.16001, 0.04421, -0.98612]], \"simulated_seconds_remaining\": 20.526, \"calls_remaining_including_this\": 35}"
      },
      {
        "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": 0.52,
      "y": -0.095,
      "z": 0.748,
      "gripper": 1
    },
    "note": "The blade is near the finger tips. I shift toward the narrow free end so the grasp encloses only the handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 24, \"instruction\": \"pick up the spatula and place it on the bowl.\", \"joint_positions\": [-0.08223, 0.00984, -0.0972, -2.41645, 0.00021, 2.59551, -0.26349], \"gripper_open\": 0.9989, \"tcp_xyz\": [0.52207, -0.09484, 0.74899], \"tcp_roll_pitch_yaw\": [-0.00291, -0.04686, 0.0033], \"tcp_rotation_matrix\": [[0.98293, 0.08014, 0.16561], [0.0864, -0.99578, -0.03088], [0.16244, 0.04466, -0.98571]], \"simulated_seconds_remaining\": 19.866, \"calls_remaining_including_this\": 34}"
      },
      {
        "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 extends into the lower part of the gripper gap. I close at this position to grasp its free end."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 25, \"instruction\": \"pick up the spatula and place it on the bowl.\", \"joint_positions\": [-0.07788, 0.00047, -0.09161, -2.4113, 0.00213, 2.59484, -0.26365], \"gripper_open\": 0.7106, \"tcp_xyz\": [0.52675, -0.09002, 0.75617], \"tcp_roll_pitch_yaw\": [-0.00329, -0.06082, 0.01198], \"tcp_rotation_matrix\": [[0.97978, 0.08813, 0.17962], [0.09494, -0.99504, -0.02966], [0.17612, 0.04611, -0.98329]], \"simulated_seconds_remaining\": 18.942, \"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": 0.85,
      "gripper": 0
    },
    "note": "The gripper is partially closed against the object. I lift with the jaws commanded closed to secure the grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 26, \"instruction\": \"pick up the spatula and place it on the bowl.\", \"joint_positions\": [-0.07903, -0.14537, -0.08876, -2.3114, -0.01689, 2.34993, -0.24972], \"gripper_open\": 0.6899, \"tcp_xyz\": [0.52684, -0.09003, 0.84881], \"tcp_roll_pitch_yaw\": [-0.00333, -0.06115, 0.01198], \"tcp_rotation_matrix\": [[0.97972, 0.08812, 0.17994], [0.09495, -0.99504, -0.02969], [0.17643, 0.04618, -0.98323]], \"simulated_seconds_remaining\": 18.018, \"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"
}

The spatula is now held securely. I’ll move it over the bowl and release it onto the rim.


{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.51,
      "y": 0.1,
      "z": 0.98,
      "gripper": 0
    },
    "note": "The spatula has lifted with the gripper and remains firmly held. I carry it upward and sideways toward the bowl."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 27, \"instruction\": \"pick up the spatula and place it on the bowl.\", \"joint_positions\": [0.05755, -0.27095, 0.14566, -2.09493, -0.02885, 1.99818, 0.11834], \"gripper_open\": 0.6893, \"tcp_xyz\": [0.51011, 0.099, 0.97929], \"tcp_roll_pitch_yaw\": [-0.00334, -0.06129, 0.01222], \"tcp_rotation_matrix\": [[0.97967, 0.08835, 0.18009], [0.09518, -0.99502, -0.02966], [0.17657, 0.0462, -0.9832]], \"simulated_seconds_remaining\": 16.17, \"calls_remaining_including_this\": 31}"
      },
      {
        "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": 0.42,
      "y": 0.125,
      "z": 0.9,
      "gripper": 0
    },
    "note": "The bowl is directly ahead of the held blade in the wrist view. I center the spatula over its opening and lower toward the rim."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 28, \"instruction\": \"pick up the spatula and place it on the bowl.\", \"joint_positions\": [0.11152, -0.49213, 0.19653, -2.48764, 0.01441, 2.16861, 0.19295], \"gripper_open\": 0.6873, \"tcp_xyz\": [0.42092, 0.12476, 0.90081], \"tcp_roll_pitch_yaw\": [-0.00341, -0.06116, 0.01234], \"tcp_rotation_matrix\": [[0.97969, 0.08847, 0.17997], [0.09531, -0.995, -0.02971], [0.17644, 0.04626, -0.98322]], \"simulated_seconds_remaining\": 15.048, \"calls_remaining_including_this\": 30}"
      },
      {
        "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": 0.845,
      "gripper": 0
    },
    "note": "The spatula is centered over the bowl. I lower gently until it is just above the rim for a controlled release."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 29, \"instruction\": \"pick up the spatula and place it on the bowl.\", \"joint_positions\": [0.10769, -0.43532, 0.2108, -2.58652, 0.00771, 2.32345, 0.20897], \"gripper_open\": 0.6846, \"tcp_xyz\": [0.42089, 0.12475, 0.84615], \"tcp_roll_pitch_yaw\": [-0.00345, -0.06099, 0.01234], \"tcp_rotation_matrix\": [[0.97972, 0.08848, 0.1798], [0.09532, -0.995, -0.02975], [0.17627, 0.04629, -0.98325]], \"simulated_seconds_remaining\": 14.124, \"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": 1
    },
    "note": "The spatula rests over the bowl opening at the rim. I open the jaws to place it on the bowl."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "Episode ended. Do not call more tools. Return a brief final response."
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

Placed the spatula on the bowl.

TURN USAGE
{
  "input_tokens": 602854,
  "cached_input_tokens": 568448,
  "cache_write_input_tokens": 0,
  "output_tokens": 5374,
  "reasoning_output_tokens": 2218
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "pick up the spatula and place it on the bowl.",
    "joint_positions": [
      0.01987,
      -0.82223,
      0.04297,
      -2.30797,
      -0.00311,
      1.60408,
      -0.03034
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.31805,
      0.01926,
      1.05337
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.98974,
        0.07887,
        0.11915
      ],
      [
        0.08282,
        -0.99616,
        -0.02854
      ],
      [
        0.11644,
        0.03812,
        -0.99247
      ]
    ],
    "simulated_seconds_remaining": 45.012,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 21.216233015060425,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.43,
                    "y": 0.02,
                    "z": 0.94,
                    "gripper": 1
                  },
                  "note": "The bowl is beside a dark spatula on the tabletop. I move closer for a clear overhead view of the spatula."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "pick up the spatula and place it on the bowl.",
    "joint_positions": [
      0.00859,
      -0.50143,
      0.04834,
      -2.38324,
      -0.01266,
      1.99977,
      -0.02428
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.42904,
      0.01998,
      0.94083
    ],
    "tcp_roll_pitch_yaw": [
      -1e-05,
      0.00033,
      -2e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.98978,
        0.07886,
        0.11883
      ],
      [
        0.0828,
        -0.99616,
        -0.02856
      ],
      [
        0.11612,
        0.0381,
        -0.9925
      ]
    ],
    "simulated_seconds_remaining": 43.626,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 11.809406590647995,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.47,
                    "y": 0.07,
                    "z": 0.86
                  },
                  "note": "The spatula has a pale blade left of the bowl and a narrow dark handle toward me. I approach the handle with the gripper open."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "pick up the spatula and place it on the bowl.",
    "joint_positions": [
      0.0352,
      -0.29965,
      0.12519,
      -2.41207,
      -0.01255,
      2.22754,
      0.08273
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.46943,
      0.06938,
      0.86092
    ],
    "tcp_roll_pitch_yaw": [
      -8e-05,
      0.00062,
      7e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.98981,
        0.07896,
        0.11853
      ],
      [
        0.0829,
        -0.99615,
        -0.02862
      ],
      [
        0.11582,
        0.03815,
        -0.99254
      ]
    ],
    "simulated_seconds_remaining": 42.636,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 8.607055286876857,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": -0.015,
                    "z": 0.87
                  },
                  "note": "The handle is left of the gripper center in the wrist view. I shift sideways toward it while maintaining clearance above the table."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "pick up the spatula and place it on the bowl.",
    "joint_positions": [
      -0.0298,
      -0.32633,
      0.01087,
      -2.41734,
      -0.02845,
      2.21024,
      -0.08473
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.46945,
      -0.01378,
      0.86987
    ],
    "tcp_roll_pitch_yaw": [
      -4e-05,
      0.00059,
      -0.0002
    ],
    "tcp_rotation_matrix": [
      [
        0.98982,
        0.0787,
        0.11856
      ],
      [
        0.08263,
        -0.99617,
        -0.0286
      ],
      [
        0.11585,
        0.03811,
        -0.99254
      ]
    ],
    "simulated_seconds_remaining": 41.778,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 6.6050534676760435,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": -0.035,
                    "z": 0.795
                  },
                  "note": "The spatula handle now lies between the fingers in the wrist image. I lower toward the handle and refine the sideways alignment."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "pick up the spatula and place it on the bowl.",
    "joint_positions": [
      -0.04883,
      -0.2241,
      -0.0178,
      -2.52222,
      -0.0372,
      2.41797,
      -0.121
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.46937,
      -0.03465,
      0.79618
    ],
    "tcp_roll_pitch_yaw": [
      -1e-05,
      0.00096,
      -0.00027
    ],
    "tcp_rotation_matrix": [
      [
        0.98987,
        0.07864,
        0.11819
      ],
      [
        0.08255,
        -0.99618,
        -0.02858
      ],
      [
        0.11549,
        0.03805,
        -0.99258
      ]
    ],
    "simulated_seconds_remaining": 40.986,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 10.207959684543312,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.51,
                    "z": 0.765
                  },
                  "note": "The pale blade is just above the finger gap, with its handle extending below it. I advance along the handle and lower to grasp height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "pick up the spatula and place it on the bowl.",
    "joint_positions": [
      -0.04655,
      -0.05583,
      -0.01535,
      -2.42624,
      -0.0364,
      2.48997,
      -0.11529
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.50902,
      -0.03465,
      0.76566
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.00114,
      -0.00027
    ],
    "tcp_rotation_matrix": [
      [
        0.98989,
        0.07865,
        0.11802
      ],
      [
        0.08256,
        -0.99618,
        -0.02857
      ],
      [
        0.11532,
        0.03803,
        -0.9926
      ]
    ],
    "simulated_seconds_remaining": 40.326,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 6.805892378091812,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.735,
                    "gripper": 0
                  },
                  "note": "The narrow handle is aligned in the finger gap below the blade. I lower the final few centimeters and close the jaws around it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "pick up the spatula and place it on the bowl.",
    "joint_positions": [
      -0.04298,
      -0.04027,
      -0.01057,
      -2.43935,
      -0.03736,
      2.56517,
      -0.11224
    ],
    "gripper_open": 0.0167,
    "tcp_xyz": [
      0.51939,
      -0.03035,
      0.76111
    ],
    "tcp_roll_pitch_yaw": [
      -0.00149,
      -0.04538,
      0.00764
    ],
    "tcp_rotation_matrix": [
      [
        0.98278,
        0.0846,
        0.16428
      ],
      [
        0.09051,
        -0.99548,
        -0.02877
      ],
      [
        0.1611,
        0.04314,
        -0.98599
      ]
    ],
    "simulated_seconds_remaining": 39.402,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 5.604673159308732,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.9
                  },
                  "note": "The jaws have closed, but the blade remains visible to the left. I lift to check whether the spatula is secured."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "pick up the spatula and place it on the bowl.",
    "joint_positions": [
      -0.04054,
      -0.22636,
      -0.0095,
      -2.25795,
      -0.02799,
      2.19808,
      -0.12372
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.51947,
      -0.03036,
      0.89884
    ],
    "tcp_roll_pitch_yaw": [
      -0.00151,
      -0.04575,
      0.00764
    ],
    "tcp_rotation_matrix": [
      [
        0.98272,
        0.08459,
        0.16463
      ],
      [
        0.09051,
        -0.99548,
        -0.02878
      ],
      [
        0.16146,
        0.04319,
        -0.98593
      ]
    ],
    "simulated_seconds_remaining": 38.148,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 9.60749477148056,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48,
                    "y": -0.105,
                    "z": 0.86,
                    "gripper": 1,
                    "pitch": 0,
                    "roll": 0,
                    "yaw": 0
                  },
                  "note": "The spatula stayed on the table; its handle is left and above the grasp center. I reopen and shift over the exposed handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "pick up the spatula and place it on the bowl.",
    "joint_positions": [
      -0.10261,
      -0.25238,
      -0.10517,
      -2.37036,
      -0.03789,
      2.24232,
      -0.26545
    ],
    "gripper_open": 0.9965,
    "tcp_xyz": [
      0.48052,
      -0.10405,
      0.8605
    ],
    "tcp_roll_pitch_yaw": [
      2e-05,
      -0.00055,
      -0.00012
    ],
    "tcp_rotation_matrix": [
      [
        0.98968,
        0.07873,
        0.11969
      ],
      [
        0.0827,
        -0.99617,
        -0.02854
      ],
      [
        0.11699,
        0.03814,
        -0.9924
      ]
    ],
    "simulated_seconds_remaining": 37.224,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 7.205786447972059,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.52,
                    "y": -0.119,
                    "z": 0.785
                  },
                  "note": "The handle is now centered between the open jaws. I descend while advancing slightly so the handle stays at the grasp point."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "pick up the spatula and place it on the bowl.",
    "joint_positions": [
      -0.09921,
      -0.03498,
      -0.11559,
      -2.33352,
      -0.00675,
      2.42769,
      -0.29981
    ],
    "gripper_open": 0.9996,
    "tcp_xyz": [
      0.52167,
      -0.11398,
      0.78926
    ],
    "tcp_roll_pitch_yaw": [
      -0.00032,
      -0.00618,
      0.00847
    ],
    "tcp_rotation_matrix": [
      [
        0.98826,
        0.08706,
        0.12552
      ],
      [
        0.09123,
        -0.99544,
        -0.0278
      ],
      [
        0.12253,
        0.03893,
        -0.9917
      ]
    ],
    "simulated_seconds_remaining": 36.366,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 7.005477320402861,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The spatula handle runs through the center of the finger gap. I close the gripper at this height to capture it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "pick up the spatula and place it on the bowl.",
    "joint_positions": [
      -0.09921,
      -0.03498,
      -0.11559,
      -2.33352,
      -0.00675,
      2.42769,
      -0.29981
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.52168,
      -0.11399,
      0.78926
    ],
    "tcp_roll_pitch_yaw": [
      -0.00033,
      -0.00619,
      0.00847
    ],
    "tcp_rotation_matrix": [
      [
        0.98826,
        0.08706,
        0.12553
      ],
      [
        0.09123,
        -0.99544,
        -0.02781
      ],
      [
        0.12254,
        0.03893,
        -0.9917
      ]
    ],
    "simulated_seconds_remaining": 35.442,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 7.2056927513331175,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.91
                  },
                  "note": "The fingers are closed around the handle location. I lift vertically to verify that the spatula follows."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "pick up the spatula and place it on the bowl.",
    "joint_positions": [
      -0.09907,
      -0.16843,
      -0.1101,
      -2.15749,
      -0.02294,
      2.11926,
      -0.28775
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.52176,
      -0.114,
      0.90884
    ],
    "tcp_roll_pitch_yaw": [
      -0.00038,
      -0.00655,
      0.00847
    ],
    "tcp_rotation_matrix": [
      [
        0.98822,
        0.08705,
        0.12589
      ],
      [
        0.09123,
        -0.99544,
        -0.02786
      ],
      [
        0.12289,
        0.03902,
        -0.99165
      ]
    ],
    "simulated_seconds_remaining": 34.32,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 11.608964703045785,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.55,
                    "y": -0.11,
                    "z": 0.765,
                    "gripper": 1
                  },
                  "note": "The spatula remained on the table, so the jaws were above or short of the handle. I reopen and descend farther, advancing to place the handle deeper between the fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "pick up the spatula and place it on the bowl.",
    "joint_positions": [
      -0.09157,
      0.0755,
      -0.10558,
      -2.26314,
      0.00828,
      2.46708,
      -0.29213
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.54965,
      -0.11001,
      0.76619
    ],
    "tcp_roll_pitch_yaw": [
      -0.00032,
      -0.00616,
      0.00849
    ],
    "tcp_rotation_matrix": [
      [
        0.98826,
        0.08709,
        0.12551
      ],
      [
        0.09125,
        -0.99544,
        -0.0278
      ],
      [
        0.12251,
        0.03892,
        -0.9917
      ]
    ],
    "simulated_seconds_remaining": 33.066,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 6.60511826723814,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.585,
                    "y": -0.105,
                    "z": 0.765
                  },
                  "note": "The handle is visible just behind the finger tips. I advance a small amount along it so the jaws straddle its middle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 8,
    "motion_seconds": 0.528,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "pick up the spatula and place it on the bowl.",
    "joint_positions": [
      -0.0824,
      0.16465,
      -0.09588,
      -2.14613,
      0.01594,
      2.43876,
      -0.27722
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.58382,
      -0.10513,
      0.76502
    ],
    "tcp_roll_pitch_yaw": [
      -0.00032,
      -0.00614,
      0.00857
    ],
    "tcp_rotation_matrix": [
      [
        0.98826,
        0.08717,
        0.12549
      ],
      [
        0.09133,
        -0.99543,
        -0.02779
      ],
      [
        0.12249,
        0.03892,
        -0.99171
      ]
    ],
    "simulated_seconds_remaining": 32.538,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 6.4049115581437945,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.605,
                    "y": -0.095,
                    "z": 0.762,
                    "gripper": 0
                  },
                  "note": "The middle of the handle is now between the jaws. I make a final small alignment and close at tabletop height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "pick up the spatula and place it on the bowl.",
    "joint_positions": [
      -0.06985,
      0.21823,
      -0.08701,
      -2.07892,
      0.01604,
      2.42493,
      -0.25472
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.60414,
      -0.09544,
      0.76213
    ],
    "tcp_roll_pitch_yaw": [
      -0.00034,
      -0.00615,
      0.00854
    ],
    "tcp_rotation_matrix": [
      [
        0.98826,
        0.08714,
        0.1255
      ],
      [
        0.0913,
        -0.99543,
        -0.02781
      ],
      [
        0.1225,
        0.03894,
        -0.9917
      ]
    ],
    "simulated_seconds_remaining": 31.614,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 4.803881188854575,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.92
                  },
                  "note": "The handle meets the closed jaws and the blade has shifted with the grasp. I lift to test whether it is held securely."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "pick up the spatula and place it on the bowl.",
    "joint_positions": [
      -0.06593,
      0.06242,
      -0.09013,
      -1.86325,
      -0.00271,
      2.05445,
      -0.24413
    ],
    "gripper_open": 0.0001,
    "tcp_xyz": [
      0.60422,
      -0.09545,
      0.91879
    ],
    "tcp_roll_pitch_yaw": [
      -0.00038,
      -0.00655,
      0.00854
    ],
    "tcp_rotation_matrix": [
      [
        0.98821,
        0.08712,
        0.1259
      ],
      [
        0.09131,
        -0.99543,
        -0.02785
      ],
      [
        0.12289,
        0.03902,
        -0.99165
      ]
    ],
    "simulated_seconds_remaining": 30.294,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 11.409291693940759,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.585,
                    "y": -0.09,
                    "z": 0.735,
                    "gripper": 1
                  },
                  "note": "The handle slipped free again. I reopen and lower directly around its narrow shaft to get the fingers beneath its sides."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "pick up the spatula and place it on the bowl.",
    "joint_positions": [
      -0.0667,
      0.19236,
      -0.08502,
      -2.16397,
      0.01484,
      2.50242,
      -0.25097
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.58962,
      -0.09063,
      0.74817
    ],
    "tcp_roll_pitch_yaw": [
      -0.00188,
      -0.02432,
      0.00976
    ],
    "tcp_rotation_matrix": [
      [
        0.98576,
        0.0876,
        0.14354
      ],
      [
        0.09266,
        -0.99527,
        -0.02901
      ],
      [
        0.14032,
        0.04189,
        -0.98922
      ]
    ],
    "simulated_seconds_remaining": 28.776,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 5.805115266703069,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The open fingers now reach the tabletop on either side of the shaft. I close around the handle at this lower height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "pick up the spatula and place it on the bowl.",
    "joint_positions": [
      -0.06089,
      0.18021,
      -0.07738,
      -2.15717,
      0.01764,
      2.50158,
      -0.25107
    ],
    "gripper_open": 0.571,
    "tcp_xyz": [
      0.59563,
      -0.08276,
      0.75837
    ],
    "tcp_roll_pitch_yaw": [
      -0.00041,
      -0.04278,
      0.02127
    ],
    "tcp_rotation_matrix": [
      [
        0.98187,
        0.09832,
        0.16207
      ],
      [
        0.10377,
        -0.99427,
        -0.02551
      ],
      [
        0.15863,
        0.04187,
        -0.98645
      ]
    ],
    "simulated_seconds_remaining": 27.852,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 4.804163366556168,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.94
                  },
                  "note": "The jaws stopped partway closed against the spatula, indicating contact. I lift it clear of the table."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 19,
  "state": {
    "instruction": "pick up the spatula and place it on the bowl.",
    "joint_positions": [
      -0.05734,
      -0.00304,
      -0.07952,
      -1.90399,
      -0.00384,
      2.06612,
      -0.23723
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.5957,
      -0.08277,
      0.93882
    ],
    "tcp_roll_pitch_yaw": [
      -0.00045,
      -0.04317,
      0.02127
    ],
    "tcp_rotation_matrix": [
      [
        0.98181,
        0.0983,
        0.16245
      ],
      [
        0.10378,
        -0.99427,
        -0.02554
      ],
      [
        0.15901,
        0.04194,
        -0.98639
      ]
    ],
    "simulated_seconds_remaining": 26.334,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 9.607905476354063,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.59,
                    "y": -0.085,
                    "z": 0.743,
                    "gripper": 1,
                    "pitch": 0,
                    "roll": 0,
                    "yaw": 0
                  },
                  "note": "The fingers reopened during the lift. I return to the handle and will explicitly keep the close command active while lifting."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 24,
    "motion_seconds": 1.584,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 20,
  "state": {
    "instruction": "pick up the spatula and place it on the bowl.",
    "joint_positions": [
      -0.06123,
      0.203,
      -0.08012,
      -2.14188,
      0.00784,
      2.47202,
      -0.22637
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.5913,
      -0.0851,
      0.7481
    ],
    "tcp_roll_pitch_yaw": [
      -0.00032,
      -0.0055,
      0.00068
    ],
    "tcp_rotation_matrix": [
      [
        0.98903,
        0.07934,
        0.12463
      ],
      [
        0.08353,
        -0.99609,
        -0.02878
      ],
      [
        0.12186,
        0.03887,
        -0.99179
      ]
    ],
    "simulated_seconds_remaining": 24.75,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 6.206488638184965,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The shaft is inside the jaw gap at table height. I close the fingers around it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 21,
  "state": {
    "instruction": "pick up the spatula and place it on the bowl.",
    "joint_positions": [
      -0.0549,
      0.19178,
      -0.07175,
      -2.13523,
      0.01107,
      2.47152,
      -0.22642
    ],
    "gripper_open": 0.5968,
    "tcp_xyz": [
      0.5972,
      -0.07635,
      0.7577
    ],
    "tcp_roll_pitch_yaw": [
      0.00203,
      -0.02326,
      0.01308
    ],
    "tcp_rotation_matrix": [
      [
        0.98559,
        0.09103,
        0.14254
      ],
      [
        0.09548,
        -0.99513,
        -0.02466
      ],
      [
        0.1396,
        0.03792,
        -0.98948
      ]
    ],
    "simulated_seconds_remaining": 23.826,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 4.604166178032756,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.94,
                    "gripper": 0
                  },
                  "note": "The jaws are in contact with the spatula. I lift while continuously commanding them closed."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 22,
  "state": {
    "instruction": "pick up the spatula and place it on the bowl.",
    "joint_positions": [
      -0.05149,
      0.01319,
      -0.07364,
      -1.87787,
      -0.00638,
      2.03642,
      -0.21649
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.59727,
      -0.07635,
      0.93882
    ],
    "tcp_roll_pitch_yaw": [
      0.002,
      -0.02364,
      0.01308
    ],
    "tcp_rotation_matrix": [
      [
        0.98554,
        0.09102,
        0.14292
      ],
      [
        0.09548,
        -0.99512,
        -0.02469
      ],
      [
        0.13998,
        0.03798,
        -0.98943
      ]
    ],
    "simulated_seconds_remaining": 22.308,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 28.02328088041395,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.565,
                    "y": -0.085,
                    "z": 0.72,
                    "gripper": 1,
                    "pitch": 0,
                    "roll": 0,
                    "yaw": 0
                  },
                  "note": "The shaft is still on the surface. I reposition slightly toward its free end and lower the open fingers fully around it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 27,
    "motion_seconds": 1.782,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 23,
  "state": {
    "instruction": "pick up the spatula and place it on the bowl.",
    "joint_positions": [
      -0.06429,
      0.14364,
      -0.08034,
      -2.23927,
      0.00791,
      2.54911,
      -0.23315
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.57495,
      -0.08458,
      0.74845
    ],
    "tcp_roll_pitch_yaw": [
      -0.00264,
      -0.04437,
      0.00341
    ],
    "tcp_rotation_matrix": [
      [
        0.98332,
        0.08038,
        0.16316
      ],
      [
        0.08648,
        -0.99578,
        -0.03061
      ],
      [
        0.16001,
        0.04421,
        -0.98612
      ]
    ],
    "simulated_seconds_remaining": 20.526,
    "calls_remaining_including_this": 35
  },
  "api_seconds": 7.606253061443567,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.52,
                    "y": -0.095,
                    "z": 0.748,
                    "gripper": 1
                  },
                  "note": "The blade is near the finger tips. I shift toward the narrow free end so the grasp encloses only the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 24,
  "state": {
    "instruction": "pick up the spatula and place it on the bowl.",
    "joint_positions": [
      -0.08223,
      0.00984,
      -0.0972,
      -2.41645,
      0.00021,
      2.59551,
      -0.26349
    ],
    "gripper_open": 0.9989,
    "tcp_xyz": [
      0.52207,
      -0.09484,
      0.74899
    ],
    "tcp_roll_pitch_yaw": [
      -0.00291,
      -0.04686,
      0.0033
    ],
    "tcp_rotation_matrix": [
      [
        0.98293,
        0.08014,
        0.16561
      ],
      [
        0.0864,
        -0.99578,
        -0.03088
      ],
      [
        0.16244,
        0.04466,
        -0.98571
      ]
    ],
    "simulated_seconds_remaining": 19.866,
    "calls_remaining_including_this": 34
  },
  "api_seconds": 4.604060266166925,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The handle extends into the lower part of the gripper gap. I close at this position to grasp its free end."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 25,
  "state": {
    "instruction": "pick up the spatula and place it on the bowl.",
    "joint_positions": [
      -0.07788,
      0.00047,
      -0.09161,
      -2.4113,
      0.00213,
      2.59484,
      -0.26365
    ],
    "gripper_open": 0.7106,
    "tcp_xyz": [
      0.52675,
      -0.09002,
      0.75617
    ],
    "tcp_roll_pitch_yaw": [
      -0.00329,
      -0.06082,
      0.01198
    ],
    "tcp_rotation_matrix": [
      [
        0.97978,
        0.08813,
        0.17962
      ],
      [
        0.09494,
        -0.99504,
        -0.02966
      ],
      [
        0.17612,
        0.04611,
        -0.98329
      ]
    ],
    "simulated_seconds_remaining": 18.942,
    "calls_remaining_including_this": 33
  },
  "api_seconds": 6.805097879841924,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.85,
                    "gripper": 0
                  },
                  "note": "The gripper is partially closed against the object. I lift with the jaws commanded closed to secure the grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 26,
  "state": {
    "instruction": "pick up the spatula and place it on the bowl.",
    "joint_positions": [
      -0.07903,
      -0.14537,
      -0.08876,
      -2.3114,
      -0.01689,
      2.34993,
      -0.24972
    ],
    "gripper_open": 0.6899,
    "tcp_xyz": [
      0.52684,
      -0.09003,
      0.84881
    ],
    "tcp_roll_pitch_yaw": [
      -0.00333,
      -0.06115,
      0.01198
    ],
    "tcp_rotation_matrix": [
      [
        0.97972,
        0.08812,
        0.17994
      ],
      [
        0.09495,
        -0.99504,
        -0.02969
      ],
      [
        0.17643,
        0.04618,
        -0.98323
      ]
    ],
    "simulated_seconds_remaining": 18.018,
    "calls_remaining_including_this": 32
  },
  "api_seconds": 9.607697785831988,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.51,
                    "y": 0.1,
                    "z": 0.98,
                    "gripper": 0
                  },
                  "note": "The spatula has lifted with the gripper and remains firmly held. I carry it upward and sideways toward the bowl."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 28,
    "motion_seconds": 1.848,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 27,
  "state": {
    "instruction": "pick up the spatula and place it on the bowl.",
    "joint_positions": [
      0.05755,
      -0.27095,
      0.14566,
      -2.09493,
      -0.02885,
      1.99818,
      0.11834
    ],
    "gripper_open": 0.6893,
    "tcp_xyz": [
      0.51011,
      0.099,
      0.97929
    ],
    "tcp_roll_pitch_yaw": [
      -0.00334,
      -0.06129,
      0.01222
    ],
    "tcp_rotation_matrix": [
      [
        0.97967,
        0.08835,
        0.18009
      ],
      [
        0.09518,
        -0.99502,
        -0.02966
      ],
      [
        0.17657,
        0.0462,
        -0.9832
      ]
    ],
    "simulated_seconds_remaining": 16.17,
    "calls_remaining_including_this": 31
  },
  "api_seconds": 11.209502174519002,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.42,
                    "y": 0.125,
                    "z": 0.9,
                    "gripper": 0
                  },
                  "note": "The bowl is directly ahead of the held blade in the wrist view. I center the spatula over its opening and lower toward the rim."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 28,
  "state": {
    "instruction": "pick up the spatula and place it on the bowl.",
    "joint_positions": [
      0.11152,
      -0.49213,
      0.19653,
      -2.48764,
      0.01441,
      2.16861,
      0.19295
    ],
    "gripper_open": 0.6873,
    "tcp_xyz": [
      0.42092,
      0.12476,
      0.90081
    ],
    "tcp_roll_pitch_yaw": [
      -0.00341,
      -0.06116,
      0.01234
    ],
    "tcp_rotation_matrix": [
      [
        0.97969,
        0.08847,
        0.17997
      ],
      [
        0.09531,
        -0.995,
        -0.02971
      ],
      [
        0.17644,
        0.04626,
        -0.98322
      ]
    ],
    "simulated_seconds_remaining": 15.048,
    "calls_remaining_including_this": 30
  },
  "api_seconds": 5.604719340801239,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.845,
                    "gripper": 0
                  },
                  "note": "The spatula is centered over the bowl. I lower gently until it is just above the rim for a controlled release."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 29,
  "state": {
    "instruction": "pick up the spatula and place it on the bowl.",
    "joint_positions": [
      0.10769,
      -0.43532,
      0.2108,
      -2.58652,
      0.00771,
      2.32345,
      0.20897
    ],
    "gripper_open": 0.6846,
    "tcp_xyz": [
      0.42089,
      0.12475,
      0.84615
    ],
    "tcp_roll_pitch_yaw": [
      -0.00345,
      -0.06099,
      0.01234
    ],
    "tcp_rotation_matrix": [
      [
        0.97972,
        0.08848,
        0.1798
      ],
      [
        0.09532,
        -0.995,
        -0.02975
      ],
      [
        0.17627,
        0.04629,
        -0.98325
      ]
    ],
    "simulated_seconds_remaining": 14.124,
    "calls_remaining_including_this": 29
  },
  "api_seconds": 6.004927037283778,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 1
                  },
                  "note": "The spatula rests over the bowl opening at the rim. I open the jaws to place it on the bowl."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

========================================================================
GPT-Astra / Pick & place / 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,
  "status": "completed",
  "success": true,
  "oracle_success": true,
  "action_decisions": 27,
  "wall_seconds": 299.56,
  "usage": {
    "input_tokens": 574401,
    "cached_input_tokens": 515968,
    "cache_write_input_tokens": 0,
    "output_tokens": 5170,
    "reasoning_output_tokens": 2125
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick-and-place 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 45 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 and grasp the requested object, lift it, move it to the named receptacle, and release it in or on that receptacle. Complete the entire pick-and-place 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 place the object.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"pick up the candle and place it on the bowl.\", \"joint_positions\": [0.01688, -0.73789, 0.00738, -2.34399, -0.03094, 1.54542, 0.0026], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.30718, -0.00086, 1.00451], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.99799, 0.02082, -0.05982], [0.01862, -0.99913, -0.03722], [-0.06054, 0.03604, -0.99751]], \"simulated_seconds_remaining\": 45.012, \"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": 0.88,
    "gripper": 1,
    "note": "The small green candle is near the utensils, and the white bowl is farther right in the exterior view. I move lower and forward for a clearer overhead 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,
      "z": 0.88,
      "gripper": 1
    },
    "note": "The green candle is beside the utensils and the white bowl is farther right. Moving forward and down will clarify their positions."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"pick up the candle and place it on the bowl.\", \"joint_positions\": [0.01656, -0.35678, 0.00822, -2.33608, -0.03354, 1.90069, 0.00931], \"gripper_open\": 0.9689, \"tcp_xyz\": [0.41939, 0.00277, 0.89311], \"tcp_roll_pitch_yaw\": [0.00129, 0.01787, 0.00686], \"tcp_rotation_matrix\": [[0.9966, 0.0283, -0.07739], [0.02554, -0.99901, -0.03647], [-0.07835, 0.03437, -0.99633]], \"simulated_seconds_remaining\": 43.56, \"calls_remaining_including_this\": 56}"
      },
      {
        "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": 0.42,
      "y": 0.012,
      "z": 0.815
    },
    "note": "The candle’s circular top is visible just left of the wrist-image center. I descend with the fingers open to refine alignment around its sides."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"pick up the candle and place it on the bowl.\", \"joint_positions\": [0.02832, -0.43363, 0.02451, -2.45511, -0.02824, 2.03176, 0.02926], \"gripper_open\": 1.0, \"tcp_xyz\": [0.41417, 0.01509, 0.88042], \"tcp_roll_pitch_yaw\": [0.00204, -0.07147, 0.01524], \"tcp_rotation_matrix\": [[0.99936, 0.03356, 0.0121], [0.03397, -0.99881, -0.03501], [0.01091, 0.0354, -0.99931]], \"simulated_seconds_remaining\": 42.768, \"calls_remaining_including_this\": 55}"
      },
      {
        "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": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"pick up the candle and place it on the bowl.\", \"joint_positions\": [0.02832, -0.43363, 0.02451, -2.45511, -0.02824, 2.03176, 0.02926], \"gripper_open\": 1.0, \"tcp_xyz\": [0.41417, 0.01509, 0.88042], \"tcp_roll_pitch_yaw\": [0.00204, -0.07147, 0.01524], \"tcp_rotation_matrix\": [[0.99936, 0.03356, 0.0121], [0.03397, -0.99881, -0.03501], [0.01091, 0.0354, -0.99931]], \"simulated_seconds_remaining\": 42.768, \"calls_remaining_including_this\": 55}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "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": -0.018,
      "z": 0.89
    },
    "note": "The candle is ahead of the finger gap in the wrist view, while the fingers are over the utensil tray. I shift toward the candle before descending further."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"pick up the candle and place it on the bowl.\", \"joint_positions\": [-0.00064, -0.69299, -0.02388, -2.62388, -0.05372, 1.94343, -0.03357], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.34116, -0.01751, 0.88991], \"tcp_roll_pitch_yaw\": [0.00204, -0.07158, 0.01517], \"tcp_rotation_matrix\": [[0.99936, 0.03349, 0.01221], [0.0339, -0.99881, -0.03501], [0.01103, 0.0354, -0.99931]], \"simulated_seconds_remaining\": 41.91, \"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": 0.32,
      "y": -0.018,
      "z": 0.82,
      "roll": 0,
      "pitch": 0,
      "yaw": 0
    },
    "note": "The candle now sits between the fingers in the wrist view. I lower the open gripper around its body, with a small forward alignment correction."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"pick up the candle and place it on the bowl.\", \"joint_positions\": [-0.00698, -0.64299, -0.02244, -2.75638, -0.05886, 2.05482, -0.01562], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.32033, -0.01799, 0.82114], \"tcp_roll_pitch_yaw\": [4e-05, -0.00101, 0.00027], \"tcp_rotation_matrix\": [[0.99805, 0.02106, -0.05881], [0.01889, -0.99913, -0.0372], [-0.05954, 0.03601, -0.99758]], \"simulated_seconds_remaining\": 41.118, \"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": {
      "z": 0.785
    },
    "note": "The candle remains centered laterally, and its body is entering the open finger gap. I descend a little farther to grasp below its rim."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"pick up the candle and place it on the bowl.\", \"joint_positions\": [-0.00865, -0.58763, -0.02389, -2.81476, -0.06303, 2.1682, -0.01115], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.32025, -0.01799, 0.78614], \"tcp_roll_pitch_yaw\": [4e-05, -0.0007, 0.00027], \"tcp_rotation_matrix\": [[0.99803, 0.02107, -0.05911], [0.01889, -0.99913, -0.0372], [-0.05984, 0.03601, -0.99756]], \"simulated_seconds_remaining\": 40.59, \"calls_remaining_including_this\": 52}"
      },
      {
        "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 candle’s green body is within the finger gap at grasp height. I close the jaws around it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"pick up the candle and place it on the bowl.\", \"joint_positions\": [-0.00865, -0.58763, -0.02389, -2.81476, -0.06303, 2.1682, -0.01115], \"gripper_open\": 0.0, \"tcp_xyz\": [0.32025, -0.01799, 0.78613], \"tcp_roll_pitch_yaw\": [4e-05, -0.00071, 0.00027], \"tcp_rotation_matrix\": [[0.99803, 0.02107, -0.05911], [0.01889, -0.99913, -0.0372], [-0.05984, 0.03601, -0.99756]], \"simulated_seconds_remaining\": 39.666, \"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": {
      "z": 0.9
    },
    "note": "The jaws have closed, but the candle is partly obscured. I lift to check whether it is securely held."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"pick up the candle and place it on the bowl.\", \"joint_positions\": [-0.00476, -0.70717, -0.01882, -2.59543, -0.05228, 1.82983, -0.02383], \"gripper_open\": 0.0, \"tcp_xyz\": [0.32034, -0.01799, 0.89875], \"tcp_roll_pitch_yaw\": [4e-05, -0.00102, 0.00027], \"tcp_rotation_matrix\": [[0.99805, 0.02105, -0.05879], [0.01888, -0.99913, -0.0372], [-0.05952, 0.03602, -0.99758]], \"simulated_seconds_remaining\": 38.61, \"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"
}

The candle stayed on the table after the first attempt. I’ll adjust the grasp using its position relative to the closed fingertips.


{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.275,
      "y": -0.065,
      "z": 0.88,
      "gripper": 1
    },
    "note": "The candle stayed on the table, left and above the actual fingertip meeting point. I reopen and shift the grasp point toward it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"pick up the candle and place it on the bowl.\", \"joint_positions\": [-0.06672, -0.85234, -0.10195, -2.72472, -0.12514, 1.81936, -0.11762], \"gripper_open\": 0.9965, \"tcp_xyz\": [0.27597, -0.064, 0.88041], \"tcp_roll_pitch_yaw\": [7e-05, -0.00103, 0.00018], \"tcp_rotation_matrix\": [[0.99805, 0.02097, -0.05879], [0.0188, -0.99913, -0.03716], [-0.05951, 0.03598, -0.99758]], \"simulated_seconds_remaining\": 37.686, \"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": 0.335,
      "y": -0.065,
      "z": 0.8
    },
    "note": "The lateral offset is corrected. I move slightly forward while lowering so the candle’s body, rather than its top edge, aligns with the jaw contact area."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"pick up the candle and place it on the bowl.\", \"joint_positions\": [-0.04804, -0.54709, -0.11687, -2.74199, -0.1261, 2.14101, -0.09514], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.33419, -0.06498, 0.80096], \"tcp_roll_pitch_yaw\": [0.0001, -0.00072, 0.0002], \"tcp_rotation_matrix\": [[0.99803, 0.02099, -0.0591], [0.01882, -0.99913, -0.03714], [-0.05983, 0.03595, -0.99756]], \"simulated_seconds_remaining\": 36.696, \"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": {
      "gripper": 0
    },
    "note": "The green candle is now centered in the open jaw gap. I close the fingers around its sides."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 11, \"instruction\": \"pick up the candle and place it on the bowl.\", \"joint_positions\": [-0.04804, -0.54709, -0.11687, -2.74199, -0.1261, 2.14101, -0.09514], \"gripper_open\": 0.0, \"tcp_xyz\": [0.3342, -0.06498, 0.80095], \"tcp_roll_pitch_yaw\": [0.0001, -0.00072, 0.0002], \"tcp_rotation_matrix\": [[0.99803, 0.02099, -0.0591], [0.01882, -0.99913, -0.03714], [-0.05982, 0.03595, -0.99756]], \"simulated_seconds_remaining\": 35.772, \"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": {
      "z": 0.745,
      "gripper": 1
    },
    "note": "The jaws closed fully, suggesting the contact height was above the candle. I reopen and lower around its body while keeping the corrected horizontal alignment."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 12, \"instruction\": \"pick up the candle and place it on the bowl.\", \"joint_positions\": [-0.05058, -0.43563, -0.12688, -2.81519, -0.13712, 2.32529, -0.0874], \"gripper_open\": 0.9965, \"tcp_xyz\": [0.33414, -0.06497, 0.74616], \"tcp_roll_pitch_yaw\": [0.00011, -0.00052, 0.0002], \"tcp_rotation_matrix\": [[0.99802, 0.021, -0.0593], [0.01882, -0.99913, -0.03712], [-0.06002, 0.03593, -0.99755]], \"simulated_seconds_remaining\": 34.848, \"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": {
      "z": 0.705
    },
    "note": "The candle is still just below the fingertip contact area, and the exterior view shows room to descend. I lower the grasp point to surround its middle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 13, \"instruction\": \"pick up the candle and place it on the bowl.\", \"joint_positions\": [-0.05038, -0.3443, -0.13218, -2.83745, -0.14222, 2.43787, -0.08494], \"gripper_open\": 1.0, \"tcp_xyz\": [0.33612, -0.06519, 0.71483], \"tcp_roll_pitch_yaw\": [-0.0001, 0.00051, 0.00266], \"tcp_rotation_matrix\": [[0.99791, 0.0235, -0.06023], [0.02127, -0.99907, -0.03748], [-0.06106, 0.03612, -0.99748]], \"simulated_seconds_remaining\": 34.254, \"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 fingers have reached the candle’s lower body beside the tabletop. I close at this height to secure it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 14, \"instruction\": \"pick up the candle and place it on the bowl.\", \"joint_positions\": [-0.04831, -0.34959, -0.13021, -2.83662, -0.14081, 2.43299, -0.08674], \"gripper_open\": 0.9545, \"tcp_xyz\": [0.33654, -0.06393, 0.7166], \"tcp_roll_pitch_yaw\": [8e-05, -0.00071, 0.00702], \"tcp_rotation_matrix\": [[0.99788, 0.02781, -0.05886], [0.02562, -0.99897, -0.03756], [-0.05984, 0.03597, -0.99756]], \"simulated_seconds_remaining\": 33.33, \"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": {
      "z": 0.76,
      "gripper": 0
    },
    "note": "The jaws met resistance near the tabletop. I raise slightly while maintaining closure to see whether the candle follows and the fingers settle around it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 15, \"instruction\": \"pick up the candle and place it on the bowl.\", \"joint_positions\": [-0.04691, -0.45838, -0.12318, -2.79443, -0.13307, 2.28229, -0.093], \"gripper_open\": 0.0, \"tcp_xyz\": [0.33659, -0.06393, 0.7591], \"tcp_roll_pitch_yaw\": [6e-05, -0.00086, 0.00702], \"tcp_rotation_matrix\": [[0.99789, 0.0278, -0.0587], [0.02562, -0.99897, -0.03757], [-0.05969, 0.03599, -0.99757]], \"simulated_seconds_remaining\": 32.406, \"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": 0.4,
      "y": 0.015,
      "z": 0.86,
      "gripper": 1
    },
    "note": "The candle has not lifted. I move clear and reposition toward its visible location in the exterior image to correct the remaining horizontal offset."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 16, \"instruction\": \"pick up the candle and place it on the bowl.\", \"joint_positions\": [0.05515, -0.40696, -0.00117, -2.47376, -0.03811, 2.00515, 0.04532], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.39925, 0.01397, 0.85885], \"tcp_roll_pitch_yaw\": [0.00022, -0.00023, 0.00612], \"tcp_rotation_matrix\": [[0.99787, 0.02693, -0.05936], [0.02474, -0.999, -0.03737], [-0.06031, 0.03582, -0.99754]], \"simulated_seconds_remaining\": 31.152, \"calls_remaining_including_this\": 42}"
      },
      {
        "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": 0.395,
      "y": -0.06,
      "z": 0.78
    },
    "note": "The wrist view now clearly separates the candle from the fingertips. I align its center with the space between the fingertip ends while descending."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 17, \"instruction\": \"pick up the candle and place it on the bowl.\", \"joint_positions\": [-0.02044, -0.30875, -0.1068, -2.5996, -0.09745, 2.2354, -0.08472], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.395, -0.05911, 0.78094], \"tcp_roll_pitch_yaw\": [0.00027, -1e-05, 0.00594], \"tcp_rotation_matrix\": [[0.99786, 0.02675, -0.0596], [0.02455, -0.999, -0.03731], [-0.06053, 0.03577, -0.99753]], \"simulated_seconds_remaining\": 30.162, \"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 candle’s cylindrical body is now directly between the fingertip ends. I close the gripper across its sides."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 18, \"instruction\": \"pick up the candle and place it on the bowl.\", \"joint_positions\": [-0.0195, -0.30932, -0.10579, -2.59933, -0.09654, 2.23518, -0.08482], \"gripper_open\": 0.6024, \"tcp_xyz\": [0.39526, -0.05828, 0.78126], \"tcp_roll_pitch_yaw\": [0.00061, -0.00068, 0.00733], \"tcp_rotation_matrix\": [[0.99787, 0.02812, -0.05887], [0.02597, -0.99898, -0.03705], [-0.05985, 0.03544, -0.99758]], \"simulated_seconds_remaining\": 29.238, \"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": {
      "z": 0.96
    },
    "note": "The jaws stopped partly open against the candle, indicating contact. I lift it clear of the table before moving toward the bowl."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 19, \"instruction\": \"pick up the candle and place it on the bowl.\", \"joint_positions\": [-0.01475, -0.46394, -0.0864, -2.26353, -0.08213, 1.74539, -0.10155], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.39533, -0.05829, 0.95878], \"tcp_roll_pitch_yaw\": [0.00059, -0.001, 0.00733], \"tcp_rotation_matrix\": [[0.99789, 0.02811, -0.05855], [0.02597, -0.99898, -0.03707], [-0.05953, 0.03547, -0.9976]], \"simulated_seconds_remaining\": 27.72, \"calls_remaining_including_this\": 39}"
      },
      {
        "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": 0.395,
      "y": -0.058,
      "z": 0.78,
      "gripper": 1
    },
    "note": "The gripper reopened during the lift and left the candle on the table. I return to the aligned grasp pose; subsequent transport motions will explicitly maintain closure."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 20, \"instruction\": \"pick up the candle and place it on the bowl.\", \"joint_positions\": [-0.01926, -0.31036, -0.10545, -2.60048, -0.09652, 2.23522, -0.08424], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.39492, -0.058, 0.78121], \"tcp_roll_pitch_yaw\": [0.00061, -0.00064, 0.00733], \"tcp_rotation_matrix\": [[0.99787, 0.02813, -0.05891], [0.02597, -0.99898, -0.03705], [-0.05989, 0.03544, -0.99758]], \"simulated_seconds_remaining\": 26.202, \"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": {
      "gripper": 0
    },
    "note": "The candle is again centered between the fingertips. I close the jaws to establish the grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 21, \"instruction\": \"pick up the candle and place it on the bowl.\", \"joint_positions\": [-0.01816, -0.31145, -0.10425, -2.60025, -0.09545, 2.23421, -0.08445], \"gripper_open\": 0.5917, \"tcp_xyz\": [0.39503, -0.057, 0.78167], \"tcp_roll_pitch_yaw\": [0.00106, -0.00101, 0.00904], \"tcp_rotation_matrix\": [[0.99784, 0.02981, -0.05848], [0.0277, -0.99894, -0.0367], [-0.05951, 0.035, -0.99761]], \"simulated_seconds_remaining\": 25.278, \"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": {
      "z": 0.96,
      "gripper": 0
    },
    "note": "The jaws are pressing against the candle. I lift while explicitly keeping the gripper closed."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 22, \"instruction\": \"pick up the candle and place it on the bowl.\", \"joint_positions\": [-0.01346, -0.46492, -0.08517, -2.26542, -0.08111, 1.74526, -0.101], \"gripper_open\": 0.5614, \"tcp_xyz\": [0.3949, -0.05698, 0.95829], \"tcp_roll_pitch_yaw\": [0.00116, -6e-05, 0.00902], \"tcp_rotation_matrix\": [[0.99779, 0.02983, -0.05943], [0.02769, -0.99895, -0.0366], [-0.06046, 0.03488, -0.99756]], \"simulated_seconds_remaining\": 23.76, \"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"
}

The candle is now lifted and held securely. I’ll carry it over the bowl and lower it for release.


{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "y": -0.32,
      "z": 0.98,
      "gripper": 0
    },
    "note": "The candle remains in the jaws above the table. The bowl lies to the right in the exterior view, so I carry the candle in that direction with clearance."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 23, \"instruction\": \"pick up the candle and place it on the bowl.\", \"joint_positions\": [-0.17416, -0.17007, -0.43507, -1.92083, -0.13729, 1.73501, -0.60657], \"gripper_open\": 0.5621, \"tcp_xyz\": [0.39469, -0.3186, 0.97932], \"tcp_roll_pitch_yaw\": [0.00181, 0.00114, 0.00871], \"tcp_rotation_matrix\": [[0.99772, 0.02956, -0.06065], [0.02742, -0.99898, -0.03595], [-0.06165, 0.03421, -0.99751]], \"simulated_seconds_remaining\": 21.714, \"calls_remaining_including_this\": 35}"
      },
      {
        "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": 0.2,
      "y": -0.46,
      "z": 0.97,
      "gripper": 0
    },
    "note": "The bowl is still farther right and toward the front of the table in the exterior view. I translate the held candle above that area to bring the bowl into the wrist view."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 24, \"instruction\": \"pick up the candle and place it on the bowl.\", \"joint_positions\": [-0.34615, -0.2642, -0.69377, -1.99566, -0.24402, 1.78215, -0.9982], \"gripper_open\": 0.5625, \"tcp_xyz\": [0.20086, -0.45909, 0.96958], \"tcp_roll_pitch_yaw\": [0.00274, 0.00189, 0.00835], \"tcp_rotation_matrix\": [[0.99768, 0.02923, -0.06141], [0.02711, -0.99902, -0.035], [-0.06238, 0.03326, -0.9975]], \"simulated_seconds_remaining\": 19.8, \"calls_remaining_including_this\": 34}"
      },
      {
        "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": 0.16,
      "y": -0.42,
      "z": 0.87,
      "gripper": 0
    },
    "note": "The bowl is visible in the wrist image, above and right of the held candle. I lower toward it and make a small horizontal correction to center the candle over the interior."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 25, \"instruction\": \"pick up the candle and place it on the bowl.\", \"joint_positions\": [-0.41552, -0.40911, -0.6936, -2.35744, -0.36376, 2.00865, -0.93515], \"gripper_open\": 0.5409, \"tcp_xyz\": [0.16025, -0.42016, 0.87064], \"tcp_roll_pitch_yaw\": [0.0039, 0.00274, 0.00824], \"tcp_rotation_matrix\": [[0.99763, 0.02915, -0.06228], [0.02708, -0.99906, -0.03385], [-0.0632, 0.03208, -0.99748]], \"simulated_seconds_remaining\": 18.744, \"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": {
      "x": 0.1,
      "y": -0.4,
      "z": 0.85,
      "gripper": 0
    },
    "note": "The candle is above the near edge of the bowl. I shift toward the bowl’s central flat area and lower slightly for a controlled placement."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 26, \"instruction\": \"pick up the candle and place it on the bowl.\", \"joint_positions\": [-0.51624, -0.54748, -0.7095, -2.49833, -0.46696, 2.02363, -0.96155], \"gripper_open\": 0.5401, \"tcp_xyz\": [0.10113, -0.40015, 0.85002], \"tcp_roll_pitch_yaw\": [0.00495, 0.00327, 0.00811], \"tcp_rotation_matrix\": [[0.9976, 0.02903, -0.06282], [0.02701, -0.9991, -0.0328], [-0.06371, 0.03102, -0.99749]], \"simulated_seconds_remaining\": 17.82, \"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": {
      "z": 0.81,
      "gripper": 0
    },
    "note": "The candle is centered over the bowl’s interior. I lower it close to the bowl’s surface before opening the jaws."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 27, \"instruction\": \"pick up the candle and place it on the bowl.\", \"joint_positions\": [-0.5074, -0.49455, -0.75373, -2.56026, -0.47943, 2.13845, -0.95867], \"gripper_open\": 0.4659, \"tcp_xyz\": [0.10269, -0.39927, 0.8116], \"tcp_roll_pitch_yaw\": [0.00575, 0.00162, 0.01045], \"tcp_rotation_matrix\": [[0.99764, 0.03131, -0.0611], [0.02939, -0.99905, -0.03212], [-0.06205, 0.03025, -0.99761]], \"simulated_seconds_remaining\": 16.896, \"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": 1
    },
    "note": "The candle is lowered into the bowl and appears supported by its interior. I open the gripper to release 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"
}

Placed the candle on the bowl.

TURN USAGE
{
  "input_tokens": 574401,
  "cached_input_tokens": 515968,
  "cache_write_input_tokens": 0,
  "output_tokens": 5170,
  "reasoning_output_tokens": 2125
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "pick up the candle and place it on the bowl.",
    "joint_positions": [
      0.01688,
      -0.73789,
      0.00738,
      -2.34399,
      -0.03094,
      1.54542,
      0.0026
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.30718,
      -0.00086,
      1.00451
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99799,
        0.02082,
        -0.05982
      ],
      [
        0.01862,
        -0.99913,
        -0.03722
      ],
      [
        -0.06054,
        0.03604,
        -0.99751
      ]
    ],
    "simulated_seconds_remaining": 45.012,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 25.618513200432062,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.43,
                    "y": 0,
                    "z": 0.88,
                    "gripper": 1
                  },
                  "note": "The green candle is beside the utensils and the white bowl is farther right. Moving forward and down will clarify their positions."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 22,
    "motion_seconds": 1.452,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "pick up the candle and place it on the bowl.",
    "joint_positions": [
      0.01656,
      -0.35678,
      0.00822,
      -2.33608,
      -0.03354,
      1.90069,
      0.00931
    ],
    "gripper_open": 0.9689,
    "tcp_xyz": [
      0.41939,
      0.00277,
      0.89311
    ],
    "tcp_roll_pitch_yaw": [
      0.00129,
      0.01787,
      0.00686
    ],
    "tcp_rotation_matrix": [
      [
        0.9966,
        0.0283,
        -0.07739
      ],
      [
        0.02554,
        -0.99901,
        -0.03647
      ],
      [
        -0.07835,
        0.03437,
        -0.99633
      ]
    ],
    "simulated_seconds_remaining": 43.56,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 14.010751251131296,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.42,
                    "y": 0.012,
                    "z": 0.815
                  },
                  "note": "The candle’s circular top is visible just left of the wrist-image center. I descend with the fingers open to refine alignment around its sides."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "pick up the candle and place it on the bowl.",
    "joint_positions": [
      0.02832,
      -0.43363,
      0.02451,
      -2.45511,
      -0.02824,
      2.03176,
      0.02926
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.41417,
      0.01509,
      0.88042
    ],
    "tcp_roll_pitch_yaw": [
      0.00204,
      -0.07147,
      0.01524
    ],
    "tcp_rotation_matrix": [
      [
        0.99936,
        0.03356,
        0.0121
      ],
      [
        0.03397,
        -0.99881,
        -0.03501
      ],
      [
        0.01091,
        0.0354,
        -0.99931
      ]
    ],
    "simulated_seconds_remaining": 42.768,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 16.613744194619358,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.34,
                    "y": -0.018,
                    "z": 0.89
                  },
                  "note": "The candle is ahead of the finger gap in the wrist view, while the fingers are over the utensil tray. I shift toward the candle before descending further."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "pick up the candle and place it on the bowl.",
    "joint_positions": [
      -0.00064,
      -0.69299,
      -0.02388,
      -2.62388,
      -0.05372,
      1.94343,
      -0.03357
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.34116,
      -0.01751,
      0.88991
    ],
    "tcp_roll_pitch_yaw": [
      0.00204,
      -0.07158,
      0.01517
    ],
    "tcp_rotation_matrix": [
      [
        0.99936,
        0.03349,
        0.01221
      ],
      [
        0.0339,
        -0.99881,
        -0.03501
      ],
      [
        0.01103,
        0.0354,
        -0.99931
      ]
    ],
    "simulated_seconds_remaining": 41.91,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 7.205662997439504,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.32,
                    "y": -0.018,
                    "z": 0.82,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 0
                  },
                  "note": "The candle now sits between the fingers in the wrist view. I lower the open gripper around its body, with a small forward alignment correction."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "pick up the candle and place it on the bowl.",
    "joint_positions": [
      -0.00698,
      -0.64299,
      -0.02244,
      -2.75638,
      -0.05886,
      2.05482,
      -0.01562
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.32033,
      -0.01799,
      0.82114
    ],
    "tcp_roll_pitch_yaw": [
      4e-05,
      -0.00101,
      0.00027
    ],
    "tcp_rotation_matrix": [
      [
        0.99805,
        0.02106,
        -0.05881
      ],
      [
        0.01889,
        -0.99913,
        -0.0372
      ],
      [
        -0.05954,
        0.03601,
        -0.99758
      ]
    ],
    "simulated_seconds_remaining": 41.118,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 6.6053832191973925,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.785
                  },
                  "note": "The candle remains centered laterally, and its body is entering the open finger gap. I descend a little farther to grasp below its rim."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 8,
    "motion_seconds": 0.528,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "pick up the candle and place it on the bowl.",
    "joint_positions": [
      -0.00865,
      -0.58763,
      -0.02389,
      -2.81476,
      -0.06303,
      2.1682,
      -0.01115
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.32025,
      -0.01799,
      0.78614
    ],
    "tcp_roll_pitch_yaw": [
      4e-05,
      -0.0007,
      0.00027
    ],
    "tcp_rotation_matrix": [
      [
        0.99803,
        0.02107,
        -0.05911
      ],
      [
        0.01889,
        -0.99913,
        -0.0372
      ],
      [
        -0.05984,
        0.03601,
        -0.99756
      ]
    ],
    "simulated_seconds_remaining": 40.59,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 4.603935489431024,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The candle’s green body is within the finger gap at grasp height. I close the jaws around it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "pick up the candle and place it on the bowl.",
    "joint_positions": [
      -0.00865,
      -0.58763,
      -0.02389,
      -2.81476,
      -0.06303,
      2.1682,
      -0.01115
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.32025,
      -0.01799,
      0.78613
    ],
    "tcp_roll_pitch_yaw": [
      4e-05,
      -0.00071,
      0.00027
    ],
    "tcp_rotation_matrix": [
      [
        0.99803,
        0.02107,
        -0.05911
      ],
      [
        0.01889,
        -0.99913,
        -0.0372
      ],
      [
        -0.05984,
        0.03601,
        -0.99756
      ]
    ],
    "simulated_seconds_remaining": 39.666,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 5.003694077953696,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.9
                  },
                  "note": "The jaws have closed, but the candle is partly obscured. I lift to check whether it is securely held."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "pick up the candle and place it on the bowl.",
    "joint_positions": [
      -0.00476,
      -0.70717,
      -0.01882,
      -2.59543,
      -0.05228,
      1.82983,
      -0.02383
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.32034,
      -0.01799,
      0.89875
    ],
    "tcp_roll_pitch_yaw": [
      4e-05,
      -0.00102,
      0.00027
    ],
    "tcp_rotation_matrix": [
      [
        0.99805,
        0.02105,
        -0.05879
      ],
      [
        0.01888,
        -0.99913,
        -0.0372
      ],
      [
        -0.05952,
        0.03602,
        -0.99758
      ]
    ],
    "simulated_seconds_remaining": 38.61,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 10.820927378721535,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.275,
                    "y": -0.065,
                    "z": 0.88,
                    "gripper": 1
                  },
                  "note": "The candle stayed on the table, left and above the actual fingertip meeting point. I reopen and shift the grasp point toward it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "pick up the candle and place it on the bowl.",
    "joint_positions": [
      -0.06672,
      -0.85234,
      -0.10195,
      -2.72472,
      -0.12514,
      1.81936,
      -0.11762
    ],
    "gripper_open": 0.9965,
    "tcp_xyz": [
      0.27597,
      -0.064,
      0.88041
    ],
    "tcp_roll_pitch_yaw": [
      7e-05,
      -0.00103,
      0.00018
    ],
    "tcp_rotation_matrix": [
      [
        0.99805,
        0.02097,
        -0.05879
      ],
      [
        0.0188,
        -0.99913,
        -0.03716
      ],
      [
        -0.05951,
        0.03598,
        -0.99758
      ]
    ],
    "simulated_seconds_remaining": 37.686,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 15.215372568927705,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.335,
                    "y": -0.065,
                    "z": 0.8
                  },
                  "note": "The lateral offset is corrected. I move slightly forward while lowering so the candle’s body, rather than its top edge, aligns with the jaw contact area."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "pick up the candle and place it on the bowl.",
    "joint_positions": [
      -0.04804,
      -0.54709,
      -0.11687,
      -2.74199,
      -0.1261,
      2.14101,
      -0.09514
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.33419,
      -0.06498,
      0.80096
    ],
    "tcp_roll_pitch_yaw": [
      0.0001,
      -0.00072,
      0.0002
    ],
    "tcp_rotation_matrix": [
      [
        0.99803,
        0.02099,
        -0.0591
      ],
      [
        0.01882,
        -0.99913,
        -0.03714
      ],
      [
        -0.05983,
        0.03595,
        -0.99756
      ]
    ],
    "simulated_seconds_remaining": 36.696,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 5.804405664093792,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The green candle is now centered in the open jaw gap. I close the fingers around its sides."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "pick up the candle and place it on the bowl.",
    "joint_positions": [
      -0.04804,
      -0.54709,
      -0.11687,
      -2.74199,
      -0.1261,
      2.14101,
      -0.09514
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.3342,
      -0.06498,
      0.80095
    ],
    "tcp_roll_pitch_yaw": [
      0.0001,
      -0.00072,
      0.0002
    ],
    "tcp_rotation_matrix": [
      [
        0.99803,
        0.02099,
        -0.0591
      ],
      [
        0.01882,
        -0.99913,
        -0.03714
      ],
      [
        -0.05982,
        0.03595,
        -0.99756
      ]
    ],
    "simulated_seconds_remaining": 35.772,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 9.006575896404684,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.745,
                    "gripper": 1
                  },
                  "note": "The jaws closed fully, suggesting the contact height was above the candle. I reopen and lower around its body while keeping the corrected horizontal alignment."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "pick up the candle and place it on the bowl.",
    "joint_positions": [
      -0.05058,
      -0.43563,
      -0.12688,
      -2.81519,
      -0.13712,
      2.32529,
      -0.0874
    ],
    "gripper_open": 0.9965,
    "tcp_xyz": [
      0.33414,
      -0.06497,
      0.74616
    ],
    "tcp_roll_pitch_yaw": [
      0.00011,
      -0.00052,
      0.0002
    ],
    "tcp_rotation_matrix": [
      [
        0.99802,
        0.021,
        -0.0593
      ],
      [
        0.01882,
        -0.99913,
        -0.03712
      ],
      [
        -0.06002,
        0.03593,
        -0.99755
      ]
    ],
    "simulated_seconds_remaining": 34.848,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 9.20665021892637,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.705
                  },
                  "note": "The candle is still just below the fingertip contact area, and the exterior view shows room to descend. I lower the grasp point to surround its middle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "pick up the candle and place it on the bowl.",
    "joint_positions": [
      -0.05038,
      -0.3443,
      -0.13218,
      -2.83745,
      -0.14222,
      2.43787,
      -0.08494
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.33612,
      -0.06519,
      0.71483
    ],
    "tcp_roll_pitch_yaw": [
      -0.0001,
      0.00051,
      0.00266
    ],
    "tcp_rotation_matrix": [
      [
        0.99791,
        0.0235,
        -0.06023
      ],
      [
        0.02127,
        -0.99907,
        -0.03748
      ],
      [
        -0.06106,
        0.03612,
        -0.99748
      ]
    ],
    "simulated_seconds_remaining": 34.254,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 4.603634208440781,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The fingers have reached the candle’s lower body beside the tabletop. I close at this height to secure it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "pick up the candle and place it on the bowl.",
    "joint_positions": [
      -0.04831,
      -0.34959,
      -0.13021,
      -2.83662,
      -0.14081,
      2.43299,
      -0.08674
    ],
    "gripper_open": 0.9545,
    "tcp_xyz": [
      0.33654,
      -0.06393,
      0.7166
    ],
    "tcp_roll_pitch_yaw": [
      8e-05,
      -0.00071,
      0.00702
    ],
    "tcp_rotation_matrix": [
      [
        0.99788,
        0.02781,
        -0.05886
      ],
      [
        0.02562,
        -0.99897,
        -0.03756
      ],
      [
        -0.05984,
        0.03597,
        -0.99756
      ]
    ],
    "simulated_seconds_remaining": 33.33,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 6.40493558999151,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.76,
                    "gripper": 0
                  },
                  "note": "The jaws met resistance near the tabletop. I raise slightly while maintaining closure to see whether the candle follows and the fingers settle around it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "pick up the candle and place it on the bowl.",
    "joint_positions": [
      -0.04691,
      -0.45838,
      -0.12318,
      -2.79443,
      -0.13307,
      2.28229,
      -0.093
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.33659,
      -0.06393,
      0.7591
    ],
    "tcp_roll_pitch_yaw": [
      6e-05,
      -0.00086,
      0.00702
    ],
    "tcp_rotation_matrix": [
      [
        0.99789,
        0.0278,
        -0.0587
      ],
      [
        0.02562,
        -0.99897,
        -0.03757
      ],
      [
        -0.05969,
        0.03599,
        -0.99757
      ]
    ],
    "simulated_seconds_remaining": 32.406,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 17.012774026952684,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "y": 0.015,
                    "z": 0.86,
                    "gripper": 1
                  },
                  "note": "The candle has not lifted. I move clear and reposition toward its visible location in the exterior image to correct the remaining horizontal offset."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "pick up the candle and place it on the bowl.",
    "joint_positions": [
      0.05515,
      -0.40696,
      -0.00117,
      -2.47376,
      -0.03811,
      2.00515,
      0.04532
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.39925,
      0.01397,
      0.85885
    ],
    "tcp_roll_pitch_yaw": [
      0.00022,
      -0.00023,
      0.00612
    ],
    "tcp_rotation_matrix": [
      [
        0.99787,
        0.02693,
        -0.05936
      ],
      [
        0.02474,
        -0.999,
        -0.03737
      ],
      [
        -0.06031,
        0.03582,
        -0.99754
      ]
    ],
    "simulated_seconds_remaining": 31.152,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 18.014313488267362,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.395,
                    "y": -0.06,
                    "z": 0.78
                  },
                  "note": "The wrist view now clearly separates the candle from the fingertips. I align its center with the space between the fingertip ends while descending."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "pick up the candle and place it on the bowl.",
    "joint_positions": [
      -0.02044,
      -0.30875,
      -0.1068,
      -2.5996,
      -0.09745,
      2.2354,
      -0.08472
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.395,
      -0.05911,
      0.78094
    ],
    "tcp_roll_pitch_yaw": [
      0.00027,
      -1e-05,
      0.00594
    ],
    "tcp_rotation_matrix": [
      [
        0.99786,
        0.02675,
        -0.0596
      ],
      [
        0.02455,
        -0.999,
        -0.03731
      ],
      [
        -0.06053,
        0.03577,
        -0.99753
      ]
    ],
    "simulated_seconds_remaining": 30.162,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 7.8065834464505315,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The candle’s cylindrical body is now directly between the fingertip ends. I close the gripper across its sides."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "pick up the candle and place it on the bowl.",
    "joint_positions": [
      -0.0195,
      -0.30932,
      -0.10579,
      -2.59933,
      -0.09654,
      2.23518,
      -0.08482
    ],
    "gripper_open": 0.6024,
    "tcp_xyz": [
      0.39526,
      -0.05828,
      0.78126
    ],
    "tcp_roll_pitch_yaw": [
      0.00061,
      -0.00068,
      0.00733
    ],
    "tcp_rotation_matrix": [
      [
        0.99787,
        0.02812,
        -0.05887
      ],
      [
        0.02597,
        -0.99898,
        -0.03705
      ],
      [
        -0.05985,
        0.03544,
        -0.99758
      ]
    ],
    "simulated_seconds_remaining": 29.238,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 5.804661460220814,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.96
                  },
                  "note": "The jaws stopped partly open against the candle, indicating contact. I lift it clear of the table before moving toward the bowl."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 19,
  "state": {
    "instruction": "pick up the candle and place it on the bowl.",
    "joint_positions": [
      -0.01475,
      -0.46394,
      -0.0864,
      -2.26353,
      -0.08213,
      1.74539,
      -0.10155
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.39533,
      -0.05829,
      0.95878
    ],
    "tcp_roll_pitch_yaw": [
      0.00059,
      -0.001,
      0.00733
    ],
    "tcp_rotation_matrix": [
      [
        0.99789,
        0.02811,
        -0.05855
      ],
      [
        0.02597,
        -0.99898,
        -0.03707
      ],
      [
        -0.05953,
        0.03547,
        -0.9976
      ]
    ],
    "simulated_seconds_remaining": 27.72,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 6.005183035507798,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.395,
                    "y": -0.058,
                    "z": 0.78,
                    "gripper": 1
                  },
                  "note": "The gripper reopened during the lift and left the candle on the table. I return to the aligned grasp pose; subsequent transport motions will explicitly maintain closure."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 20,
  "state": {
    "instruction": "pick up the candle and place it on the bowl.",
    "joint_positions": [
      -0.01926,
      -0.31036,
      -0.10545,
      -2.60048,
      -0.09652,
      2.23522,
      -0.08424
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.39492,
      -0.058,
      0.78121
    ],
    "tcp_roll_pitch_yaw": [
      0.00061,
      -0.00064,
      0.00733
    ],
    "tcp_rotation_matrix": [
      [
        0.99787,
        0.02813,
        -0.05891
      ],
      [
        0.02597,
        -0.99898,
        -0.03705
      ],
      [
        -0.05989,
        0.03544,
        -0.99758
      ]
    ],
    "simulated_seconds_remaining": 26.202,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 4.603659462183714,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The candle is again centered between the fingertips. I close the jaws to establish the grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 21,
  "state": {
    "instruction": "pick up the candle and place it on the bowl.",
    "joint_positions": [
      -0.01816,
      -0.31145,
      -0.10425,
      -2.60025,
      -0.09545,
      2.23421,
      -0.08445
    ],
    "gripper_open": 0.5917,
    "tcp_xyz": [
      0.39503,
      -0.057,
      0.78167
    ],
    "tcp_roll_pitch_yaw": [
      0.00106,
      -0.00101,
      0.00904
    ],
    "tcp_rotation_matrix": [
      [
        0.99784,
        0.02981,
        -0.05848
      ],
      [
        0.0277,
        -0.99894,
        -0.0367
      ],
      [
        -0.05951,
        0.035,
        -0.99761
      ]
    ],
    "simulated_seconds_remaining": 25.278,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 5.404302318580449,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.96,
                    "gripper": 0
                  },
                  "note": "The jaws are pressing against the candle. I lift while explicitly keeping the gripper closed."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 22,
  "state": {
    "instruction": "pick up the candle and place it on the bowl.",
    "joint_positions": [
      -0.01346,
      -0.46492,
      -0.08517,
      -2.26542,
      -0.08111,
      1.74526,
      -0.101
    ],
    "gripper_open": 0.5614,
    "tcp_xyz": [
      0.3949,
      -0.05698,
      0.95829
    ],
    "tcp_roll_pitch_yaw": [
      0.00116,
      -6e-05,
      0.00902
    ],
    "tcp_rotation_matrix": [
      [
        0.99779,
        0.02983,
        -0.05943
      ],
      [
        0.02769,
        -0.99895,
        -0.0366
      ],
      [
        -0.06046,
        0.03488,
        -0.99756
      ]
    ],
    "simulated_seconds_remaining": 23.76,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 10.207869363948703,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": -0.32,
                    "z": 0.98,
                    "gripper": 0
                  },
                  "note": "The candle remains in the jaws above the table. The bowl lies to the right in the exterior view, so I carry the candle in that direction with clearance."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 31,
    "motion_seconds": 2.0460000000000003,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 23,
  "state": {
    "instruction": "pick up the candle and place it on the bowl.",
    "joint_positions": [
      -0.17416,
      -0.17007,
      -0.43507,
      -1.92083,
      -0.13729,
      1.73501,
      -0.60657
    ],
    "gripper_open": 0.5621,
    "tcp_xyz": [
      0.39469,
      -0.3186,
      0.97932
    ],
    "tcp_roll_pitch_yaw": [
      0.00181,
      0.00114,
      0.00871
    ],
    "tcp_rotation_matrix": [
      [
        0.99772,
        0.02956,
        -0.06065
      ],
      [
        0.02742,
        -0.99898,
        -0.03595
      ],
      [
        -0.06165,
        0.03421,
        -0.99751
      ]
    ],
    "simulated_seconds_remaining": 21.714,
    "calls_remaining_including_this": 35
  },
  "api_seconds": 9.407598795369267,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.2,
                    "y": -0.46,
                    "z": 0.97,
                    "gripper": 0
                  },
                  "note": "The bowl is still farther right and toward the front of the table in the exterior view. I translate the held candle above that area to bring the bowl into the wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 29,
    "motion_seconds": 1.9140000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 24,
  "state": {
    "instruction": "pick up the candle and place it on the bowl.",
    "joint_positions": [
      -0.34615,
      -0.2642,
      -0.69377,
      -1.99566,
      -0.24402,
      1.78215,
      -0.9982
    ],
    "gripper_open": 0.5625,
    "tcp_xyz": [
      0.20086,
      -0.45909,
      0.96958
    ],
    "tcp_roll_pitch_yaw": [
      0.00274,
      0.00189,
      0.00835
    ],
    "tcp_rotation_matrix": [
      [
        0.99768,
        0.02923,
        -0.06141
      ],
      [
        0.02711,
        -0.99902,
        -0.035
      ],
      [
        -0.06238,
        0.03326,
        -0.9975
      ]
    ],
    "simulated_seconds_remaining": 19.8,
    "calls_remaining_including_this": 34
  },
  "api_seconds": 10.409422533586621,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.16,
                    "y": -0.42,
                    "z": 0.87,
                    "gripper": 0
                  },
                  "note": "The bowl is visible in the wrist image, above and right of the held candle. I lower toward it and make a small horizontal correction to center the candle over the interior."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 25,
  "state": {
    "instruction": "pick up the candle and place it on the bowl.",
    "joint_positions": [
      -0.41552,
      -0.40911,
      -0.6936,
      -2.35744,
      -0.36376,
      2.00865,
      -0.93515
    ],
    "gripper_open": 0.5409,
    "tcp_xyz": [
      0.16025,
      -0.42016,
      0.87064
    ],
    "tcp_roll_pitch_yaw": [
      0.0039,
      0.00274,
      0.00824
    ],
    "tcp_rotation_matrix": [
      [
        0.99763,
        0.02915,
        -0.06228
      ],
      [
        0.02708,
        -0.99906,
        -0.03385
      ],
      [
        -0.0632,
        0.03208,
        -0.99748
      ]
    ],
    "simulated_seconds_remaining": 18.744,
    "calls_remaining_including_this": 33
  },
  "api_seconds": 6.404851818457246,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.1,
                    "y": -0.4,
                    "z": 0.85,
                    "gripper": 0
                  },
                  "note": "The candle is above the near edge of the bowl. I shift toward the bowl’s central flat area and lower slightly for a controlled placement."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 26,
  "state": {
    "instruction": "pick up the candle and place it on the bowl.",
    "joint_positions": [
      -0.51624,
      -0.54748,
      -0.7095,
      -2.49833,
      -0.46696,
      2.02363,
      -0.96155
    ],
    "gripper_open": 0.5401,
    "tcp_xyz": [
      0.10113,
      -0.40015,
      0.85002
    ],
    "tcp_roll_pitch_yaw": [
      0.00495,
      0.00327,
      0.00811
    ],
    "tcp_rotation_matrix": [
      [
        0.9976,
        0.02903,
        -0.06282
      ],
      [
        0.02701,
        -0.9991,
        -0.0328
      ],
      [
        -0.06371,
        0.03102,
        -0.99749
      ]
    ],
    "simulated_seconds_remaining": 17.82,
    "calls_remaining_including_this": 32
  },
  "api_seconds": 7.80842172075063,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.81,
                    "gripper": 0
                  },
                  "note": "The candle is centered over the bowl’s interior. I lower it close to the bowl’s surface before opening the jaws."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 27,
  "state": {
    "instruction": "pick up the candle and place it on the bowl.",
    "joint_positions": [
      -0.5074,
      -0.49455,
      -0.75373,
      -2.56026,
      -0.47943,
      2.13845,
      -0.95867
    ],
    "gripper_open": 0.4659,
    "tcp_xyz": [
      0.10269,
      -0.39927,
      0.8116
    ],
    "tcp_roll_pitch_yaw": [
      0.00575,
      0.00162,
      0.01045
    ],
    "tcp_rotation_matrix": [
      [
        0.99764,
        0.03131,
        -0.0611
      ],
      [
        0.02939,
        -0.99905,
        -0.03212
      ],
      [
        -0.06205,
        0.03025,
        -0.99761
      ]
    ],
    "simulated_seconds_remaining": 16.896,
    "calls_remaining_including_this": 31
  },
  "api_seconds": 6.004830337129533,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 1
                  },
                  "note": "The candle is lowered into the bowl and appears supported by its interior. I open the gripper to release it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

========================================================================
GPT-Astra / Pick & place / 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,
  "status": "completed",
  "success": false,
  "oracle_success": false,
  "action_decisions": 23,
  "wall_seconds": 282.55,
  "usage": {
    "input_tokens": 451406,
    "cached_input_tokens": 418304,
    "cache_write_input_tokens": 0,
    "output_tokens": 4776,
    "reasoning_output_tokens": 2238
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick-and-place 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 45 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 and grasp the requested object, lift it, move it to the named receptacle, and release it in or on that receptacle. Complete the entire pick-and-place 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 placement.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"pick up the knife and place it on the bowl.\", \"joint_positions\": [0.03965, -0.73648, 0.00231, -2.33956, -0.00073, 1.60463, 0.02728], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.32346, 0.01335, 1.01072], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.9999, 0.0141, 0.00165], [0.0141, -0.9999, -0.00222], [0.00161, 0.00224, -1.0]], \"simulated_seconds_remaining\": 45.012, \"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": 0.01,
    "z": 0.9,
    "gripper": 1,
    "note": "The knife is to the right of the bowl. I move forward and lower the open gripper to inspect its position more closely."
  },
  "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": 0.01,
      "z": 0.9,
      "gripper": 1
    },
    "note": "The knife lies to the right of the bowl. I move forward and lower the open gripper to locate the knife."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"pick up the knife and place it on the bowl.\", \"joint_positions\": [0.03477, -0.3935, -0.00919, -2.36475, -0.00628, 1.97253, 0.01464], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.42902, 0.01002, 0.90087], \"tcp_roll_pitch_yaw\": [-1e-05, 0.00032, -1e-05], \"tcp_rotation_matrix\": [[0.9999, 0.01409, 0.00132], [0.01409, -0.9999, -0.00222], [0.00129, 0.00224, -1.0]], \"simulated_seconds_remaining\": 43.692, \"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": -0.12,
      "z": 0.87
    },
    "note": "The knife remains on the right side of the wrist view. I shift right toward it while keeping the fingers above the table."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"pick up the knife and place it on the bowl.\", \"joint_positions\": [-0.07059, -0.32339, -0.18482, -2.37512, -0.06815, 2.05766, -0.22805], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.42997, -0.11877, 0.87028], \"tcp_roll_pitch_yaw\": [5e-05, 0.00038, -0.00027], \"tcp_rotation_matrix\": [[0.9999, 0.01383, 0.00126], [0.01384, -0.9999, -0.00216], [0.00123, 0.00218, -1.0]], \"simulated_seconds_remaining\": 42.504, \"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": 0.43,
      "y": 0.18,
      "z": 0.9
    },
    "note": "The rightward move pushed the knife out of the wrist view. I correct to the opposite side to center it beneath the gripper."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"pick up the knife and place it on the bowl.\", \"joint_positions\": [0.16805, -0.2847, 0.2089, -2.25923, 0.06079, 1.98014, 0.33049], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.42999, 0.17873, 0.89987], \"tcp_roll_pitch_yaw\": [2e-05, 0.00036, -1e-05], \"tcp_rotation_matrix\": [[0.9999, 0.01409, 0.00129], [0.01409, -0.9999, -0.0022], [0.00126, 0.00222, -1.0]], \"simulated_seconds_remaining\": 40.194, \"calls_remaining_including_this\": 54}"
      },
      {
        "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": 0.15,
      "z": 0.8,
      "yaw": -0.35
    },
    "note": "The knife is visible beside the fingers. I align the gripper along its handle and lower toward a grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"pick up the knife and place it on the bowl.\", \"joint_positions\": [0.09757, -0.06868, 0.20512, -2.30015, 0.01455, 2.23223, 0.62614], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.47952, 0.15019, 0.80076], \"tcp_roll_pitch_yaw\": [-0.00016, 0.00064, -0.34692], \"tcp_rotation_matrix\": [[0.94512, -0.32671, 0.00014], [-0.32671, -0.94512, -0.00257], [0.00097, 0.00239, -1.0]], \"simulated_seconds_remaining\": 39.138, \"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": 0.72
    },
    "note": "The knife blade is between the open fingers in the wrist view. I descend straight down to bring the fingers around it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"pick up the knife and place it on the bowl.\", \"joint_positions\": [0.10007, 0.01213, 0.20809, -2.36206, -0.02381, 2.38983, 0.65527], \"gripper_open\": 1.0, \"tcp_xyz\": [0.4814, 0.15079, 0.74844], \"tcp_roll_pitch_yaw\": [0.00102, -0.01944, -0.34397], \"tcp_rotation_matrix\": [[0.94588, -0.32395, 0.01945], [-0.32385, -0.94607, -0.00824], [0.02107, 0.0015, -0.99978]], \"simulated_seconds_remaining\": 38.28, \"calls_remaining_including_this\": 52}"
      },
      {
        "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 fingers have reached the tabletop around the knife. I close the jaws to secure it before lifting."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"pick up the knife and place it on the bowl.\", \"joint_positions\": [0.09966, 0.00479, 0.20756, -2.35834, -0.02422, 2.38708, 0.65558], \"gripper_open\": 0.8404, \"tcp_xyz\": [0.48375, 0.15071, 0.75338], \"tcp_roll_pitch_yaw\": [0.0045, -0.02705, -0.34506], \"tcp_rotation_matrix\": [[0.94534, -0.32489, 0.02777], [-0.32481, -0.94575, -0.00755], [0.02872, -0.00188, -0.99959]], \"simulated_seconds_remaining\": 37.356, \"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": {
      "z": 0.92
    },
    "note": "The jaws are partially closed against an object. I lift vertically to check whether the knife is held."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"pick up the knife and place it on the bowl.\", \"joint_positions\": [0.09969, -0.18485, 0.19602, -2.11733, 0.0222, 1.96065, 0.61565], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.48384, 0.15074, 0.91876], \"tcp_roll_pitch_yaw\": [0.0047, -0.02736, -0.34506], \"tcp_rotation_matrix\": [[0.94533, -0.32489, 0.02814], [-0.32482, -0.94575, -0.00747], [0.02904, -0.00208, -0.99958]], \"simulated_seconds_remaining\": 35.97, \"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": 0.505,
      "y": 0.155,
      "z": 0.76,
      "gripper": 1
    },
    "note": "The knife is still on the table. I reposition slightly along the blade and lower the open jaws for another grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"pick up the knife and place it on the bowl.\", \"joint_positions\": [0.09854, 0.04989, 0.20509, -2.27864, -0.03614, 2.35143, 0.65934], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.50475, 0.15493, 0.76117], \"tcp_roll_pitch_yaw\": [0.0045, -0.02706, -0.34508], \"tcp_rotation_matrix\": [[0.94533, -0.32492, 0.02778], [-0.32484, -0.94574, -0.00756], [0.02873, -0.00188, -0.99959]], \"simulated_seconds_remaining\": 34.584, \"calls_remaining_including_this\": 49}"
      },
      {
        "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 blade is centered between the fingers near the table. I close the gripper around it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"pick up the knife and place it on the bowl.\", \"joint_positions\": [0.09639, 0.04743, 0.20231, -2.27658, -0.03746, 2.35168, 0.65927], \"gripper_open\": 0.0078, \"tcp_xyz\": [0.50691, 0.15259, 0.76334], \"tcp_roll_pitch_yaw\": [0.00607, -0.03178, -0.3491], \"tcp_rotation_matrix\": [[0.94388, -0.32866, 0.03272], [-0.32858, -0.94444, -0.00781], [0.03347, -0.00338, -0.99943]], \"simulated_seconds_remaining\": 33.66, \"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": {
      "z": 0.94,
      "gripper": 0
    },
    "note": "The jaws are closed. I keep them commanded closed and lift to verify the knife comes with the gripper."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 11, \"instruction\": \"pick up the knife and place it on the bowl.\", \"joint_positions\": [0.09376, -0.12603, 0.19562, -2.00465, 0.00809, 1.91052, 0.62059], \"gripper_open\": 0.0, \"tcp_xyz\": [0.50698, 0.15261, 0.93876], \"tcp_roll_pitch_yaw\": [0.00627, -0.03209, -0.3491], \"tcp_rotation_matrix\": [[0.94387, -0.32866, 0.03308], [-0.32858, -0.94444, -0.00772], [0.03378, -0.00358, -0.99942]], \"simulated_seconds_remaining\": 32.208, \"calls_remaining_including_this\": 47}"
      },
      {
        "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"
}

The knife stayed on the table after the lift. I’ll adjust to grasp its narrower handle.


{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.48,
      "y": 0.055,
      "z": 0.86,
      "yaw": -1.15,
      "roll": 0,
      "pitch": 0,
      "gripper": 1
    },
    "note": "The handle extends left and downward from the blade. I shift toward the handle and rotate the fingers to close across its narrow width."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 12, \"instruction\": \"pick up the knife and place it on the bowl.\", \"joint_positions\": [-0.03386, -0.19419, 0.14336, -2.27548, 0.02892, 2.08146, 1.22436], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.48013, 0.05544, 0.86036], \"tcp_roll_pitch_yaw\": [-3e-05, -8e-05, -1.14573], \"tcp_rotation_matrix\": [[0.42519, -0.9051, -0.00133], [-0.9051, -0.42519, -0.0025], [0.0017, 0.00227, -1.0]], \"simulated_seconds_remaining\": 30.822, \"calls_remaining_including_this\": 46}"
      },
      {
        "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": 0.525,
      "y": 0.063,
      "z": 0.79,
      "gripper": 1
    },
    "note": "The handle is just to the right of the finger gap. I shift the gap over the handle and descend closer."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 13, \"instruction\": \"pick up the knife and place it on the bowl.\", \"joint_positions\": [-0.03299, 0.01928, 0.1536, -2.22298, -0.0067, 2.2401, 1.25639], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.52424, 0.06287, 0.79098], \"tcp_roll_pitch_yaw\": [-0.00031, 3e-05, -1.14574], \"tcp_rotation_matrix\": [[0.42518, -0.90511, -0.00164], [-0.90511, -0.42517, -0.00252], [0.00158, 0.00255, -1.0]], \"simulated_seconds_remaining\": 29.964, \"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": 0.56,
      "y": 0.075,
      "z": 0.79,
      "gripper": 1
    },
    "note": "The handle remains slightly right of center. I make a small horizontal correction at the same height."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 14, \"instruction\": \"pick up the knife and place it on the bowl.\", \"joint_positions\": [-0.02242, 0.12145, 0.15959, -2.09508, -0.02686, 2.21282, 1.28375], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.55879, 0.07461, 0.79001], \"tcp_roll_pitch_yaw\": [-0.00034, 5e-05, -1.1457], \"tcp_rotation_matrix\": [[0.42521, -0.90509, -0.00167], [-0.90509, -0.42521, -0.00251], [0.00156, 0.00258, -1.0]], \"simulated_seconds_remaining\": 29.436, \"calls_remaining_including_this\": 44}"
      },
      {
        "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": {
      "z": 0.747,
      "gripper": 1
    },
    "note": "The narrow handle is centered in the finger gap. I lower the jaws to the handle’s height."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 15, \"instruction\": \"pick up the knife and place it on the bowl.\", \"joint_positions\": [-0.01992, 0.18108, 0.15693, -2.13327, -0.04122, 2.31074, 1.29378], \"gripper_open\": 0.9987, \"tcp_xyz\": [0.55907, 0.07473, 0.74868], \"tcp_roll_pitch_yaw\": [0.00058, -0.00025, -1.14557], \"tcp_rotation_matrix\": [[0.42533, -0.90504, -0.00071], [-0.90504, -0.42533, -0.0024], [0.00187, 0.00166, -1.0]], \"simulated_seconds_remaining\": 28.842, \"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": {
      "gripper": 0
    },
    "note": "The handle runs through the middle of the jaws at table height. I close the fingers around it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 16, \"instruction\": \"pick up the knife and place it on the bowl.\", \"joint_positions\": [-0.02016, 0.17349, 0.15688, -2.13034, -0.0413, 2.30675, 1.29374], \"gripper_open\": 0.8178, \"tcp_xyz\": [0.56063, 0.07451, 0.75381], \"tcp_roll_pitch_yaw\": [0.00638, -0.00339, -1.14587], \"tcp_rotation_matrix\": [[0.42505, -0.90515, 0.00587], [-0.90516, -0.42507, -0.00287], [0.00509, -0.00409, -0.99998]], \"simulated_seconds_remaining\": 27.918, \"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": {
      "z": 0.78,
      "gripper": 0
    },
    "note": "The jaws are obstructed near the tabletop. I raise them slightly while maintaining closure to seat the handle between the fingers."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 17, \"instruction\": \"pick up the knife and place it on the bowl.\", \"joint_positions\": [-0.02171, 0.13671, 0.1587, -2.10781, -0.03232, 2.24805, 1.28743], \"gripper_open\": 0.1196, \"tcp_xyz\": [0.56064, 0.07451, 0.77896], \"tcp_roll_pitch_yaw\": [0.00642, -0.00341, -1.14587], \"tcp_rotation_matrix\": [[0.42505, -0.90515, 0.00592], [-0.90516, -0.42507, -0.00287], [0.00511, -0.00414, -0.99998]], \"simulated_seconds_remaining\": 26.994, \"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": {
      "z": 0.97,
      "gripper": 0
    },
    "note": "The fingers now hold a narrow object and the blade has moved with them. I lift the knife clear of the table."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 18, \"instruction\": \"pick up the knife and place it on the bowl.\", \"joint_positions\": [-0.02575, 0.00273, 0.15968, -1.7759, -0.00418, 1.7844, 1.26657], \"gripper_open\": 0.1194, \"tcp_xyz\": [0.5607, 0.07452, 0.96878], \"tcp_roll_pitch_yaw\": [0.00673, -0.00352, -1.14587], \"tcp_rotation_matrix\": [[0.42505, -0.90515, 0.00625], [-0.90516, -0.42507, -0.00284], [0.00523, -0.00444, -0.99998]], \"simulated_seconds_remaining\": 25.41, \"calls_remaining_including_this\": 40}"
      },
      {
        "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"
}

The knife is securely lifted. I’ll move it over the bowl and lower it for release.


{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.58,
      "y": 0.32,
      "z": 0.99,
      "gripper": 0
    },
    "note": "The knife is held steadily, and the bowl is toward the upper right of the wrist view. I carry the knife over toward the bowl."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 19, \"instruction\": \"pick up the knife and place it on the bowl.\", \"joint_positions\": [0.25599, 0.3661, 0.32833, -1.25029, -0.12141, 1.60186, 1.69877], \"gripper_open\": 0.1227, \"tcp_xyz\": [0.57983, 0.31876, 0.98981], \"tcp_roll_pitch_yaw\": [0.00662, -0.00345, -1.14556], \"tcp_rotation_matrix\": [[0.42533, -0.90502, 0.00611], [-0.90503, -0.42535, -0.00283], [0.00516, -0.00433, -0.99998]], \"simulated_seconds_remaining\": 23.496, \"calls_remaining_including_this\": 39}"
      },
      {
        "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": 0.55,
      "y": 0.32,
      "z": 0.87,
      "gripper": 0
    },
    "note": "The bowl is directly beneath the held knife, slightly left of its blade. I shift left slightly and lower the knife toward the bowl rim."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 20, \"instruction\": \"pick up the knife and place it on the bowl.\", \"joint_positions\": [0.2329, 0.27067, 0.33259, -1.68972, -0.10005, 1.94785, 1.72226], \"gripper_open\": 0.1208, \"tcp_xyz\": [0.55026, 0.31998, 0.87114], \"tcp_roll_pitch_yaw\": [0.00624, -0.00347, -1.14552], \"tcp_rotation_matrix\": [[0.42537, -0.905, 0.00578], [-0.90501, -0.42539, -0.003], [0.00517, -0.00395, -0.99998]], \"simulated_seconds_remaining\": 22.374, \"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,
      "y": 0.3,
      "z": 0.85,
      "gripper": 0
    },
    "note": "The bowl is visible just right of the knife. I align the blade over the bowl’s interior while keeping a little clearance above the rim."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 21, \"instruction\": \"pick up the knife and place it on the bowl.\", \"joint_positions\": [0.2145, 0.35939, 0.3114, -1.60707, -0.12018, 1.95809, 1.67801], \"gripper_open\": 0.1197, \"tcp_xyz\": [0.58774, 0.3049, 0.85474], \"tcp_roll_pitch_yaw\": [0.01246, -0.00086, -1.14049], \"tcp_rotation_matrix\": [[0.4299, -0.90282, 0.01035], [-0.90287, -0.4299, 0.002], [0.00265, -0.01021, -0.99994]], \"simulated_seconds_remaining\": 21.78, \"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": {
      "gripper": 1
    },
    "note": "The held handle is over the bowl opening and the knife is close to the rim. I open the fingers to place it onto the bowl."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 22, \"instruction\": \"pick up the knife and place it on the bowl.\", \"joint_positions\": [0.2145, 0.35939, 0.3114, -1.60707, -0.12018, 1.95809, 1.67801], \"gripper_open\": 0.9965, \"tcp_xyz\": [0.58775, 0.30491, 0.85474], \"tcp_roll_pitch_yaw\": [0.01247, -0.00085, -1.14049], \"tcp_rotation_matrix\": [[0.42991, -0.90281, 0.01036], [-0.90287, -0.42991, 0.00201], [0.00264, -0.01022, -0.99994]], \"simulated_seconds_remaining\": 20.856, \"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": {
      "z": 1.06,
      "x": 0.53,
      "gripper": 1
    },
    "note": "The knife has been released over the bowl. I withdraw upward to let it settle and verify its final placement."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 23, \"instruction\": \"pick up the knife and place it on the bowl.\", \"joint_positions\": [0.23653, 0.21663, 0.3437, -1.28006, -0.07668, 1.4948, 1.69254], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.53038, 0.30496, 1.05885], \"tcp_roll_pitch_yaw\": [0.01285, -0.00084, -1.14044], \"tcp_rotation_matrix\": [[0.42995, -0.90279, 0.0107], [-0.90285, -0.42996, 0.00218], [0.00264, -0.0106, -0.99994]], \"simulated_seconds_remaining\": 19.14, \"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": "done",
  "arguments": {
    "note": "The knife is released and resting across the bowl, with the gripper withdrawn."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "Episode ended. Do not call more tools. Return a brief final response."
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

Placed the knife on the bowl.

TURN USAGE
{
  "input_tokens": 451406,
  "cached_input_tokens": 418304,
  "cache_write_input_tokens": 0,
  "output_tokens": 4776,
  "reasoning_output_tokens": 2238
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "pick up the knife and place it on the bowl.",
    "joint_positions": [
      0.03965,
      -0.73648,
      0.00231,
      -2.33956,
      -0.00073,
      1.60463,
      0.02728
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.32346,
      0.01335,
      1.01072
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.9999,
        0.0141,
        0.00165
      ],
      [
        0.0141,
        -0.9999,
        -0.00222
      ],
      [
        0.00161,
        0.00224,
        -1.0
      ]
    ],
    "simulated_seconds_remaining": 45.012,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 26.02324661705643,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.43,
                    "y": 0.01,
                    "z": 0.9,
                    "gripper": 1
                  },
                  "note": "The knife lies to the right of the bowl. I move forward and lower the open gripper to locate the knife."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "pick up the knife and place it on the bowl.",
    "joint_positions": [
      0.03477,
      -0.3935,
      -0.00919,
      -2.36475,
      -0.00628,
      1.97253,
      0.01464
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.42902,
      0.01002,
      0.90087
    ],
    "tcp_roll_pitch_yaw": [
      -1e-05,
      0.00032,
      -1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.9999,
        0.01409,
        0.00132
      ],
      [
        0.01409,
        -0.9999,
        -0.00222
      ],
      [
        0.00129,
        0.00224,
        -1.0
      ]
    ],
    "simulated_seconds_remaining": 43.692,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 12.811166429892182,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.43,
                    "y": -0.12,
                    "z": 0.87
                  },
                  "note": "The knife remains on the right side of the wrist view. I shift right toward it while keeping the fingers above the table."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "pick up the knife and place it on the bowl.",
    "joint_positions": [
      -0.07059,
      -0.32339,
      -0.18482,
      -2.37512,
      -0.06815,
      2.05766,
      -0.22805
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.42997,
      -0.11877,
      0.87028
    ],
    "tcp_roll_pitch_yaw": [
      5e-05,
      0.00038,
      -0.00027
    ],
    "tcp_rotation_matrix": [
      [
        0.9999,
        0.01383,
        0.00126
      ],
      [
        0.01384,
        -0.9999,
        -0.00216
      ],
      [
        0.00123,
        0.00218,
        -1.0
      ]
    ],
    "simulated_seconds_remaining": 42.504,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 8.207745170220733,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.43,
                    "y": 0.18,
                    "z": 0.9
                  },
                  "note": "The rightward move pushed the knife out of the wrist view. I correct to the opposite side to center it beneath the gripper."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 35,
    "motion_seconds": 2.31,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "pick up the knife and place it on the bowl.",
    "joint_positions": [
      0.16805,
      -0.2847,
      0.2089,
      -2.25923,
      0.06079,
      1.98014,
      0.33049
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.42999,
      0.17873,
      0.89987
    ],
    "tcp_roll_pitch_yaw": [
      2e-05,
      0.00036,
      -1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.9999,
        0.01409,
        0.00129
      ],
      [
        0.01409,
        -0.9999,
        -0.0022
      ],
      [
        0.00126,
        0.00222,
        -1.0
      ]
    ],
    "simulated_seconds_remaining": 40.194,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 9.609227119013667,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48,
                    "y": 0.15,
                    "z": 0.8,
                    "yaw": -0.35
                  },
                  "note": "The knife is visible beside the fingers. I align the gripper along its handle and lower toward a grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "pick up the knife and place it on the bowl.",
    "joint_positions": [
      0.09757,
      -0.06868,
      0.20512,
      -2.30015,
      0.01455,
      2.23223,
      0.62614
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.47952,
      0.15019,
      0.80076
    ],
    "tcp_roll_pitch_yaw": [
      -0.00016,
      0.00064,
      -0.34692
    ],
    "tcp_rotation_matrix": [
      [
        0.94512,
        -0.32671,
        0.00014
      ],
      [
        -0.32671,
        -0.94512,
        -0.00257
      ],
      [
        0.00097,
        0.00239,
        -1.0
      ]
    ],
    "simulated_seconds_remaining": 39.138,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 11.609986015595496,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.72
                  },
                  "note": "The knife blade is between the open fingers in the wrist view. I descend straight down to bring the fingers around it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "pick up the knife and place it on the bowl.",
    "joint_positions": [
      0.10007,
      0.01213,
      0.20809,
      -2.36206,
      -0.02381,
      2.38983,
      0.65527
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.4814,
      0.15079,
      0.74844
    ],
    "tcp_roll_pitch_yaw": [
      0.00102,
      -0.01944,
      -0.34397
    ],
    "tcp_rotation_matrix": [
      [
        0.94588,
        -0.32395,
        0.01945
      ],
      [
        -0.32385,
        -0.94607,
        -0.00824
      ],
      [
        0.02107,
        0.0015,
        -0.99978
      ]
    ],
    "simulated_seconds_remaining": 38.28,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 5.00486275088042,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The fingers have reached the tabletop around the knife. I close the jaws to secure it before lifting."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "pick up the knife and place it on the bowl.",
    "joint_positions": [
      0.09966,
      0.00479,
      0.20756,
      -2.35834,
      -0.02422,
      2.38708,
      0.65558
    ],
    "gripper_open": 0.8404,
    "tcp_xyz": [
      0.48375,
      0.15071,
      0.75338
    ],
    "tcp_roll_pitch_yaw": [
      0.0045,
      -0.02705,
      -0.34506
    ],
    "tcp_rotation_matrix": [
      [
        0.94534,
        -0.32489,
        0.02777
      ],
      [
        -0.32481,
        -0.94575,
        -0.00755
      ],
      [
        0.02872,
        -0.00188,
        -0.99959
      ]
    ],
    "simulated_seconds_remaining": 37.356,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 7.006945846602321,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.92
                  },
                  "note": "The jaws are partially closed against an object. I lift vertically to check whether the knife is held."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "pick up the knife and place it on the bowl.",
    "joint_positions": [
      0.09969,
      -0.18485,
      0.19602,
      -2.11733,
      0.0222,
      1.96065,
      0.61565
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.48384,
      0.15074,
      0.91876
    ],
    "tcp_roll_pitch_yaw": [
      0.0047,
      -0.02736,
      -0.34506
    ],
    "tcp_rotation_matrix": [
      [
        0.94533,
        -0.32489,
        0.02814
      ],
      [
        -0.32482,
        -0.94575,
        -0.00747
      ],
      [
        0.02904,
        -0.00208,
        -0.99958
      ]
    ],
    "simulated_seconds_remaining": 35.97,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 14.41198536194861,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.505,
                    "y": 0.155,
                    "z": 0.76,
                    "gripper": 1
                  },
                  "note": "The knife is still on the table. I reposition slightly along the blade and lower the open jaws for another grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "pick up the knife and place it on the bowl.",
    "joint_positions": [
      0.09854,
      0.04989,
      0.20509,
      -2.27864,
      -0.03614,
      2.35143,
      0.65934
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.50475,
      0.15493,
      0.76117
    ],
    "tcp_roll_pitch_yaw": [
      0.0045,
      -0.02706,
      -0.34508
    ],
    "tcp_rotation_matrix": [
      [
        0.94533,
        -0.32492,
        0.02778
      ],
      [
        -0.32484,
        -0.94574,
        -0.00756
      ],
      [
        0.02873,
        -0.00188,
        -0.99959
      ]
    ],
    "simulated_seconds_remaining": 34.584,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 6.4061711905524135,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The blade is centered between the fingers near the table. I close the gripper around it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "pick up the knife and place it on the bowl.",
    "joint_positions": [
      0.09639,
      0.04743,
      0.20231,
      -2.27658,
      -0.03746,
      2.35168,
      0.65927
    ],
    "gripper_open": 0.0078,
    "tcp_xyz": [
      0.50691,
      0.15259,
      0.76334
    ],
    "tcp_roll_pitch_yaw": [
      0.00607,
      -0.03178,
      -0.3491
    ],
    "tcp_rotation_matrix": [
      [
        0.94388,
        -0.32866,
        0.03272
      ],
      [
        -0.32858,
        -0.94444,
        -0.00781
      ],
      [
        0.03347,
        -0.00338,
        -0.99943
      ]
    ],
    "simulated_seconds_remaining": 33.66,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 4.40459546726197,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.94,
                    "gripper": 0
                  },
                  "note": "The jaws are closed. I keep them commanded closed and lift to verify the knife comes with the gripper."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 22,
    "motion_seconds": 1.452,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "pick up the knife and place it on the bowl.",
    "joint_positions": [
      0.09376,
      -0.12603,
      0.19562,
      -2.00465,
      0.00809,
      1.91052,
      0.62059
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.50698,
      0.15261,
      0.93876
    ],
    "tcp_roll_pitch_yaw": [
      0.00627,
      -0.03209,
      -0.3491
    ],
    "tcp_rotation_matrix": [
      [
        0.94387,
        -0.32866,
        0.03308
      ],
      [
        -0.32858,
        -0.94444,
        -0.00772
      ],
      [
        0.03378,
        -0.00358,
        -0.99942
      ]
    ],
    "simulated_seconds_remaining": 32.208,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 24.8232725802809,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48,
                    "y": 0.055,
                    "z": 0.86,
                    "yaw": -1.15,
                    "roll": 0,
                    "pitch": 0,
                    "gripper": 1
                  },
                  "note": "The handle extends left and downward from the blade. I shift toward the handle and rotate the fingers to close across its narrow width."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "pick up the knife and place it on the bowl.",
    "joint_positions": [
      -0.03386,
      -0.19419,
      0.14336,
      -2.27548,
      0.02892,
      2.08146,
      1.22436
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.48013,
      0.05544,
      0.86036
    ],
    "tcp_roll_pitch_yaw": [
      -3e-05,
      -8e-05,
      -1.14573
    ],
    "tcp_rotation_matrix": [
      [
        0.42519,
        -0.9051,
        -0.00133
      ],
      [
        -0.9051,
        -0.42519,
        -0.0025
      ],
      [
        0.0017,
        0.00227,
        -1.0
      ]
    ],
    "simulated_seconds_remaining": 30.822,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 17.81509713921696,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.525,
                    "y": 0.063,
                    "z": 0.79,
                    "gripper": 1
                  },
                  "note": "The handle is just to the right of the finger gap. I shift the gap over the handle and descend closer."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "pick up the knife and place it on the bowl.",
    "joint_positions": [
      -0.03299,
      0.01928,
      0.1536,
      -2.22298,
      -0.0067,
      2.2401,
      1.25639
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.52424,
      0.06287,
      0.79098
    ],
    "tcp_roll_pitch_yaw": [
      -0.00031,
      3e-05,
      -1.14574
    ],
    "tcp_rotation_matrix": [
      [
        0.42518,
        -0.90511,
        -0.00164
      ],
      [
        -0.90511,
        -0.42517,
        -0.00252
      ],
      [
        0.00158,
        0.00255,
        -1.0
      ]
    ],
    "simulated_seconds_remaining": 29.964,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 5.822204016149044,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.56,
                    "y": 0.075,
                    "z": 0.79,
                    "gripper": 1
                  },
                  "note": "The handle remains slightly right of center. I make a small horizontal correction at the same height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 8,
    "motion_seconds": 0.528,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "pick up the knife and place it on the bowl.",
    "joint_positions": [
      -0.02242,
      0.12145,
      0.15959,
      -2.09508,
      -0.02686,
      2.21282,
      1.28375
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.55879,
      0.07461,
      0.79001
    ],
    "tcp_roll_pitch_yaw": [
      -0.00034,
      5e-05,
      -1.1457
    ],
    "tcp_rotation_matrix": [
      [
        0.42521,
        -0.90509,
        -0.00167
      ],
      [
        -0.90509,
        -0.42521,
        -0.00251
      ],
      [
        0.00156,
        0.00258,
        -1.0
      ]
    ],
    "simulated_seconds_remaining": 29.436,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 6.205611255019903,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.747,
                    "gripper": 1
                  },
                  "note": "The narrow handle is centered in the finger gap. I lower the jaws to the handle’s height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "pick up the knife and place it on the bowl.",
    "joint_positions": [
      -0.01992,
      0.18108,
      0.15693,
      -2.13327,
      -0.04122,
      2.31074,
      1.29378
    ],
    "gripper_open": 0.9987,
    "tcp_xyz": [
      0.55907,
      0.07473,
      0.74868
    ],
    "tcp_roll_pitch_yaw": [
      0.00058,
      -0.00025,
      -1.14557
    ],
    "tcp_rotation_matrix": [
      [
        0.42533,
        -0.90504,
        -0.00071
      ],
      [
        -0.90504,
        -0.42533,
        -0.0024
      ],
      [
        0.00187,
        0.00166,
        -1.0
      ]
    ],
    "simulated_seconds_remaining": 28.842,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 6.205726716667414,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The handle runs through the middle of the jaws at table height. I close the fingers around it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "pick up the knife and place it on the bowl.",
    "joint_positions": [
      -0.02016,
      0.17349,
      0.15688,
      -2.13034,
      -0.0413,
      2.30675,
      1.29374
    ],
    "gripper_open": 0.8178,
    "tcp_xyz": [
      0.56063,
      0.07451,
      0.75381
    ],
    "tcp_roll_pitch_yaw": [
      0.00638,
      -0.00339,
      -1.14587
    ],
    "tcp_rotation_matrix": [
      [
        0.42505,
        -0.90515,
        0.00587
      ],
      [
        -0.90516,
        -0.42507,
        -0.00287
      ],
      [
        0.00509,
        -0.00409,
        -0.99998
      ]
    ],
    "simulated_seconds_remaining": 27.918,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 5.605074802413583,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.78,
                    "gripper": 0
                  },
                  "note": "The jaws are obstructed near the tabletop. I raise them slightly while maintaining closure to seat the handle between the fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "pick up the knife and place it on the bowl.",
    "joint_positions": [
      -0.02171,
      0.13671,
      0.1587,
      -2.10781,
      -0.03232,
      2.24805,
      1.28743
    ],
    "gripper_open": 0.1196,
    "tcp_xyz": [
      0.56064,
      0.07451,
      0.77896
    ],
    "tcp_roll_pitch_yaw": [
      0.00642,
      -0.00341,
      -1.14587
    ],
    "tcp_rotation_matrix": [
      [
        0.42505,
        -0.90515,
        0.00592
      ],
      [
        -0.90516,
        -0.42507,
        -0.00287
      ],
      [
        0.00511,
        -0.00414,
        -0.99998
      ]
    ],
    "simulated_seconds_remaining": 26.994,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 5.8048610389232635,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.97,
                    "gripper": 0
                  },
                  "note": "The fingers now hold a narrow object and the blade has moved with them. I lift the knife clear of the table."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 24,
    "motion_seconds": 1.584,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "pick up the knife and place it on the bowl.",
    "joint_positions": [
      -0.02575,
      0.00273,
      0.15968,
      -1.7759,
      -0.00418,
      1.7844,
      1.26657
    ],
    "gripper_open": 0.1194,
    "tcp_xyz": [
      0.5607,
      0.07452,
      0.96878
    ],
    "tcp_roll_pitch_yaw": [
      0.00673,
      -0.00352,
      -1.14587
    ],
    "tcp_rotation_matrix": [
      [
        0.42505,
        -0.90515,
        0.00625
      ],
      [
        -0.90516,
        -0.42507,
        -0.00284
      ],
      [
        0.00523,
        -0.00444,
        -0.99998
      ]
    ],
    "simulated_seconds_remaining": 25.41,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 13.411992684006691,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.58,
                    "y": 0.32,
                    "z": 0.99,
                    "gripper": 0
                  },
                  "note": "The knife is held steadily, and the bowl is toward the upper right of the wrist view. I carry the knife over toward the bowl."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 29,
    "motion_seconds": 1.9140000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 19,
  "state": {
    "instruction": "pick up the knife and place it on the bowl.",
    "joint_positions": [
      0.25599,
      0.3661,
      0.32833,
      -1.25029,
      -0.12141,
      1.60186,
      1.69877
    ],
    "gripper_open": 0.1227,
    "tcp_xyz": [
      0.57983,
      0.31876,
      0.98981
    ],
    "tcp_roll_pitch_yaw": [
      0.00662,
      -0.00345,
      -1.14556
    ],
    "tcp_rotation_matrix": [
      [
        0.42533,
        -0.90502,
        0.00611
      ],
      [
        -0.90503,
        -0.42535,
        -0.00283
      ],
      [
        0.00516,
        -0.00433,
        -0.99998
      ]
    ],
    "simulated_seconds_remaining": 23.496,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 8.207479418255389,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.55,
                    "y": 0.32,
                    "z": 0.87,
                    "gripper": 0
                  },
                  "note": "The bowl is directly beneath the held knife, slightly left of its blade. I shift left slightly and lower the knife toward the bowl rim."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 20,
  "state": {
    "instruction": "pick up the knife and place it on the bowl.",
    "joint_positions": [
      0.2329,
      0.27067,
      0.33259,
      -1.68972,
      -0.10005,
      1.94785,
      1.72226
    ],
    "gripper_open": 0.1208,
    "tcp_xyz": [
      0.55026,
      0.31998,
      0.87114
    ],
    "tcp_roll_pitch_yaw": [
      0.00624,
      -0.00347,
      -1.14552
    ],
    "tcp_rotation_matrix": [
      [
        0.42537,
        -0.905,
        0.00578
      ],
      [
        -0.90501,
        -0.42539,
        -0.003
      ],
      [
        0.00517,
        -0.00395,
        -0.99998
      ]
    ],
    "simulated_seconds_remaining": 22.374,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 9.409394135698676,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.59,
                    "y": 0.3,
                    "z": 0.85,
                    "gripper": 0
                  },
                  "note": "The bowl is visible just right of the knife. I align the blade over the bowl’s interior while keeping a little clearance above the rim."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 21,
  "state": {
    "instruction": "pick up the knife and place it on the bowl.",
    "joint_positions": [
      0.2145,
      0.35939,
      0.3114,
      -1.60707,
      -0.12018,
      1.95809,
      1.67801
    ],
    "gripper_open": 0.1197,
    "tcp_xyz": [
      0.58774,
      0.3049,
      0.85474
    ],
    "tcp_roll_pitch_yaw": [
      0.01246,
      -0.00086,
      -1.14049
    ],
    "tcp_rotation_matrix": [
      [
        0.4299,
        -0.90282,
        0.01035
      ],
      [
        -0.90287,
        -0.4299,
        0.002
      ],
      [
        0.00265,
        -0.01021,
        -0.99994
      ]
    ],
    "simulated_seconds_remaining": 21.78,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 6.605936067178845,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 1
                  },
                  "note": "The held handle is over the bowl opening and the knife is close to the rim. I open the fingers to place it onto the bowl."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 22,
  "state": {
    "instruction": "pick up the knife and place it on the bowl.",
    "joint_positions": [
      0.2145,
      0.35939,
      0.3114,
      -1.60707,
      -0.12018,
      1.95809,
      1.67801
    ],
    "gripper_open": 0.9965,
    "tcp_xyz": [
      0.58775,
      0.30491,
      0.85474
    ],
    "tcp_roll_pitch_yaw": [
      0.01247,
      -0.00085,
      -1.14049
    ],
    "tcp_rotation_matrix": [
      [
        0.42991,
        -0.90281,
        0.01036
      ],
      [
        -0.90287,
        -0.42991,
        0.00201
      ],
      [
        0.00264,
        -0.01022,
        -0.99994
      ]
    ],
    "simulated_seconds_remaining": 20.856,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 4.604489755816758,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.06,
                    "x": 0.53,
                    "gripper": 1
                  },
                  "note": "The knife has been released over the bowl. I withdraw upward to let it settle and verify its final placement."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 26,
    "motion_seconds": 1.7160000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 23,
  "state": {
    "instruction": "pick up the knife and place it on the bowl.",
    "joint_positions": [
      0.23653,
      0.21663,
      0.3437,
      -1.28006,
      -0.07668,
      1.4948,
      1.69254
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.53038,
      0.30496,
      1.05885
    ],
    "tcp_roll_pitch_yaw": [
      0.01285,
      -0.00084,
      -1.14044
    ],
    "tcp_rotation_matrix": [
      [
        0.42995,
        -0.90279,
        0.0107
      ],
      [
        -0.90285,
        -0.42996,
        0.00218
      ],
      [
        0.00264,
        -0.0106,
        -0.99994
      ]
    ],
    "simulated_seconds_remaining": 19.14,
    "calls_remaining_including_this": 35
  },
  "api_seconds": 6.606246950104833,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "done",
                "args": {
                  "note": "The knife is released and resting across the bowl, with the gripper withdrawn."
                }
              }
            }
          ]
        }
      }
    ]
  }
}

========================================================================
GPT-Astra / Pick & place / 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,
  "status": "completed",
  "success": true,
  "oracle_success": true,
  "action_decisions": 13,
  "wall_seconds": 201.38,
  "usage": {
    "input_tokens": 238801,
    "cached_input_tokens": 224000,
    "cache_write_input_tokens": 0,
    "output_tokens": 3023,
    "reasoning_output_tokens": 1442
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick-and-place 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 45 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 and grasp the requested object, lift it, move it to the named receptacle, and release it in or on that receptacle. Complete the entire pick-and-place 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 and guide the robot through the pick and place.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"pick up the spatula and place it on the bowl.\", \"joint_positions\": [-0.04466, -0.76408, -0.00219, -2.33648, -0.02493, 1.61592, 0.00081], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.32373, -0.02158, 1.02227], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.998, -0.04698, 0.04238], [-0.04593, -0.99862, -0.02538], [0.04351, 0.02338, -0.99878]], \"simulated_seconds_remaining\": 45.012, \"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,
    "gripper": 1,
    "note": "The bowl is near the center of the table and utensils lie to its right. Moving forward for 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": 0.48,
      "y": 0,
      "z": 1.05,
      "gripper": 1
    },
    "note": "The bowl is near the center of the table and utensils lie to its right. Moving forward for a clearer wrist view."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"pick up the spatula and place it on the bowl.\", \"joint_positions\": [-0.03317, -0.27709, 0.03917, -1.88478, -0.01492, 1.65003, 0.05208], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.47872, -0.00017, 1.04971], \"tcp_roll_pitch_yaw\": [-0.0, 0.00014, 2e-05], \"tcp_rotation_matrix\": [[0.998, -0.04696, 0.04224], [-0.04591, -0.99862, -0.02538], [0.04337, 0.02339, -0.99879]], \"simulated_seconds_remaining\": 43.626, \"calls_remaining_including_this\": 56}"
      },
      {
        "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": 0.53,
      "y": 0.14,
      "z": 0.96
    },
    "note": "The spatula has a white blade on the left and a dark handle extending right in the wrist view. Moving over its handle and closer to the table."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"pick up the spatula and place it on the bowl.\", \"joint_positions\": [0.06695, -0.07779, 0.19774, -1.89696, -0.02111, 1.85457, 0.3162], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.52957, 0.13899, 0.9606], \"tcp_roll_pitch_yaw\": [-6e-05, 0.00035, 0.00023], \"tcp_rotation_matrix\": [[0.99802, -0.04674, 0.04203], [-0.0457, -0.99863, -0.02543], [0.04316, 0.02346, -0.99879]], \"simulated_seconds_remaining\": 42.174, \"calls_remaining_including_this\": 55}"
      },
      {
        "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": 0.58,
      "y": 0.075,
      "z": 0.86,
      "yaw": 1.57
    },
    "note": "The handle is left of the wrist center. Shifting toward it and rotating the fingers to close across the narrow handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"pick up the spatula and place it on the bowl.\", \"joint_positions\": [0.0024, 0.08659, 0.11551, -1.95765, 0.03268, 2.07371, -1.41669], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.57984, 0.07513, 0.86022], \"tcp_roll_pitch_yaw\": [9e-05, 0.00037, 1.56512], \"tcp_rotation_matrix\": [[0.0516, 0.99834, 0.02553], [0.99774, -0.05264, 0.04187], [0.04314, 0.02331, -0.9988]], \"simulated_seconds_remaining\": 39.798, \"calls_remaining_including_this\": 54}"
      },
      {
        "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": 0.625,
      "y": 0.13,
      "z": 0.805
    },
    "note": "The handle is visible above and left of the open fingers. Aligning the grasp point over its lower section before closing."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"pick up the spatula and place it on the bowl.\", \"joint_positions\": [0.06161, 0.29312, 0.14339, -1.82308, -0.00624, 2.14642, -1.31718], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.62431, 0.1293, 0.80565], \"tcp_roll_pitch_yaw\": [0.00033, 0.00038, 1.56527], \"tcp_rotation_matrix\": [[0.05146, 0.99836, 0.02528], [0.99774, -0.05249, 0.04186], [0.04311, 0.02307, -0.9988]], \"simulated_seconds_remaining\": 38.874, \"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": 0.645,
      "y": 0.045,
      "z": 0.805
    },
    "note": "The handle shifted upward in the wrist view, showing that the lengthwise adjustment must go the opposite way. Moving back along the handle to center it between the fingers."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"pick up the spatula and place it on the bowl.\", \"joint_positions\": [-0.03009, 0.32217, 0.09842, -1.77904, 0.01062, 2.12761, -1.46105], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.6447, 0.04611, 0.805], \"tcp_roll_pitch_yaw\": [0.00034, 0.00043, 1.56492], \"tcp_rotation_matrix\": [[0.05181, 0.99834, 0.02528], [0.99773, -0.05284, 0.04179], [0.04306, 0.02306, -0.99881]], \"simulated_seconds_remaining\": 38.016, \"calls_remaining_including_this\": 52}"
      },
      {
        "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": 0.646,
      "y": 0.01,
      "z": 0.765
    },
    "note": "The dark handle is now centered laterally between the jaws. Lowering to handle height while bringing its end into the grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"pick up the spatula and place it on the bowl.\", \"joint_positions\": [-0.06872, 0.36592, 0.08008, -1.81889, 0.01619, 2.20897, -1.52197], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.64592, 0.01071, 0.7658], \"tcp_roll_pitch_yaw\": [0.0006, 0.00047, 1.56471], \"tcp_rotation_matrix\": [[0.05203, 0.99833, 0.02503], [0.99772, -0.05305, 0.04176], [0.04302, 0.0228, -0.99881]], \"simulated_seconds_remaining\": 37.356, \"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": {
      "z": 0.755,
      "gripper": 0
    },
    "note": "The handle runs through the gap between the fingers at table height. Closing the jaws around it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"pick up the spatula and place it on the bowl.\", \"joint_positions\": [-0.06827, 0.37187, 0.08004, -1.82564, 0.01556, 2.2267, -1.52209], \"gripper_open\": 0.1561, \"tcp_xyz\": [0.64682, 0.01092, 0.76056], \"tcp_roll_pitch_yaw\": [-0.00444, 0.00065, 1.56506], \"tcp_rotation_matrix\": [[0.05146, 0.99822, 0.03005], [0.99775, -0.05269, 0.04156], [0.04307, 0.02784, -0.99868]], \"simulated_seconds_remaining\": 36.432, \"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": {
      "z": 0.97
    },
    "note": "The fingers stopped partly open around the handle, consistent with a grasp. Lifting to verify that the spatula follows."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"pick up the spatula and place it on the bowl.\", \"joint_positions\": [-0.06995, 0.25494, 0.08363, -1.45258, 0.02047, 1.73749, -1.51108], \"gripper_open\": 0.1533, \"tcp_xyz\": [0.64688, 0.01093, 0.96881], \"tcp_roll_pitch_yaw\": [-0.00478, 0.00064, 1.56506], \"tcp_rotation_matrix\": [[0.05145, 0.99821, 0.03039], [0.99775, -0.05269, 0.04157], [0.0431, 0.02819, -0.99867]], \"simulated_seconds_remaining\": 34.716, \"calls_remaining_including_this\": 49}"
      },
      {
        "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"
}

The spatula is securely lifted. I’m moving it over the bowl and will lower it onto the rim.


{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.47,
      "y": 0.27,
      "z": 0.99
    },
    "note": "The spatula remains between the closed fingers after lifting. Moving toward the bowl, which lies to the left and nearer the robot in the exterior view."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"pick up the spatula and place it on the bowl.\", \"joint_positions\": [0.17285, -0.10939, 0.3181, -1.85616, 0.05803, 1.79833, -1.04081], \"gripper_open\": 0.1523, \"tcp_xyz\": [0.47071, 0.26901, 0.98993], \"tcp_roll_pitch_yaw\": [-0.00482, 0.00062, 1.56538], \"tcp_rotation_matrix\": [[0.05113, 0.99823, 0.03042], [0.99776, -0.05237, 0.04159], [0.04311, 0.02822, -0.99867]], \"simulated_seconds_remaining\": 32.34, \"calls_remaining_including_this\": 48}"
      },
      {
        "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": 0.6,
      "y": 0.29,
      "z": 0.9
    },
    "note": "The bowl is visible left of the held spatula. Sliding laterally over it while keeping the spatula extended across the bowl."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 11, \"instruction\": \"pick up the spatula and place it on the bowl.\", \"joint_positions\": [0.18559, 0.31905, 0.30215, -1.55421, -0.07428, 1.9047, -1.02492], \"gripper_open\": 0.1534, \"tcp_xyz\": [0.59893, 0.28976, 0.90057], \"tcp_roll_pitch_yaw\": [-0.00451, 0.00072, 1.56529], \"tcp_rotation_matrix\": [[0.05123, 0.99823, 0.03011], [0.99776, -0.05246, 0.04149], [0.043, 0.02792, -0.99868]], \"simulated_seconds_remaining\": 30.954, \"calls_remaining_including_this\": 47}"
      },
      {
        "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,
      "y": 0.38,
      "z": 0.85
    },
    "note": "The bowl is beneath the handle, while the blade extends beyond it. Moving the spatula lengthwise so its middle spans the bowl, then lowering toward the rim."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 12, \"instruction\": \"pick up the spatula and place it on the bowl.\", \"joint_positions\": [0.31867, 0.5646, 0.30809, -1.31559, -0.15332, 1.90411, -0.89469], \"gripper_open\": 0.1506, \"tcp_xyz\": [0.61983, 0.37891, 0.85109], \"tcp_roll_pitch_yaw\": [-0.00517, 0.00049, 1.56536], \"tcp_rotation_matrix\": [[0.05113, 0.99822, 0.03077], [0.99775, -0.0524, 0.04172], [0.04325, 0.02856, -0.99866]], \"simulated_seconds_remaining\": 29.964, \"calls_remaining_including_this\": 46}"
      },
      {
        "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": 0.805
    },
    "note": "The spatula is centered across the bowl’s opening. Lowering gently so it can rest on the rim before release."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 13, \"instruction\": \"pick up the spatula and place it on the bowl.\", \"joint_positions\": [0.32413, 0.57839, 0.31428, -1.38422, -0.09039, 2.09876, -0.88815], \"gripper_open\": 0.0851, \"tcp_xyz\": [0.62741, 0.41689, 0.83068], \"tcp_roll_pitch_yaw\": [-0.05476, -0.12316, 1.55401], \"tcp_rotation_matrix\": [[0.06, 0.99476, 0.08276], [0.98392, -0.07291, 0.16303], [0.16821, 0.07164, -0.98314]], \"simulated_seconds_remaining\": 29.37, \"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": 1
    },
    "note": "The spatula has contacted the bowl and the arm settled slightly above the requested height. Opening the fingers to leave it supported by the bowl."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "Episode ended. Do not call more tools. Return a brief final response."
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

Placed the spatula on the bowl.

TURN USAGE
{
  "input_tokens": 238801,
  "cached_input_tokens": 224000,
  "cache_write_input_tokens": 0,
  "output_tokens": 3023,
  "reasoning_output_tokens": 1442
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "pick up the spatula and place it on the bowl.",
    "joint_positions": [
      -0.04466,
      -0.76408,
      -0.00219,
      -2.33648,
      -0.02493,
      1.61592,
      0.00081
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.32373,
      -0.02158,
      1.02227
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.998,
        -0.04698,
        0.04238
      ],
      [
        -0.04593,
        -0.99862,
        -0.02538
      ],
      [
        0.04351,
        0.02338,
        -0.99878
      ]
    ],
    "simulated_seconds_remaining": 45.012,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 32.025214216671884,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48,
                    "y": 0,
                    "z": 1.05,
                    "gripper": 1
                  },
                  "note": "The bowl is near the center of the table and utensils lie to its right. Moving forward for a clearer wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "pick up the spatula and place it on the bowl.",
    "joint_positions": [
      -0.03317,
      -0.27709,
      0.03917,
      -1.88478,
      -0.01492,
      1.65003,
      0.05208
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.47872,
      -0.00017,
      1.04971
    ],
    "tcp_roll_pitch_yaw": [
      -0.0,
      0.00014,
      2e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.998,
        -0.04696,
        0.04224
      ],
      [
        -0.04591,
        -0.99862,
        -0.02538
      ],
      [
        0.04337,
        0.02339,
        -0.99879
      ]
    ],
    "simulated_seconds_remaining": 43.626,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 7.606316394172609,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.53,
                    "y": 0.14,
                    "z": 0.96
                  },
                  "note": "The spatula has a white blade on the left and a dark handle extending right in the wrist view. Moving over its handle and closer to the table."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 22,
    "motion_seconds": 1.452,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "pick up the spatula and place it on the bowl.",
    "joint_positions": [
      0.06695,
      -0.07779,
      0.19774,
      -1.89696,
      -0.02111,
      1.85457,
      0.3162
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.52957,
      0.13899,
      0.9606
    ],
    "tcp_roll_pitch_yaw": [
      -6e-05,
      0.00035,
      0.00023
    ],
    "tcp_rotation_matrix": [
      [
        0.99802,
        -0.04674,
        0.04203
      ],
      [
        -0.0457,
        -0.99863,
        -0.02543
      ],
      [
        0.04316,
        0.02346,
        -0.99879
      ]
    ],
    "simulated_seconds_remaining": 42.174,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 16.614167587831616,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.58,
                    "y": 0.075,
                    "z": 0.86,
                    "yaw": 1.57
                  },
                  "note": "The handle is left of the wrist center. Shifting toward it and rotating the fingers to close across the narrow handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 36,
    "motion_seconds": 2.3760000000000003,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "pick up the spatula and place it on the bowl.",
    "joint_positions": [
      0.0024,
      0.08659,
      0.11551,
      -1.95765,
      0.03268,
      2.07371,
      -1.41669
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.57984,
      0.07513,
      0.86022
    ],
    "tcp_roll_pitch_yaw": [
      9e-05,
      0.00037,
      1.56512
    ],
    "tcp_rotation_matrix": [
      [
        0.0516,
        0.99834,
        0.02553
      ],
      [
        0.99774,
        -0.05264,
        0.04187
      ],
      [
        0.04314,
        0.02331,
        -0.9988
      ]
    ],
    "simulated_seconds_remaining": 39.798,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 16.21184784732759,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.625,
                    "y": 0.13,
                    "z": 0.805
                  },
                  "note": "The handle is visible above and left of the open fingers. Aligning the grasp point over its lower section before closing."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "pick up the spatula and place it on the bowl.",
    "joint_positions": [
      0.06161,
      0.29312,
      0.14339,
      -1.82308,
      -0.00624,
      2.14642,
      -1.31718
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.62431,
      0.1293,
      0.80565
    ],
    "tcp_roll_pitch_yaw": [
      0.00033,
      0.00038,
      1.56527
    ],
    "tcp_rotation_matrix": [
      [
        0.05146,
        0.99836,
        0.02528
      ],
      [
        0.99774,
        -0.05249,
        0.04186
      ],
      [
        0.04311,
        0.02307,
        -0.9988
      ]
    ],
    "simulated_seconds_remaining": 38.874,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 12.609770308248699,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.645,
                    "y": 0.045,
                    "z": 0.805
                  },
                  "note": "The handle shifted upward in the wrist view, showing that the lengthwise adjustment must go the opposite way. Moving back along the handle to center it between the fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "pick up the spatula and place it on the bowl.",
    "joint_positions": [
      -0.03009,
      0.32217,
      0.09842,
      -1.77904,
      0.01062,
      2.12761,
      -1.46105
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.6447,
      0.04611,
      0.805
    ],
    "tcp_roll_pitch_yaw": [
      0.00034,
      0.00043,
      1.56492
    ],
    "tcp_rotation_matrix": [
      [
        0.05181,
        0.99834,
        0.02528
      ],
      [
        0.99773,
        -0.05284,
        0.04179
      ],
      [
        0.04306,
        0.02306,
        -0.99881
      ]
    ],
    "simulated_seconds_remaining": 38.016,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 8.807464499026537,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.646,
                    "y": 0.01,
                    "z": 0.765
                  },
                  "note": "The dark handle is now centered laterally between the jaws. Lowering to handle height while bringing its end into the grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "pick up the spatula and place it on the bowl.",
    "joint_positions": [
      -0.06872,
      0.36592,
      0.08008,
      -1.81889,
      0.01619,
      2.20897,
      -1.52197
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.64592,
      0.01071,
      0.7658
    ],
    "tcp_roll_pitch_yaw": [
      0.0006,
      0.00047,
      1.56471
    ],
    "tcp_rotation_matrix": [
      [
        0.05203,
        0.99833,
        0.02503
      ],
      [
        0.99772,
        -0.05305,
        0.04176
      ],
      [
        0.04302,
        0.0228,
        -0.99881
      ]
    ],
    "simulated_seconds_remaining": 37.356,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 7.410358527675271,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.755,
                    "gripper": 0
                  },
                  "note": "The handle runs through the gap between the fingers at table height. Closing the jaws around it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "pick up the spatula and place it on the bowl.",
    "joint_positions": [
      -0.06827,
      0.37187,
      0.08004,
      -1.82564,
      0.01556,
      2.2267,
      -1.52209
    ],
    "gripper_open": 0.1561,
    "tcp_xyz": [
      0.64682,
      0.01092,
      0.76056
    ],
    "tcp_roll_pitch_yaw": [
      -0.00444,
      0.00065,
      1.56506
    ],
    "tcp_rotation_matrix": [
      [
        0.05146,
        0.99822,
        0.03005
      ],
      [
        0.99775,
        -0.05269,
        0.04156
      ],
      [
        0.04307,
        0.02784,
        -0.99868
      ]
    ],
    "simulated_seconds_remaining": 36.432,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 5.207080711610615,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.97
                  },
                  "note": "The fingers stopped partly open around the handle, consistent with a grasp. Lifting to verify that the spatula follows."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 26,
    "motion_seconds": 1.7160000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "pick up the spatula and place it on the bowl.",
    "joint_positions": [
      -0.06995,
      0.25494,
      0.08363,
      -1.45258,
      0.02047,
      1.73749,
      -1.51108
    ],
    "gripper_open": 0.1533,
    "tcp_xyz": [
      0.64688,
      0.01093,
      0.96881
    ],
    "tcp_roll_pitch_yaw": [
      -0.00478,
      0.00064,
      1.56506
    ],
    "tcp_rotation_matrix": [
      [
        0.05145,
        0.99821,
        0.03039
      ],
      [
        0.99775,
        -0.05269,
        0.04157
      ],
      [
        0.0431,
        0.02819,
        -0.99867
      ]
    ],
    "simulated_seconds_remaining": 34.716,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 9.60751371923834,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.47,
                    "y": 0.27,
                    "z": 0.99
                  },
                  "note": "The spatula remains between the closed fingers after lifting. Moving toward the bowl, which lies to the left and nearer the robot in the exterior view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 36,
    "motion_seconds": 2.3760000000000003,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "pick up the spatula and place it on the bowl.",
    "joint_positions": [
      0.17285,
      -0.10939,
      0.3181,
      -1.85616,
      0.05803,
      1.79833,
      -1.04081
    ],
    "gripper_open": 0.1523,
    "tcp_xyz": [
      0.47071,
      0.26901,
      0.98993
    ],
    "tcp_roll_pitch_yaw": [
      -0.00482,
      0.00062,
      1.56538
    ],
    "tcp_rotation_matrix": [
      [
        0.05113,
        0.99823,
        0.03042
      ],
      [
        0.99776,
        -0.05237,
        0.04159
      ],
      [
        0.04311,
        0.02822,
        -0.99867
      ]
    ],
    "simulated_seconds_remaining": 32.34,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 18.613970735110343,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.6,
                    "y": 0.29,
                    "z": 0.9
                  },
                  "note": "The bowl is visible left of the held spatula. Sliding laterally over it while keeping the spatula extended across the bowl."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "pick up the spatula and place it on the bowl.",
    "joint_positions": [
      0.18559,
      0.31905,
      0.30215,
      -1.55421,
      -0.07428,
      1.9047,
      -1.02492
    ],
    "gripper_open": 0.1534,
    "tcp_xyz": [
      0.59893,
      0.28976,
      0.90057
    ],
    "tcp_roll_pitch_yaw": [
      -0.00451,
      0.00072,
      1.56529
    ],
    "tcp_rotation_matrix": [
      [
        0.05123,
        0.99823,
        0.03011
      ],
      [
        0.99776,
        -0.05246,
        0.04149
      ],
      [
        0.043,
        0.02792,
        -0.99868
      ]
    ],
    "simulated_seconds_remaining": 30.954,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 10.608242529444396,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.62,
                    "y": 0.38,
                    "z": 0.85
                  },
                  "note": "The bowl is beneath the handle, while the blade extends beyond it. Moving the spatula lengthwise so its middle spans the bowl, then lowering toward the rim."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "pick up the spatula and place it on the bowl.",
    "joint_positions": [
      0.31867,
      0.5646,
      0.30809,
      -1.31559,
      -0.15332,
      1.90411,
      -0.89469
    ],
    "gripper_open": 0.1506,
    "tcp_xyz": [
      0.61983,
      0.37891,
      0.85109
    ],
    "tcp_roll_pitch_yaw": [
      -0.00517,
      0.00049,
      1.56536
    ],
    "tcp_rotation_matrix": [
      [
        0.05113,
        0.99822,
        0.03077
      ],
      [
        0.99775,
        -0.0524,
        0.04172
      ],
      [
        0.04325,
        0.02856,
        -0.99866
      ]
    ],
    "simulated_seconds_remaining": 29.964,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 8.606102872639894,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.805
                  },
                  "note": "The spatula is centered across the bowl’s opening. Lowering gently so it can rest on the rim before release."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "pick up the spatula and place it on the bowl.",
    "joint_positions": [
      0.32413,
      0.57839,
      0.31428,
      -1.38422,
      -0.09039,
      2.09876,
      -0.88815
    ],
    "gripper_open": 0.0851,
    "tcp_xyz": [
      0.62741,
      0.41689,
      0.83068
    ],
    "tcp_roll_pitch_yaw": [
      -0.05476,
      -0.12316,
      1.55401
    ],
    "tcp_rotation_matrix": [
      [
        0.06,
        0.99476,
        0.08276
      ],
      [
        0.98392,
        -0.07291,
        0.16303
      ],
      [
        0.16821,
        0.07164,
        -0.98314
      ]
    ],
    "simulated_seconds_remaining": 29.37,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 5.604315205477178,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 1
                  },
                  "note": "The spatula has contacted the bowl and the arm settled slightly above the requested height. Opening the fingers to leave it supported by the bowl."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

========================================================================
GPT-Astra / Pick & place / 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,
  "status": "completed",
  "success": false,
  "oracle_success": false,
  "action_decisions": 38,
  "wall_seconds": 410.9,
  "usage": {
    "input_tokens": 890812,
    "cached_input_tokens": 846848,
    "cache_write_input_tokens": 0,
    "output_tokens": 7223,
    "reasoning_output_tokens": 3356
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick-and-place 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 45 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 and grasp the requested object, lift it, move it to the named receptacle, and release it in or on that receptacle. Complete the entire pick-and-place 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 guide the grasp and placement.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [-0.04773, -0.80081, 0.04935, -2.35477, 0.03296, 1.61558, -0.04943], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.3173, 0.00822, 1.02465], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.99747, 0.0365, 0.06092], [0.03677, -0.99932, -0.00324], [0.06077, 0.00547, -0.99814]], \"simulated_seconds_remaining\": 45.012, \"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": 0.85,
    "gripper": 1,
    "note": "The bottle is beside the gray bowl on the table. I lower the open gripper for a closer view and 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": 0.85,
      "gripper": 1
    },
    "note": "The bottle is beside the gray bowl. I lower the open gripper to see its position more clearly before aligning."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [-0.03958, -0.80407, 0.06517, -2.80145, 0.04896, 2.05861, -0.05124], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.31724, 0.00822, 0.85127], \"tcp_roll_pitch_yaw\": [-0.0, 0.00033, 0.0], \"tcp_rotation_matrix\": [[0.99749, 0.03651, 0.06059], [0.03677, -0.99932, -0.00325], [0.06043, 0.00547, -0.99816]], \"simulated_seconds_remaining\": 43.56, \"calls_remaining_including_this\": 56}"
      },
      {
        "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": 0.51,
      "y": 0.12,
      "z": 0.9
    },
    "note": "The bottle remains left of the gripper in the exterior view. I move across the table toward it while keeping clearance."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [-0.00936, -0.15108, 0.2356, -2.13827, 0.02082, 2.0496, 0.17888], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.50888, 0.11937, 0.8997], \"tcp_roll_pitch_yaw\": [-1e-05, 0.00035, 7e-05], \"tcp_rotation_matrix\": [[0.99749, 0.03657, 0.06057], [0.03684, -0.99932, -0.00325], [0.06041, 0.00547, -0.99816]], \"simulated_seconds_remaining\": 41.712, \"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": 0.58,
      "y": 0.09,
      "z": 0.86
    },
    "note": "The wrist view shows the white bottle lying lengthwise beside the brown object. I bring the open fingers over the bottle body."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [-0.04226, 0.06107, 0.20611, -1.97446, -0.03378, 2.1174, 0.14206], \"gripper_open\": 1.0, \"tcp_xyz\": [0.58411, 0.09078, 0.87188], \"tcp_roll_pitch_yaw\": [0.00055, -0.02398, 0.00063], \"tcp_rotation_matrix\": [[0.99571, 0.037, 0.08484], [0.03736, -0.9993, -0.00264], [0.08468, 0.00579, -0.99639]], \"simulated_seconds_remaining\": 40.854, \"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": {
      "y": 0.18,
      "z": 0.91
    },
    "note": "The bottle body is to the right of the finger gap. I shift laterally and slightly upward to refine the alignment with a clear view."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.04361, 0.10283, 0.27543, -1.82548, -0.06259, 2.00383, 0.303], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.5841, 0.17891, 0.90952], \"tcp_roll_pitch_yaw\": [0.0006, -0.02409, 0.00093], \"tcp_rotation_matrix\": [[0.99569, 0.0373, 0.08496], [0.03766, -0.99929, -0.00256], [0.0848, 0.00575, -0.99638]], \"simulated_seconds_remaining\": 39.93, \"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": 0.48,
      "y": 0.2,
      "z": 0.84
    },
    "note": "The bottle is centered laterally but remains ahead of the finger gap in the wrist view. I move back and lower toward its body."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.08441, -0.11854, 0.31601, -2.26282, 0.00168, 2.22736, 0.36107], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.48106, 0.19984, 0.84071], \"tcp_roll_pitch_yaw\": [0.00054, -0.02397, 0.0011], \"tcp_rotation_matrix\": [[0.99569, 0.03747, 0.08483], [0.03783, -0.99928, -0.00261], [0.08467, 0.00581, -0.99639]], \"simulated_seconds_remaining\": 38.808, \"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": 0.45,
      "y": 0.2,
      "z": 0.775
    },
    "note": "The white bottle is now between the approaching fingers. I lower to grasp its body, with a small backward correction."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.09637, -0.10652, 0.33385, -2.43277, -0.00428, 2.40794, 0.39508], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.45047, 0.19999, 0.77604], \"tcp_roll_pitch_yaw\": [0.00043, -0.02369, 0.00115], \"tcp_rotation_matrix\": [[0.99571, 0.03752, 0.08455], [0.03788, -0.99928, -0.00272], [0.08439, 0.00591, -0.99642]], \"simulated_seconds_remaining\": 38.016, \"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": {
      "gripper": 0
    },
    "note": "The bottle body is under the finger gap at grasp height. I close the jaws to secure it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.09637, -0.10652, 0.33385, -2.43277, -0.00428, 2.40794, 0.39508], \"gripper_open\": 0.0001, \"tcp_xyz\": [0.45046, 0.19999, 0.77603], \"tcp_roll_pitch_yaw\": [0.00043, -0.02369, 0.00114], \"tcp_rotation_matrix\": [[0.99571, 0.03752, 0.08456], [0.03788, -0.99928, -0.00271], [0.08439, 0.00591, -0.99642]], \"simulated_seconds_remaining\": 37.092, \"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": {
      "z": 0.94
    },
    "note": "The jaws closed fully, so the grasp may have missed. I lift to check the bottle position and make room to realign."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.10295, -0.28382, 0.30005, -2.17058, 0.052, 1.97595, 0.33845], \"gripper_open\": 0.0, \"tcp_xyz\": [0.45054, 0.20002, 0.93877], \"tcp_roll_pitch_yaw\": [0.00054, -0.02403, 0.00114], \"tcp_rotation_matrix\": [[0.99568, 0.03751, 0.08489], [0.03787, -0.99928, -0.00261], [0.08473, 0.00581, -0.99639]], \"simulated_seconds_remaining\": 35.706, \"calls_remaining_including_this\": 49}"
      },
      {
        "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": 0.51,
      "y": 0.15,
      "gripper": 1
    },
    "note": "The bottle stayed on the table, just left of the closed jaws. I reopen and shift the grasp toward its center."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.04682, -0.16179, 0.23696, -2.05496, 0.01274, 1.97846, 0.24019], \"gripper_open\": 0.9965, \"tcp_xyz\": [0.5092, 0.15061, 0.93874], \"tcp_roll_pitch_yaw\": [0.00057, -0.02395, 0.00094], \"tcp_rotation_matrix\": [[0.9957, 0.03731, 0.08481], [0.03767, -0.99929, -0.0026], [0.08466, 0.00578, -0.99639]], \"simulated_seconds_remaining\": 34.782, \"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": {
      "z": 0.8
    },
    "note": "The bottle is aligned with the middle of the open jaws. I descend vertically to bring the fingers around it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 11, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.04718, -0.03621, 0.24858, -2.28355, -0.02519, 2.32842, 0.27499], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.50913, 0.15058, 0.80116], \"tcp_roll_pitch_yaw\": [0.00048, -0.0236, 0.00092], \"tcp_rotation_matrix\": [[0.99573, 0.03729, 0.08447], [0.03766, -0.99929, -0.00268], [0.0843, 0.00585, -0.99642]], \"simulated_seconds_remaining\": 33.528, \"calls_remaining_including_this\": 47}"
      },
      {
        "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": {
      "gripper": 0
    },
    "note": "The bottle body is visibly inside the open finger gap. I close the jaws around it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 12, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.04718, -0.03621, 0.24858, -2.28355, -0.02519, 2.32842, 0.27499], \"gripper_open\": 0.0, \"tcp_xyz\": [0.50913, 0.15058, 0.80115], \"tcp_roll_pitch_yaw\": [0.00048, -0.02361, 0.00092], \"tcp_rotation_matrix\": [[0.99573, 0.0373, 0.08447], [0.03766, -0.99929, -0.00268], [0.08431, 0.00585, -0.99642]], \"simulated_seconds_remaining\": 32.604, \"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": 0.745
    },
    "note": "The jaws closed without resistance, suggesting they were above the bottle body. I reopen and lower another five centimeters around the bottle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 13, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.04752, 0.056, 0.24777, -2.33426, -0.06537, 2.46751, 0.30629], \"gripper_open\": 0.9965, \"tcp_xyz\": [0.50907, 0.15056, 0.74614], \"tcp_roll_pitch_yaw\": [0.00044, -0.0234, 0.00091], \"tcp_rotation_matrix\": [[0.99575, 0.03729, 0.08427], [0.03765, -0.99929, -0.00272], [0.08411, 0.00589, -0.99644]], \"simulated_seconds_remaining\": 31.68, \"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": 0.21
    },
    "note": "The exterior view still places the bottle slightly to the left of the gripper. I correct laterally at the current height."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 14, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.10975, 0.11145, 0.29088, -2.26294, -0.10445, 2.44391, 0.43747], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.50904, 0.20892, 0.74614], \"tcp_roll_pitch_yaw\": [0.00045, -0.02341, 0.00118], \"tcp_rotation_matrix\": [[0.99573, 0.03755, 0.08427], [0.03791, -0.99928, -0.00269], [0.08411, 0.00588, -0.99644]], \"simulated_seconds_remaining\": 30.954, \"calls_remaining_including_this\": 44}"
      },
      {
        "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 bottle now lies directly beneath the inner finger tips. I close the gripper at this corrected position."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 15, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.10975, 0.11145, 0.29088, -2.26294, -0.10445, 2.44391, 0.43747], \"gripper_open\": 0.0, \"tcp_xyz\": [0.50904, 0.20893, 0.74614], \"tcp_roll_pitch_yaw\": [0.00045, -0.02341, 0.00118], \"tcp_rotation_matrix\": [[0.99574, 0.03755, 0.08427], [0.03791, -0.99928, -0.00269], [0.08411, 0.00588, -0.99644]], \"simulated_seconds_remaining\": 30.03, \"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": 0.575,
      "y": 0.155,
      "z": 0.8,
      "gripper": 1
    },
    "note": "The wrist view shows the bottle behind and left of the closed finger tips. I reopen, raise slightly, and move the grasp toward its body."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 16, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.03889, 0.15022, 0.24081, -2.05645, -0.08075, 2.28132, 0.28823], \"gripper_open\": 0.9959, \"tcp_xyz\": [0.57417, 0.15568, 0.79928], \"tcp_roll_pitch_yaw\": [0.0005, -0.02337, 0.00107], \"tcp_rotation_matrix\": [[0.99574, 0.03745, 0.08423], [0.0378, -0.99928, -0.00265], [0.08407, 0.00583, -0.99644]], \"simulated_seconds_remaining\": 29.04, \"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": {
      "gripper": 0
    },
    "note": "The bottle’s narrow white body is aligned with the finger tips. I close on this section for a secure grip."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 17, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.0389, 0.15022, 0.24082, -2.05646, -0.08075, 2.28131, 0.28823], \"gripper_open\": 0.0, \"tcp_xyz\": [0.57417, 0.15568, 0.79928], \"tcp_roll_pitch_yaw\": [0.0005, -0.02336, 0.00108], \"tcp_rotation_matrix\": [[0.99574, 0.03746, 0.08422], [0.03781, -0.99928, -0.00265], [0.08406, 0.00583, -0.99644]], \"simulated_seconds_remaining\": 28.116, \"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": {
      "z": 0.68,
      "gripper": 1
    },
    "note": "The alignment is correct in the wrist view, but the jaws still close freely above the bottle. I open and descend to the bottle’s actual height."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 18, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.06145, 0.34391, 0.20976, -2.12898, -0.16708, 2.54148, 0.35239], \"gripper_open\": 0.9975, \"tcp_xyz\": [0.57436, 0.15618, 0.68167], \"tcp_roll_pitch_yaw\": [0.00079, -0.02418, 0.0018], \"tcp_rotation_matrix\": [[0.99565, 0.03817, 0.08505], [0.03851, -0.99926, -0.0023], [0.0849, 0.00556, -0.99637]], \"simulated_seconds_remaining\": 26.994, \"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": {
      "gripper": 0
    },
    "note": "The exterior view now shows the fingers at the bottle’s height. I close around the body."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 19, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.06153, 0.34386, 0.20986, -2.12893, -0.16711, 2.54151, 0.35237], \"gripper_open\": 0.0, \"tcp_xyz\": [0.57438, 0.1563, 0.68172], \"tcp_roll_pitch_yaw\": [0.00084, -0.02432, 0.002], \"tcp_rotation_matrix\": [[0.99563, 0.03838, 0.08519], [0.03871, -0.99925, -0.00224], [0.08504, 0.00552, -0.99636]], \"simulated_seconds_remaining\": 26.07, \"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": 0.88
    },
    "note": "The bottle is occluded by the closed jaws. I lift vertically to verify whether it is secured."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 20, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.03456, 0.07042, 0.24591, -1.94491, -0.04942, 2.09448, 0.26354], \"gripper_open\": 0.0, \"tcp_xyz\": [0.57447, 0.15633, 0.87883], \"tcp_roll_pitch_yaw\": [0.0009, -0.02469, 0.002], \"tcp_rotation_matrix\": [[0.99559, 0.03838, 0.08556], [0.03871, -0.99925, -0.00217], [0.08541, 0.00547, -0.99633]], \"simulated_seconds_remaining\": 24.42, \"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"
}

The bottle is still on the table. I’m correcting the grasp position using both camera views before trying again.


{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.64,
      "y": 0.17,
      "z": 0.65,
      "gripper": 1
    },
    "note": "The bottle did not lift. I shift forward to center the fingers over its base and descend to a lower grasp height."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 21, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.08906, 0.55477, 0.18607, -1.85078, -0.20134, 2.98331, 0.36009], \"gripper_open\": 1.0, \"tcp_xyz\": [0.7431, 0.21442, 0.74462], \"tcp_roll_pitch_yaw\": [0.20769, -0.49642, -0.03525], \"tcp_rotation_matrix\": [[0.84544, 0.09311, 0.52589], [-0.00635, -0.98286, 0.18423], [0.53403, -0.15909, -0.83036]], \"simulated_seconds_remaining\": 22.506, \"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": 0.62,
      "y": 0.17,
      "z": 0.85,
      "roll": 0,
      "pitch": 0,
      "yaw": 0
    },
    "note": "The arm deflected during the low approach, and the bottle is very close in the wrist view. I rise and restore a straight downward grasp before descending again."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 22, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.03958, 0.25841, 0.25821, -1.77006, -0.0979, 2.07931, 0.29601], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.62081, 0.17029, 0.84959], \"tcp_roll_pitch_yaw\": [0.00117, -0.00324, 0.00011], \"tcp_rotation_matrix\": [[0.99727, 0.0366, 0.06415], [0.03681, -0.99932, -0.00206], [0.06404, 0.00442, -0.99794]], \"simulated_seconds_remaining\": 21.12, \"calls_remaining_including_this\": 36}"
      },
      {
        "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": 0.74
    },
    "note": "The bottle’s white body is centered in front of the fingers. I descend straight down with the restored orientation."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 23, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.05116, 0.37988, 0.23969, -1.88867, -0.14609, 2.31455, 0.33093], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.62073, 0.17025, 0.74111], \"tcp_roll_pitch_yaw\": [0.00109, -0.00287, 9e-05], \"tcp_rotation_matrix\": [[0.99729, 0.03658, 0.06379], [0.03679, -0.99932, -0.00215], [0.06367, 0.00449, -0.99796]], \"simulated_seconds_remaining\": 20.064, \"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": {
      "x": 0.675
    },
    "note": "The bottle sits just behind the finger tips in the wrist view. I advance a few centimeters to surround its white body."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 24, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.06246, 0.52834, 0.22327, -1.65395, -0.16413, 2.22656, 0.31265], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.67376, 0.17021, 0.74107], \"tcp_roll_pitch_yaw\": [0.00109, -0.00285, 1e-05], \"tcp_rotation_matrix\": [[0.9973, 0.0365, 0.06376], [0.03671, -0.99932, -0.00215], [0.06364, 0.00448, -0.99796]], \"simulated_seconds_remaining\": 19.404, \"calls_remaining_including_this\": 34}"
      },
      {
        "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": 0.19,
      "gripper": 0
    },
    "note": "The white body now crosses the finger-tip line. I make a small lateral correction and close the jaws."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 25, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.08844, 0.54421, 0.22674, -1.62864, -0.17085, 2.2156, 0.3422], \"gripper_open\": 0.0, \"tcp_xyz\": [0.67375, 0.18924, 0.74107], \"tcp_roll_pitch_yaw\": [0.00111, -0.00284, 8e-05], \"tcp_rotation_matrix\": [[0.9973, 0.03657, 0.06376], [0.03678, -0.99932, -0.00213], [0.06364, 0.00447, -0.99796]], \"simulated_seconds_remaining\": 18.48, \"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": 0.64,
      "gripper": 1
    },
    "note": "The bottle body is aligned, but the jaws still close completely. I open and lower to enclose the body below its rim."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 26, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.10717, 0.69442, 0.19698, -1.65622, -0.21165, 2.39119, 0.37026], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.67364, 0.1892, 0.64109], \"tcp_roll_pitch_yaw\": [0.00102, -0.00247, 7e-05], \"tcp_rotation_matrix\": [[0.99732, 0.03656, 0.06339], [0.03677, -0.99932, -0.00222], [0.06326, 0.00455, -0.99799]], \"simulated_seconds_remaining\": 17.49, \"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": 0.72,
      "y": 0.215,
      "z": 0.64
    },
    "note": "The bottle rim is just below and right of the finger tips. I center the open jaws over it before closing."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 27, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.15205, 0.85274, 0.19085, -1.37284, -0.21248, 2.26646, 0.36977], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.71892, 0.21446, 0.63998], \"tcp_roll_pitch_yaw\": [0.00106, -0.00245, 0.00015], \"tcp_rotation_matrix\": [[0.99732, 0.03664, 0.06337], [0.03685, -0.99932, -0.00218], [0.06325, 0.00451, -0.99799]], \"simulated_seconds_remaining\": 16.83, \"calls_remaining_including_this\": 31}"
      },
      {
        "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 bottle body is now centered between the fingers at close range. I close firmly around it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 28, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.15207, 0.85277, 0.19087, -1.37287, -0.21248, 2.26645, 0.36977], \"gripper_open\": 0.8003, \"tcp_xyz\": [0.71891, 0.21448, 0.63996], \"tcp_roll_pitch_yaw\": [0.00106, -0.00239, 0.00017], \"tcp_rotation_matrix\": [[0.99732, 0.03666, 0.06332], [0.03687, -0.99932, -0.00218], [0.06319, 0.00451, -0.99799]], \"simulated_seconds_remaining\": 15.906, \"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": {
      "z": 0.86
    },
    "note": "The jaws remain partly open against the bottle, indicating contact. I lift it clear of the table."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 29, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.14831, 0.64576, 0.22653, -1.15371, -0.16409, 1.84393, 0.32934], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.71898, 0.21452, 0.85887], \"tcp_roll_pitch_yaw\": [0.00117, -0.00279, 0.00017], \"tcp_rotation_matrix\": [[0.99729, 0.03666, 0.06371], [0.03687, -0.99932, -0.00206], [0.06359, 0.0044, -0.99797]], \"simulated_seconds_remaining\": 14.124, \"calls_remaining_including_this\": 29}"
      },
      {
        "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": {
      "z": 0.64,
      "gripper": 1
    },
    "note": "The bottle slipped when the gripper reopened during the lift. I return to the successful grasp position with open jaws."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 30, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.15183, 0.85079, 0.1912, -1.37331, -0.21223, 2.2649, 0.36963], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.71887, 0.21448, 0.64111], \"tcp_roll_pitch_yaw\": [0.00105, -0.00239, 0.00017], \"tcp_rotation_matrix\": [[0.99732, 0.03666, 0.06331], [0.03687, -0.99932, -0.00218], [0.06319, 0.00451, -0.99799]], \"simulated_seconds_remaining\": 12.342, \"calls_remaining_including_this\": 28}"
      },
      {
        "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": {
      "gripper": 0
    },
    "note": "The bottle is again inside the jaws. I close on its body and will explicitly maintain closure during transport."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 31, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.15184, 0.85081, 0.19121, -1.37333, -0.21223, 2.2649, 0.36963], \"gripper_open\": 0.7821, \"tcp_xyz\": [0.71885, 0.21449, 0.64107], \"tcp_roll_pitch_yaw\": [0.00105, -0.00234, 0.00019], \"tcp_rotation_matrix\": [[0.99732, 0.03668, 0.06326], [0.03689, -0.99932, -0.00218], [0.06314, 0.00451, -0.99799]], \"simulated_seconds_remaining\": 11.418, \"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": {
      "z": 0.85,
      "gripper": 0
    },
    "note": "The jaws have contact with the bottle. I lift while keeping the gripper commanded closed."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 32, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.14644, 0.64672, 0.22608, -1.17781, -0.16503, 1.86862, 0.33117], \"gripper_open\": 0.7723, \"tcp_xyz\": [0.71891, 0.21452, 0.84883], \"tcp_roll_pitch_yaw\": [0.00115, -0.00266, 0.0002], \"tcp_rotation_matrix\": [[0.9973, 0.03669, 0.06358], [0.03689, -0.99932, -0.00209], [0.06346, 0.00443, -0.99797]], \"simulated_seconds_remaining\": 9.702, \"calls_remaining_including_this\": 26}"
      },
      {
        "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": 0.55,
      "y": 0.4,
      "z": 0.85,
      "gripper": 0
    },
    "note": "The bottle is lifted and held securely. I carry it toward the small gray bowl beside its original position."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 33, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.36654, 0.39327, 0.32614, -1.58198, -0.18043, 1.99945, 0.70078], \"gripper_open\": 0.7697, \"tcp_xyz\": [0.55078, 0.39918, 0.84998], \"tcp_roll_pitch_yaw\": [0.00118, -0.00258, 0.00055], \"tcp_rotation_matrix\": [[0.99729, 0.03704, 0.06351], [0.03724, -0.9993, -0.00203], [0.06339, 0.00439, -0.99798]], \"simulated_seconds_remaining\": 7.722, \"calls_remaining_including_this\": 25}"
      },
      {
        "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": 0.58,
      "y": 0.47,
      "z": 0.76,
      "gripper": 0
    },
    "note": "The bowl is visible just left of the held bottle in the wrist view. I center the bottle over its opening and lower toward it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 34, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.47926, 0.69553, 0.29803, -1.32194, -0.26186, 2.03762, 0.78259], \"gripper_open\": 0.7513, \"tcp_xyz\": [0.58132, 0.46995, 0.76655], \"tcp_roll_pitch_yaw\": [0.00543, -0.00947, -3e-05], \"tcp_rotation_matrix\": [[0.99685, 0.03647, 0.07037], [0.03641, -0.99933, 0.00218], [0.07041, 0.00039, -0.99752]], \"simulated_seconds_remaining\": 6.666, \"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": {
      "y": 0.31,
      "z": 0.8,
      "gripper": 0
    },
    "note": "The last correction moved the bottle past the bowl. I shift back across the opening while keeping the bottle raised and gripped."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 35, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.23635, 0.35585, 0.29645, -1.76879, -0.16291, 2.16703, 0.5636], \"gripper_open\": 0.7476, \"tcp_xyz\": [0.58142, 0.31117, 0.79975], \"tcp_roll_pitch_yaw\": [0.00538, -0.00951, -0.00031], \"tcp_rotation_matrix\": [[0.99686, 0.03619, 0.07041], [0.03613, -0.99935, 0.00211], [0.07045, 0.00044, -0.99752]], \"simulated_seconds_remaining\": 5.28, \"calls_remaining_including_this\": 23}"
      },
      {
        "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": 0.6,
      "y": 0.35,
      "z": 0.69,
      "gripper": 0
    },
    "note": "The bowl opening is now directly behind the bottle in the wrist view. I make a small centering adjustment and lower the bottle onto it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 36, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.3054, 0.50163, 0.25705, -1.66749, -0.24863, 2.31283, 0.64922], \"gripper_open\": 0.8453, \"tcp_xyz\": [0.6256, 0.35073, 0.76605], \"tcp_roll_pitch_yaw\": [0.03822, -0.117, -0.01133], \"tcp_rotation_matrix\": [[0.98373, 0.02875, 0.17734], [0.02327, -0.99919, 0.03289], [0.17814, -0.02823, -0.9836]], \"simulated_seconds_remaining\": 4.224, \"calls_remaining_including_this\": 22}"
      },
      {
        "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": 1
    },
    "note": "The bottle has contacted the bowl and is supported above its opening. I release it onto the bowl."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 37, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.30629, 0.49847, 0.25849, -1.66603, -0.24838, 2.31256, 0.64932], \"gripper_open\": 0.9956, \"tcp_xyz\": [0.62572, 0.35252, 0.76908], \"tcp_roll_pitch_yaw\": [0.04068, -0.12076, -0.00988], \"tcp_rotation_matrix\": [[0.98301, 0.0306, 0.181], [0.02455, -0.99907, 0.03556], [0.18191, -0.03051, -0.98284]], \"simulated_seconds_remaining\": 3.894, \"calls_remaining_including_this\": 21}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 5, \"motion_seconds\": 0.33, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "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": 0.96,
      "gripper": 1
    },
    "note": "The bottle has been released. I lift the open gripper away to verify that it remains on the bowl."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 38, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.3087, 0.39302, 0.29021, -1.33549, -0.18647, 1.8835, 0.58291], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.62577, 0.35257, 0.95885], \"tcp_roll_pitch_yaw\": [0.04086, -0.1211, -0.00989], \"tcp_rotation_matrix\": [[0.98294, 0.03062, 0.18134], [0.02453, -0.99906, 0.03574], [0.18226, -0.03069, -0.98277]], \"simulated_seconds_remaining\": 2.31, \"calls_remaining_including_this\": 20}"
      },
      {
        "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": "done",
  "arguments": {
    "note": "The bottle has been lifted, transported, and released on the gray bowl. The retracted-gripper views confirm it remains supported by the bowl."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "Episode ended. Do not call more tools. Return a brief final response."
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

Placed the bottle on the bowl.

TURN USAGE
{
  "input_tokens": 890812,
  "cached_input_tokens": 846848,
  "cache_write_input_tokens": 0,
  "output_tokens": 7223,
  "reasoning_output_tokens": 3356
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      -0.04773,
      -0.80081,
      0.04935,
      -2.35477,
      0.03296,
      1.61558,
      -0.04943
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.3173,
      0.00822,
      1.02465
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99747,
        0.0365,
        0.06092
      ],
      [
        0.03677,
        -0.99932,
        -0.00324
      ],
      [
        0.06077,
        0.00547,
        -0.99814
      ]
    ],
    "simulated_seconds_remaining": 45.012,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 28.223047078587115,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.85,
                    "gripper": 1
                  },
                  "note": "The bottle is beside the gray bowl. I lower the open gripper to see its position more clearly before aligning."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 22,
    "motion_seconds": 1.452,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      -0.03958,
      -0.80407,
      0.06517,
      -2.80145,
      0.04896,
      2.05861,
      -0.05124
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.31724,
      0.00822,
      0.85127
    ],
    "tcp_roll_pitch_yaw": [
      -0.0,
      0.00033,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99749,
        0.03651,
        0.06059
      ],
      [
        0.03677,
        -0.99932,
        -0.00325
      ],
      [
        0.06043,
        0.00547,
        -0.99816
      ]
    ],
    "simulated_seconds_remaining": 43.56,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 9.807354382239282,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.51,
                    "y": 0.12,
                    "z": 0.9
                  },
                  "note": "The bottle remains left of the gripper in the exterior view. I move across the table toward it while keeping clearance."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 28,
    "motion_seconds": 1.848,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      -0.00936,
      -0.15108,
      0.2356,
      -2.13827,
      0.02082,
      2.0496,
      0.17888
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.50888,
      0.11937,
      0.8997
    ],
    "tcp_roll_pitch_yaw": [
      -1e-05,
      0.00035,
      7e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99749,
        0.03657,
        0.06057
      ],
      [
        0.03684,
        -0.99932,
        -0.00325
      ],
      [
        0.06041,
        0.00547,
        -0.99816
      ]
    ],
    "simulated_seconds_remaining": 41.712,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 16.612350954674184,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.58,
                    "y": 0.09,
                    "z": 0.86
                  },
                  "note": "The wrist view shows the white bottle lying lengthwise beside the brown object. I bring the open fingers over the bottle body."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      -0.04226,
      0.06107,
      0.20611,
      -1.97446,
      -0.03378,
      2.1174,
      0.14206
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.58411,
      0.09078,
      0.87188
    ],
    "tcp_roll_pitch_yaw": [
      0.00055,
      -0.02398,
      0.00063
    ],
    "tcp_rotation_matrix": [
      [
        0.99571,
        0.037,
        0.08484
      ],
      [
        0.03736,
        -0.9993,
        -0.00264
      ],
      [
        0.08468,
        0.00579,
        -0.99639
      ]
    ],
    "simulated_seconds_remaining": 40.854,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 28.830023462884128,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.18,
                    "z": 0.91
                  },
                  "note": "The bottle body is to the right of the finger gap. I shift laterally and slightly upward to refine the alignment with a clear view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.04361,
      0.10283,
      0.27543,
      -1.82548,
      -0.06259,
      2.00383,
      0.303
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.5841,
      0.17891,
      0.90952
    ],
    "tcp_roll_pitch_yaw": [
      0.0006,
      -0.02409,
      0.00093
    ],
    "tcp_rotation_matrix": [
      [
        0.99569,
        0.0373,
        0.08496
      ],
      [
        0.03766,
        -0.99929,
        -0.00256
      ],
      [
        0.0848,
        0.00575,
        -0.99638
      ]
    ],
    "simulated_seconds_remaining": 39.93,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 7.8061586720868945,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48,
                    "y": 0.2,
                    "z": 0.84
                  },
                  "note": "The bottle is centered laterally but remains ahead of the finger gap in the wrist view. I move back and lower toward its body."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.08441,
      -0.11854,
      0.31601,
      -2.26282,
      0.00168,
      2.22736,
      0.36107
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.48106,
      0.19984,
      0.84071
    ],
    "tcp_roll_pitch_yaw": [
      0.00054,
      -0.02397,
      0.0011
    ],
    "tcp_rotation_matrix": [
      [
        0.99569,
        0.03747,
        0.08483
      ],
      [
        0.03783,
        -0.99928,
        -0.00261
      ],
      [
        0.08467,
        0.00581,
        -0.99639
      ]
    ],
    "simulated_seconds_remaining": 38.808,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 10.40764510538429,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.45,
                    "y": 0.2,
                    "z": 0.775
                  },
                  "note": "The white bottle is now between the approaching fingers. I lower to grasp its body, with a small backward correction."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.09637,
      -0.10652,
      0.33385,
      -2.43277,
      -0.00428,
      2.40794,
      0.39508
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.45047,
      0.19999,
      0.77604
    ],
    "tcp_roll_pitch_yaw": [
      0.00043,
      -0.02369,
      0.00115
    ],
    "tcp_rotation_matrix": [
      [
        0.99571,
        0.03752,
        0.08455
      ],
      [
        0.03788,
        -0.99928,
        -0.00272
      ],
      [
        0.08439,
        0.00591,
        -0.99642
      ]
    ],
    "simulated_seconds_remaining": 38.016,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 6.405187803320587,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The bottle body is under the finger gap at grasp height. I close the jaws to secure it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.09637,
      -0.10652,
      0.33385,
      -2.43277,
      -0.00428,
      2.40794,
      0.39508
    ],
    "gripper_open": 0.0001,
    "tcp_xyz": [
      0.45046,
      0.19999,
      0.77603
    ],
    "tcp_roll_pitch_yaw": [
      0.00043,
      -0.02369,
      0.00114
    ],
    "tcp_rotation_matrix": [
      [
        0.99571,
        0.03752,
        0.08456
      ],
      [
        0.03788,
        -0.99928,
        -0.00271
      ],
      [
        0.08439,
        0.00591,
        -0.99642
      ]
    ],
    "simulated_seconds_remaining": 37.092,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 4.803699286654592,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.94
                  },
                  "note": "The jaws closed fully, so the grasp may have missed. I lift to check the bottle position and make room to realign."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.10295,
      -0.28382,
      0.30005,
      -2.17058,
      0.052,
      1.97595,
      0.33845
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.45054,
      0.20002,
      0.93877
    ],
    "tcp_roll_pitch_yaw": [
      0.00054,
      -0.02403,
      0.00114
    ],
    "tcp_rotation_matrix": [
      [
        0.99568,
        0.03751,
        0.08489
      ],
      [
        0.03787,
        -0.99928,
        -0.00261
      ],
      [
        0.08473,
        0.00581,
        -0.99639
      ]
    ],
    "simulated_seconds_remaining": 35.706,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 7.205182304605842,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.51,
                    "y": 0.15,
                    "gripper": 1
                  },
                  "note": "The bottle stayed on the table, just left of the closed jaws. I reopen and shift the grasp toward its center."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.04682,
      -0.16179,
      0.23696,
      -2.05496,
      0.01274,
      1.97846,
      0.24019
    ],
    "gripper_open": 0.9965,
    "tcp_xyz": [
      0.5092,
      0.15061,
      0.93874
    ],
    "tcp_roll_pitch_yaw": [
      0.00057,
      -0.02395,
      0.00094
    ],
    "tcp_rotation_matrix": [
      [
        0.9957,
        0.03731,
        0.08481
      ],
      [
        0.03767,
        -0.99929,
        -0.0026
      ],
      [
        0.08466,
        0.00578,
        -0.99639
      ]
    ],
    "simulated_seconds_remaining": 34.782,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 12.00934827979654,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.8
                  },
                  "note": "The bottle is aligned with the middle of the open jaws. I descend vertically to bring the fingers around it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.04718,
      -0.03621,
      0.24858,
      -2.28355,
      -0.02519,
      2.32842,
      0.27499
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.50913,
      0.15058,
      0.80116
    ],
    "tcp_roll_pitch_yaw": [
      0.00048,
      -0.0236,
      0.00092
    ],
    "tcp_rotation_matrix": [
      [
        0.99573,
        0.03729,
        0.08447
      ],
      [
        0.03766,
        -0.99929,
        -0.00268
      ],
      [
        0.0843,
        0.00585,
        -0.99642
      ]
    ],
    "simulated_seconds_remaining": 33.528,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 6.204754207283258,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The bottle body is visibly inside the open finger gap. I close the jaws around it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.04718,
      -0.03621,
      0.24858,
      -2.28355,
      -0.02519,
      2.32842,
      0.27499
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.50913,
      0.15058,
      0.80115
    ],
    "tcp_roll_pitch_yaw": [
      0.00048,
      -0.02361,
      0.00092
    ],
    "tcp_rotation_matrix": [
      [
        0.99573,
        0.0373,
        0.08447
      ],
      [
        0.03766,
        -0.99929,
        -0.00268
      ],
      [
        0.08431,
        0.00585,
        -0.99642
      ]
    ],
    "simulated_seconds_remaining": 32.604,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 16.212451415136456,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 1,
                    "z": 0.745
                  },
                  "note": "The jaws closed without resistance, suggesting they were above the bottle body. I reopen and lower another five centimeters around the bottle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.04752,
      0.056,
      0.24777,
      -2.33426,
      -0.06537,
      2.46751,
      0.30629
    ],
    "gripper_open": 0.9965,
    "tcp_xyz": [
      0.50907,
      0.15056,
      0.74614
    ],
    "tcp_roll_pitch_yaw": [
      0.00044,
      -0.0234,
      0.00091
    ],
    "tcp_rotation_matrix": [
      [
        0.99575,
        0.03729,
        0.08427
      ],
      [
        0.03765,
        -0.99929,
        -0.00272
      ],
      [
        0.08411,
        0.00589,
        -0.99644
      ]
    ],
    "simulated_seconds_remaining": 31.68,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 8.60669179353863,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.21
                  },
                  "note": "The exterior view still places the bottle slightly to the left of the gripper. I correct laterally at the current height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.10975,
      0.11145,
      0.29088,
      -2.26294,
      -0.10445,
      2.44391,
      0.43747
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.50904,
      0.20892,
      0.74614
    ],
    "tcp_roll_pitch_yaw": [
      0.00045,
      -0.02341,
      0.00118
    ],
    "tcp_rotation_matrix": [
      [
        0.99573,
        0.03755,
        0.08427
      ],
      [
        0.03791,
        -0.99928,
        -0.00269
      ],
      [
        0.08411,
        0.00588,
        -0.99644
      ]
    ],
    "simulated_seconds_remaining": 30.954,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 5.804917676374316,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The bottle now lies directly beneath the inner finger tips. I close the gripper at this corrected position."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.10975,
      0.11145,
      0.29088,
      -2.26294,
      -0.10445,
      2.44391,
      0.43747
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.50904,
      0.20893,
      0.74614
    ],
    "tcp_roll_pitch_yaw": [
      0.00045,
      -0.02341,
      0.00118
    ],
    "tcp_rotation_matrix": [
      [
        0.99574,
        0.03755,
        0.08427
      ],
      [
        0.03791,
        -0.99928,
        -0.00269
      ],
      [
        0.08411,
        0.00588,
        -0.99644
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 13.610680354759097,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.575,
                    "y": 0.155,
                    "z": 0.8,
                    "gripper": 1
                  },
                  "note": "The wrist view shows the bottle behind and left of the closed finger tips. I reopen, raise slightly, and move the grasp toward its body."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.03889,
      0.15022,
      0.24081,
      -2.05645,
      -0.08075,
      2.28132,
      0.28823
    ],
    "gripper_open": 0.9959,
    "tcp_xyz": [
      0.57417,
      0.15568,
      0.79928
    ],
    "tcp_roll_pitch_yaw": [
      0.0005,
      -0.02337,
      0.00107
    ],
    "tcp_rotation_matrix": [
      [
        0.99574,
        0.03745,
        0.08423
      ],
      [
        0.0378,
        -0.99928,
        -0.00265
      ],
      [
        0.08407,
        0.00583,
        -0.99644
      ]
    ],
    "simulated_seconds_remaining": 29.04,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 5.4042542316019535,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The bottle’s narrow white body is aligned with the finger tips. I close on this section for a secure grip."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.0389,
      0.15022,
      0.24082,
      -2.05646,
      -0.08075,
      2.28131,
      0.28823
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.57417,
      0.15568,
      0.79928
    ],
    "tcp_roll_pitch_yaw": [
      0.0005,
      -0.02336,
      0.00108
    ],
    "tcp_rotation_matrix": [
      [
        0.99574,
        0.03746,
        0.08422
      ],
      [
        0.03781,
        -0.99928,
        -0.00265
      ],
      [
        0.08406,
        0.00583,
        -0.99644
      ]
    ],
    "simulated_seconds_remaining": 28.116,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 6.206850120797753,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.68,
                    "gripper": 1
                  },
                  "note": "The alignment is correct in the wrist view, but the jaws still close freely above the bottle. I open and descend to the bottle’s actual height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.06145,
      0.34391,
      0.20976,
      -2.12898,
      -0.16708,
      2.54148,
      0.35239
    ],
    "gripper_open": 0.9975,
    "tcp_xyz": [
      0.57436,
      0.15618,
      0.68167
    ],
    "tcp_roll_pitch_yaw": [
      0.00079,
      -0.02418,
      0.0018
    ],
    "tcp_rotation_matrix": [
      [
        0.99565,
        0.03817,
        0.08505
      ],
      [
        0.03851,
        -0.99926,
        -0.0023
      ],
      [
        0.0849,
        0.00556,
        -0.99637
      ]
    ],
    "simulated_seconds_remaining": 26.994,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 5.8046629168093204,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The exterior view now shows the fingers at the bottle’s height. I close around the body."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 19,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.06153,
      0.34386,
      0.20986,
      -2.12893,
      -0.16711,
      2.54151,
      0.35237
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.57438,
      0.1563,
      0.68172
    ],
    "tcp_roll_pitch_yaw": [
      0.00084,
      -0.02432,
      0.002
    ],
    "tcp_rotation_matrix": [
      [
        0.99563,
        0.03838,
        0.08519
      ],
      [
        0.03871,
        -0.99925,
        -0.00224
      ],
      [
        0.08504,
        0.00552,
        -0.99636
      ]
    ],
    "simulated_seconds_remaining": 26.07,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 5.004069410264492,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.88
                  },
                  "note": "The bottle is occluded by the closed jaws. I lift vertically to verify whether it is secured."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 25,
    "motion_seconds": 1.6500000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 20,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.03456,
      0.07042,
      0.24591,
      -1.94491,
      -0.04942,
      2.09448,
      0.26354
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.57447,
      0.15633,
      0.87883
    ],
    "tcp_roll_pitch_yaw": [
      0.0009,
      -0.02469,
      0.002
    ],
    "tcp_rotation_matrix": [
      [
        0.99559,
        0.03838,
        0.08556
      ],
      [
        0.03871,
        -0.99925,
        -0.00217
      ],
      [
        0.08541,
        0.00547,
        -0.99633
      ]
    ],
    "simulated_seconds_remaining": 24.42,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 18.213507927022874,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.64,
                    "y": 0.17,
                    "z": 0.65,
                    "gripper": 1
                  },
                  "note": "The bottle did not lift. I shift forward to center the fingers over its base and descend to a lower grasp height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 29,
    "motion_seconds": 1.9140000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 21,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.08906,
      0.55477,
      0.18607,
      -1.85078,
      -0.20134,
      2.98331,
      0.36009
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.7431,
      0.21442,
      0.74462
    ],
    "tcp_roll_pitch_yaw": [
      0.20769,
      -0.49642,
      -0.03525
    ],
    "tcp_rotation_matrix": [
      [
        0.84544,
        0.09311,
        0.52589
      ],
      [
        -0.00635,
        -0.98286,
        0.18423
      ],
      [
        0.53403,
        -0.15909,
        -0.83036
      ]
    ],
    "simulated_seconds_remaining": 22.506,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 6.606265753507614,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.62,
                    "y": 0.17,
                    "z": 0.85,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 0
                  },
                  "note": "The arm deflected during the low approach, and the bottle is very close in the wrist view. I rise and restore a straight downward grasp before descending again."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 22,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.03958,
      0.25841,
      0.25821,
      -1.77006,
      -0.0979,
      2.07931,
      0.29601
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.62081,
      0.17029,
      0.84959
    ],
    "tcp_roll_pitch_yaw": [
      0.00117,
      -0.00324,
      0.00011
    ],
    "tcp_rotation_matrix": [
      [
        0.99727,
        0.0366,
        0.06415
      ],
      [
        0.03681,
        -0.99932,
        -0.00206
      ],
      [
        0.06404,
        0.00442,
        -0.99794
      ]
    ],
    "simulated_seconds_remaining": 21.12,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 5.604704676195979,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.74
                  },
                  "note": "The bottle’s white body is centered in front of the fingers. I descend straight down with the restored orientation."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 23,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.05116,
      0.37988,
      0.23969,
      -1.88867,
      -0.14609,
      2.31455,
      0.33093
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.62073,
      0.17025,
      0.74111
    ],
    "tcp_roll_pitch_yaw": [
      0.00109,
      -0.00287,
      9e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99729,
        0.03658,
        0.06379
      ],
      [
        0.03679,
        -0.99932,
        -0.00215
      ],
      [
        0.06367,
        0.00449,
        -0.99796
      ]
    ],
    "simulated_seconds_remaining": 20.064,
    "calls_remaining_including_this": 35
  },
  "api_seconds": 6.405259681865573,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.675
                  },
                  "note": "The bottle sits just behind the finger tips in the wrist view. I advance a few centimeters to surround its white body."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 24,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.06246,
      0.52834,
      0.22327,
      -1.65395,
      -0.16413,
      2.22656,
      0.31265
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.67376,
      0.17021,
      0.74107
    ],
    "tcp_roll_pitch_yaw": [
      0.00109,
      -0.00285,
      1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.9973,
        0.0365,
        0.06376
      ],
      [
        0.03671,
        -0.99932,
        -0.00215
      ],
      [
        0.06364,
        0.00448,
        -0.99796
      ]
    ],
    "simulated_seconds_remaining": 19.404,
    "calls_remaining_including_this": 34
  },
  "api_seconds": 7.005091708153486,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.19,
                    "gripper": 0
                  },
                  "note": "The white body now crosses the finger-tip line. I make a small lateral correction and close the jaws."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 25,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.08844,
      0.54421,
      0.22674,
      -1.62864,
      -0.17085,
      2.2156,
      0.3422
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.67375,
      0.18924,
      0.74107
    ],
    "tcp_roll_pitch_yaw": [
      0.00111,
      -0.00284,
      8e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.9973,
        0.03657,
        0.06376
      ],
      [
        0.03678,
        -0.99932,
        -0.00213
      ],
      [
        0.06364,
        0.00447,
        -0.99796
      ]
    ],
    "simulated_seconds_remaining": 18.48,
    "calls_remaining_including_this": 33
  },
  "api_seconds": 6.604939696379006,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.64,
                    "gripper": 1
                  },
                  "note": "The bottle body is aligned, but the jaws still close completely. I open and lower to enclose the body below its rim."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 26,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.10717,
      0.69442,
      0.19698,
      -1.65622,
      -0.21165,
      2.39119,
      0.37026
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.67364,
      0.1892,
      0.64109
    ],
    "tcp_roll_pitch_yaw": [
      0.00102,
      -0.00247,
      7e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99732,
        0.03656,
        0.06339
      ],
      [
        0.03677,
        -0.99932,
        -0.00222
      ],
      [
        0.06326,
        0.00455,
        -0.99799
      ]
    ],
    "simulated_seconds_remaining": 17.49,
    "calls_remaining_including_this": 32
  },
  "api_seconds": 9.6073545711115,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.72,
                    "y": 0.215,
                    "z": 0.64
                  },
                  "note": "The bottle rim is just below and right of the finger tips. I center the open jaws over it before closing."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 27,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.15205,
      0.85274,
      0.19085,
      -1.37284,
      -0.21248,
      2.26646,
      0.36977
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.71892,
      0.21446,
      0.63998
    ],
    "tcp_roll_pitch_yaw": [
      0.00106,
      -0.00245,
      0.00015
    ],
    "tcp_rotation_matrix": [
      [
        0.99732,
        0.03664,
        0.06337
      ],
      [
        0.03685,
        -0.99932,
        -0.00218
      ],
      [
        0.06325,
        0.00451,
        -0.99799
      ]
    ],
    "simulated_seconds_remaining": 16.83,
    "calls_remaining_including_this": 31
  },
  "api_seconds": 5.604966952465475,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The bottle body is now centered between the fingers at close range. I close firmly around it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 28,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.15207,
      0.85277,
      0.19087,
      -1.37287,
      -0.21248,
      2.26645,
      0.36977
    ],
    "gripper_open": 0.8003,
    "tcp_xyz": [
      0.71891,
      0.21448,
      0.63996
    ],
    "tcp_roll_pitch_yaw": [
      0.00106,
      -0.00239,
      0.00017
    ],
    "tcp_rotation_matrix": [
      [
        0.99732,
        0.03666,
        0.06332
      ],
      [
        0.03687,
        -0.99932,
        -0.00218
      ],
      [
        0.06319,
        0.00451,
        -0.99799
      ]
    ],
    "simulated_seconds_remaining": 15.906,
    "calls_remaining_including_this": 30
  },
  "api_seconds": 6.204622717574239,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.86
                  },
                  "note": "The jaws remain partly open against the bottle, indicating contact. I lift it clear of the table."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 27,
    "motion_seconds": 1.782,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 29,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.14831,
      0.64576,
      0.22653,
      -1.15371,
      -0.16409,
      1.84393,
      0.32934
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.71898,
      0.21452,
      0.85887
    ],
    "tcp_roll_pitch_yaw": [
      0.00117,
      -0.00279,
      0.00017
    ],
    "tcp_rotation_matrix": [
      [
        0.99729,
        0.03666,
        0.06371
      ],
      [
        0.03687,
        -0.99932,
        -0.00206
      ],
      [
        0.06359,
        0.0044,
        -0.99797
      ]
    ],
    "simulated_seconds_remaining": 14.124,
    "calls_remaining_including_this": 29
  },
  "api_seconds": 6.2046546172350645,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.64,
                    "gripper": 1
                  },
                  "note": "The bottle slipped when the gripper reopened during the lift. I return to the successful grasp position with open jaws."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 27,
    "motion_seconds": 1.782,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 30,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.15183,
      0.85079,
      0.1912,
      -1.37331,
      -0.21223,
      2.2649,
      0.36963
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.71887,
      0.21448,
      0.64111
    ],
    "tcp_roll_pitch_yaw": [
      0.00105,
      -0.00239,
      0.00017
    ],
    "tcp_rotation_matrix": [
      [
        0.99732,
        0.03666,
        0.06331
      ],
      [
        0.03687,
        -0.99932,
        -0.00218
      ],
      [
        0.06319,
        0.00451,
        -0.99799
      ]
    ],
    "simulated_seconds_remaining": 12.342,
    "calls_remaining_including_this": 28
  },
  "api_seconds": 4.803978295065463,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The bottle is again inside the jaws. I close on its body and will explicitly maintain closure during transport."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 31,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.15184,
      0.85081,
      0.19121,
      -1.37333,
      -0.21223,
      2.2649,
      0.36963
    ],
    "gripper_open": 0.7821,
    "tcp_xyz": [
      0.71885,
      0.21449,
      0.64107
    ],
    "tcp_roll_pitch_yaw": [
      0.00105,
      -0.00234,
      0.00019
    ],
    "tcp_rotation_matrix": [
      [
        0.99732,
        0.03668,
        0.06326
      ],
      [
        0.03689,
        -0.99932,
        -0.00218
      ],
      [
        0.06314,
        0.00451,
        -0.99799
      ]
    ],
    "simulated_seconds_remaining": 11.418,
    "calls_remaining_including_this": 27
  },
  "api_seconds": 4.604010380804539,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.85,
                    "gripper": 0
                  },
                  "note": "The jaws have contact with the bottle. I lift while keeping the gripper commanded closed."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 26,
    "motion_seconds": 1.7160000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 32,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.14644,
      0.64672,
      0.22608,
      -1.17781,
      -0.16503,
      1.86862,
      0.33117
    ],
    "gripper_open": 0.7723,
    "tcp_xyz": [
      0.71891,
      0.21452,
      0.84883
    ],
    "tcp_roll_pitch_yaw": [
      0.00115,
      -0.00266,
      0.0002
    ],
    "tcp_rotation_matrix": [
      [
        0.9973,
        0.03669,
        0.06358
      ],
      [
        0.03689,
        -0.99932,
        -0.00209
      ],
      [
        0.06346,
        0.00443,
        -0.99797
      ]
    ],
    "simulated_seconds_remaining": 9.702,
    "calls_remaining_including_this": 26
  },
  "api_seconds": 12.209787629544735,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.55,
                    "y": 0.4,
                    "z": 0.85,
                    "gripper": 0
                  },
                  "note": "The bottle is lifted and held securely. I carry it toward the small gray bowl beside its original position."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 30,
    "motion_seconds": 1.98,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 33,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.36654,
      0.39327,
      0.32614,
      -1.58198,
      -0.18043,
      1.99945,
      0.70078
    ],
    "gripper_open": 0.7697,
    "tcp_xyz": [
      0.55078,
      0.39918,
      0.84998
    ],
    "tcp_roll_pitch_yaw": [
      0.00118,
      -0.00258,
      0.00055
    ],
    "tcp_rotation_matrix": [
      [
        0.99729,
        0.03704,
        0.06351
      ],
      [
        0.03724,
        -0.9993,
        -0.00203
      ],
      [
        0.06339,
        0.00439,
        -0.99798
      ]
    ],
    "simulated_seconds_remaining": 7.722,
    "calls_remaining_including_this": 25
  },
  "api_seconds": 12.408649301156402,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.58,
                    "y": 0.47,
                    "z": 0.76,
                    "gripper": 0
                  },
                  "note": "The bowl is visible just left of the held bottle in the wrist view. I center the bottle over its opening and lower toward it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 34,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.47926,
      0.69553,
      0.29803,
      -1.32194,
      -0.26186,
      2.03762,
      0.78259
    ],
    "gripper_open": 0.7513,
    "tcp_xyz": [
      0.58132,
      0.46995,
      0.76655
    ],
    "tcp_roll_pitch_yaw": [
      0.00543,
      -0.00947,
      -3e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99685,
        0.03647,
        0.07037
      ],
      [
        0.03641,
        -0.99933,
        0.00218
      ],
      [
        0.07041,
        0.00039,
        -0.99752
      ]
    ],
    "simulated_seconds_remaining": 6.666,
    "calls_remaining_including_this": 24
  },
  "api_seconds": 9.00631682947278,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.31,
                    "z": 0.8,
                    "gripper": 0
                  },
                  "note": "The last correction moved the bottle past the bowl. I shift back across the opening while keeping the bottle raised and gripped."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 35,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.23635,
      0.35585,
      0.29645,
      -1.76879,
      -0.16291,
      2.16703,
      0.5636
    ],
    "gripper_open": 0.7476,
    "tcp_xyz": [
      0.58142,
      0.31117,
      0.79975
    ],
    "tcp_roll_pitch_yaw": [
      0.00538,
      -0.00951,
      -0.00031
    ],
    "tcp_rotation_matrix": [
      [
        0.99686,
        0.03619,
        0.07041
      ],
      [
        0.03613,
        -0.99935,
        0.00211
      ],
      [
        0.07045,
        0.00044,
        -0.99752
      ]
    ],
    "simulated_seconds_remaining": 5.28,
    "calls_remaining_including_this": 23
  },
  "api_seconds": 9.410300106741488,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.6,
                    "y": 0.35,
                    "z": 0.69,
                    "gripper": 0
                  },
                  "note": "The bowl opening is now directly behind the bottle in the wrist view. I make a small centering adjustment and lower the bottle onto it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 36,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.3054,
      0.50163,
      0.25705,
      -1.66749,
      -0.24863,
      2.31283,
      0.64922
    ],
    "gripper_open": 0.8453,
    "tcp_xyz": [
      0.6256,
      0.35073,
      0.76605
    ],
    "tcp_roll_pitch_yaw": [
      0.03822,
      -0.117,
      -0.01133
    ],
    "tcp_rotation_matrix": [
      [
        0.98373,
        0.02875,
        0.17734
      ],
      [
        0.02327,
        -0.99919,
        0.03289
      ],
      [
        0.17814,
        -0.02823,
        -0.9836
      ]
    ],
    "simulated_seconds_remaining": 4.224,
    "calls_remaining_including_this": 22
  },
  "api_seconds": 5.804845279082656,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 1
                  },
                  "note": "The bottle has contacted the bowl and is supported above its opening. I release it onto the bowl."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 5,
    "motion_seconds": 0.33,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 37,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.30629,
      0.49847,
      0.25849,
      -1.66603,
      -0.24838,
      2.31256,
      0.64932
    ],
    "gripper_open": 0.9956,
    "tcp_xyz": [
      0.62572,
      0.35252,
      0.76908
    ],
    "tcp_roll_pitch_yaw": [
      0.04068,
      -0.12076,
      -0.00988
    ],
    "tcp_rotation_matrix": [
      [
        0.98301,
        0.0306,
        0.181
      ],
      [
        0.02455,
        -0.99907,
        0.03556
      ],
      [
        0.18191,
        -0.03051,
        -0.98284
      ]
    ],
    "simulated_seconds_remaining": 3.894,
    "calls_remaining_including_this": 21
  },
  "api_seconds": 4.804196888580918,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.96,
                    "gripper": 1
                  },
                  "note": "The bottle has been released. I lift the open gripper away to verify that it remains on the bowl."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 24,
    "motion_seconds": 1.584,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 38,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.3087,
      0.39302,
      0.29021,
      -1.33549,
      -0.18647,
      1.8835,
      0.58291
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.62577,
      0.35257,
      0.95885
    ],
    "tcp_roll_pitch_yaw": [
      0.04086,
      -0.1211,
      -0.00989
    ],
    "tcp_rotation_matrix": [
      [
        0.98294,
        0.03062,
        0.18134
      ],
      [
        0.02453,
        -0.99906,
        0.03574
      ],
      [
        0.18226,
        -0.03069,
        -0.98277
      ]
    ],
    "simulated_seconds_remaining": 2.31,
    "calls_remaining_including_this": 20
  },
  "api_seconds": 6.605309480801225,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "done",
                "args": {
                  "note": "The bottle has been lifted, transported, and released on the gray bowl. The retracted-gripper views confirm it remains supported by the bowl."
                }
              }
            }
          ]
        }
      }
    ]
  }
}

========================================================================
GPT-Astra / Pick & place / 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,
  "status": "completed",
  "success": true,
  "oracle_success": true,
  "action_decisions": 13,
  "wall_seconds": 181.14,
  "usage": {
    "input_tokens": 220992,
    "cached_input_tokens": 203264,
    "cache_write_input_tokens": 0,
    "output_tokens": 2595,
    "reasoning_output_tokens": 1222
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick-and-place 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 45 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 and grasp the requested object, lift it, move it to the named receptacle, and release it in or on that receptacle. Complete the entire pick-and-place 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 object and place it in the requested receptacle.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [-0.00963, -0.75352, -0.03154, -2.36529, 0.0448, 1.52358, -0.04471], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.2958, 0.00042, 0.9983], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.99624, 0.01013, -0.08608], [0.01611, -0.99748, 0.06904], [-0.08516, -0.07017, -0.99389]], \"simulated_seconds_remaining\": 45.012, \"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,
      "z": 1.15,
      "gripper": 1
    },
    "note": "The tissue packet is beside the gray bowl on the cabinet. I move higher and forward to view their positions from above."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [0.00268, -0.04676, -0.04116, -1.33958, 0.06836, 1.20461, -0.02984], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.47901, 0.0, 1.14911], \"tcp_roll_pitch_yaw\": [1e-05, 7e-05, -1e-05], \"tcp_rotation_matrix\": [[0.99623, 0.01012, -0.08614], [0.0161, -0.99748, 0.06905], [-0.08523, -0.07018, -0.99389]], \"simulated_seconds_remaining\": 43.098, \"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": 0.6,
      "y": 0.01,
      "z": 1.1
    },
    "note": "The wrist view shows the tissue packet ahead of the fingers, with the bowl to its left. I advance toward the packet while keeping the gripper above the surface."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [0.00524, 0.36551, -0.03379, -0.91314, 0.08489, 1.19101, -0.01196], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.59883, 0.0099, 1.10031], \"tcp_roll_pitch_yaw\": [1e-05, 0.00045, -1e-05], \"tcp_rotation_matrix\": [[0.9962, 0.0101, -0.08652], [0.01611, -0.99748, 0.06905], [-0.08561, -0.07018, -0.99385]], \"simulated_seconds_remaining\": 41.91, \"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": {
      "z": 0.97
    },
    "note": "The tissue is centered horizontally in the wrist view. I lower toward it to refine the grasp alignment."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [0.01721, 0.1964, -0.03401, -1.50331, 0.07436, 1.61116, -0.03586], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.59881, 0.0099, 0.97118], \"tcp_roll_pitch_yaw\": [0.0, 0.0008, 0.0], \"tcp_rotation_matrix\": [[0.99617, 0.01008, -0.08687], [0.01611, -0.99748, 0.06905], [-0.08596, -0.07018, -0.99382]], \"simulated_seconds_remaining\": 40.722, \"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": {
      "z": 0.84
    },
    "note": "The packet remains between the projected finger positions, and the exterior view shows clearance above the cabinet. I continue lowering for the grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [0.0199, 0.22994, -0.03212, -1.79018, 0.08056, 1.93054, -0.05658], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.59874, 0.00991, 0.84116], \"tcp_roll_pitch_yaw\": [0.0, 0.00118, 1e-05], \"tcp_rotation_matrix\": [[0.99614, 0.01006, -0.08725], [0.01612, -0.99748, 0.06904], [-0.08634, -0.07018, -0.99379]], \"simulated_seconds_remaining\": 39.534, \"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": {
      "z": 0.79
    },
    "note": "The tissue packet now fills the space between the open jaws. I lower the last few centimeters so the fingers can grip its sides."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [0.02008, 0.27562, -0.03071, -1.8584, 0.08605, 2.04379, -0.06565], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.59867, 0.00991, 0.79104], \"tcp_roll_pitch_yaw\": [0.0, 0.00151, 2e-05], \"tcp_rotation_matrix\": [[0.99611, 0.01004, -0.08758], [0.01613, -0.99748, 0.06904], [-0.08667, -0.07019, -0.99376]], \"simulated_seconds_remaining\": 38.874, \"calls_remaining_including_this\": 52}"
      },
      {
        "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 alongside the tissue packet at cabinet height. I close the gripper to secure it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [0.01934, 0.27365, -0.03181, -1.85719, 0.08496, 2.04357, -0.06545], \"gripper_open\": 0.2848, \"tcp_xyz\": [0.59934, 0.0086, 0.79271], \"tcp_roll_pitch_yaw\": [-0.00119, -0.00144, -0.00137], \"tcp_rotation_matrix\": [[0.99638, 0.00887, -0.08456], [0.01465, -0.99758, 0.06797], [-0.08375, -0.06896, -0.9941]], \"simulated_seconds_remaining\": 37.95, \"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": {
      "z": 0.97
    },
    "note": "The jaws stopped partially closed around the tissue. I lift it above the cabinet and check that it follows the gripper."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [0.01663, 0.19573, -0.03506, -1.51166, 0.07333, 1.62046, -0.03665], \"gripper_open\": 0.1376, \"tcp_xyz\": [0.5993, 0.00859, 0.96833], \"tcp_roll_pitch_yaw\": [-0.00124, -0.00086, -0.00137], \"tcp_rotation_matrix\": [[0.99633, 0.00883, -0.08513], [0.01464, -0.99758, 0.06792], [-0.08432, -0.06892, -0.99405]], \"simulated_seconds_remaining\": 36.498, \"calls_remaining_including_this\": 50}"
      },
      {
        "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": 0.49,
      "y": 0.13,
      "z": 0.97
    },
    "note": "The tissue lifted with the gripper. I move laterally toward the bowl while maintaining clearance, then check the alignment."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [0.13535, -0.1185, 0.07567, -1.90098, 0.09413, 1.71188, 0.18158], \"gripper_open\": 0.1376, \"tcp_xyz\": [0.49074, 0.1291, 0.96965], \"tcp_roll_pitch_yaw\": [-0.00144, -1e-05, -0.00105], \"tcp_rotation_matrix\": [[0.99625, 0.00908, -0.086], [0.01494, -0.99759, 0.0677], [-0.08518, -0.06873, -0.99399]], \"simulated_seconds_remaining\": 35.112, \"calls_remaining_including_this\": 49}"
      },
      {
        "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": -0.2,
      "z": 0.97
    },
    "note": "The bowl is still left of the carried tissue in the wrist view. I correct the lateral direction and bring the tissue over its center."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [-0.12118, -0.28602, -0.30765, -2.05284, -0.05839, 1.67219, -0.41521], \"gripper_open\": 0.1376, \"tcp_xyz\": [0.40021, -0.19875, 0.96968], \"tcp_roll_pitch_yaw\": [-0.00123, 0.00077, -0.00133], \"tcp_rotation_matrix\": [[0.99619, 0.00875, -0.08676], [0.01468, -0.99758, 0.06793], [-0.08595, -0.06894, -0.99391]], \"simulated_seconds_remaining\": 32.538, \"calls_remaining_including_this\": 48}"
      },
      {
        "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": -0.25,
      "z": 0.91
    },
    "note": "The bowl is visible below and slightly left of the packet. I shift the packet toward its center and lower closer to the rim."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 11, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [-0.13677, -0.02833, -0.36437, -1.93821, 0.00785, 1.8017, -0.51437], \"gripper_open\": 0.1376, \"tcp_xyz\": [0.45899, -0.24921, 0.91038], \"tcp_roll_pitch_yaw\": [-0.00092, 0.00185, -0.00136], \"tcp_rotation_matrix\": [[0.9961, 0.00864, -0.08783], [0.01467, -0.99756, 0.06825], [-0.08702, -0.06927, -0.9938]], \"simulated_seconds_remaining\": 31.614, \"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": {
      "z": 0.85
    },
    "note": "The packet now covers the bowl in the wrist view, and the exterior view confirms it is above the rim. I lower it gently onto the bowl."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 12, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [-0.14361, -0.00462, -0.37286, -2.03289, 0.01741, 1.94815, -0.52713], \"gripper_open\": 0.1537, \"tcp_xyz\": [0.46162, -0.25785, 0.86546], \"tcp_roll_pitch_yaw\": [-0.01453, -0.02465, -0.00959], \"tcp_rotation_matrix\": [[0.99814, 0.00193, -0.06101], [0.0053, -0.99846, 0.05518], [-0.06081, -0.0554, -0.99661]], \"simulated_seconds_remaining\": 30.888, \"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": 1
    },
    "note": "The packet has contacted the bowl and is supported over its opening. I open the fingers to release it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 13, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [-0.14371, -0.0052, -0.37299, -2.0326, 0.01736, 1.9479, -0.52721], \"gripper_open\": 0.998, \"tcp_xyz\": [0.46163, -0.25797, 0.86585], \"tcp_roll_pitch_yaw\": [-0.01466, -0.02526, -0.00967], \"tcp_rotation_matrix\": [[0.99817, 0.00188, -0.0604], [0.00521, -0.99847, 0.05505], [-0.0602, -0.05526, -0.99666]], \"simulated_seconds_remaining\": 29.964, \"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": 1.04
    },
    "note": "The gripper is open and the tissue rests on the bowl. I lift the empty hand away to verify the placement remains stable."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "Episode ended. Do not call more tools. Return a brief final response."
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

Placed the tissue on the bowl.

TURN USAGE
{
  "input_tokens": 220992,
  "cached_input_tokens": 203264,
  "cache_write_input_tokens": 0,
  "output_tokens": 2595,
  "reasoning_output_tokens": 1222
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      -0.00963,
      -0.75352,
      -0.03154,
      -2.36529,
      0.0448,
      1.52358,
      -0.04471
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.2958,
      0.00042,
      0.9983
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99624,
        0.01013,
        -0.08608
      ],
      [
        0.01611,
        -0.99748,
        0.06904
      ],
      [
        -0.08516,
        -0.07017,
        -0.99389
      ]
    ],
    "simulated_seconds_remaining": 45.012,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 20.014652393758297,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48,
                    "y": 0,
                    "z": 1.15,
                    "gripper": 1
                  },
                  "note": "The tissue packet is beside the gray bowl on the cabinet. I move higher and forward to view their positions from above."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 29,
    "motion_seconds": 1.9140000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      0.00268,
      -0.04676,
      -0.04116,
      -1.33958,
      0.06836,
      1.20461,
      -0.02984
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.47901,
      0.0,
      1.14911
    ],
    "tcp_roll_pitch_yaw": [
      1e-05,
      7e-05,
      -1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99623,
        0.01012,
        -0.08614
      ],
      [
        0.0161,
        -0.99748,
        0.06905
      ],
      [
        -0.08523,
        -0.07018,
        -0.99389
      ]
    ],
    "simulated_seconds_remaining": 43.098,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 14.014689293690026,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.6,
                    "y": 0.01,
                    "z": 1.1
                  },
                  "note": "The wrist view shows the tissue packet ahead of the fingers, with the bowl to its left. I advance toward the packet while keeping the gripper above the surface."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      0.00524,
      0.36551,
      -0.03379,
      -0.91314,
      0.08489,
      1.19101,
      -0.01196
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.59883,
      0.0099,
      1.10031
    ],
    "tcp_roll_pitch_yaw": [
      1e-05,
      0.00045,
      -1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.9962,
        0.0101,
        -0.08652
      ],
      [
        0.01611,
        -0.99748,
        0.06905
      ],
      [
        -0.08561,
        -0.07018,
        -0.99385
      ]
    ],
    "simulated_seconds_remaining": 41.91,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 12.012486823834479,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.97
                  },
                  "note": "The tissue is centered horizontally in the wrist view. I lower toward it to refine the grasp alignment."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      0.01721,
      0.1964,
      -0.03401,
      -1.50331,
      0.07436,
      1.61116,
      -0.03586
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.59881,
      0.0099,
      0.97118
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0008,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99617,
        0.01008,
        -0.08687
      ],
      [
        0.01611,
        -0.99748,
        0.06905
      ],
      [
        -0.08596,
        -0.07018,
        -0.99382
      ]
    ],
    "simulated_seconds_remaining": 40.722,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 5.6045983750373125,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.84
                  },
                  "note": "The packet remains between the projected finger positions, and the exterior view shows clearance above the cabinet. I continue lowering for the grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      0.0199,
      0.22994,
      -0.03212,
      -1.79018,
      0.08056,
      1.93054,
      -0.05658
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.59874,
      0.00991,
      0.84116
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.00118,
      1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99614,
        0.01006,
        -0.08725
      ],
      [
        0.01612,
        -0.99748,
        0.06904
      ],
      [
        -0.08634,
        -0.07018,
        -0.99379
      ]
    ],
    "simulated_seconds_remaining": 39.534,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 9.807870647870004,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.79
                  },
                  "note": "The tissue packet now fills the space between the open jaws. I lower the last few centimeters so the fingers can grip its sides."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      0.02008,
      0.27562,
      -0.03071,
      -1.8584,
      0.08605,
      2.04379,
      -0.06565
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.59867,
      0.00991,
      0.79104
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.00151,
      2e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99611,
        0.01004,
        -0.08758
      ],
      [
        0.01613,
        -0.99748,
        0.06904
      ],
      [
        -0.08667,
        -0.07019,
        -0.99376
      ]
    ],
    "simulated_seconds_remaining": 38.874,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 6.60562190413475,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The fingers are alongside the tissue packet at cabinet height. I close the gripper to secure it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      0.01934,
      0.27365,
      -0.03181,
      -1.85719,
      0.08496,
      2.04357,
      -0.06545
    ],
    "gripper_open": 0.2848,
    "tcp_xyz": [
      0.59934,
      0.0086,
      0.79271
    ],
    "tcp_roll_pitch_yaw": [
      -0.00119,
      -0.00144,
      -0.00137
    ],
    "tcp_rotation_matrix": [
      [
        0.99638,
        0.00887,
        -0.08456
      ],
      [
        0.01465,
        -0.99758,
        0.06797
      ],
      [
        -0.08375,
        -0.06896,
        -0.9941
      ]
    ],
    "simulated_seconds_remaining": 37.95,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 5.004534084349871,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.97
                  },
                  "note": "The jaws stopped partially closed around the tissue. I lift it above the cabinet and check that it follows the gripper."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 22,
    "motion_seconds": 1.452,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      0.01663,
      0.19573,
      -0.03506,
      -1.51166,
      0.07333,
      1.62046,
      -0.03665
    ],
    "gripper_open": 0.1376,
    "tcp_xyz": [
      0.5993,
      0.00859,
      0.96833
    ],
    "tcp_roll_pitch_yaw": [
      -0.00124,
      -0.00086,
      -0.00137
    ],
    "tcp_rotation_matrix": [
      [
        0.99633,
        0.00883,
        -0.08513
      ],
      [
        0.01464,
        -0.99758,
        0.06792
      ],
      [
        -0.08432,
        -0.06892,
        -0.99405
      ]
    ],
    "simulated_seconds_remaining": 36.498,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 26.819643483497202,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.49,
                    "y": 0.13,
                    "z": 0.97
                  },
                  "note": "The tissue lifted with the gripper. I move laterally toward the bowl while maintaining clearance, then check the alignment."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      0.13535,
      -0.1185,
      0.07567,
      -1.90098,
      0.09413,
      1.71188,
      0.18158
    ],
    "gripper_open": 0.1376,
    "tcp_xyz": [
      0.49074,
      0.1291,
      0.96965
    ],
    "tcp_roll_pitch_yaw": [
      -0.00144,
      -1e-05,
      -0.00105
    ],
    "tcp_rotation_matrix": [
      [
        0.99625,
        0.00908,
        -0.086
      ],
      [
        0.01494,
        -0.99759,
        0.0677
      ],
      [
        -0.08518,
        -0.06873,
        -0.99399
      ]
    ],
    "simulated_seconds_remaining": 35.112,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 7.805470831692219,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "y": -0.2,
                    "z": 0.97
                  },
                  "note": "The bowl is still left of the carried tissue in the wrist view. I correct the lateral direction and bring the tissue over its center."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 39,
    "motion_seconds": 2.5740000000000003,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      -0.12118,
      -0.28602,
      -0.30765,
      -2.05284,
      -0.05839,
      1.67219,
      -0.41521
    ],
    "gripper_open": 0.1376,
    "tcp_xyz": [
      0.40021,
      -0.19875,
      0.96968
    ],
    "tcp_roll_pitch_yaw": [
      -0.00123,
      0.00077,
      -0.00133
    ],
    "tcp_rotation_matrix": [
      [
        0.99619,
        0.00875,
        -0.08676
      ],
      [
        0.01468,
        -0.99758,
        0.06793
      ],
      [
        -0.08595,
        -0.06894,
        -0.99391
      ]
    ],
    "simulated_seconds_remaining": 32.538,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 15.416721347719431,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.46,
                    "y": -0.25,
                    "z": 0.91
                  },
                  "note": "The bowl is visible below and slightly left of the packet. I shift the packet toward its center and lower closer to the rim."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      -0.13677,
      -0.02833,
      -0.36437,
      -1.93821,
      0.00785,
      1.8017,
      -0.51437
    ],
    "gripper_open": 0.1376,
    "tcp_xyz": [
      0.45899,
      -0.24921,
      0.91038
    ],
    "tcp_roll_pitch_yaw": [
      -0.00092,
      0.00185,
      -0.00136
    ],
    "tcp_rotation_matrix": [
      [
        0.9961,
        0.00864,
        -0.08783
      ],
      [
        0.01467,
        -0.99756,
        0.06825
      ],
      [
        -0.08702,
        -0.06927,
        -0.9938
      ]
    ],
    "simulated_seconds_remaining": 31.614,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 7.806474451906979,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.85
                  },
                  "note": "The packet now covers the bowl in the wrist view, and the exterior view confirms it is above the rim. I lower it gently onto the bowl."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      -0.14361,
      -0.00462,
      -0.37286,
      -2.03289,
      0.01741,
      1.94815,
      -0.52713
    ],
    "gripper_open": 0.1537,
    "tcp_xyz": [
      0.46162,
      -0.25785,
      0.86546
    ],
    "tcp_roll_pitch_yaw": [
      -0.01453,
      -0.02465,
      -0.00959
    ],
    "tcp_rotation_matrix": [
      [
        0.99814,
        0.00193,
        -0.06101
      ],
      [
        0.0053,
        -0.99846,
        0.05518
      ],
      [
        -0.06081,
        -0.0554,
        -0.99661
      ]
    ],
    "simulated_seconds_remaining": 30.888,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 7.606179961003363,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 1
                  },
                  "note": "The packet has contacted the bowl and is supported over its opening. I open the fingers to release it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      -0.14371,
      -0.0052,
      -0.37299,
      -2.0326,
      0.01736,
      1.9479,
      -0.52721
    ],
    "gripper_open": 0.998,
    "tcp_xyz": [
      0.46163,
      -0.25797,
      0.86585
    ],
    "tcp_roll_pitch_yaw": [
      -0.01466,
      -0.02526,
      -0.00967
    ],
    "tcp_rotation_matrix": [
      [
        0.99817,
        0.00188,
        -0.0604
      ],
      [
        0.00521,
        -0.99847,
        0.05505
      ],
      [
        -0.0602,
        -0.05526,
        -0.99666
      ]
    ],
    "simulated_seconds_remaining": 29.964,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 5.004392264410853,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.04
                  },
                  "note": "The gripper is open and the tissue rests on the bowl. I lift the empty hand away to verify the placement remains stable."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 22,
    "motion_seconds": 1.452,
    "status": "executing; next observation shows actual arrival"
  }
}

========================================================================
GPT-Astra / Pick & place / 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,
  "status": "completed",
  "success": true,
  "oracle_success": true,
  "action_decisions": 25,
  "wall_seconds": 380.99,
  "usage": {
    "input_tokens": 502825,
    "cached_input_tokens": 465152,
    "cache_write_input_tokens": 0,
    "output_tokens": 6358,
    "reasoning_output_tokens": 3795
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick-and-place 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 45 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 and grasp the requested object, lift it, move it to the named receptacle, and release it in or on that receptacle. Complete the entire pick-and-place 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 and use the camera feedback to guide the pick and place.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"pick up the spoon and place it on the bowl.\", \"joint_positions\": [-0.02063, -0.77523, -0.04421, -2.39882, -0.02405, 1.60239, -0.00208], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.30718, -0.02482, 0.99446], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.99858, -0.04884, -0.02127], [-0.04868, -0.99878, 0.00801], [-0.02164, -0.00696, -0.99974]], \"simulated_seconds_remaining\": 45.012, \"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": {
      "z": 1.13
    },
    "note": "The spoon is partly obscured by the gripper; raising the wrist will widen the view of the tabletop."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"pick up the spoon and place it on the bowl.\", \"joint_positions\": [-0.01627, -0.64703, -0.03978, -1.95939, -0.01767, 1.29136, -0.00366], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.30721, -0.02482, 1.1287], \"tcp_roll_pitch_yaw\": [-0.0, -0.00022, -0.0], \"tcp_rotation_matrix\": [[0.99858, -0.04884, -0.02105], [-0.04868, -0.99878, 0.008], [-0.02142, -0.00697, -0.99975]], \"simulated_seconds_remaining\": 43.824, \"calls_remaining_including_this\": 56}"
      },
      {
        "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": 0.43,
      "y": 0.1,
      "z": 1.13
    },
    "note": "The spoon lies beside the small brown object, left of the red apple in the exterior view. I am moving above that area to locate its handle precisely."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"pick up the spoon and place it on the bowl.\", \"joint_positions\": [0.03878, -0.27097, 0.14282, -1.64691, 0.05078, 1.35931, 0.23492], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.42906, 0.09907, 1.12992], \"tcp_roll_pitch_yaw\": [-6e-05, -5e-05, 0.00014], \"tcp_rotation_matrix\": [[0.99859, -0.0487, -0.02123], [-0.04854, -0.99879, 0.00795], [-0.02159, -0.0069, -0.99974]], \"simulated_seconds_remaining\": 42.372, \"calls_remaining_including_this\": 55}"
      },
      {
        "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": 0.54,
      "y": 0.01,
      "z": 0.96
    },
    "note": "The wrist image now clearly shows the spoon below the apple, with its handle pointing left. I am approaching above the middle of the handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"pick up the spoon and place it on the bowl.\", \"joint_positions\": [-0.0326, -0.05705, 0.04693, -1.861, 0.01119, 1.78255, 0.06054], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.5393, 0.01048, 0.96089], \"tcp_roll_pitch_yaw\": [-5e-05, 0.00029, 1e-05], \"tcp_rotation_matrix\": [[0.99857, -0.04883, -0.02156], [-0.04867, -0.99878, 0.00795], [-0.02193, -0.00689, -0.99974]], \"simulated_seconds_remaining\": 40.59, \"calls_remaining_including_this\": 54}"
      },
      {
        "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": 0.585,
      "y": -0.06,
      "z": 0.88,
      "yaw": 1.35
    },
    "note": "The spoon handle is to the right of the grasp center. I am centering over it and rotating the jaws to close across the handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"pick up the spoon and place it on the bowl.\", \"joint_positions\": [-0.09961, 0.11144, 0.00573, -1.86252, -0.0227, 1.96304, -1.38165], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.58483, -0.05981, 0.8802], \"tcp_roll_pitch_yaw\": [6e-05, 0.00031, 1.34524], \"tcp_rotation_matrix\": [[0.27078, 0.96256, -0.01269], [0.96239, -0.27098, -0.01923], [-0.02195, -0.007, -0.99973]], \"simulated_seconds_remaining\": 38.478, \"calls_remaining_including_this\": 53}"
      },
      {
        "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": {
      "z": 1.1
    },
    "note": "The spoon has slipped outside the close wrist view after the rotation. I am raising the camera to recover its position before descending."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"pick up the spoon and place it on the bowl.\", \"joint_positions\": [-0.09773, 0.19266, 0.00661, -1.18608, -0.02202, 1.36822, -1.392], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.58488, -0.05982, 1.09877], \"tcp_roll_pitch_yaw\": [-0.00026, 0.00026, 1.34524], \"tcp_rotation_matrix\": [[0.27078, 0.96256, -0.01237], [0.96239, -0.27098, -0.01926], [-0.02189, -0.00669, -0.99974]], \"simulated_seconds_remaining\": 36.696, \"calls_remaining_including_this\": 52}"
      },
      {
        "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": 0.645
    },
    "note": "The spoon is visible just left of the jaw midpoint. I am making a small horizontal correction while keeping the full spoon in view."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"pick up the spoon and place it on the bowl.\", \"joint_positions\": [-0.09773, 0.19266, 0.00661, -1.18608, -0.02202, 1.36822, -1.392], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.58488, -0.05982, 1.09877], \"tcp_roll_pitch_yaw\": [-0.00026, 0.00026, 1.34524], \"tcp_rotation_matrix\": [[0.27078, 0.96256, -0.01237], [0.96239, -0.27098, -0.01926], [-0.02189, -0.00669, -0.99974]], \"simulated_seconds_remaining\": 36.696, \"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": 0.5,
      "y": 0.02,
      "z": 0.9,
      "yaw": 0
    },
    "note": "The forward correction exceeded the reachable configuration. I am returning to a reachable overhead view near the spoon to refine alignment."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"pick up the spoon and place it on the bowl.\", \"joint_positions\": [-0.0499, -0.15634, 0.08124, -2.12668, 0.02253, 1.94922, 0.06577], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.50023, 0.01979, 0.90056], \"tcp_roll_pitch_yaw\": [-0.00026, 0.00048, 0.00477], \"tcp_rotation_matrix\": [[0.99879, -0.04408, -0.02179], [-0.04392, -0.99901, 0.00765], [-0.0221, -0.00668, -0.99973]], \"simulated_seconds_remaining\": 34.584, \"calls_remaining_including_this\": 50}"
      },
      {
        "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": 0.49,
      "y": 0.02,
      "z": 0.79,
      "yaw": 1.35
    },
    "note": "The handle is now between the open fingers in the overhead view. I am lowering and turning the jaws across its long axis."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"pick up the spoon and place it on the bowl.\", \"joint_positions\": [0.02475, -0.07871, 0.02321, -2.34026, -0.02185, 2.24799, -1.23499], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.49, 0.02, 0.7903], \"tcp_roll_pitch_yaw\": [-0.00013, 0.00051, 1.34539], \"tcp_rotation_matrix\": [[0.27064, 0.9626, -0.01255], [0.96243, -0.27084, -0.01948], [-0.02215, -0.00681, -0.99973]], \"simulated_seconds_remaining\": 32.472, \"calls_remaining_including_this\": 49}"
      },
      {
        "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": 0.63,
      "y": 0.04,
      "z": 0.88
    },
    "note": "The exterior view shows the gripper still behind the spoon. I am advancing toward the spoon with clearance above the table."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"pick up the spoon and place it on the bowl.\", \"joint_positions\": [0.03954, 0.24673, 0.03415, -1.68107, -0.02851, 1.91371, -1.21413], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.62889, 0.03985, 0.87928], \"tcp_roll_pitch_yaw\": [-0.00024, 0.00047, 1.3454], \"tcp_rotation_matrix\": [[0.27062, 0.9626, -0.01243], [0.96243, -0.27083, -0.01946], [-0.0221, -0.0067, -0.99973]], \"simulated_seconds_remaining\": 31.086, \"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": 0.675,
      "y": 0.07,
      "z": 0.84
    },
    "note": "The spoon handle is visible left of the jaw gap. I am making a small forward and left correction to bring the handle into the gap."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 11, \"instruction\": \"pick up the spoon and place it on the bowl.\", \"joint_positions\": [0.07135, 0.42659, 0.04591, -1.51658, -0.03938, 1.92769, -1.1694], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.67404, 0.06946, 0.84063], \"tcp_roll_pitch_yaw\": [4e-05, 0.00054, 1.34552], \"tcp_rotation_matrix\": [[0.27051, 0.96263, -0.01271], [0.96246, -0.27072, -0.01947], [-0.02218, -0.00697, -0.99973]], \"simulated_seconds_remaining\": 30.36, \"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": 0.755
    },
    "note": "The spoon handle is centered between the fingers. I am descending vertically to place the fingertips around it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 12, \"instruction\": \"pick up the spoon and place it on the bowl.\", \"joint_positions\": [0.07177, 0.49865, 0.04334, -1.62612, -0.04505, 2.10875, -1.16334], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.67395, 0.06945, 0.75614], \"tcp_roll_pitch_yaw\": [0.00042, 0.00068, 1.34551], \"tcp_rotation_matrix\": [[0.2705, 0.96263, -0.01311], [0.96246, -0.27072, -0.01952], [-0.02234, -0.00734, -0.99972]], \"simulated_seconds_remaining\": 29.502, \"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": {
      "z": 0.685
    },
    "note": "The handle remains aligned, but the fingers are still above the tabletop. I am lowering further for a secure grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 13, \"instruction\": \"pick up the spoon and place it on the bowl.\", \"joint_positions\": [0.07385, 0.50071, 0.04096, -1.65842, -0.05029, 2.16947, -1.15872], \"gripper_open\": 1.0, \"tcp_xyz\": [0.67663, 0.06947, 0.74533], \"tcp_roll_pitch_yaw\": [-0.02584, -0.00432, 1.34562], \"tcp_rotation_matrix\": [[0.27096, 0.9625, 0.01359], [0.96246, -0.27066, -0.02051], [-0.01606, 0.01864, -0.9997]], \"simulated_seconds_remaining\": 28.71, \"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 descent has reached table contact and the spoon handle is in the jaw gap. I am closing the gripper."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 14, \"instruction\": \"pick up the spoon and place it on the bowl.\", \"joint_positions\": [0.07538, 0.49118, 0.04332, -1.65529, -0.04898, 2.16414, -1.15926], \"gripper_open\": 0.7349, \"tcp_xyz\": [0.67777, 0.07233, 0.75277], \"tcp_roll_pitch_yaw\": [-0.03221, -0.00835, 1.3489], \"tcp_rotation_matrix\": [[0.26793, 0.96321, 0.02075], [0.96337, -0.26759, -0.01794], [-0.01172, 0.0248, -0.99962]], \"simulated_seconds_remaining\": 27.786, \"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": {
      "z": 0.93
    },
    "note": "The gripper met resistance while closing. I am lifting to check whether the spoon is held securely."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 15, \"instruction\": \"pick up the spoon and place it on the bowl.\", \"joint_positions\": [0.07637, 0.38956, 0.04775, -1.35495, -0.03915, 1.76283, -1.17219], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.67784, 0.07234, 0.92881], \"tcp_roll_pitch_yaw\": [-0.0326, -0.00849, 1.34891], \"tcp_rotation_matrix\": [[0.26794, 0.9632, 0.02116], [0.96337, -0.26759, -0.01789], [-0.01157, 0.02518, -0.99962]], \"simulated_seconds_remaining\": 26.334, \"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": {
      "gripper": 0
    },
    "note": "The spoon is still on the table. I am closing the empty jaws briefly to identify the exact pinch center in the wrist view."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 16, \"instruction\": \"pick up the spoon and place it on the bowl.\", \"joint_positions\": [0.07637, 0.38956, 0.04775, -1.35495, -0.03915, 1.76283, -1.17219], \"gripper_open\": 0.0, \"tcp_xyz\": [0.67784, 0.07234, 0.92882], \"tcp_roll_pitch_yaw\": [-0.03259, -0.00848, 1.34891], \"tcp_rotation_matrix\": [[0.26794, 0.9632, 0.02116], [0.96337, -0.26759, -0.01789], [-0.01157, 0.02518, -0.99962]], \"simulated_seconds_remaining\": 25.41, \"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": 0.68,
      "y": 0.112,
      "z": 0.77,
      "roll": 0,
      "pitch": 0,
      "gripper": 1
    },
    "note": "The closed jaws show the pinch center above the handle tip. I am shifting along the spoon to grasp its narrower middle, slightly above the table."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 17, \"instruction\": \"pick up the spoon and place it on the bowl.\", \"joint_positions\": [0.11908, 0.52073, 0.06012, -1.55097, -0.05254, 2.05468, -1.10389], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.6799, 0.1117, 0.77111], \"tcp_roll_pitch_yaw\": [0.0001, 6e-05, 1.34898], \"tcp_rotation_matrix\": [[0.26717, 0.96357, -0.0126], [0.9634, -0.26737, -0.01903], [-0.02171, -0.00705, -0.99974]], \"simulated_seconds_remaining\": 24.024, \"calls_remaining_including_this\": 41}"
      },
      {
        "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 middle of the spoon now crosses the pinch center. I am closing the jaws at this height."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 18, \"instruction\": \"pick up the spoon and place it on the bowl.\", \"joint_positions\": [0.11908, 0.52073, 0.06012, -1.55097, -0.05254, 2.05468, -1.10389], \"gripper_open\": 0.0, \"tcp_xyz\": [0.6799, 0.11171, 0.7711], \"tcp_roll_pitch_yaw\": [9e-05, 6e-05, 1.34898], \"tcp_rotation_matrix\": [[0.26717, 0.96357, -0.0126], [0.9634, -0.26738, -0.01903], [-0.0217, -0.00705, -0.99974]], \"simulated_seconds_remaining\": 23.1, \"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": {
      "z": 0.91,
      "gripper": 0
    },
    "note": "The jaws are closed around the handle area. I am lifting while keeping the gripper commanded closed to verify the grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 19, \"instruction\": \"pick up the spoon and place it on the bowl.\", \"joint_positions\": [0.12122, 0.45365, 0.06385, -1.30097, -0.04508, 1.73823, -1.11349], \"gripper_open\": 0.0, \"tcp_xyz\": [0.67997, 0.11173, 0.90888], \"tcp_roll_pitch_yaw\": [-0.00026, -9e-05, 1.34898], \"tcp_rotation_matrix\": [[0.26718, 0.96357, -0.01221], [0.96341, -0.26737, -0.01896], [-0.02154, -0.0067, -0.99975]], \"simulated_seconds_remaining\": 21.846, \"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": {
      "z": 0.747,
      "gripper": 1
    },
    "note": "The spoon stayed on the table, so the jaws closed above it. I am opening and descending to the spoon's surface height."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 20, \"instruction\": \"pick up the spoon and place it on the bowl.\", \"joint_positions\": [0.11949, 0.54498, 0.05898, -1.57318, -0.05471, 2.10107, -1.10196], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.67988, 0.1117, 0.74814], \"tcp_roll_pitch_yaw\": [0.00011, 7e-05, 1.34898], \"tcp_rotation_matrix\": [[0.26717, 0.96357, -0.01262], [0.9634, -0.26738, -0.01903], [-0.02171, -0.00707, -0.99974]], \"simulated_seconds_remaining\": 20.46, \"calls_remaining_including_this\": 38}"
      },
      {
        "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 fingertips are now at the spoon height with its handle crossing the gap. I am closing for the grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 21, \"instruction\": \"pick up the spoon and place it on the bowl.\", \"joint_positions\": [0.12031, 0.534, 0.06046, -1.56662, -0.05403, 2.09967, -1.10234], \"gripper_open\": 0.3191, \"tcp_xyz\": [0.68351, 0.11385, 0.75861], \"tcp_roll_pitch_yaw\": [-0.01453, -0.00679, 1.35093], \"tcp_rotation_matrix\": [[0.26563, 0.96407, 0.00321], [0.96397, -0.26555, -0.01556], [-0.01415, 0.00723, -0.99987]], \"simulated_seconds_remaining\": 19.536, \"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": {
      "z": 0.94,
      "gripper": 0
    },
    "note": "The jaws have stopped against the spoon. I am lifting it clear of the table while maintaining the grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 22, \"instruction\": \"pick up the spoon and place it on the bowl.\", \"joint_positions\": [0.12403, 0.46052, 0.06523, -1.21764, -0.04514, 1.67774, -1.11469], \"gripper_open\": 0.2175, \"tcp_xyz\": [0.68356, 0.11385, 0.93875], \"tcp_roll_pitch_yaw\": [-0.01474, -0.00686, 1.35093], \"tcp_rotation_matrix\": [[0.26563, 0.96407, 0.00343], [0.96397, -0.26555, -0.01554], [-0.01407, 0.00743, -0.99987]], \"simulated_seconds_remaining\": 18.018, \"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": 0.48,
      "y": -0.23,
      "z": 0.98,
      "yaw": 0,
      "roll": 0,
      "pitch": 0,
      "gripper": 0
    },
    "note": "The spoon is visibly lifted and held between the jaws. I am carrying it toward the black bowl and returning to an overhead orientation."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 23, \"instruction\": \"pick up the spoon and place it on the bowl.\", \"joint_positions\": [-0.17776, -0.08062, -0.25574, -1.83648, -0.0224, 1.73569, -0.38243], \"gripper_open\": 0.2173, \"tcp_xyz\": [0.48038, -0.22939, 0.97987], \"tcp_roll_pitch_yaw\": [1e-05, 7e-05, 0.00272], \"tcp_rotation_matrix\": [[0.99871, -0.04613, -0.02137], [-0.04597, -0.99891, 0.00796], [-0.02171, -0.00697, -0.99974]], \"simulated_seconds_remaining\": 15.048, \"calls_remaining_including_this\": 35}"
      },
      {
        "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": 0.35,
      "y": -0.245,
      "z": 0.88,
      "gripper": 0
    },
    "note": "The bowl is clearly visible above the held spoon in the wrist image. I am moving back to center the spoon over its opening and lowering toward the rim."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 24, \"instruction\": \"pick up the spoon and place it on the bowl.\", \"joint_positions\": [-0.25944, -0.3851, -0.31683, -2.38458, -0.13342, 1.99078, -0.45084], \"gripper_open\": 0.2171, \"tcp_xyz\": [0.35098, -0.24489, 0.88074], \"tcp_roll_pitch_yaw\": [0.00016, 0.00032, 0.00258], \"tcp_rotation_matrix\": [[0.9987, -0.04627, -0.02161], [-0.0461, -0.9989, 0.00811], [-0.02196, -0.0071, -0.99973]], \"simulated_seconds_remaining\": 13.662, \"calls_remaining_including_this\": 34}"
      },
      {
        "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": 0.82,
      "gripper": 0
    },
    "note": "The spoon is now over the bowl opening. I am lowering it close to the rim for a controlled release."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 25, \"instruction\": \"pick up the spoon and place it on the bowl.\", \"joint_positions\": [-0.26142, -0.32783, -0.3385, -2.47632, -0.13505, 2.15795, -0.45799], \"gripper_open\": 0.2272, \"tcp_xyz\": [0.35383, -0.25005, 0.82878], \"tcp_roll_pitch_yaw\": [-0.01034, -0.01532, -0.00069], \"tcp_rotation_matrix\": [[0.99875, -0.04958, -0.00596], [-0.04959, -0.99877, -0.00233], [-0.00584, 0.00262, -0.99998]], \"simulated_seconds_remaining\": 12.738, \"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": 1
    },
    "note": "The spoon has reached the bowl and is supported at the rim. I am opening the jaws to leave it on the bowl."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "Episode ended. Do not call more tools. Return a brief final response."
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

Placed the spoon on the bowl.

TURN USAGE
{
  "input_tokens": 502825,
  "cached_input_tokens": 465152,
  "cache_write_input_tokens": 0,
  "output_tokens": 6358,
  "reasoning_output_tokens": 3795
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "pick up the spoon and place it on the bowl.",
    "joint_positions": [
      -0.02063,
      -0.77523,
      -0.04421,
      -2.39882,
      -0.02405,
      1.60239,
      -0.00208
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.30718,
      -0.02482,
      0.99446
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99858,
        -0.04884,
        -0.02127
      ],
      [
        -0.04868,
        -0.99878,
        0.00801
      ],
      [
        -0.02164,
        -0.00696,
        -0.99974
      ]
    ],
    "simulated_seconds_remaining": 45.012,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 20.415087923407555,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.13
                  },
                  "note": "The spoon is partly obscured by the gripper; raising the wrist will widen the view of the tabletop."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "pick up the spoon and place it on the bowl.",
    "joint_positions": [
      -0.01627,
      -0.64703,
      -0.03978,
      -1.95939,
      -0.01767,
      1.29136,
      -0.00366
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.30721,
      -0.02482,
      1.1287
    ],
    "tcp_roll_pitch_yaw": [
      -0.0,
      -0.00022,
      -0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99858,
        -0.04884,
        -0.02105
      ],
      [
        -0.04868,
        -0.99878,
        0.008
      ],
      [
        -0.02142,
        -0.00697,
        -0.99975
      ]
    ],
    "simulated_seconds_remaining": 43.824,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 10.607922217808664,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.43,
                    "y": 0.1,
                    "z": 1.13
                  },
                  "note": "The spoon lies beside the small brown object, left of the red apple in the exterior view. I am moving above that area to locate its handle precisely."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 22,
    "motion_seconds": 1.452,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "pick up the spoon and place it on the bowl.",
    "joint_positions": [
      0.03878,
      -0.27097,
      0.14282,
      -1.64691,
      0.05078,
      1.35931,
      0.23492
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.42906,
      0.09907,
      1.12992
    ],
    "tcp_roll_pitch_yaw": [
      -6e-05,
      -5e-05,
      0.00014
    ],
    "tcp_rotation_matrix": [
      [
        0.99859,
        -0.0487,
        -0.02123
      ],
      [
        -0.04854,
        -0.99879,
        0.00795
      ],
      [
        -0.02159,
        -0.0069,
        -0.99974
      ]
    ],
    "simulated_seconds_remaining": 42.372,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 13.211781193502247,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.54,
                    "y": 0.01,
                    "z": 0.96
                  },
                  "note": "The wrist image now clearly shows the spoon below the apple, with its handle pointing left. I am approaching above the middle of the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 27,
    "motion_seconds": 1.782,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "pick up the spoon and place it on the bowl.",
    "joint_positions": [
      -0.0326,
      -0.05705,
      0.04693,
      -1.861,
      0.01119,
      1.78255,
      0.06054
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.5393,
      0.01048,
      0.96089
    ],
    "tcp_roll_pitch_yaw": [
      -5e-05,
      0.00029,
      1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99857,
        -0.04883,
        -0.02156
      ],
      [
        -0.04867,
        -0.99878,
        0.00795
      ],
      [
        -0.02193,
        -0.00689,
        -0.99974
      ]
    ],
    "simulated_seconds_remaining": 40.59,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 14.611155598424375,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.585,
                    "y": -0.06,
                    "z": 0.88,
                    "yaw": 1.35
                  },
                  "note": "The spoon handle is to the right of the grasp center. I am centering over it and rotating the jaws to close across the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 32,
    "motion_seconds": 2.112,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "pick up the spoon and place it on the bowl.",
    "joint_positions": [
      -0.09961,
      0.11144,
      0.00573,
      -1.86252,
      -0.0227,
      1.96304,
      -1.38165
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.58483,
      -0.05981,
      0.8802
    ],
    "tcp_roll_pitch_yaw": [
      6e-05,
      0.00031,
      1.34524
    ],
    "tcp_rotation_matrix": [
      [
        0.27078,
        0.96256,
        -0.01269
      ],
      [
        0.96239,
        -0.27098,
        -0.01923
      ],
      [
        -0.02195,
        -0.007,
        -0.99973
      ]
    ],
    "simulated_seconds_remaining": 38.478,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 10.40816577617079,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.1
                  },
                  "note": "The spoon has slipped outside the close wrist view after the rotation. I am raising the camera to recover its position before descending."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 27,
    "motion_seconds": 1.782,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "pick up the spoon and place it on the bowl.",
    "joint_positions": [
      -0.09773,
      0.19266,
      0.00661,
      -1.18608,
      -0.02202,
      1.36822,
      -1.392
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.58488,
      -0.05982,
      1.09877
    ],
    "tcp_roll_pitch_yaw": [
      -0.00026,
      0.00026,
      1.34524
    ],
    "tcp_rotation_matrix": [
      [
        0.27078,
        0.96256,
        -0.01237
      ],
      [
        0.96239,
        -0.27098,
        -0.01926
      ],
      [
        -0.02189,
        -0.00669,
        -0.99974
      ]
    ],
    "simulated_seconds_remaining": 36.696,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 33.22516871988773,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.645
                  },
                  "note": "The spoon is visible just left of the jaw midpoint. I am making a small horizontal correction while keeping the full spoon in view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 7,
  "state": {
    "instruction": "pick up the spoon and place it on the bowl.",
    "joint_positions": [
      -0.09773,
      0.19266,
      0.00661,
      -1.18608,
      -0.02202,
      1.36822,
      -1.392
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.58488,
      -0.05982,
      1.09877
    ],
    "tcp_roll_pitch_yaw": [
      -0.00026,
      0.00026,
      1.34524
    ],
    "tcp_rotation_matrix": [
      [
        0.27078,
        0.96256,
        -0.01237
      ],
      [
        0.96239,
        -0.27098,
        -0.01926
      ],
      [
        -0.02189,
        -0.00669,
        -0.99974
      ]
    ],
    "simulated_seconds_remaining": 36.696,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 9.408232992514968,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.5,
                    "y": 0.02,
                    "z": 0.9,
                    "yaw": 0
                  },
                  "note": "The forward correction exceeded the reachable configuration. I am returning to a reachable overhead view near the spoon to refine alignment."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 32,
    "motion_seconds": 2.112,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "pick up the spoon and place it on the bowl.",
    "joint_positions": [
      -0.0499,
      -0.15634,
      0.08124,
      -2.12668,
      0.02253,
      1.94922,
      0.06577
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.50023,
      0.01979,
      0.90056
    ],
    "tcp_roll_pitch_yaw": [
      -0.00026,
      0.00048,
      0.00477
    ],
    "tcp_rotation_matrix": [
      [
        0.99879,
        -0.04408,
        -0.02179
      ],
      [
        -0.04392,
        -0.99901,
        0.00765
      ],
      [
        -0.0221,
        -0.00668,
        -0.99973
      ]
    ],
    "simulated_seconds_remaining": 34.584,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 10.207875578664243,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.49,
                    "y": 0.02,
                    "z": 0.79,
                    "yaw": 1.35
                  },
                  "note": "The handle is now between the open fingers in the overhead view. I am lowering and turning the jaws across its long axis."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 32,
    "motion_seconds": 2.112,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "pick up the spoon and place it on the bowl.",
    "joint_positions": [
      0.02475,
      -0.07871,
      0.02321,
      -2.34026,
      -0.02185,
      2.24799,
      -1.23499
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.49,
      0.02,
      0.7903
    ],
    "tcp_roll_pitch_yaw": [
      -0.00013,
      0.00051,
      1.34539
    ],
    "tcp_rotation_matrix": [
      [
        0.27064,
        0.9626,
        -0.01255
      ],
      [
        0.96243,
        -0.27084,
        -0.01948
      ],
      [
        -0.02215,
        -0.00681,
        -0.99973
      ]
    ],
    "simulated_seconds_remaining": 32.472,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 26.02413652371615,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.63,
                    "y": 0.04,
                    "z": 0.88
                  },
                  "note": "The exterior view shows the gripper still behind the spoon. I am advancing toward the spoon with clearance above the table."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "pick up the spoon and place it on the bowl.",
    "joint_positions": [
      0.03954,
      0.24673,
      0.03415,
      -1.68107,
      -0.02851,
      1.91371,
      -1.21413
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.62889,
      0.03985,
      0.87928
    ],
    "tcp_roll_pitch_yaw": [
      -0.00024,
      0.00047,
      1.3454
    ],
    "tcp_rotation_matrix": [
      [
        0.27062,
        0.9626,
        -0.01243
      ],
      [
        0.96243,
        -0.27083,
        -0.01946
      ],
      [
        -0.0221,
        -0.0067,
        -0.99973
      ]
    ],
    "simulated_seconds_remaining": 31.086,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 14.412162295542657,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.675,
                    "y": 0.07,
                    "z": 0.84
                  },
                  "note": "The spoon handle is visible left of the jaw gap. I am making a small forward and left correction to bring the handle into the gap."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "pick up the spoon and place it on the bowl.",
    "joint_positions": [
      0.07135,
      0.42659,
      0.04591,
      -1.51658,
      -0.03938,
      1.92769,
      -1.1694
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.67404,
      0.06946,
      0.84063
    ],
    "tcp_roll_pitch_yaw": [
      4e-05,
      0.00054,
      1.34552
    ],
    "tcp_rotation_matrix": [
      [
        0.27051,
        0.96263,
        -0.01271
      ],
      [
        0.96246,
        -0.27072,
        -0.01947
      ],
      [
        -0.02218,
        -0.00697,
        -0.99973
      ]
    ],
    "simulated_seconds_remaining": 30.36,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 6.205140025354922,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.755
                  },
                  "note": "The spoon handle is centered between the fingers. I am descending vertically to place the fingertips around it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "pick up the spoon and place it on the bowl.",
    "joint_positions": [
      0.07177,
      0.49865,
      0.04334,
      -1.62612,
      -0.04505,
      2.10875,
      -1.16334
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.67395,
      0.06945,
      0.75614
    ],
    "tcp_roll_pitch_yaw": [
      0.00042,
      0.00068,
      1.34551
    ],
    "tcp_rotation_matrix": [
      [
        0.2705,
        0.96263,
        -0.01311
      ],
      [
        0.96246,
        -0.27072,
        -0.01952
      ],
      [
        -0.02234,
        -0.00734,
        -0.99972
      ]
    ],
    "simulated_seconds_remaining": 29.502,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 12.209259752184153,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.685
                  },
                  "note": "The handle remains aligned, but the fingers are still above the tabletop. I am lowering further for a secure grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "pick up the spoon and place it on the bowl.",
    "joint_positions": [
      0.07385,
      0.50071,
      0.04096,
      -1.65842,
      -0.05029,
      2.16947,
      -1.15872
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.67663,
      0.06947,
      0.74533
    ],
    "tcp_roll_pitch_yaw": [
      -0.02584,
      -0.00432,
      1.34562
    ],
    "tcp_rotation_matrix": [
      [
        0.27096,
        0.9625,
        0.01359
      ],
      [
        0.96246,
        -0.27066,
        -0.02051
      ],
      [
        -0.01606,
        0.01864,
        -0.9997
      ]
    ],
    "simulated_seconds_remaining": 28.71,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 5.404584899544716,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The descent has reached table contact and the spoon handle is in the jaw gap. I am closing the gripper."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "pick up the spoon and place it on the bowl.",
    "joint_positions": [
      0.07538,
      0.49118,
      0.04332,
      -1.65529,
      -0.04898,
      2.16414,
      -1.15926
    ],
    "gripper_open": 0.7349,
    "tcp_xyz": [
      0.67777,
      0.07233,
      0.75277
    ],
    "tcp_roll_pitch_yaw": [
      -0.03221,
      -0.00835,
      1.3489
    ],
    "tcp_rotation_matrix": [
      [
        0.26793,
        0.96321,
        0.02075
      ],
      [
        0.96337,
        -0.26759,
        -0.01794
      ],
      [
        -0.01172,
        0.0248,
        -0.99962
      ]
    ],
    "simulated_seconds_remaining": 27.786,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 6.805567043833435,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.93
                  },
                  "note": "The gripper met resistance while closing. I am lifting to check whether the spoon is held securely."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 22,
    "motion_seconds": 1.452,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "pick up the spoon and place it on the bowl.",
    "joint_positions": [
      0.07637,
      0.38956,
      0.04775,
      -1.35495,
      -0.03915,
      1.76283,
      -1.17219
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.67784,
      0.07234,
      0.92881
    ],
    "tcp_roll_pitch_yaw": [
      -0.0326,
      -0.00849,
      1.34891
    ],
    "tcp_rotation_matrix": [
      [
        0.26794,
        0.9632,
        0.02116
      ],
      [
        0.96337,
        -0.26759,
        -0.01789
      ],
      [
        -0.01157,
        0.02518,
        -0.99962
      ]
    ],
    "simulated_seconds_remaining": 26.334,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 11.608202959410846,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The spoon is still on the table. I am closing the empty jaws briefly to identify the exact pinch center in the wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "pick up the spoon and place it on the bowl.",
    "joint_positions": [
      0.07637,
      0.38956,
      0.04775,
      -1.35495,
      -0.03915,
      1.76283,
      -1.17219
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.67784,
      0.07234,
      0.92882
    ],
    "tcp_roll_pitch_yaw": [
      -0.03259,
      -0.00848,
      1.34891
    ],
    "tcp_rotation_matrix": [
      [
        0.26794,
        0.9632,
        0.02116
      ],
      [
        0.96337,
        -0.26759,
        -0.01789
      ],
      [
        -0.01157,
        0.02518,
        -0.99962
      ]
    ],
    "simulated_seconds_remaining": 25.41,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 12.20847781188786,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.68,
                    "y": 0.112,
                    "z": 0.77,
                    "roll": 0,
                    "pitch": 0,
                    "gripper": 1
                  },
                  "note": "The closed jaws show the pinch center above the handle tip. I am shifting along the spoon to grasp its narrower middle, slightly above the table."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "pick up the spoon and place it on the bowl.",
    "joint_positions": [
      0.11908,
      0.52073,
      0.06012,
      -1.55097,
      -0.05254,
      2.05468,
      -1.10389
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.6799,
      0.1117,
      0.77111
    ],
    "tcp_roll_pitch_yaw": [
      0.0001,
      6e-05,
      1.34898
    ],
    "tcp_rotation_matrix": [
      [
        0.26717,
        0.96357,
        -0.0126
      ],
      [
        0.9634,
        -0.26737,
        -0.01903
      ],
      [
        -0.02171,
        -0.00705,
        -0.99974
      ]
    ],
    "simulated_seconds_remaining": 24.024,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 6.204396934248507,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The narrow middle of the spoon now crosses the pinch center. I am closing the jaws at this height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "pick up the spoon and place it on the bowl.",
    "joint_positions": [
      0.11908,
      0.52073,
      0.06012,
      -1.55097,
      -0.05254,
      2.05468,
      -1.10389
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.6799,
      0.11171,
      0.7711
    ],
    "tcp_roll_pitch_yaw": [
      9e-05,
      6e-05,
      1.34898
    ],
    "tcp_rotation_matrix": [
      [
        0.26717,
        0.96357,
        -0.0126
      ],
      [
        0.9634,
        -0.26738,
        -0.01903
      ],
      [
        -0.0217,
        -0.00705,
        -0.99974
      ]
    ],
    "simulated_seconds_remaining": 23.1,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 4.803459294140339,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.91,
                    "gripper": 0
                  },
                  "note": "The jaws are closed around the handle area. I am lifting while keeping the gripper commanded closed to verify the grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 19,
  "state": {
    "instruction": "pick up the spoon and place it on the bowl.",
    "joint_positions": [
      0.12122,
      0.45365,
      0.06385,
      -1.30097,
      -0.04508,
      1.73823,
      -1.11349
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.67997,
      0.11173,
      0.90888
    ],
    "tcp_roll_pitch_yaw": [
      -0.00026,
      -9e-05,
      1.34898
    ],
    "tcp_rotation_matrix": [
      [
        0.26718,
        0.96357,
        -0.01221
      ],
      [
        0.96341,
        -0.26737,
        -0.01896
      ],
      [
        -0.02154,
        -0.0067,
        -0.99975
      ]
    ],
    "simulated_seconds_remaining": 21.846,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 10.60762925259769,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.747,
                    "gripper": 1
                  },
                  "note": "The spoon stayed on the table, so the jaws closed above it. I am opening and descending to the spoon's surface height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 20,
  "state": {
    "instruction": "pick up the spoon and place it on the bowl.",
    "joint_positions": [
      0.11949,
      0.54498,
      0.05898,
      -1.57318,
      -0.05471,
      2.10107,
      -1.10196
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.67988,
      0.1117,
      0.74814
    ],
    "tcp_roll_pitch_yaw": [
      0.00011,
      7e-05,
      1.34898
    ],
    "tcp_rotation_matrix": [
      [
        0.26717,
        0.96357,
        -0.01262
      ],
      [
        0.9634,
        -0.26738,
        -0.01903
      ],
      [
        -0.02171,
        -0.00707,
        -0.99974
      ]
    ],
    "simulated_seconds_remaining": 20.46,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 4.403717669658363,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The fingertips are now at the spoon height with its handle crossing the gap. I am closing for the grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 21,
  "state": {
    "instruction": "pick up the spoon and place it on the bowl.",
    "joint_positions": [
      0.12031,
      0.534,
      0.06046,
      -1.56662,
      -0.05403,
      2.09967,
      -1.10234
    ],
    "gripper_open": 0.3191,
    "tcp_xyz": [
      0.68351,
      0.11385,
      0.75861
    ],
    "tcp_roll_pitch_yaw": [
      -0.01453,
      -0.00679,
      1.35093
    ],
    "tcp_rotation_matrix": [
      [
        0.26563,
        0.96407,
        0.00321
      ],
      [
        0.96397,
        -0.26555,
        -0.01556
      ],
      [
        -0.01415,
        0.00723,
        -0.99987
      ]
    ],
    "simulated_seconds_remaining": 19.536,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 6.205102880485356,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.94,
                    "gripper": 0
                  },
                  "note": "The jaws have stopped against the spoon. I am lifting it clear of the table while maintaining the grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 22,
  "state": {
    "instruction": "pick up the spoon and place it on the bowl.",
    "joint_positions": [
      0.12403,
      0.46052,
      0.06523,
      -1.21764,
      -0.04514,
      1.67774,
      -1.11469
    ],
    "gripper_open": 0.2175,
    "tcp_xyz": [
      0.68356,
      0.11385,
      0.93875
    ],
    "tcp_roll_pitch_yaw": [
      -0.01474,
      -0.00686,
      1.35093
    ],
    "tcp_rotation_matrix": [
      [
        0.26563,
        0.96407,
        0.00343
      ],
      [
        0.96397,
        -0.26555,
        -0.01554
      ],
      [
        -0.01407,
        0.00743,
        -0.99987
      ]
    ],
    "simulated_seconds_remaining": 18.018,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 29.82121496461332,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48,
                    "y": -0.23,
                    "z": 0.98,
                    "yaw": 0,
                    "roll": 0,
                    "pitch": 0,
                    "gripper": 0
                  },
                  "note": "The spoon is visibly lifted and held between the jaws. I am carrying it toward the black bowl and returning to an overhead orientation."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 45,
    "motion_seconds": 2.97,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 23,
  "state": {
    "instruction": "pick up the spoon and place it on the bowl.",
    "joint_positions": [
      -0.17776,
      -0.08062,
      -0.25574,
      -1.83648,
      -0.0224,
      1.73569,
      -0.38243
    ],
    "gripper_open": 0.2173,
    "tcp_xyz": [
      0.48038,
      -0.22939,
      0.97987
    ],
    "tcp_roll_pitch_yaw": [
      1e-05,
      7e-05,
      0.00272
    ],
    "tcp_rotation_matrix": [
      [
        0.99871,
        -0.04613,
        -0.02137
      ],
      [
        -0.04597,
        -0.99891,
        0.00796
      ],
      [
        -0.02171,
        -0.00697,
        -0.99974
      ]
    ],
    "simulated_seconds_remaining": 15.048,
    "calls_remaining_including_this": 35
  },
  "api_seconds": 15.41266000084579,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.35,
                    "y": -0.245,
                    "z": 0.88,
                    "gripper": 0
                  },
                  "note": "The bowl is clearly visible above the held spoon in the wrist image. I am moving back to center the spoon over its opening and lowering toward the rim."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 24,
  "state": {
    "instruction": "pick up the spoon and place it on the bowl.",
    "joint_positions": [
      -0.25944,
      -0.3851,
      -0.31683,
      -2.38458,
      -0.13342,
      1.99078,
      -0.45084
    ],
    "gripper_open": 0.2171,
    "tcp_xyz": [
      0.35098,
      -0.24489,
      0.88074
    ],
    "tcp_roll_pitch_yaw": [
      0.00016,
      0.00032,
      0.00258
    ],
    "tcp_rotation_matrix": [
      [
        0.9987,
        -0.04627,
        -0.02161
      ],
      [
        -0.0461,
        -0.9989,
        0.00811
      ],
      [
        -0.02196,
        -0.0071,
        -0.99973
      ]
    ],
    "simulated_seconds_remaining": 13.662,
    "calls_remaining_including_this": 34
  },
  "api_seconds": 14.209890467114747,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.82,
                    "gripper": 0
                  },
                  "note": "The spoon is now over the bowl opening. I am lowering it close to the rim for a controlled release."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 25,
  "state": {
    "instruction": "pick up the spoon and place it on the bowl.",
    "joint_positions": [
      -0.26142,
      -0.32783,
      -0.3385,
      -2.47632,
      -0.13505,
      2.15795,
      -0.45799
    ],
    "gripper_open": 0.2272,
    "tcp_xyz": [
      0.35383,
      -0.25005,
      0.82878
    ],
    "tcp_roll_pitch_yaw": [
      -0.01034,
      -0.01532,
      -0.00069
    ],
    "tcp_rotation_matrix": [
      [
        0.99875,
        -0.04958,
        -0.00596
      ],
      [
        -0.04959,
        -0.99877,
        -0.00233
      ],
      [
        -0.00584,
        0.00262,
        -0.99998
      ]
    ],
    "simulated_seconds_remaining": 12.738,
    "calls_remaining_including_this": 33
  },
  "api_seconds": 5.204659121111035,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 1
                  },
                  "note": "The spoon has reached the bowl and is supported at the rim. I am opening the jaws to leave it on the bowl."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

========================================================================
GPT-Astra / Pick & place / 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,
  "status": "completed",
  "success": true,
  "oracle_success": true,
  "action_decisions": 20,
  "wall_seconds": 259.93,
  "usage": {
    "input_tokens": 381768,
    "cached_input_tokens": 353792,
    "cache_write_input_tokens": 0,
    "output_tokens": 4261,
    "reasoning_output_tokens": 2107
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick-and-place 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 45 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 and grasp the requested object, lift it, move it to the named receptacle, and release it in or on that receptacle. Complete the entire pick-and-place 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 pick and place the object.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"pick up the cup and place it on the bowl.\", \"joint_positions\": [-0.04539, -0.8036, 0.03332, -2.31374, -0.04067, 1.59797, 0.00563], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.3185, -0.01449, 1.04443], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.99584, -0.03026, 0.08593], [-0.02458, -0.99749, -0.06643], [0.08773, 0.06404, -0.99408]], \"simulated_seconds_remaining\": 45.012, \"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": -0.08,
    "z": 0.94,
    "gripper": 1,
    "note": "The white cup is beside the dark bowl. I am moving closer above the cup to refine its position from 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": 0.46,
      "y": -0.08,
      "z": 0.94,
      "gripper": 1
    },
    "note": "The white cup is beside the dark bowl. I am moving closer above the cup to refine its position from the wrist view."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"pick up the cup and place it on the bowl.\", \"joint_positions\": [-0.08134, -0.36926, -0.05709, -2.2645, -0.08188, 1.98872, -0.07823], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.45892, -0.07953, 0.94067], \"tcp_roll_pitch_yaw\": [6e-05, 0.00029, -6e-05], \"tcp_rotation_matrix\": [[0.99587, -0.03031, 0.08564], [-0.02465, -0.99749, -0.06638], [0.08743, 0.06399, -0.99411]], \"simulated_seconds_remaining\": 43.494, \"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": 0.32,
      "y": 0.06,
      "z": 0.94
    },
    "note": "The cup appears at the upper right of the wrist view. I am shifting laterally at a safe height to bring it between the fingers."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"pick up the cup and place it on the bowl.\", \"joint_positions\": [0.0468, -0.82256, 0.15081, -2.5836, 0.03267, 1.84159, 0.1738], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.32098, 0.05908, 0.94005], \"tcp_roll_pitch_yaw\": [1e-05, 0.00017, 0.00011], \"tcp_rotation_matrix\": [[0.99586, -0.03015, 0.08576], [-0.02448, -0.99749, -0.06641], [0.08755, 0.06404, -0.9941]], \"simulated_seconds_remaining\": 41.91, \"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": 0.25,
      "y": 0.13,
      "z": 0.87
    },
    "note": "The cup is now close to the gripper center. I am aligning above its rim and lowering for a clearer grasp view."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"pick up the cup and place it on the bowl.\", \"joint_positions\": [0.19051, -0.99314, 0.32037, -2.81819, 0.18345, 1.90076, 0.34937], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.25074, 0.12926, 0.87074], \"tcp_roll_pitch_yaw\": [-8e-05, 0.00021, 0.00025], \"tcp_rotation_matrix\": [[0.99587, -0.03, 0.08574], [-0.02432, -0.99749, -0.06649], [0.08752, 0.06413, -0.9941]], \"simulated_seconds_remaining\": 40.788, \"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": {
      "z": 0.805
    },
    "note": "The cup is centered between the open fingers. I am lowering to grip its sides."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"pick up the cup and place it on the bowl.\", \"joint_positions\": [0.21189, -0.93568, 0.36872, -2.95642, 0.2282, 2.09306, 0.36137], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.25069, 0.12923, 0.80623], \"tcp_roll_pitch_yaw\": [-0.0002, 0.0005, 0.00024], \"tcp_rotation_matrix\": [[0.99589, -0.03, 0.08544], [-0.02433, -0.99748, -0.06661], [0.08723, 0.06425, -0.99411]], \"simulated_seconds_remaining\": 40.062, \"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": {
      "gripper": 0
    },
    "note": "The fingers surround the cup at its sidewall height. I am closing the gripper to secure it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"pick up the cup and place it on the bowl.\", \"joint_positions\": [0.21189, -0.93568, 0.36872, -2.95642, 0.2282, 2.09306, 0.36137], \"gripper_open\": 0.0, \"tcp_xyz\": [0.25069, 0.12923, 0.80621], \"tcp_roll_pitch_yaw\": [-0.0002, 0.0005, 0.00024], \"tcp_rotation_matrix\": [[0.99589, -0.03, 0.08545], [-0.02433, -0.99748, -0.06661], [0.08723, 0.06425, -0.99411]], \"simulated_seconds_remaining\": 39.138, \"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": {
      "z": 0.94
    },
    "note": "The gripper closed fully, so the grasp may have missed. I am lifting to check whether the cup moves with it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"pick up the cup and place it on the bowl.\", \"joint_positions\": [0.16808, -0.99275, 0.28102, -2.64713, 0.14543, 1.73181, 0.33967], \"gripper_open\": 0.0, \"tcp_xyz\": [0.25075, 0.12928, 0.93873], \"tcp_roll_pitch_yaw\": [-8e-05, 0.00027, 0.00027], \"tcp_rotation_matrix\": [[0.99587, -0.02998, 0.08568], [-0.0243, -0.99749, -0.06649], [0.08746, 0.06413, -0.9941]], \"simulated_seconds_remaining\": 37.95, \"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": 0.225,
      "y": 0.08,
      "z": 0.85,
      "gripper": 1
    },
    "note": "The cup remained on the table, just to one side of the closed fingers. I am reopening and correcting the lateral alignment."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"pick up the cup and place it on the bowl.\", \"joint_positions\": [0.18435, -1.17927, 0.23004, -2.95781, 0.1297, 1.85074, 0.27563], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.2253, 0.0806, 0.85109], \"tcp_roll_pitch_yaw\": [-0.00014, 0.0004, 0.00022], \"tcp_rotation_matrix\": [[0.99588, -0.03002, 0.08555], [-0.02435, -0.99749, -0.06655], [0.08733, 0.06419, -0.99411]], \"simulated_seconds_remaining\": 36.96, \"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": 0.18
    },
    "note": "The cup is between the finger directions but still ahead of their contact area. I am moving the open gripper toward its center."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"pick up the cup and place it on the bowl.\", \"joint_positions\": [0.2513, -1.39183, 0.24658, -3.01594, 0.15445, 1.69155, 0.31701], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.18128, 0.08063, 0.85114], \"tcp_roll_pitch_yaw\": [-0.00011, 0.00017, 0.0003], \"tcp_rotation_matrix\": [[0.99586, -0.02996, 0.08578], [-0.02428, -0.99749, -0.06651], [0.08756, 0.06415, -0.99409]], \"simulated_seconds_remaining\": 36.366, \"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": {
      "z": 0.805
    },
    "note": "The cup now lies within the finger contact area. I am lowering around its body before closing."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"pick up the cup and place it on the bowl.\", \"joint_positions\": [0.2513, -1.39183, 0.24658, -3.01594, 0.15445, 1.69155, 0.31701], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.18128, 0.08063, 0.85114], \"tcp_roll_pitch_yaw\": [-0.00011, 0.00017, 0.0003], \"tcp_rotation_matrix\": [[0.99586, -0.02996, 0.08578], [-0.02428, -0.99749, -0.06651], [0.08756, 0.06415, -0.99409]], \"simulated_seconds_remaining\": 36.366, \"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": 0.35,
      "y": 0.13,
      "z": 0.85
    },
    "note": "The lower pose is unreachable, and the exterior view shows the gripper displaced from the cup. I am correcting forward and checking alignment from both views."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 11, \"instruction\": \"pick up the cup and place it on the bowl.\", \"joint_positions\": [0.06939, -0.61488, 0.32189, -2.66529, 0.10875, 2.13167, 0.31274], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.34868, 0.1296, 0.85001], \"tcp_roll_pitch_yaw\": [-0.00013, 0.00025, 0.00025], \"tcp_rotation_matrix\": [[0.99587, -0.03, 0.08569], [-0.02433, -0.99749, -0.06654], [0.08748, 0.06418, -0.9941]], \"simulated_seconds_remaining\": 34.914, \"calls_remaining_including_this\": 47}"
      },
      {
        "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": {
      "z": 0.785
    },
    "note": "The exterior view now places the gripper over the cup. I am lowering the open fingers around its sides."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 12, \"instruction\": \"pick up the cup and place it on the bowl.\", \"joint_positions\": [0.06335, -0.546, 0.35719, -2.70638, 0.10689, 2.37217, 0.33496], \"gripper_open\": 1.0, \"tcp_xyz\": [0.38324, 0.1472, 0.83112], \"tcp_roll_pitch_yaw\": [0.0324, -0.12433, 0.01511], \"tcp_rotation_matrix\": [[0.97768, -0.01886, 0.20924], [-0.01264, -0.99944, -0.03103], [0.20971, 0.02769, -0.97737]], \"simulated_seconds_remaining\": 34.188, \"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": 0.37,
      "y": 0.075,
      "z": 0.9,
      "roll": 0,
      "pitch": 0,
      "yaw": 0
    },
    "note": "One finger contacted the cup before the gripper reached its target. I am lifting and shifting so the cup falls in the gap between the fingers."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 13, \"instruction\": \"pick up the cup and place it on the bowl.\", \"joint_positions\": [0.00525, -0.6332, 0.21554, -2.56557, 0.05089, 2.01768, 0.19187], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.37025, 0.07591, 0.89919], \"tcp_roll_pitch_yaw\": [0.0005, -0.00186, 0.00012], \"tcp_rotation_matrix\": [[0.99568, -0.03027, 0.08778], [-0.02451, -0.99752, -0.06592], [0.08956, 0.06349, -0.99396]], \"simulated_seconds_remaining\": 33.198, \"calls_remaining_including_this\": 45}"
      },
      {
        "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": 0.82
    },
    "note": "The cup is centered laterally in the finger gap. I am descending carefully to the cup's body."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 14, \"instruction\": \"pick up the cup and place it on the bowl.\", \"joint_positions\": [0.00531, -0.55715, 0.24202, -2.70731, 0.05621, 2.24782, 0.21021], \"gripper_open\": 1.0, \"tcp_xyz\": [0.3736, 0.07765, 0.82626], \"tcp_roll_pitch_yaw\": [0.00328, -0.01456, 0.0018], \"tcp_rotation_matrix\": [[0.9945, -0.02936, 0.10051], [-0.02309, -0.99775, -0.06298], [0.10214, 0.06032, -0.99294]], \"simulated_seconds_remaining\": 32.406, \"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": {
      "gripper": 0
    },
    "note": "The cup's body is visibly between both fingers. I am closing the gripper around it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 15, \"instruction\": \"pick up the cup and place it on the bowl.\", \"joint_positions\": [0.00717, -0.56495, 0.24251, -2.6938, 0.05769, 2.25669, 0.21028], \"gripper_open\": 0.1705, \"tcp_xyz\": [0.38125, 0.08113, 0.83661], \"tcp_roll_pitch_yaw\": [0.00864, -0.0441, 0.00548], \"tcp_rotation_matrix\": [[0.99114, -0.02721, 0.13002], [-0.01991, -0.99817, -0.05713], [0.13133, 0.05403, -0.98986]], \"simulated_seconds_remaining\": 31.482, \"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": {
      "z": 0.99
    },
    "note": "The gripper stopped short of fully closing and the cup shifted with the fingers. I am lifting to verify the hold."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 16, \"instruction\": \"pick up the cup and place it on the bowl.\", \"joint_positions\": [0.00065, -0.6456, 0.19963, -2.35815, 0.04305, 1.84166, 0.18268], \"gripper_open\": 0.119, \"tcp_xyz\": [0.38129, 0.08114, 0.9887], \"tcp_roll_pitch_yaw\": [0.00869, -0.04427, 0.00548], \"tcp_rotation_matrix\": [[0.99112, -0.02722, 0.13018], [-0.01991, -0.99817, -0.05708], [0.13149, 0.05398, -0.98985]], \"simulated_seconds_remaining\": 30.162, \"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": {
      "x": 0.3,
      "y": 0.15,
      "z": 1.02
    },
    "note": "The cup is lifted securely. The dark bowl lies beside it toward the left in the exterior view, so I am carrying the cup over that bowl."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 17, \"instruction\": \"pick up the cup and place it on the bowl.\", \"joint_positions\": [0.08096, -0.81951, 0.30317, -2.35962, 0.12708, 1.67208, 0.32085], \"gripper_open\": 0.119, \"tcp_xyz\": [0.30094, 0.14926, 1.01966], \"tcp_roll_pitch_yaw\": [0.00866, -0.04435, 0.00563], \"tcp_rotation_matrix\": [[0.99111, -0.02707, 0.13026], [-0.01976, -0.99817, -0.05709], [0.13157, 0.05401, -0.98983]], \"simulated_seconds_remaining\": 29.106, \"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": 0.46,
      "y": 0.11
    },
    "note": "The cup remains held, but the exterior view shows it short of the bowl. I am moving forward to center it over the bowl."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 18, \"instruction\": \"pick up the cup and place it on the bowl.\", \"joint_positions\": [-0.03638, -0.38215, 0.2617, -2.06867, 0.0137, 1.81403, 0.23395], \"gripper_open\": 0.1171, \"tcp_xyz\": [0.45869, 0.11027, 1.01953], \"tcp_roll_pitch_yaw\": [0.00869, -0.04403, 0.00549], \"tcp_rotation_matrix\": [[0.99115, -0.0272, 0.12994], [-0.01991, -0.99817, -0.05708], [0.13126, 0.05399, -0.98988]], \"simulated_seconds_remaining\": 27.72, \"calls_remaining_including_this\": 40}"
      },
      {
        "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": 0.9
    },
    "note": "The cup is above the bowl in the exterior view. I am lowering it toward the bowl while keeping the grasp closed."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 19, \"instruction\": \"pick up the cup and place it on the bowl.\", \"joint_positions\": [-0.03139, -0.3555, 0.28196, -2.34727, 0.01255, 2.11762, 0.25697], \"gripper_open\": 0.1207, \"tcp_xyz\": [0.45854, 0.11032, 0.90121], \"tcp_roll_pitch_yaw\": [0.00864, -0.04352, 0.00553], \"tcp_rotation_matrix\": [[0.99122, -0.02713, 0.12944], [-0.01986, -0.99817, -0.05712], [0.13075, 0.05405, -0.98994]], \"simulated_seconds_remaining\": 26.598, \"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": 0.47,
      "y": 0.13,
      "z": 0.855
    },
    "note": "The cup is slightly to the bowl's right. I am making a small centering adjustment and lowering it onto the bowl."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 20, \"instruction\": \"pick up the cup and place it on the bowl.\", \"joint_positions\": [-0.02907, -0.26356, 0.32252, -2.37665, -0.01146, 2.23661, 0.3172], \"gripper_open\": 0.1234, \"tcp_xyz\": [0.4701, 0.13006, 0.85689], \"tcp_roll_pitch_yaw\": [0.00904, -0.04539, 0.00619], \"tcp_rotation_matrix\": [[0.99098, -0.02655, 0.13132], [-0.01924, -0.99821, -0.05662], [0.13259, 0.05359, -0.98972]], \"simulated_seconds_remaining\": 25.938, \"calls_remaining_including_this\": 38}"
      },
      {
        "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": 1
    },
    "note": "The cup is resting over the bowl's interior, with the rim visible around it. I am opening the fingers to release 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"
}

Placed the cup on the bowl.

TURN USAGE
{
  "input_tokens": 381768,
  "cached_input_tokens": 353792,
  "cache_write_input_tokens": 0,
  "output_tokens": 4261,
  "reasoning_output_tokens": 2107
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "pick up the cup and place it on the bowl.",
    "joint_positions": [
      -0.04539,
      -0.8036,
      0.03332,
      -2.31374,
      -0.04067,
      1.59797,
      0.00563
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.3185,
      -0.01449,
      1.04443
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99584,
        -0.03026,
        0.08593
      ],
      [
        -0.02458,
        -0.99749,
        -0.06643
      ],
      [
        0.08773,
        0.06404,
        -0.99408
      ]
    ],
    "simulated_seconds_remaining": 45.012,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 33.424743375740945,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.46,
                    "y": -0.08,
                    "z": 0.94,
                    "gripper": 1
                  },
                  "note": "The white cup is beside the dark bowl. I am moving closer above the cup to refine its position from the wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "pick up the cup and place it on the bowl.",
    "joint_positions": [
      -0.08134,
      -0.36926,
      -0.05709,
      -2.2645,
      -0.08188,
      1.98872,
      -0.07823
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.45892,
      -0.07953,
      0.94067
    ],
    "tcp_roll_pitch_yaw": [
      6e-05,
      0.00029,
      -6e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99587,
        -0.03031,
        0.08564
      ],
      [
        -0.02465,
        -0.99749,
        -0.06638
      ],
      [
        0.08743,
        0.06399,
        -0.99411
      ]
    ],
    "simulated_seconds_remaining": 43.494,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 15.211577277630568,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.32,
                    "y": 0.06,
                    "z": 0.94
                  },
                  "note": "The cup appears at the upper right of the wrist view. I am shifting laterally at a safe height to bring it between the fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 24,
    "motion_seconds": 1.584,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "pick up the cup and place it on the bowl.",
    "joint_positions": [
      0.0468,
      -0.82256,
      0.15081,
      -2.5836,
      0.03267,
      1.84159,
      0.1738
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.32098,
      0.05908,
      0.94005
    ],
    "tcp_roll_pitch_yaw": [
      1e-05,
      0.00017,
      0.00011
    ],
    "tcp_rotation_matrix": [
      [
        0.99586,
        -0.03015,
        0.08576
      ],
      [
        -0.02448,
        -0.99749,
        -0.06641
      ],
      [
        0.08755,
        0.06404,
        -0.9941
      ]
    ],
    "simulated_seconds_remaining": 41.91,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 8.006766078993678,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.25,
                    "y": 0.13,
                    "z": 0.87
                  },
                  "note": "The cup is now close to the gripper center. I am aligning above its rim and lowering for a clearer grasp view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "pick up the cup and place it on the bowl.",
    "joint_positions": [
      0.19051,
      -0.99314,
      0.32037,
      -2.81819,
      0.18345,
      1.90076,
      0.34937
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.25074,
      0.12926,
      0.87074
    ],
    "tcp_roll_pitch_yaw": [
      -8e-05,
      0.00021,
      0.00025
    ],
    "tcp_rotation_matrix": [
      [
        0.99587,
        -0.03,
        0.08574
      ],
      [
        -0.02432,
        -0.99749,
        -0.06649
      ],
      [
        0.08752,
        0.06413,
        -0.9941
      ]
    ],
    "simulated_seconds_remaining": 40.788,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 7.406086405739188,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.805
                  },
                  "note": "The cup is centered between the open fingers. I am lowering to grip its sides."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "pick up the cup and place it on the bowl.",
    "joint_positions": [
      0.21189,
      -0.93568,
      0.36872,
      -2.95642,
      0.2282,
      2.09306,
      0.36137
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.25069,
      0.12923,
      0.80623
    ],
    "tcp_roll_pitch_yaw": [
      -0.0002,
      0.0005,
      0.00024
    ],
    "tcp_rotation_matrix": [
      [
        0.99589,
        -0.03,
        0.08544
      ],
      [
        -0.02433,
        -0.99748,
        -0.06661
      ],
      [
        0.08723,
        0.06425,
        -0.99411
      ]
    ],
    "simulated_seconds_remaining": 40.062,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 7.2057536989450455,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The fingers surround the cup at its sidewall height. I am closing the gripper to secure it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "pick up the cup and place it on the bowl.",
    "joint_positions": [
      0.21189,
      -0.93568,
      0.36872,
      -2.95642,
      0.2282,
      2.09306,
      0.36137
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.25069,
      0.12923,
      0.80621
    ],
    "tcp_roll_pitch_yaw": [
      -0.0002,
      0.0005,
      0.00024
    ],
    "tcp_rotation_matrix": [
      [
        0.99589,
        -0.03,
        0.08545
      ],
      [
        -0.02433,
        -0.99748,
        -0.06661
      ],
      [
        0.08723,
        0.06425,
        -0.99411
      ]
    ],
    "simulated_seconds_remaining": 39.138,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 5.004031878896058,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.94
                  },
                  "note": "The gripper closed fully, so the grasp may have missed. I am lifting to check whether the cup moves with it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "pick up the cup and place it on the bowl.",
    "joint_positions": [
      0.16808,
      -0.99275,
      0.28102,
      -2.64713,
      0.14543,
      1.73181,
      0.33967
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.25075,
      0.12928,
      0.93873
    ],
    "tcp_roll_pitch_yaw": [
      -8e-05,
      0.00027,
      0.00027
    ],
    "tcp_rotation_matrix": [
      [
        0.99587,
        -0.02998,
        0.08568
      ],
      [
        -0.0243,
        -0.99749,
        -0.06649
      ],
      [
        0.08746,
        0.06413,
        -0.9941
      ]
    ],
    "simulated_seconds_remaining": 37.95,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 11.408937842585146,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.225,
                    "y": 0.08,
                    "z": 0.85,
                    "gripper": 1
                  },
                  "note": "The cup remained on the table, just to one side of the closed fingers. I am reopening and correcting the lateral alignment."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "pick up the cup and place it on the bowl.",
    "joint_positions": [
      0.18435,
      -1.17927,
      0.23004,
      -2.95781,
      0.1297,
      1.85074,
      0.27563
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.2253,
      0.0806,
      0.85109
    ],
    "tcp_roll_pitch_yaw": [
      -0.00014,
      0.0004,
      0.00022
    ],
    "tcp_rotation_matrix": [
      [
        0.99588,
        -0.03002,
        0.08555
      ],
      [
        -0.02435,
        -0.99749,
        -0.06655
      ],
      [
        0.08733,
        0.06419,
        -0.99411
      ]
    ],
    "simulated_seconds_remaining": 36.96,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 12.80869424995035,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.18
                  },
                  "note": "The cup is between the finger directions but still ahead of their contact area. I am moving the open gripper toward its center."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "pick up the cup and place it on the bowl.",
    "joint_positions": [
      0.2513,
      -1.39183,
      0.24658,
      -3.01594,
      0.15445,
      1.69155,
      0.31701
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.18128,
      0.08063,
      0.85114
    ],
    "tcp_roll_pitch_yaw": [
      -0.00011,
      0.00017,
      0.0003
    ],
    "tcp_rotation_matrix": [
      [
        0.99586,
        -0.02996,
        0.08578
      ],
      [
        -0.02428,
        -0.99749,
        -0.06651
      ],
      [
        0.08756,
        0.06415,
        -0.99409
      ]
    ],
    "simulated_seconds_remaining": 36.366,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 6.605472197756171,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.805
                  },
                  "note": "The cup now lies within the finger contact area. I am lowering around its body before closing."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 10,
  "state": {
    "instruction": "pick up the cup and place it on the bowl.",
    "joint_positions": [
      0.2513,
      -1.39183,
      0.24658,
      -3.01594,
      0.15445,
      1.69155,
      0.31701
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.18128,
      0.08063,
      0.85114
    ],
    "tcp_roll_pitch_yaw": [
      -0.00011,
      0.00017,
      0.0003
    ],
    "tcp_rotation_matrix": [
      [
        0.99586,
        -0.02996,
        0.08578
      ],
      [
        -0.02428,
        -0.99749,
        -0.06651
      ],
      [
        0.08756,
        0.06415,
        -0.99409
      ]
    ],
    "simulated_seconds_remaining": 36.366,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 17.81354722380638,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.35,
                    "y": 0.13,
                    "z": 0.85
                  },
                  "note": "The lower pose is unreachable, and the exterior view shows the gripper displaced from the cup. I am correcting forward and checking alignment from both views."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 22,
    "motion_seconds": 1.452,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "pick up the cup and place it on the bowl.",
    "joint_positions": [
      0.06939,
      -0.61488,
      0.32189,
      -2.66529,
      0.10875,
      2.13167,
      0.31274
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.34868,
      0.1296,
      0.85001
    ],
    "tcp_roll_pitch_yaw": [
      -0.00013,
      0.00025,
      0.00025
    ],
    "tcp_rotation_matrix": [
      [
        0.99587,
        -0.03,
        0.08569
      ],
      [
        -0.02433,
        -0.99749,
        -0.06654
      ],
      [
        0.08748,
        0.06418,
        -0.9941
      ]
    ],
    "simulated_seconds_remaining": 34.914,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 5.808779664337635,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.785
                  },
                  "note": "The exterior view now places the gripper over the cup. I am lowering the open fingers around its sides."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "pick up the cup and place it on the bowl.",
    "joint_positions": [
      0.06335,
      -0.546,
      0.35719,
      -2.70638,
      0.10689,
      2.37217,
      0.33496
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.38324,
      0.1472,
      0.83112
    ],
    "tcp_roll_pitch_yaw": [
      0.0324,
      -0.12433,
      0.01511
    ],
    "tcp_rotation_matrix": [
      [
        0.97768,
        -0.01886,
        0.20924
      ],
      [
        -0.01264,
        -0.99944,
        -0.03103
      ],
      [
        0.20971,
        0.02769,
        -0.97737
      ]
    ],
    "simulated_seconds_remaining": 34.188,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 9.806993633508682,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.37,
                    "y": 0.075,
                    "z": 0.9,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 0
                  },
                  "note": "One finger contacted the cup before the gripper reached its target. I am lifting and shifting so the cup falls in the gap between the fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "pick up the cup and place it on the bowl.",
    "joint_positions": [
      0.00525,
      -0.6332,
      0.21554,
      -2.56557,
      0.05089,
      2.01768,
      0.19187
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.37025,
      0.07591,
      0.89919
    ],
    "tcp_roll_pitch_yaw": [
      0.0005,
      -0.00186,
      0.00012
    ],
    "tcp_rotation_matrix": [
      [
        0.99568,
        -0.03027,
        0.08778
      ],
      [
        -0.02451,
        -0.99752,
        -0.06592
      ],
      [
        0.08956,
        0.06349,
        -0.99396
      ]
    ],
    "simulated_seconds_remaining": 33.198,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 8.006018209271133,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.82
                  },
                  "note": "The cup is centered laterally in the finger gap. I am descending carefully to the cup's body."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "pick up the cup and place it on the bowl.",
    "joint_positions": [
      0.00531,
      -0.55715,
      0.24202,
      -2.70731,
      0.05621,
      2.24782,
      0.21021
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.3736,
      0.07765,
      0.82626
    ],
    "tcp_roll_pitch_yaw": [
      0.00328,
      -0.01456,
      0.0018
    ],
    "tcp_rotation_matrix": [
      [
        0.9945,
        -0.02936,
        0.10051
      ],
      [
        -0.02309,
        -0.99775,
        -0.06298
      ],
      [
        0.10214,
        0.06032,
        -0.99294
      ]
    ],
    "simulated_seconds_remaining": 32.406,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 6.605593224056065,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The cup's body is visibly between both fingers. I am closing the gripper around it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "pick up the cup and place it on the bowl.",
    "joint_positions": [
      0.00717,
      -0.56495,
      0.24251,
      -2.6938,
      0.05769,
      2.25669,
      0.21028
    ],
    "gripper_open": 0.1705,
    "tcp_xyz": [
      0.38125,
      0.08113,
      0.83661
    ],
    "tcp_roll_pitch_yaw": [
      0.00864,
      -0.0441,
      0.00548
    ],
    "tcp_rotation_matrix": [
      [
        0.99114,
        -0.02721,
        0.13002
      ],
      [
        -0.01991,
        -0.99817,
        -0.05713
      ],
      [
        0.13133,
        0.05403,
        -0.98986
      ]
    ],
    "simulated_seconds_remaining": 31.482,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 6.405452572740614,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.99
                  },
                  "note": "The gripper stopped short of fully closing and the cup shifted with the fingers. I am lifting to verify the hold."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "pick up the cup and place it on the bowl.",
    "joint_positions": [
      0.00065,
      -0.6456,
      0.19963,
      -2.35815,
      0.04305,
      1.84166,
      0.18268
    ],
    "gripper_open": 0.119,
    "tcp_xyz": [
      0.38129,
      0.08114,
      0.9887
    ],
    "tcp_roll_pitch_yaw": [
      0.00869,
      -0.04427,
      0.00548
    ],
    "tcp_rotation_matrix": [
      [
        0.99112,
        -0.02722,
        0.13018
      ],
      [
        -0.01991,
        -0.99817,
        -0.05708
      ],
      [
        0.13149,
        0.05398,
        -0.98985
      ]
    ],
    "simulated_seconds_remaining": 30.162,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 10.410760330036283,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.3,
                    "y": 0.15,
                    "z": 1.02
                  },
                  "note": "The cup is lifted securely. The dark bowl lies beside it toward the left in the exterior view, so I am carrying the cup over that bowl."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "pick up the cup and place it on the bowl.",
    "joint_positions": [
      0.08096,
      -0.81951,
      0.30317,
      -2.35962,
      0.12708,
      1.67208,
      0.32085
    ],
    "gripper_open": 0.119,
    "tcp_xyz": [
      0.30094,
      0.14926,
      1.01966
    ],
    "tcp_roll_pitch_yaw": [
      0.00866,
      -0.04435,
      0.00563
    ],
    "tcp_rotation_matrix": [
      [
        0.99111,
        -0.02707,
        0.13026
      ],
      [
        -0.01976,
        -0.99817,
        -0.05709
      ],
      [
        0.13157,
        0.05401,
        -0.98983
      ]
    ],
    "simulated_seconds_remaining": 29.106,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 13.409658734686673,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.46,
                    "y": 0.11
                  },
                  "note": "The cup remains held, but the exterior view shows it short of the bowl. I am moving forward to center it over the bowl."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "pick up the cup and place it on the bowl.",
    "joint_positions": [
      -0.03638,
      -0.38215,
      0.2617,
      -2.06867,
      0.0137,
      1.81403,
      0.23395
    ],
    "gripper_open": 0.1171,
    "tcp_xyz": [
      0.45869,
      0.11027,
      1.01953
    ],
    "tcp_roll_pitch_yaw": [
      0.00869,
      -0.04403,
      0.00549
    ],
    "tcp_rotation_matrix": [
      [
        0.99115,
        -0.0272,
        0.12994
      ],
      [
        -0.01991,
        -0.99817,
        -0.05708
      ],
      [
        0.13126,
        0.05399,
        -0.98988
      ]
    ],
    "simulated_seconds_remaining": 27.72,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 7.005414318293333,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.9
                  },
                  "note": "The cup is above the bowl in the exterior view. I am lowering it toward the bowl while keeping the grasp closed."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 19,
  "state": {
    "instruction": "pick up the cup and place it on the bowl.",
    "joint_positions": [
      -0.03139,
      -0.3555,
      0.28196,
      -2.34727,
      0.01255,
      2.11762,
      0.25697
    ],
    "gripper_open": 0.1207,
    "tcp_xyz": [
      0.45854,
      0.11032,
      0.90121
    ],
    "tcp_roll_pitch_yaw": [
      0.00864,
      -0.04352,
      0.00553
    ],
    "tcp_rotation_matrix": [
      [
        0.99122,
        -0.02713,
        0.12944
      ],
      [
        -0.01986,
        -0.99817,
        -0.05712
      ],
      [
        0.13075,
        0.05405,
        -0.98994
      ]
    ],
    "simulated_seconds_remaining": 26.598,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 8.006653133779764,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.47,
                    "y": 0.13,
                    "z": 0.855
                  },
                  "note": "The cup is slightly to the bowl's right. I am making a small centering adjustment and lowering it onto the bowl."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 20,
  "state": {
    "instruction": "pick up the cup and place it on the bowl.",
    "joint_positions": [
      -0.02907,
      -0.26356,
      0.32252,
      -2.37665,
      -0.01146,
      2.23661,
      0.3172
    ],
    "gripper_open": 0.1234,
    "tcp_xyz": [
      0.4701,
      0.13006,
      0.85689
    ],
    "tcp_roll_pitch_yaw": [
      0.00904,
      -0.04539,
      0.00619
    ],
    "tcp_rotation_matrix": [
      [
        0.99098,
        -0.02655,
        0.13132
      ],
      [
        -0.01924,
        -0.99821,
        -0.05662
      ],
      [
        0.13259,
        0.05359,
        -0.98972
      ]
    ],
    "simulated_seconds_remaining": 25.938,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 6.805790677666664,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 1
                  },
                  "note": "The cup is resting over the bowl's interior, with the rim visible around it. I am opening the fingers to release it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

========================================================================
GPT-Astra / Pick & place / 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,
  "status": "completed",
  "success": false,
  "oracle_success": false,
  "action_decisions": 27,
  "wall_seconds": 355.59,
  "usage": {
    "input_tokens": 558645,
    "cached_input_tokens": 522880,
    "cache_write_input_tokens": 0,
    "output_tokens": 5778,
    "reasoning_output_tokens": 2869
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick-and-place 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 45 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 and grasp the requested object, lift it, move it to the named receptacle, and release it in or on that receptacle. Complete the entire pick-and-place 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 guide the pick and placement.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"pick up the ladle and place it on the bowl.\", \"joint_positions\": [0.01807, -0.78765, 0.02913, -2.35623, 0.02102, 1.58581, -0.02085], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.31007, 0.01962, 1.01717], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.99808, 0.05948, 0.017], [0.05947, -0.99823, 0.00104], [0.01703, -2e-05, -0.99986]], \"simulated_seconds_remaining\": 45.012, \"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,
    "z": 0.88,
    "note": "The bowl is near the table center and the dark ladle is farther back; moving closer for a clear overhead 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,
      "z": 0.88
    },
    "note": "The bowl is near the table center and the dark ladle is farther back; moving closer for a clear overhead view."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"pick up the ladle and place it on the bowl.\", \"joint_positions\": [-0.00154, -0.35979, 0.00121, -2.39035, 0.00166, 2.04725, -0.06064], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.43904, 0.00013, 0.88086], \"tcp_roll_pitch_yaw\": [1e-05, 0.00031, -3e-05], \"tcp_rotation_matrix\": [[0.99809, 0.05945, 0.01668], [0.05944, -0.99823, 0.00104], [0.01672, -5e-05, -0.99986]], \"simulated_seconds_remaining\": 43.428, \"calls_remaining_including_this\": 56}"
      },
      {
        "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": 0.54,
      "z": 0.84
    },
    "note": "The ladle handle is visible on the right side of the wrist view; advancing over the table to localize its handle and cup."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"pick up the ladle and place it on the bowl.\", \"joint_positions\": [-0.00157, -0.02119, 0.00139, -2.14032, 0.00128, 2.13565, -0.06033], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.5388, 0.00012, 0.84041], \"tcp_roll_pitch_yaw\": [1e-05, 0.00048, -4e-05], \"tcp_rotation_matrix\": [[0.9981, 0.05944, 0.01652], [0.05943, -0.99823, 0.00105], [0.01655, -6e-05, -0.99986]], \"simulated_seconds_remaining\": 42.372, \"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": {
      "y": -0.13,
      "z": 1
    },
    "note": "The long dark handle leads toward the right edge; raising and shifting right will expose the entire ladle and the grasp area."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"pick up the ladle and place it on the bowl.\", \"joint_positions\": [-0.11253, -0.03929, -0.12227, -1.75105, 8e-05, 1.72813, -0.29404], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.53882, -0.12923, 0.99903], \"tcp_roll_pitch_yaw\": [-4e-05, 0.00022, -0.00024], \"tcp_rotation_matrix\": [[0.9981, 0.05924, 0.01677], [0.05923, -0.99824, 0.001], [0.0168, -0.0, -0.99986]], \"simulated_seconds_remaining\": 40.722, \"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": 0.5,
      "y": -0.21,
      "z": 0.88
    },
    "note": "The ladle's dark round cup is left of the gripper, with its handle extending toward the near edge. I am centering over that handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"pick up the ladle and place it on the bowl.\", \"joint_positions\": [-0.18875, -0.04565, -0.20754, -2.06031, -0.00227, 2.03047, -0.45427], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.50027, -0.20936, 0.88094], \"tcp_roll_pitch_yaw\": [5e-05, 0.00048, -0.00041], \"tcp_rotation_matrix\": [[0.99812, 0.05907, 0.01652], [0.05906, -0.99825, 0.00108], [0.01655, -0.0001, -0.99986]], \"simulated_seconds_remaining\": 39.402, \"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": 0.64,
      "z": 0.95
    },
    "note": "The ladle cup is now centered but occludes its handle; shifting forward and slightly up will reveal the handle beneath it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"pick up the ladle and place it on the bowl.\", \"joint_positions\": [-0.17982, 0.36499, -0.17755, -1.34402, 0.07046, 1.71862, -0.41445], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.63883, -0.20933, 0.94936], \"tcp_roll_pitch_yaw\": [4e-05, 0.00047, -0.00035], \"tcp_rotation_matrix\": [[0.99811, 0.05913, 0.01653], [0.05912, -0.99825, 0.00107], [0.01656, -0.0001, -0.99986]], \"simulated_seconds_remaining\": 38.082, \"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": {
      "yaw": 1.57,
      "z": 1.03
    },
    "note": "Rotating the open gripper gives a clearer view of the narrow connection beside the ladle cup before descending."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"pick up the ladle and place it on the bowl.\", \"joint_positions\": [-0.32604, 0.47199, 0.00499, -0.95858, 0.01324, 1.42447, -1.94458], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.63884, -0.20933, 1.0298], \"tcp_roll_pitch_yaw\": [-2e-05, 0.0005, 1.56528], \"tcp_rotation_matrix\": [[-0.05397, 0.99854, -0.00093], [0.99841, 0.05397, 0.0165], [0.01653, -4e-05, -0.99986]], \"simulated_seconds_remaining\": 35.706, \"calls_remaining_including_this\": 51}"
      },
      {
        "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"
}

The new angle distinguishes the ladle’s light-colored cup and dark handle from the dark bowl. I’m lining up with the handle.


{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.48,
      "y": 0,
      "z": 1.08,
      "yaw": 0
    },
    "note": "The light-colored ladle cup connects to the long dark handle, while the dark round bowl is the destination. Moving above the handle for alignment."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"pick up the ladle and place it on the bowl.\", \"joint_positions\": [-0.14171, -0.23117, 0.11863, -1.75162, 0.02866, 1.53865, -0.08931], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.48044, -0.00048, 1.07995], \"tcp_roll_pitch_yaw\": [-3e-05, 0.00033, 0.00505], \"tcp_rotation_matrix\": [[0.99778, 0.06452, 0.01666], [0.06451, -0.99792, 0.00109], [0.01669, -2e-05, -0.99986]], \"simulated_seconds_remaining\": 33.33, \"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": 0.4,
      "y": 0,
      "z": 0.9,
      "yaw": -0.45
    },
    "note": "The ladle is clearly visible with a white scoop and thin black handle. I am approaching the middle of the handle with the jaws aligned across it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"pick up the ladle and place it on the bowl.\", \"joint_positions\": [-0.1925, -0.50556, 0.17258, -2.45466, 0.08422, 1.96966, 0.31532], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.40038, 1e-05, 0.90088], \"tcp_roll_pitch_yaw\": [-0.00012, 0.00056, -0.44749], \"tcp_rotation_matrix\": [[0.92555, -0.37831, 0.01521], [-0.37826, -0.92568, -0.00629], [0.01646, 6e-05, -0.99986]], \"simulated_seconds_remaining\": 31.746, \"calls_remaining_including_this\": 49}"
      },
      {
        "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": 0.395,
      "y": -0.055,
      "z": 0.82,
      "yaw": 0.55
    },
    "note": "The handle lies just to the right of the jaw center. Shifting toward it and rotating will put the handle lengthwise between the fingers."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"pick up the ladle and place it on the bowl.\", \"joint_positions\": [-0.06344, -0.42183, -0.07824, -2.60564, -0.02584, 2.19688, -0.72494], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.39499, -0.05478, 0.82031], \"tcp_roll_pitch_yaw\": [-3e-05, 0.00065, 0.54533], \"tcp_rotation_matrix\": [[0.82248, 0.56863, 0.01345], [0.56855, -0.82259, 0.00934], [0.01638, -4e-05, -0.99987]], \"simulated_seconds_remaining\": 30.096, \"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"
}

{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.44,
      "z": 0.82
    },
    "note": "The handle is just below the gripper center in the wrist view. A small forward adjustment will bring its middle into the closing gap."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 11, \"instruction\": \"pick up the ladle and place it on the bowl.\", \"joint_positions\": [-0.05207, -0.28162, -0.07506, -2.47885, -0.01235, 2.2101, -0.72186], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.43877, -0.05478, 0.82], \"tcp_roll_pitch_yaw\": [-1e-05, 0.00068, 0.54534], \"tcp_rotation_matrix\": [[0.82247, 0.56864, 0.01341], [0.56857, -0.82258, 0.00934], [0.01634, -5e-05, -0.99987]], \"simulated_seconds_remaining\": 29.502, \"calls_remaining_including_this\": 47}"
      },
      {
        "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": 0.418,
      "y": -0.006,
      "z": 0.82
    },
    "note": "The handle is visible beside the right finger. Translating left across the handle will center it between the open jaws."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 12, \"instruction\": \"pick up the ladle and place it on the bowl.\", \"joint_positions\": [-0.01028, -0.35627, -0.01081, -2.55021, 0.00723, 2.20719, -0.62976], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.41849, -0.00706, 0.82001], \"tcp_roll_pitch_yaw\": [-4e-05, 0.00068, 0.54555], \"tcp_rotation_matrix\": [[0.82235, 0.56882, 0.01343], [0.56874, -0.82246, 0.00932], [0.01634, -2e-05, -0.99987]], \"simulated_seconds_remaining\": 28.842, \"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": {
      "z": 0.755
    },
    "note": "The handle is centered in the open gap and aligned with the fingers. Lowering to the handle height for the grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 13, \"instruction\": \"pick up the ladle and place it on the bowl.\", \"joint_positions\": [-0.00923, -0.24475, -0.01173, -2.62959, 0.00997, 2.39771, -0.63299], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.4184, -0.00705, 0.75619], \"tcp_roll_pitch_yaw\": [0.00015, 0.00099, 0.54556], \"tcp_rotation_matrix\": [[0.82236, 0.56882, 0.01307], [0.56875, -0.82246, 0.00932], [0.01605, -0.00024, -0.99987]], \"simulated_seconds_remaining\": 28.116, \"calls_remaining_including_this\": 45}"
      },
      {
        "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 at the tabletop handle height. Closing around the aligned ladle handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 14, \"instruction\": \"pick up the ladle and place it on the bowl.\", \"joint_positions\": [-0.00779, -0.24744, -0.01012, -2.62633, 0.01098, 2.39873, -0.63293], \"gripper_open\": 0.0165, \"tcp_xyz\": [0.42068, -0.00579, 0.75876], \"tcp_roll_pitch_yaw\": [-0.00331, -0.00507, 0.54775], \"tcp_rotation_matrix\": [[0.82098, 0.57061, 0.02002], [0.57054, -0.82121, 0.00955], [0.02189, 0.00358, -0.99975]], \"simulated_seconds_remaining\": 27.192, \"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": {
      "z": 0.96
    },
    "note": "The jaws have closed around the narrow handle; lifting to verify whether the ladle is secure."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 15, \"instruction\": \"pick up the ladle and place it on the bowl.\", \"joint_positions\": [-0.0093, -0.45572, -0.00841, -2.27409, 0.00643, 1.83857, -0.62582], \"gripper_open\": 0.0, \"tcp_xyz\": [0.42075, -0.00579, 0.95876], \"tcp_roll_pitch_yaw\": [-0.00348, -0.00536, 0.54775], \"tcp_rotation_matrix\": [[0.82097, 0.5706, 0.02036], [0.57054, -0.82122, 0.00956], [0.02217, 0.00377, -0.99975]], \"simulated_seconds_remaining\": 25.542, \"calls_remaining_including_this\": 43}"
      },
      {
        "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": 0.034,
      "z": 0.83,
      "gripper": 1
    },
    "note": "The handle remains on the table after the lift, so the first close missed it. Moving farther along the handle and reopening for a centered grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 16, \"instruction\": \"pick up the ladle and place it on the bowl.\", \"joint_positions\": [0.0208, -0.15485, 0.04346, -2.3202, 0.01829, 2.18601, -0.55394], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.48933, 0.03367, 0.83101], \"tcp_roll_pitch_yaw\": [-0.00333, -0.00506, 0.54781], \"tcp_rotation_matrix\": [[0.82095, 0.57065, 0.02002], [0.57058, -0.82118, 0.00953], [0.02188, 0.0036, -0.99975]], \"simulated_seconds_remaining\": 24.222, \"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": {
      "x": 0.48,
      "y": 0.055,
      "z": 0.765
    },
    "note": "A long section of the handle now passes through the jaw gap. Lowering with a small sideways correction to place it at the center of the fingers."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 17, \"instruction\": \"pick up the ladle and place it on the bowl.\", \"joint_positions\": [0.04082, -0.08044, 0.06986, -2.42207, 0.01831, 2.36239, -0.5098], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.48008, 0.05465, 0.76604], \"tcp_roll_pitch_yaw\": [-0.0032, -0.00477, 0.54788], \"tcp_rotation_matrix\": [[0.82091, 0.57072, 0.01971], [0.57065, -0.82114, 0.00949], [0.0216, 0.00346, -0.99976]], \"simulated_seconds_remaining\": 23.43, \"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": 0.472,
      "y": 0.071,
      "z": 0.737
    },
    "note": "The handle is still slightly right of center. Making the final lateral and height adjustment before closing."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 18, \"instruction\": \"pick up the ladle and place it on the bowl.\", \"joint_positions\": [0.05404, -0.05435, 0.08514, -2.46011, 0.01439, 2.43565, -0.47542], \"gripper_open\": 1.0, \"tcp_xyz\": [0.47514, 0.06721, 0.7444], \"tcp_roll_pitch_yaw\": [-0.00842, -0.01219, 0.54419], \"tcp_rotation_matrix\": [[0.82281, 0.56759, 0.02879], [0.56759, -0.82326, 0.0088], [0.02869, 0.0091, -0.99955]], \"simulated_seconds_remaining\": 22.902, \"calls_remaining_including_this\": 40}"
      },
      {
        "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 is now centered between the fingers at table height. Closing to secure it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 19, \"instruction\": \"pick up the ladle and place it on the bowl.\", \"joint_positions\": [0.05653, -0.06118, 0.08818, -2.45791, 0.01604, 2.43121, -0.47601], \"gripper_open\": 0.8838, \"tcp_xyz\": [0.4758, 0.07005, 0.74815], \"tcp_roll_pitch_yaw\": [-0.00987, -0.01654, 0.54915], \"tcp_rotation_matrix\": [[0.81986, 0.5716, 0.03321], [0.57161, -0.82046, 0.00997], [0.03294, 0.01081, -0.9994]], \"simulated_seconds_remaining\": 21.978, \"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": 0.785,
      "gripper": 0
    },
    "note": "The jaw closure is obstructed near the table. Raising slightly while keeping the grasp command will let the fingers close around the handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 20, \"instruction\": \"pick up the ladle and place it on the bowl.\", \"joint_positions\": [0.05706, -0.12576, 0.08679, -2.42362, 0.0221, 2.3326, -0.4803], \"gripper_open\": 0.1451, \"tcp_xyz\": [0.47583, 0.07006, 0.78424], \"tcp_roll_pitch_yaw\": [-0.00991, -0.01663, 0.54915], \"tcp_rotation_matrix\": [[0.81986, 0.5716, 0.03331], [0.57162, -0.82046, 0.00998], [0.03303, 0.01086, -0.9994]], \"simulated_seconds_remaining\": 21.054, \"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": {
      "z": 0.98
    },
    "note": "The fingers have closed to the handle's width and the handle is between them. Lifting the ladle clear of the table."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 21, \"instruction\": \"pick up the ladle and place it on the bowl.\", \"joint_positions\": [0.05585, -0.28318, 0.07698, -2.06952, 0.02793, 1.8217, -0.485], \"gripper_open\": 0.1454, \"tcp_xyz\": [0.47589, 0.07007, 0.97874], \"tcp_roll_pitch_yaw\": [-0.01005, -0.01692, 0.54915], \"tcp_rotation_matrix\": [[0.81985, 0.5716, 0.03363], [0.57161, -0.82046, 0.01002], [0.03332, 0.01101, -0.99938]], \"simulated_seconds_remaining\": 19.47, \"calls_remaining_including_this\": 37}"
      },
      {
        "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": 0.35,
      "y": 0.2,
      "z": 0.98
    },
    "note": "The ladle is securely lifted. The gray bowl is toward the near-left side of the table; moving the scoop over its opening."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 22, \"instruction\": \"pick up the ladle and place it on the bowl.\", \"joint_positions\": [0.18346, -0.54481, 0.26639, -2.27475, 0.13535, 1.77904, -0.2196], \"gripper_open\": 0.1446, \"tcp_xyz\": [0.35089, 0.19912, 0.98002], \"tcp_roll_pitch_yaw\": [-0.01012, -0.01696, 0.54939], \"tcp_rotation_matrix\": [[0.81971, 0.57179, 0.0337], [0.57181, -0.82032, 0.00998], [0.03335, 0.01109, -0.99938]], \"simulated_seconds_remaining\": 17.952, \"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": 0.23,
      "y": 0.12,
      "z": 0.94
    },
    "note": "The handle is over the bowl, but the scoop extends beyond the far rim. Shifting back along the ladle will center the scoop above the bowl."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 23, \"instruction\": \"pick up the ladle and place it on the bowl.\", \"joint_positions\": [0.23555, -1.03684, 0.17071, -2.66999, 0.14618, 1.67404, -0.29584], \"gripper_open\": 0.1444, \"tcp_xyz\": [0.23104, 0.12068, 0.94038], \"tcp_roll_pitch_yaw\": [-0.01017, -0.017, 0.54938], \"tcp_rotation_matrix\": [[0.81971, 0.57178, 0.03375], [0.5718, -0.82033, 0.00996], [0.03338, 0.01114, -0.99938]], \"simulated_seconds_remaining\": 16.632, \"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": {
      "y": 0.17,
      "z": 0.845
    },
    "note": "The scoop is above the bowl's right rim. Shifting slightly left and lowering toward the opening will seat the ladle on the bowl."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 24, \"instruction\": \"pick up the ladle and place it on the bowl.\", \"joint_positions\": [0.3014, -0.94388, 0.31797, -2.85188, 0.26869, 1.95534, -0.21082], \"gripper_open\": 0.1449, \"tcp_xyz\": [0.23107, 0.16939, 0.84624], \"tcp_roll_pitch_yaw\": [-0.01018, -0.01704, 0.5494], \"tcp_rotation_matrix\": [[0.8197, 0.57179, 0.03379], [0.57181, -0.82032, 0.00997], [0.03342, 0.01116, -0.99938]], \"simulated_seconds_remaining\": 15.642, \"calls_remaining_including_this\": 34}"
      },
      {
        "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": 0.82
    },
    "note": "The scoop is centered inside the bowl rim. Lowering a final small amount so the bowl supports the ladle before release."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 25, \"instruction\": \"pick up the ladle and place it on the bowl.\", \"joint_positions\": [0.30973, -0.9193, 0.33628, -2.90443, 0.28802, 2.0316, -0.21209], \"gripper_open\": 0.1422, \"tcp_xyz\": [0.23108, 0.16939, 0.82113], \"tcp_roll_pitch_yaw\": [-0.01017, -0.017, 0.54934], \"tcp_rotation_matrix\": [[0.81973, 0.57175, 0.03376], [0.57177, -0.82035, 0.00996], [0.03339, 0.01114, -0.99938]], \"simulated_seconds_remaining\": 15.18, \"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": {
      "gripper": 1
    },
    "note": "The ladle scoop rests in the bowl and its handle crosses the rim. Opening the fingers to release it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 26, \"instruction\": \"pick up the ladle and place it on the bowl.\", \"joint_positions\": [0.30973, -0.9193, 0.33628, -2.90443, 0.28802, 2.0316, -0.21209], \"gripper_open\": 0.9965, \"tcp_xyz\": [0.23108, 0.16939, 0.82112], \"tcp_roll_pitch_yaw\": [-0.01017, -0.01701, 0.54934], \"tcp_rotation_matrix\": [[0.81973, 0.57175, 0.03376], [0.57177, -0.82035, 0.00996], [0.03339, 0.01114, -0.99938]], \"simulated_seconds_remaining\": 14.256, \"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": {
      "z": 1.03
    },
    "note": "The ladle has been released onto the bowl. Raising the open gripper to confirm it stays in place."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 27, \"instruction\": \"pick up the ladle and place it on the bowl.\", \"joint_positions\": [0.25247, -0.90216, 0.22681, -2.36848, 0.17379, 1.51558, -0.19838], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.23111, 0.16942, 1.02874], \"tcp_roll_pitch_yaw\": [-0.01017, -0.01723, 0.54936], \"tcp_rotation_matrix\": [[0.81972, 0.57176, 0.03395], [0.57178, -0.82034, 0.01008], [0.03362, 0.01115, -0.99937]], \"simulated_seconds_remaining\": 12.54, \"calls_remaining_including_this\": 31}"
      },
      {
        "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": "done",
  "arguments": {
    "note": "The ladle is released with its scoop in the gray bowl and its handle resting across the rim; the gripper is clear."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "Episode ended. Do not call more tools. Return a brief final response."
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

Placed the ladle on the bowl and released it.

TURN USAGE
{
  "input_tokens": 558645,
  "cached_input_tokens": 522880,
  "cache_write_input_tokens": 0,
  "output_tokens": 5778,
  "reasoning_output_tokens": 2869
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "pick up the ladle and place it on the bowl.",
    "joint_positions": [
      0.01807,
      -0.78765,
      0.02913,
      -2.35623,
      0.02102,
      1.58581,
      -0.02085
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.31007,
      0.01962,
      1.01717
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99808,
        0.05948,
        0.017
      ],
      [
        0.05947,
        -0.99823,
        0.00104
      ],
      [
        0.01703,
        -2e-05,
        -0.99986
      ]
    ],
    "simulated_seconds_remaining": 45.012,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 23.6224774280563,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.44,
                    "y": 0,
                    "z": 0.88
                  },
                  "note": "The bowl is near the table center and the dark ladle is farther back; moving closer for a clear overhead view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 24,
    "motion_seconds": 1.584,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "pick up the ladle and place it on the bowl.",
    "joint_positions": [
      -0.00154,
      -0.35979,
      0.00121,
      -2.39035,
      0.00166,
      2.04725,
      -0.06064
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.43904,
      0.00013,
      0.88086
    ],
    "tcp_roll_pitch_yaw": [
      1e-05,
      0.00031,
      -3e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99809,
        0.05945,
        0.01668
      ],
      [
        0.05944,
        -0.99823,
        0.00104
      ],
      [
        0.01672,
        -5e-05,
        -0.99986
      ]
    ],
    "simulated_seconds_remaining": 43.428,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 7.805643179453909,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.54,
                    "z": 0.84
                  },
                  "note": "The ladle handle is visible on the right side of the wrist view; advancing over the table to localize its handle and cup."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "pick up the ladle and place it on the bowl.",
    "joint_positions": [
      -0.00157,
      -0.02119,
      0.00139,
      -2.14032,
      0.00128,
      2.13565,
      -0.06033
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.5388,
      0.00012,
      0.84041
    ],
    "tcp_roll_pitch_yaw": [
      1e-05,
      0.00048,
      -4e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.9981,
        0.05944,
        0.01652
      ],
      [
        0.05943,
        -0.99823,
        0.00105
      ],
      [
        0.01655,
        -6e-05,
        -0.99986
      ]
    ],
    "simulated_seconds_remaining": 42.372,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 10.20869253296405,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": -0.13,
                    "z": 1
                  },
                  "note": "The long dark handle leads toward the right edge; raising and shifting right will expose the entire ladle and the grasp area."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 25,
    "motion_seconds": 1.6500000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "pick up the ladle and place it on the bowl.",
    "joint_positions": [
      -0.11253,
      -0.03929,
      -0.12227,
      -1.75105,
      8e-05,
      1.72813,
      -0.29404
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.53882,
      -0.12923,
      0.99903
    ],
    "tcp_roll_pitch_yaw": [
      -4e-05,
      0.00022,
      -0.00024
    ],
    "tcp_rotation_matrix": [
      [
        0.9981,
        0.05924,
        0.01677
      ],
      [
        0.05923,
        -0.99824,
        0.001
      ],
      [
        0.0168,
        -0.0,
        -0.99986
      ]
    ],
    "simulated_seconds_remaining": 40.722,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 23.62090984452516,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.5,
                    "y": -0.21,
                    "z": 0.88
                  },
                  "note": "The ladle's dark round cup is left of the gripper, with its handle extending toward the near edge. I am centering over that handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "pick up the ladle and place it on the bowl.",
    "joint_positions": [
      -0.18875,
      -0.04565,
      -0.20754,
      -2.06031,
      -0.00227,
      2.03047,
      -0.45427
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.50027,
      -0.20936,
      0.88094
    ],
    "tcp_roll_pitch_yaw": [
      5e-05,
      0.00048,
      -0.00041
    ],
    "tcp_rotation_matrix": [
      [
        0.99812,
        0.05907,
        0.01652
      ],
      [
        0.05906,
        -0.99825,
        0.00108
      ],
      [
        0.01655,
        -0.0001,
        -0.99986
      ]
    ],
    "simulated_seconds_remaining": 39.402,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 8.006620013155043,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.64,
                    "z": 0.95
                  },
                  "note": "The ladle cup is now centered but occludes its handle; shifting forward and slightly up will reveal the handle beneath it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "pick up the ladle and place it on the bowl.",
    "joint_positions": [
      -0.17982,
      0.36499,
      -0.17755,
      -1.34402,
      0.07046,
      1.71862,
      -0.41445
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.63883,
      -0.20933,
      0.94936
    ],
    "tcp_roll_pitch_yaw": [
      4e-05,
      0.00047,
      -0.00035
    ],
    "tcp_rotation_matrix": [
      [
        0.99811,
        0.05913,
        0.01653
      ],
      [
        0.05912,
        -0.99825,
        0.00107
      ],
      [
        0.01656,
        -0.0001,
        -0.99986
      ]
    ],
    "simulated_seconds_remaining": 38.082,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 11.209650531411171,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "yaw": 1.57,
                    "z": 1.03
                  },
                  "note": "Rotating the open gripper gives a clearer view of the narrow connection beside the ladle cup before descending."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 36,
    "motion_seconds": 2.3760000000000003,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "pick up the ladle and place it on the bowl.",
    "joint_positions": [
      -0.32604,
      0.47199,
      0.00499,
      -0.95858,
      0.01324,
      1.42447,
      -1.94458
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.63884,
      -0.20933,
      1.0298
    ],
    "tcp_roll_pitch_yaw": [
      -2e-05,
      0.0005,
      1.56528
    ],
    "tcp_rotation_matrix": [
      [
        -0.05397,
        0.99854,
        -0.00093
      ],
      [
        0.99841,
        0.05397,
        0.0165
      ],
      [
        0.01653,
        -4e-05,
        -0.99986
      ]
    ],
    "simulated_seconds_remaining": 35.706,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 19.215572425164282,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48,
                    "y": 0,
                    "z": 1.08,
                    "yaw": 0
                  },
                  "note": "The light-colored ladle cup connects to the long dark handle, while the dark round bowl is the destination. Moving above the handle for alignment."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 36,
    "motion_seconds": 2.3760000000000003,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "pick up the ladle and place it on the bowl.",
    "joint_positions": [
      -0.14171,
      -0.23117,
      0.11863,
      -1.75162,
      0.02866,
      1.53865,
      -0.08931
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.48044,
      -0.00048,
      1.07995
    ],
    "tcp_roll_pitch_yaw": [
      -3e-05,
      0.00033,
      0.00505
    ],
    "tcp_rotation_matrix": [
      [
        0.99778,
        0.06452,
        0.01666
      ],
      [
        0.06451,
        -0.99792,
        0.00109
      ],
      [
        0.01669,
        -2e-05,
        -0.99986
      ]
    ],
    "simulated_seconds_remaining": 33.33,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 11.408835454843938,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "y": 0,
                    "z": 0.9,
                    "yaw": -0.45
                  },
                  "note": "The ladle is clearly visible with a white scoop and thin black handle. I am approaching the middle of the handle with the jaws aligned across it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 24,
    "motion_seconds": 1.584,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "pick up the ladle and place it on the bowl.",
    "joint_positions": [
      -0.1925,
      -0.50556,
      0.17258,
      -2.45466,
      0.08422,
      1.96966,
      0.31532
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.40038,
      1e-05,
      0.90088
    ],
    "tcp_roll_pitch_yaw": [
      -0.00012,
      0.00056,
      -0.44749
    ],
    "tcp_rotation_matrix": [
      [
        0.92555,
        -0.37831,
        0.01521
      ],
      [
        -0.37826,
        -0.92568,
        -0.00629
      ],
      [
        0.01646,
        6e-05,
        -0.99986
      ]
    ],
    "simulated_seconds_remaining": 31.746,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 16.612301969900727,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.395,
                    "y": -0.055,
                    "z": 0.82,
                    "yaw": 0.55
                  },
                  "note": "The handle lies just to the right of the jaw center. Shifting toward it and rotating will put the handle lengthwise between the fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 25,
    "motion_seconds": 1.6500000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "pick up the ladle and place it on the bowl.",
    "joint_positions": [
      -0.06344,
      -0.42183,
      -0.07824,
      -2.60564,
      -0.02584,
      2.19688,
      -0.72494
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.39499,
      -0.05478,
      0.82031
    ],
    "tcp_roll_pitch_yaw": [
      -3e-05,
      0.00065,
      0.54533
    ],
    "tcp_rotation_matrix": [
      [
        0.82248,
        0.56863,
        0.01345
      ],
      [
        0.56855,
        -0.82259,
        0.00934
      ],
      [
        0.01638,
        -4e-05,
        -0.99987
      ]
    ],
    "simulated_seconds_remaining": 30.096,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 7.805801191367209,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.44,
                    "z": 0.82
                  },
                  "note": "The handle is just below the gripper center in the wrist view. A small forward adjustment will bring its middle into the closing gap."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "pick up the ladle and place it on the bowl.",
    "joint_positions": [
      -0.05207,
      -0.28162,
      -0.07506,
      -2.47885,
      -0.01235,
      2.2101,
      -0.72186
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.43877,
      -0.05478,
      0.82
    ],
    "tcp_roll_pitch_yaw": [
      -1e-05,
      0.00068,
      0.54534
    ],
    "tcp_rotation_matrix": [
      [
        0.82247,
        0.56864,
        0.01341
      ],
      [
        0.56857,
        -0.82258,
        0.00934
      ],
      [
        0.01634,
        -5e-05,
        -0.99987
      ]
    ],
    "simulated_seconds_remaining": 29.502,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 10.80920825805515,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.418,
                    "y": -0.006,
                    "z": 0.82
                  },
                  "note": "The handle is visible beside the right finger. Translating left across the handle will center it between the open jaws."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "pick up the ladle and place it on the bowl.",
    "joint_positions": [
      -0.01028,
      -0.35627,
      -0.01081,
      -2.55021,
      0.00723,
      2.20719,
      -0.62976
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.41849,
      -0.00706,
      0.82001
    ],
    "tcp_roll_pitch_yaw": [
      -4e-05,
      0.00068,
      0.54555
    ],
    "tcp_rotation_matrix": [
      [
        0.82235,
        0.56882,
        0.01343
      ],
      [
        0.56874,
        -0.82246,
        0.00932
      ],
      [
        0.01634,
        -2e-05,
        -0.99987
      ]
    ],
    "simulated_seconds_remaining": 28.842,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 6.805328599177301,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.755
                  },
                  "note": "The handle is centered in the open gap and aligned with the fingers. Lowering to the handle height for the grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "pick up the ladle and place it on the bowl.",
    "joint_positions": [
      -0.00923,
      -0.24475,
      -0.01173,
      -2.62959,
      0.00997,
      2.39771,
      -0.63299
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.4184,
      -0.00705,
      0.75619
    ],
    "tcp_roll_pitch_yaw": [
      0.00015,
      0.00099,
      0.54556
    ],
    "tcp_rotation_matrix": [
      [
        0.82236,
        0.56882,
        0.01307
      ],
      [
        0.56875,
        -0.82246,
        0.00932
      ],
      [
        0.01605,
        -0.00024,
        -0.99987
      ]
    ],
    "simulated_seconds_remaining": 28.116,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 5.407752421684563,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The fingers are at the tabletop handle height. Closing around the aligned ladle handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "pick up the ladle and place it on the bowl.",
    "joint_positions": [
      -0.00779,
      -0.24744,
      -0.01012,
      -2.62633,
      0.01098,
      2.39873,
      -0.63293
    ],
    "gripper_open": 0.0165,
    "tcp_xyz": [
      0.42068,
      -0.00579,
      0.75876
    ],
    "tcp_roll_pitch_yaw": [
      -0.00331,
      -0.00507,
      0.54775
    ],
    "tcp_rotation_matrix": [
      [
        0.82098,
        0.57061,
        0.02002
      ],
      [
        0.57054,
        -0.82121,
        0.00955
      ],
      [
        0.02189,
        0.00358,
        -0.99975
      ]
    ],
    "simulated_seconds_remaining": 27.192,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 5.80466247908771,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.96
                  },
                  "note": "The jaws have closed around the narrow handle; lifting to verify whether the ladle is secure."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 25,
    "motion_seconds": 1.6500000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "pick up the ladle and place it on the bowl.",
    "joint_positions": [
      -0.0093,
      -0.45572,
      -0.00841,
      -2.27409,
      0.00643,
      1.83857,
      -0.62582
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.42075,
      -0.00579,
      0.95876
    ],
    "tcp_roll_pitch_yaw": [
      -0.00348,
      -0.00536,
      0.54775
    ],
    "tcp_rotation_matrix": [
      [
        0.82097,
        0.5706,
        0.02036
      ],
      [
        0.57054,
        -0.82122,
        0.00956
      ],
      [
        0.02217,
        0.00377,
        -0.99975
      ]
    ],
    "simulated_seconds_remaining": 25.542,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 14.411683860234916,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.49,
                    "y": 0.034,
                    "z": 0.83,
                    "gripper": 1
                  },
                  "note": "The handle remains on the table after the lift, so the first close missed it. Moving farther along the handle and reopening for a centered grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "pick up the ladle and place it on the bowl.",
    "joint_positions": [
      0.0208,
      -0.15485,
      0.04346,
      -2.3202,
      0.01829,
      2.18601,
      -0.55394
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.48933,
      0.03367,
      0.83101
    ],
    "tcp_roll_pitch_yaw": [
      -0.00333,
      -0.00506,
      0.54781
    ],
    "tcp_rotation_matrix": [
      [
        0.82095,
        0.57065,
        0.02002
      ],
      [
        0.57058,
        -0.82118,
        0.00953
      ],
      [
        0.02188,
        0.0036,
        -0.99975
      ]
    ],
    "simulated_seconds_remaining": 24.222,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 9.607781080529094,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48,
                    "y": 0.055,
                    "z": 0.765
                  },
                  "note": "A long section of the handle now passes through the jaw gap. Lowering with a small sideways correction to place it at the center of the fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "pick up the ladle and place it on the bowl.",
    "joint_positions": [
      0.04082,
      -0.08044,
      0.06986,
      -2.42207,
      0.01831,
      2.36239,
      -0.5098
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.48008,
      0.05465,
      0.76604
    ],
    "tcp_roll_pitch_yaw": [
      -0.0032,
      -0.00477,
      0.54788
    ],
    "tcp_rotation_matrix": [
      [
        0.82091,
        0.57072,
        0.01971
      ],
      [
        0.57065,
        -0.82114,
        0.00949
      ],
      [
        0.0216,
        0.00346,
        -0.99976
      ]
    ],
    "simulated_seconds_remaining": 23.43,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 9.007015472277999,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.472,
                    "y": 0.071,
                    "z": 0.737
                  },
                  "note": "The handle is still slightly right of center. Making the final lateral and height adjustment before closing."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 8,
    "motion_seconds": 0.528,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "pick up the ladle and place it on the bowl.",
    "joint_positions": [
      0.05404,
      -0.05435,
      0.08514,
      -2.46011,
      0.01439,
      2.43565,
      -0.47542
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.47514,
      0.06721,
      0.7444
    ],
    "tcp_roll_pitch_yaw": [
      -0.00842,
      -0.01219,
      0.54419
    ],
    "tcp_rotation_matrix": [
      [
        0.82281,
        0.56759,
        0.02879
      ],
      [
        0.56759,
        -0.82326,
        0.0088
      ],
      [
        0.02869,
        0.0091,
        -0.99955
      ]
    ],
    "simulated_seconds_remaining": 22.902,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 5.404362776316702,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The handle is now centered between the fingers at table height. Closing to secure it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 19,
  "state": {
    "instruction": "pick up the ladle and place it on the bowl.",
    "joint_positions": [
      0.05653,
      -0.06118,
      0.08818,
      -2.45791,
      0.01604,
      2.43121,
      -0.47601
    ],
    "gripper_open": 0.8838,
    "tcp_xyz": [
      0.4758,
      0.07005,
      0.74815
    ],
    "tcp_roll_pitch_yaw": [
      -0.00987,
      -0.01654,
      0.54915
    ],
    "tcp_rotation_matrix": [
      [
        0.81986,
        0.5716,
        0.03321
      ],
      [
        0.57161,
        -0.82046,
        0.00997
      ],
      [
        0.03294,
        0.01081,
        -0.9994
      ]
    ],
    "simulated_seconds_remaining": 21.978,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 7.205273944884539,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.785,
                    "gripper": 0
                  },
                  "note": "The jaw closure is obstructed near the table. Raising slightly while keeping the grasp command will let the fingers close around the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 20,
  "state": {
    "instruction": "pick up the ladle and place it on the bowl.",
    "joint_positions": [
      0.05706,
      -0.12576,
      0.08679,
      -2.42362,
      0.0221,
      2.3326,
      -0.4803
    ],
    "gripper_open": 0.1451,
    "tcp_xyz": [
      0.47583,
      0.07006,
      0.78424
    ],
    "tcp_roll_pitch_yaw": [
      -0.00991,
      -0.01663,
      0.54915
    ],
    "tcp_rotation_matrix": [
      [
        0.81986,
        0.5716,
        0.03331
      ],
      [
        0.57162,
        -0.82046,
        0.00998
      ],
      [
        0.03303,
        0.01086,
        -0.9994
      ]
    ],
    "simulated_seconds_remaining": 21.054,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 4.804364601150155,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.98
                  },
                  "note": "The fingers have closed to the handle's width and the handle is between them. Lifting the ladle clear of the table."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 24,
    "motion_seconds": 1.584,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 21,
  "state": {
    "instruction": "pick up the ladle and place it on the bowl.",
    "joint_positions": [
      0.05585,
      -0.28318,
      0.07698,
      -2.06952,
      0.02793,
      1.8217,
      -0.485
    ],
    "gripper_open": 0.1454,
    "tcp_xyz": [
      0.47589,
      0.07007,
      0.97874
    ],
    "tcp_roll_pitch_yaw": [
      -0.01005,
      -0.01692,
      0.54915
    ],
    "tcp_rotation_matrix": [
      [
        0.81985,
        0.5716,
        0.03363
      ],
      [
        0.57161,
        -0.82046,
        0.01002
      ],
      [
        0.03332,
        0.01101,
        -0.99938
      ]
    ],
    "simulated_seconds_remaining": 19.47,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 24.41957156173885,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.35,
                    "y": 0.2,
                    "z": 0.98
                  },
                  "note": "The ladle is securely lifted. The gray bowl is toward the near-left side of the table; moving the scoop over its opening."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 22,
  "state": {
    "instruction": "pick up the ladle and place it on the bowl.",
    "joint_positions": [
      0.18346,
      -0.54481,
      0.26639,
      -2.27475,
      0.13535,
      1.77904,
      -0.2196
    ],
    "gripper_open": 0.1446,
    "tcp_xyz": [
      0.35089,
      0.19912,
      0.98002
    ],
    "tcp_roll_pitch_yaw": [
      -0.01012,
      -0.01696,
      0.54939
    ],
    "tcp_rotation_matrix": [
      [
        0.81971,
        0.57179,
        0.0337
      ],
      [
        0.57181,
        -0.82032,
        0.00998
      ],
      [
        0.03335,
        0.01109,
        -0.99938
      ]
    ],
    "simulated_seconds_remaining": 17.952,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 20.81590181030333,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.23,
                    "y": 0.12,
                    "z": 0.94
                  },
                  "note": "The handle is over the bowl, but the scoop extends beyond the far rim. Shifting back along the ladle will center the scoop above the bowl."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 23,
  "state": {
    "instruction": "pick up the ladle and place it on the bowl.",
    "joint_positions": [
      0.23555,
      -1.03684,
      0.17071,
      -2.66999,
      0.14618,
      1.67404,
      -0.29584
    ],
    "gripper_open": 0.1444,
    "tcp_xyz": [
      0.23104,
      0.12068,
      0.94038
    ],
    "tcp_roll_pitch_yaw": [
      -0.01017,
      -0.017,
      0.54938
    ],
    "tcp_rotation_matrix": [
      [
        0.81971,
        0.57178,
        0.03375
      ],
      [
        0.5718,
        -0.82033,
        0.00996
      ],
      [
        0.03338,
        0.01114,
        -0.99938
      ]
    ],
    "simulated_seconds_remaining": 16.632,
    "calls_remaining_including_this": 35
  },
  "api_seconds": 8.606360136531293,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.17,
                    "z": 0.845
                  },
                  "note": "The scoop is above the bowl's right rim. Shifting slightly left and lowering toward the opening will seat the ladle on the bowl."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 24,
  "state": {
    "instruction": "pick up the ladle and place it on the bowl.",
    "joint_positions": [
      0.3014,
      -0.94388,
      0.31797,
      -2.85188,
      0.26869,
      1.95534,
      -0.21082
    ],
    "gripper_open": 0.1449,
    "tcp_xyz": [
      0.23107,
      0.16939,
      0.84624
    ],
    "tcp_roll_pitch_yaw": [
      -0.01018,
      -0.01704,
      0.5494
    ],
    "tcp_rotation_matrix": [
      [
        0.8197,
        0.57179,
        0.03379
      ],
      [
        0.57181,
        -0.82032,
        0.00997
      ],
      [
        0.03342,
        0.01116,
        -0.99938
      ]
    ],
    "simulated_seconds_remaining": 15.642,
    "calls_remaining_including_this": 34
  },
  "api_seconds": 7.2051684921607375,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.82
                  },
                  "note": "The scoop is centered inside the bowl rim. Lowering a final small amount so the bowl supports the ladle before release."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 7,
    "motion_seconds": 0.462,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 25,
  "state": {
    "instruction": "pick up the ladle and place it on the bowl.",
    "joint_positions": [
      0.30973,
      -0.9193,
      0.33628,
      -2.90443,
      0.28802,
      2.0316,
      -0.21209
    ],
    "gripper_open": 0.1422,
    "tcp_xyz": [
      0.23108,
      0.16939,
      0.82113
    ],
    "tcp_roll_pitch_yaw": [
      -0.01017,
      -0.017,
      0.54934
    ],
    "tcp_rotation_matrix": [
      [
        0.81973,
        0.57175,
        0.03376
      ],
      [
        0.57177,
        -0.82035,
        0.00996
      ],
      [
        0.03339,
        0.01114,
        -0.99938
      ]
    ],
    "simulated_seconds_remaining": 15.18,
    "calls_remaining_including_this": 33
  },
  "api_seconds": 5.804916551336646,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 1
                  },
                  "note": "The ladle scoop rests in the bowl and its handle crosses the rim. Opening the fingers to release it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 26,
  "state": {
    "instruction": "pick up the ladle and place it on the bowl.",
    "joint_positions": [
      0.30973,
      -0.9193,
      0.33628,
      -2.90443,
      0.28802,
      2.0316,
      -0.21209
    ],
    "gripper_open": 0.9965,
    "tcp_xyz": [
      0.23108,
      0.16939,
      0.82112
    ],
    "tcp_roll_pitch_yaw": [
      -0.01017,
      -0.01701,
      0.54934
    ],
    "tcp_rotation_matrix": [
      [
        0.81973,
        0.57175,
        0.03376
      ],
      [
        0.57177,
        -0.82035,
        0.00996
      ],
      [
        0.03339,
        0.01114,
        -0.99938
      ]
    ],
    "simulated_seconds_remaining": 14.256,
    "calls_remaining_including_this": 32
  },
  "api_seconds": 4.60382245387882,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.03
                  },
                  "note": "The ladle has been released onto the bowl. Raising the open gripper to confirm it stays in place."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 26,
    "motion_seconds": 1.7160000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 27,
  "state": {
    "instruction": "pick up the ladle and place it on the bowl.",
    "joint_positions": [
      0.25247,
      -0.90216,
      0.22681,
      -2.36848,
      0.17379,
      1.51558,
      -0.19838
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.23111,
      0.16942,
      1.02874
    ],
    "tcp_roll_pitch_yaw": [
      -0.01017,
      -0.01723,
      0.54936
    ],
    "tcp_rotation_matrix": [
      [
        0.81972,
        0.57176,
        0.03395
      ],
      [
        0.57178,
        -0.82034,
        0.01008
      ],
      [
        0.03362,
        0.01115,
        -0.99937
      ]
    ],
    "simulated_seconds_remaining": 12.54,
    "calls_remaining_including_this": 31
  },
  "api_seconds": 8.606660976074636,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "done",
                "args": {
                  "note": "The ladle is released with its scoop in the gray bowl and its handle resting across the rim; the gripper is clear."
                }
              }
            }
          ]
        }
      }
    ]
  }
}

========================================================================
GPT-Astra / Pick & place / 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,
  "status": "completed",
  "success": false,
  "oracle_success": false,
  "action_decisions": 24,
  "wall_seconds": 277.55,
  "usage": {
    "input_tokens": 497722,
    "cached_input_tokens": 465152,
    "cache_write_input_tokens": 0,
    "output_tokens": 4809,
    "reasoning_output_tokens": 2113
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick-and-place 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 45 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 and grasp the requested object, lift it, move it to the named receptacle, and release it in or on that receptacle. Complete the entire pick-and-place 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 place the object.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [-0.03142, -0.79624, 0.03371, -2.40069, -0.04647, 1.52551, 0.03285], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.28541, -0.01261, 0.99486], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.99606, -0.03898, -0.07965], [-0.04457, -0.99657, -0.06976], [-0.07666, 0.07304, -0.99438]], \"simulated_seconds_remaining\": 45.012, \"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,
    "z": 1.12,
    "gripper": 1,
    "note": "The blue bottle is behind the white bowl. I am moving upward and forward to get a clearer overhead view of both."
  },
  "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,
      "z": 1.12,
      "gripper": 1
    },
    "note": "The blue bottle is behind the white bowl. Moving upward and forward for a clearer view of both."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [-0.03842, -0.19902, 0.06781, -1.59531, -0.05602, 1.31528, 0.05745], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.44893, -9e-05, 1.11914], \"tcp_roll_pitch_yaw\": [-0.0, 5e-05, 0.0], \"tcp_rotation_matrix\": [[0.99606, -0.03897, -0.0797], [-0.04457, -0.99657, -0.06976], [-0.07671, 0.07304, -0.99437]], \"simulated_seconds_remaining\": 43.362, \"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": 0.59,
      "y": 0,
      "z": 1.08
    },
    "note": "The bottle appears near the lower center of the wrist view beside the bowl. Moving forward to center the work surface and improve localization."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [-0.02706, 0.25426, 0.07616, -1.13753, -0.0881, 1.30845, 0.07002], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.58871, -1e-05, 1.0802], \"tcp_roll_pitch_yaw\": [-1e-05, 0.00039, -1e-05], \"tcp_rotation_matrix\": [[0.99603, -0.03896, -0.08004], [-0.04458, -0.99657, -0.06977], [-0.07705, 0.07306, -0.99435]], \"simulated_seconds_remaining\": 42.108, \"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,
      "y": -0.015,
      "z": 0.94
    },
    "note": "The bottle is visible as a narrow blue shape next to the bowl. Lowering toward it while correcting the forward offset to bring it between the fingers."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [-0.05571, -0.1258, 0.05657, -1.97956, -0.06404, 1.77303, 0.05745], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.5007, -0.01489, 0.94111], \"tcp_roll_pitch_yaw\": [-2e-05, 0.00061, -3e-05], \"tcp_rotation_matrix\": [[0.99601, -0.03896, -0.08026], [-0.0446, -0.99656, -0.06978], [-0.07726, 0.07308, -0.99433]], \"simulated_seconds_remaining\": 40.722, \"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": 0.49,
      "y": -0.045,
      "z": 0.84
    },
    "note": "The bottle is just right of the finger gap in the wrist image. Shifting right and descending with the jaws open to surround its upper body."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [-0.08293, -0.09417, 0.02446, -2.20509, -0.08061, 2.03299, 0.02209], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.49007, -0.04465, 0.84117], \"tcp_roll_pitch_yaw\": [-1e-05, 0.00096, -0.00012], \"tcp_rotation_matrix\": [[0.99598, -0.03902, -0.08061], [-0.04469, -0.99656, -0.06976], [-0.07761, 0.07308, -0.9943]], \"simulated_seconds_remaining\": 39.732, \"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": {
      "y": 0.02,
      "z": 0.81
    },
    "note": "The bottle moved farther right in the wrist view, so the lateral correction needs reversing. Moving left to align the open jaws around the blue body."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [-0.02501, -0.0588, 0.09035, -2.24554, -0.06856, 2.10061, 0.14391], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.49004, 0.01897, 0.8105], \"tcp_roll_pitch_yaw\": [-2e-05, 0.00108, 0.00014], \"tcp_rotation_matrix\": [[0.99598, -0.03876, -0.08072], [-0.04444, -0.99657, -0.06979], [-0.07774, 0.0731, -0.99429]], \"simulated_seconds_remaining\": 38.94, \"calls_remaining_including_this\": 52}"
      },
      {
        "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": 0.028,
      "z": 0.765
    },
    "note": "The blue bottle is now centered in the jaw gap. Lowering a little farther and shifting back slightly so the fingers engage its body."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [-0.01603, -0.04854, 0.10064, -2.35995, -0.07293, 2.22352, 0.17282], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.47039, 0.0278, 0.76596], \"tcp_roll_pitch_yaw\": [-5e-05, 0.00135, 0.00018], \"tcp_rotation_matrix\": [[0.99596, -0.03869, -0.08099], [-0.0444, -0.99657, -0.06982], [-0.07801, 0.07313, -0.99427]], \"simulated_seconds_remaining\": 38.28, \"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 bottle is beneath the centered fingers and is occluded by the gripper. Closing the jaws to grasp it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [-0.01603, -0.04854, 0.10064, -2.35995, -0.07293, 2.22352, 0.17282], \"gripper_open\": 0.0, \"tcp_xyz\": [0.47039, 0.02781, 0.76595], \"tcp_roll_pitch_yaw\": [-5e-05, 0.00135, 0.00018], \"tcp_rotation_matrix\": [[0.99596, -0.0387, -0.08098], [-0.0444, -0.99657, -0.06982], [-0.078, 0.07313, -0.99427]], \"simulated_seconds_remaining\": 37.356, \"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": {
      "z": 0.93
    },
    "note": "The jaws closed fully, so the grasp may have missed. Lifting to check whether the bottle follows and to regain a clear view."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [-0.0136, -0.20865, 0.09622, -2.09792, -0.04451, 1.80382, 0.13352], \"gripper_open\": 0.0, \"tcp_xyz\": [0.47047, 0.02781, 0.92876], \"tcp_roll_pitch_yaw\": [-3e-05, 0.00099, 0.00019], \"tcp_rotation_matrix\": [[0.99599, -0.03872, -0.08063], [-0.04439, -0.99657, -0.0698], [-0.07765, 0.0731, -0.9943]], \"simulated_seconds_remaining\": 35.97, \"calls_remaining_including_this\": 49}"
      },
      {
        "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": -0.01,
      "z": 0.86,
      "gripper": 1
    },
    "note": "The bottle remained on the surface. The closed jaws showed the true grasp center farther forward and right in the image; repositioning the open gripper accordingly."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [-0.04879, 0.06078, 0.06109, -1.96566, -0.07789, 1.94326, 0.0855], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.54903, -0.00961, 0.86069], \"tcp_roll_pitch_yaw\": [-2e-05, 0.00125, 7e-05], \"tcp_rotation_matrix\": [[0.99597, -0.03881, -0.08089], [-0.04451, -0.99657, -0.06978], [-0.07791, 0.0731, -0.99428]], \"simulated_seconds_remaining\": 34.914, \"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": 0.56,
      "y": -0.012,
      "z": 0.75
    },
    "note": "The blue body now lies between the open fingers in the wrist view. Descending to grip the bottle below its neck."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 11, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [-0.05014, 0.21278, 0.05548, -2.06134, -0.09971, 2.18955, 0.10765], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.55978, -0.01198, 0.75115], \"tcp_roll_pitch_yaw\": [-2e-05, 0.00162, 5e-05], \"tcp_rotation_matrix\": [[0.99594, -0.03881, -0.08126], [-0.04452, -0.99657, -0.06979], [-0.07827, 0.07312, -0.99425]], \"simulated_seconds_remaining\": 33.858, \"calls_remaining_including_this\": 47}"
      },
      {
        "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 bottle body is centered at the closing region of the jaws. Closing to secure it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 12, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [-0.05014, 0.21278, 0.05548, -2.06134, -0.09971, 2.18955, 0.10765], \"gripper_open\": 0.0, \"tcp_xyz\": [0.55979, -0.01198, 0.75114], \"tcp_roll_pitch_yaw\": [-2e-05, 0.00161, 5e-05], \"tcp_rotation_matrix\": [[0.99594, -0.03881, -0.08125], [-0.04452, -0.99657, -0.06979], [-0.07827, 0.07312, -0.99425]], \"simulated_seconds_remaining\": 32.934, \"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": {
      "z": 0.68,
      "gripper": 1
    },
    "note": "The jaws again reached full closure, indicating they are above or beside the bottle. Opening and lowering farther along the bottle body while maintaining alignment."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 13, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [-0.04718, 0.31617, 0.04896, -2.08958, -0.12011, 2.53183, 0.12883], \"gripper_open\": 0.9965, \"tcp_xyz\": [0.61625, -0.00666, 0.71004], \"tcp_roll_pitch_yaw\": [0.01479, -0.20875, 0.01075], \"tcp_rotation_matrix\": [[0.99087, -0.03949, 0.12892], [-0.03279, -0.99802, -0.05367], [0.13079, 0.04895, -0.9902]], \"simulated_seconds_remaining\": 32.01, \"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"
}

The bottle is still on the surface. I’m correcting the alignment using the wrist view before trying the grasp again.


{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.65,
      "y": 0.025,
      "z": 0.86,
      "roll": 0,
      "pitch": 0,
      "yaw": 0,
      "gripper": 1
    },
    "note": "The last descent met resistance and changed the wrist pose. Raising clear and moving farther forward to place the bottle under the grasp point."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 14, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [5e-05, 0.38258, 0.07508, -1.52421, -0.09497, 1.8218, 0.14016], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.64992, 0.02484, 0.85913], \"tcp_roll_pitch_yaw\": [0.00015, -0.00187, 0.00016], \"tcp_rotation_matrix\": [[0.99621, -0.03895, -0.07779], [-0.0444, -0.99658, -0.06962], [-0.07481, 0.07281, -0.99454]], \"simulated_seconds_remaining\": 30.69, \"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": 0.625,
      "y": 0.035,
      "z": 0.76
    },
    "note": "The clearer view shows the blue body ahead of its pale neck. Centering over the blue body and lowering for a grasp across it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 15, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.01585, 0.3382, 0.08791, -1.75874, -0.10064, 2.07951, 0.17796], \"gripper_open\": 1.0, \"tcp_xyz\": [0.63859, 0.04782, 0.79983], \"tcp_roll_pitch_yaw\": [0.01014, -0.07084, 0.01442], \"tcp_rotation_matrix\": [[0.99955, -0.02895, -0.00816], [-0.02939, -0.99778, -0.05979], [-0.00641, 0.06001, -0.99818]], \"simulated_seconds_remaining\": 29.7, \"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": {
      "gripper": 0
    },
    "note": "The blue bottle body has entered the finger gap and the pale nozzle is visible to its right. Closing now to capture the body."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 16, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.01526, 0.33109, 0.08702, -1.75291, -0.10255, 2.08037, 0.17819], \"gripper_open\": 0.4337, \"tcp_xyz\": [0.64193, 0.04672, 0.80715], \"tcp_roll_pitch_yaw\": [0.00881, -0.08481, 0.0137], \"tcp_rotation_matrix\": [[0.99951, -0.03061, 0.00575], [-0.03021, -0.99769, -0.06092], [0.0076, 0.06072, -0.99813]], \"simulated_seconds_remaining\": 28.776, \"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": {
      "z": 1
    },
    "note": "The jaws stopped partway closed against the bottle. Lifting vertically to verify the grasp and clear the surface."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 17, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.02202, 0.28815, 0.0932, -1.32243, -0.08771, 1.60813, 0.14518], \"gripper_open\": 0.2726, \"tcp_xyz\": [0.64196, 0.04674, 0.99859], \"tcp_roll_pitch_yaw\": [0.00883, -0.08475, 0.01371], \"tcp_rotation_matrix\": [[0.99952, -0.0306, 0.00569], [-0.0302, -0.99769, -0.0609], [0.00754, 0.0607, -0.99813]], \"simulated_seconds_remaining\": 27.192, \"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": 0.43,
      "y": 0.23,
      "z": 1.02
    },
    "note": "The bottle lifted with the gripper. The white bowl is to the left and nearer the robot, so carrying the bottle above that area with clearance."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 18, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.20453, -0.21456, 0.27688, -1.87484, 0.00145, 1.64515, 0.50471], \"gripper_open\": 0.2703, \"tcp_xyz\": [0.43093, 0.22923, 1.0198], \"tcp_roll_pitch_yaw\": [0.00873, -0.0845, 0.01401], \"tcp_rotation_matrix\": [[0.99953, -0.03029, 0.00546], [-0.02991, -0.99769, -0.061], [0.00729, 0.06081, -0.99812]], \"simulated_seconds_remaining\": 25.014, \"calls_remaining_including_this\": 40}"
      },
      {
        "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": {
      "z": 0.84
    },
    "note": "The bowl is centered beneath the held bottle in the wrist view. Lowering toward the bowl to reduce the release height."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 19, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.20901, -0.14873, 0.2949, -2.26901, -0.01509, 2.10134, 0.53823], \"gripper_open\": 0.2715, \"tcp_xyz\": [0.43079, 0.22915, 0.84105], \"tcp_roll_pitch_yaw\": [0.00846, -0.08382, 0.01401], \"tcp_rotation_matrix\": [[0.99953, -0.03028, 0.00478], [-0.02993, -0.99767, -0.06128], [0.00663, 0.06111, -0.99811]], \"simulated_seconds_remaining\": 23.496, \"calls_remaining_including_this\": 39}"
      },
      {
        "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": 0.47,
      "y": 0.25,
      "z": 0.73
    },
    "note": "The bowl is slightly beyond the bottle in the wrist view. Moving forward a little and lowering until the bottle is close to its interior."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 20, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.21216, 0.14414, 0.29756, -2.2372, -0.13709, 2.344, 0.63489], \"gripper_open\": 0.2693, \"tcp_xyz\": [0.46941, 0.24967, 0.73093], \"tcp_roll_pitch_yaw\": [0.00821, -0.08318, 0.01398], \"tcp_rotation_matrix\": [[0.99953, -0.03029, 0.00415], [-0.02998, -0.99765, -0.06155], [0.006, 0.06139, -0.9981]], \"simulated_seconds_remaining\": 22.374, \"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": 0.5,
      "y": 0.29,
      "z": 0.64
    },
    "note": "The bottle is above the near side of the bowl. Adjusting toward the bowl center and lowering gently for release."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 21, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.28295, 0.43671, 0.25758, -2.0865, -0.26305, 2.46564, 0.75824], \"gripper_open\": 0.2687, \"tcp_xyz\": [0.49941, 0.2894, 0.64089], \"tcp_roll_pitch_yaw\": [0.00797, -0.08259, 0.01402], \"tcp_rotation_matrix\": [[0.99954, -0.03023, 0.00356], [-0.02996, -0.99764, -0.06179], [0.00542, 0.06166, -0.99808]], \"simulated_seconds_remaining\": 21.384, \"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": {
      "z": 0.58
    },
    "note": "The bottle now overlaps the bowl interior in both views. Lowering the last few centimeters before opening the gripper."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 22, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.31374, 0.56626, 0.2149, -2.06607, -0.31991, 2.57108, 0.80185], \"gripper_open\": 0.2677, \"tcp_xyz\": [0.49918, 0.28926, 0.58093], \"tcp_roll_pitch_yaw\": [0.00766, -0.08196, 0.014], \"tcp_rotation_matrix\": [[0.99954, -0.03023, 0.00294], [-0.02999, -0.99762, -0.06211], [0.00481, 0.06199, -0.99806]], \"simulated_seconds_remaining\": 20.658, \"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": {
      "gripper": 1
    },
    "note": "The bottle is lowered over the bowl interior. Opening the jaws to release it onto the bowl."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 23, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.31374, 0.56626, 0.2149, -2.06607, -0.31991, 2.57108, 0.80185], \"gripper_open\": 0.9965, \"tcp_xyz\": [0.49918, 0.28926, 0.58092], \"tcp_roll_pitch_yaw\": [0.00766, -0.08197, 0.01401], \"tcp_rotation_matrix\": [[0.99954, -0.03023, 0.00294], [-0.02999, -0.99762, -0.06211], [0.00481, 0.06199, -0.99807]], \"simulated_seconds_remaining\": 19.734, \"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": 0.82
    },
    "note": "The bottle has left the fingers and is resting within the white bowl. Raising the open gripper to confirm it remains in place."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 24, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.24089, 0.1495, 0.31703, -1.97957, -0.11615, 2.08881, 0.64468], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.49927, 0.28932, 0.81881], \"tcp_roll_pitch_yaw\": [0.00781, -0.08232, 0.014], \"tcp_rotation_matrix\": [[0.99954, -0.03025, 0.00329], [-0.02998, -0.99763, -0.06196], [0.00516, 0.06183, -0.99807]], \"simulated_seconds_remaining\": 17.82, \"calls_remaining_including_this\": 34}"
      },
      {
        "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": "done",
  "arguments": {},
  "result": null,
  "error": {
    "message": "tool call error: tool call failed for `robot/done`\n\nCaused by:\n    Mcp error: -32602: A short note is required"
  },
  "status": "failed"
}

{
  "type": "mcp_tool_call",
  "tool": "done",
  "arguments": {
    "note": "The bottle is released and resting on the white bowl, and the gripper has withdrawn."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "Episode ended. Do not call more tools. Return a brief final response."
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

Placed the bottle on the bowl and withdrew the gripper.

TURN USAGE
{
  "input_tokens": 497722,
  "cached_input_tokens": 465152,
  "cache_write_input_tokens": 0,
  "output_tokens": 4809,
  "reasoning_output_tokens": 2113
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      -0.03142,
      -0.79624,
      0.03371,
      -2.40069,
      -0.04647,
      1.52551,
      0.03285
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.28541,
      -0.01261,
      0.99486
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99606,
        -0.03898,
        -0.07965
      ],
      [
        -0.04457,
        -0.99657,
        -0.06976
      ],
      [
        -0.07666,
        0.07304,
        -0.99438
      ]
    ],
    "simulated_seconds_remaining": 45.012,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 24.018321812152863,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.45,
                    "y": 0,
                    "z": 1.12,
                    "gripper": 1
                  },
                  "note": "The blue bottle is behind the white bowl. Moving upward and forward for a clearer view of both."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 25,
    "motion_seconds": 1.6500000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      -0.03842,
      -0.19902,
      0.06781,
      -1.59531,
      -0.05602,
      1.31528,
      0.05745
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44893,
      -9e-05,
      1.11914
    ],
    "tcp_roll_pitch_yaw": [
      -0.0,
      5e-05,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99606,
        -0.03897,
        -0.0797
      ],
      [
        -0.04457,
        -0.99657,
        -0.06976
      ],
      [
        -0.07671,
        0.07304,
        -0.99437
      ]
    ],
    "simulated_seconds_remaining": 43.362,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 7.406603527255356,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.59,
                    "y": 0,
                    "z": 1.08
                  },
                  "note": "The bottle appears near the lower center of the wrist view beside the bowl. Moving forward to center the work surface and improve localization."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      -0.02706,
      0.25426,
      0.07616,
      -1.13753,
      -0.0881,
      1.30845,
      0.07002
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.58871,
      -1e-05,
      1.0802
    ],
    "tcp_roll_pitch_yaw": [
      -1e-05,
      0.00039,
      -1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99603,
        -0.03896,
        -0.08004
      ],
      [
        -0.04458,
        -0.99657,
        -0.06977
      ],
      [
        -0.07705,
        0.07306,
        -0.99435
      ]
    ],
    "simulated_seconds_remaining": 42.108,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 16.61252650152892,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.5,
                    "y": -0.015,
                    "z": 0.94
                  },
                  "note": "The bottle is visible as a narrow blue shape next to the bowl. Lowering toward it while correcting the forward offset to bring it between the fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      -0.05571,
      -0.1258,
      0.05657,
      -1.97956,
      -0.06404,
      1.77303,
      0.05745
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.5007,
      -0.01489,
      0.94111
    ],
    "tcp_roll_pitch_yaw": [
      -2e-05,
      0.00061,
      -3e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99601,
        -0.03896,
        -0.08026
      ],
      [
        -0.0446,
        -0.99656,
        -0.06978
      ],
      [
        -0.07726,
        0.07308,
        -0.99433
      ]
    ],
    "simulated_seconds_remaining": 40.722,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 9.00736534781754,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.49,
                    "y": -0.045,
                    "z": 0.84
                  },
                  "note": "The bottle is just right of the finger gap in the wrist image. Shifting right and descending with the jaws open to surround its upper body."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      -0.08293,
      -0.09417,
      0.02446,
      -2.20509,
      -0.08061,
      2.03299,
      0.02209
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.49007,
      -0.04465,
      0.84117
    ],
    "tcp_roll_pitch_yaw": [
      -1e-05,
      0.00096,
      -0.00012
    ],
    "tcp_rotation_matrix": [
      [
        0.99598,
        -0.03902,
        -0.08061
      ],
      [
        -0.04469,
        -0.99656,
        -0.06976
      ],
      [
        -0.07761,
        0.07308,
        -0.9943
      ]
    ],
    "simulated_seconds_remaining": 39.732,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 10.807968812063336,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.02,
                    "z": 0.81
                  },
                  "note": "The bottle moved farther right in the wrist view, so the lateral correction needs reversing. Moving left to align the open jaws around the blue body."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      -0.02501,
      -0.0588,
      0.09035,
      -2.24554,
      -0.06856,
      2.10061,
      0.14391
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.49004,
      0.01897,
      0.8105
    ],
    "tcp_roll_pitch_yaw": [
      -2e-05,
      0.00108,
      0.00014
    ],
    "tcp_rotation_matrix": [
      [
        0.99598,
        -0.03876,
        -0.08072
      ],
      [
        -0.04444,
        -0.99657,
        -0.06979
      ],
      [
        -0.07774,
        0.0731,
        -0.99429
      ]
    ],
    "simulated_seconds_remaining": 38.94,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 8.006498577073216,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.47,
                    "y": 0.028,
                    "z": 0.765
                  },
                  "note": "The blue bottle is now centered in the jaw gap. Lowering a little farther and shifting back slightly so the fingers engage its body."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      -0.01603,
      -0.04854,
      0.10064,
      -2.35995,
      -0.07293,
      2.22352,
      0.17282
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.47039,
      0.0278,
      0.76596
    ],
    "tcp_roll_pitch_yaw": [
      -5e-05,
      0.00135,
      0.00018
    ],
    "tcp_rotation_matrix": [
      [
        0.99596,
        -0.03869,
        -0.08099
      ],
      [
        -0.0444,
        -0.99657,
        -0.06982
      ],
      [
        -0.07801,
        0.07313,
        -0.99427
      ]
    ],
    "simulated_seconds_remaining": 38.28,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 5.6047308361157775,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The bottle is beneath the centered fingers and is occluded by the gripper. Closing the jaws to grasp it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      -0.01603,
      -0.04854,
      0.10064,
      -2.35995,
      -0.07293,
      2.22352,
      0.17282
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.47039,
      0.02781,
      0.76595
    ],
    "tcp_roll_pitch_yaw": [
      -5e-05,
      0.00135,
      0.00018
    ],
    "tcp_rotation_matrix": [
      [
        0.99596,
        -0.0387,
        -0.08098
      ],
      [
        -0.0444,
        -0.99657,
        -0.06982
      ],
      [
        -0.078,
        0.07313,
        -0.99427
      ]
    ],
    "simulated_seconds_remaining": 37.356,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 6.205038841813803,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.93
                  },
                  "note": "The jaws closed fully, so the grasp may have missed. Lifting to check whether the bottle follows and to regain a clear view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      -0.0136,
      -0.20865,
      0.09622,
      -2.09792,
      -0.04451,
      1.80382,
      0.13352
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.47047,
      0.02781,
      0.92876
    ],
    "tcp_roll_pitch_yaw": [
      -3e-05,
      0.00099,
      0.00019
    ],
    "tcp_rotation_matrix": [
      [
        0.99599,
        -0.03872,
        -0.08063
      ],
      [
        -0.04439,
        -0.99657,
        -0.0698
      ],
      [
        -0.07765,
        0.0731,
        -0.9943
      ]
    ],
    "simulated_seconds_remaining": 35.97,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 8.406253061257303,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.55,
                    "y": -0.01,
                    "z": 0.86,
                    "gripper": 1
                  },
                  "note": "The bottle remained on the surface. The closed jaws showed the true grasp center farther forward and right in the image; repositioning the open gripper accordingly."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      -0.04879,
      0.06078,
      0.06109,
      -1.96566,
      -0.07789,
      1.94326,
      0.0855
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.54903,
      -0.00961,
      0.86069
    ],
    "tcp_roll_pitch_yaw": [
      -2e-05,
      0.00125,
      7e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99597,
        -0.03881,
        -0.08089
      ],
      [
        -0.04451,
        -0.99657,
        -0.06978
      ],
      [
        -0.07791,
        0.0731,
        -0.99428
      ]
    ],
    "simulated_seconds_remaining": 34.914,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 10.010805469937623,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.56,
                    "y": -0.012,
                    "z": 0.75
                  },
                  "note": "The blue body now lies between the open fingers in the wrist view. Descending to grip the bottle below its neck."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      -0.05014,
      0.21278,
      0.05548,
      -2.06134,
      -0.09971,
      2.18955,
      0.10765
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.55978,
      -0.01198,
      0.75115
    ],
    "tcp_roll_pitch_yaw": [
      -2e-05,
      0.00162,
      5e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99594,
        -0.03881,
        -0.08126
      ],
      [
        -0.04452,
        -0.99657,
        -0.06979
      ],
      [
        -0.07827,
        0.07312,
        -0.99425
      ]
    ],
    "simulated_seconds_remaining": 33.858,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 6.009349067695439,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The bottle body is centered at the closing region of the jaws. Closing to secure it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      -0.05014,
      0.21278,
      0.05548,
      -2.06134,
      -0.09971,
      2.18955,
      0.10765
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.55979,
      -0.01198,
      0.75114
    ],
    "tcp_roll_pitch_yaw": [
      -2e-05,
      0.00161,
      5e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99594,
        -0.03881,
        -0.08125
      ],
      [
        -0.04452,
        -0.99657,
        -0.06979
      ],
      [
        -0.07827,
        0.07312,
        -0.99425
      ]
    ],
    "simulated_seconds_remaining": 32.934,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 6.204953994601965,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.68,
                    "gripper": 1
                  },
                  "note": "The jaws again reached full closure, indicating they are above or beside the bottle. Opening and lowering farther along the bottle body while maintaining alignment."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      -0.04718,
      0.31617,
      0.04896,
      -2.08958,
      -0.12011,
      2.53183,
      0.12883
    ],
    "gripper_open": 0.9965,
    "tcp_xyz": [
      0.61625,
      -0.00666,
      0.71004
    ],
    "tcp_roll_pitch_yaw": [
      0.01479,
      -0.20875,
      0.01075
    ],
    "tcp_rotation_matrix": [
      [
        0.99087,
        -0.03949,
        0.12892
      ],
      [
        -0.03279,
        -0.99802,
        -0.05367
      ],
      [
        0.13079,
        0.04895,
        -0.9902
      ]
    ],
    "simulated_seconds_remaining": 32.01,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 21.81616010889411,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.65,
                    "y": 0.025,
                    "z": 0.86,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 0,
                    "gripper": 1
                  },
                  "note": "The last descent met resistance and changed the wrist pose. Raising clear and moving farther forward to place the bottle under the grasp point."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      5e-05,
      0.38258,
      0.07508,
      -1.52421,
      -0.09497,
      1.8218,
      0.14016
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.64992,
      0.02484,
      0.85913
    ],
    "tcp_roll_pitch_yaw": [
      0.00015,
      -0.00187,
      0.00016
    ],
    "tcp_rotation_matrix": [
      [
        0.99621,
        -0.03895,
        -0.07779
      ],
      [
        -0.0444,
        -0.99658,
        -0.06962
      ],
      [
        -0.07481,
        0.07281,
        -0.99454
      ]
    ],
    "simulated_seconds_remaining": 30.69,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 10.209544122219086,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.625,
                    "y": 0.035,
                    "z": 0.76
                  },
                  "note": "The clearer view shows the blue body ahead of its pale neck. Centering over the blue body and lowering for a grasp across it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.01585,
      0.3382,
      0.08791,
      -1.75874,
      -0.10064,
      2.07951,
      0.17796
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.63859,
      0.04782,
      0.79983
    ],
    "tcp_roll_pitch_yaw": [
      0.01014,
      -0.07084,
      0.01442
    ],
    "tcp_rotation_matrix": [
      [
        0.99955,
        -0.02895,
        -0.00816
      ],
      [
        -0.02939,
        -0.99778,
        -0.05979
      ],
      [
        -0.00641,
        0.06001,
        -0.99818
      ]
    ],
    "simulated_seconds_remaining": 29.7,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 7.0058578830212355,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The blue bottle body has entered the finger gap and the pale nozzle is visible to its right. Closing now to capture the body."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.01526,
      0.33109,
      0.08702,
      -1.75291,
      -0.10255,
      2.08037,
      0.17819
    ],
    "gripper_open": 0.4337,
    "tcp_xyz": [
      0.64193,
      0.04672,
      0.80715
    ],
    "tcp_roll_pitch_yaw": [
      0.00881,
      -0.08481,
      0.0137
    ],
    "tcp_rotation_matrix": [
      [
        0.99951,
        -0.03061,
        0.00575
      ],
      [
        -0.03021,
        -0.99769,
        -0.06092
      ],
      [
        0.0076,
        0.06072,
        -0.99813
      ]
    ],
    "simulated_seconds_remaining": 28.776,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 4.803737326525152,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1
                  },
                  "note": "The jaws stopped partway closed against the bottle. Lifting vertically to verify the grasp and clear the surface."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 24,
    "motion_seconds": 1.584,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.02202,
      0.28815,
      0.0932,
      -1.32243,
      -0.08771,
      1.60813,
      0.14518
    ],
    "gripper_open": 0.2726,
    "tcp_xyz": [
      0.64196,
      0.04674,
      0.99859
    ],
    "tcp_roll_pitch_yaw": [
      0.00883,
      -0.08475,
      0.01371
    ],
    "tcp_rotation_matrix": [
      [
        0.99952,
        -0.0306,
        0.00569
      ],
      [
        -0.0302,
        -0.99769,
        -0.0609
      ],
      [
        0.00754,
        0.0607,
        -0.99813
      ]
    ],
    "simulated_seconds_remaining": 27.192,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 12.409576173871756,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.43,
                    "y": 0.23,
                    "z": 1.02
                  },
                  "note": "The bottle lifted with the gripper. The white bowl is to the left and nearer the robot, so carrying the bottle above that area with clearance."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 33,
    "motion_seconds": 2.178,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.20453,
      -0.21456,
      0.27688,
      -1.87484,
      0.00145,
      1.64515,
      0.50471
    ],
    "gripper_open": 0.2703,
    "tcp_xyz": [
      0.43093,
      0.22923,
      1.0198
    ],
    "tcp_roll_pitch_yaw": [
      0.00873,
      -0.0845,
      0.01401
    ],
    "tcp_rotation_matrix": [
      [
        0.99953,
        -0.03029,
        0.00546
      ],
      [
        -0.02991,
        -0.99769,
        -0.061
      ],
      [
        0.00729,
        0.06081,
        -0.99812
      ]
    ],
    "simulated_seconds_remaining": 25.014,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 7.406140523031354,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.84
                  },
                  "note": "The bowl is centered beneath the held bottle in the wrist view. Lowering toward the bowl to reduce the release height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 19,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.20901,
      -0.14873,
      0.2949,
      -2.26901,
      -0.01509,
      2.10134,
      0.53823
    ],
    "gripper_open": 0.2715,
    "tcp_xyz": [
      0.43079,
      0.22915,
      0.84105
    ],
    "tcp_roll_pitch_yaw": [
      0.00846,
      -0.08382,
      0.01401
    ],
    "tcp_rotation_matrix": [
      [
        0.99953,
        -0.03028,
        0.00478
      ],
      [
        -0.02993,
        -0.99767,
        -0.06128
      ],
      [
        0.00663,
        0.06111,
        -0.99811
      ]
    ],
    "simulated_seconds_remaining": 23.496,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 11.209070923738182,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.47,
                    "y": 0.25,
                    "z": 0.73
                  },
                  "note": "The bowl is slightly beyond the bottle in the wrist view. Moving forward a little and lowering until the bottle is close to its interior."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 20,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.21216,
      0.14414,
      0.29756,
      -2.2372,
      -0.13709,
      2.344,
      0.63489
    ],
    "gripper_open": 0.2693,
    "tcp_xyz": [
      0.46941,
      0.24967,
      0.73093
    ],
    "tcp_roll_pitch_yaw": [
      0.00821,
      -0.08318,
      0.01398
    ],
    "tcp_rotation_matrix": [
      [
        0.99953,
        -0.03029,
        0.00415
      ],
      [
        -0.02998,
        -0.99765,
        -0.06155
      ],
      [
        0.006,
        0.06139,
        -0.9981
      ]
    ],
    "simulated_seconds_remaining": 22.374,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 12.008881082758307,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.5,
                    "y": 0.29,
                    "z": 0.64
                  },
                  "note": "The bottle is above the near side of the bowl. Adjusting toward the bowl center and lowering gently for release."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 21,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.28295,
      0.43671,
      0.25758,
      -2.0865,
      -0.26305,
      2.46564,
      0.75824
    ],
    "gripper_open": 0.2687,
    "tcp_xyz": [
      0.49941,
      0.2894,
      0.64089
    ],
    "tcp_roll_pitch_yaw": [
      0.00797,
      -0.08259,
      0.01402
    ],
    "tcp_rotation_matrix": [
      [
        0.99954,
        -0.03023,
        0.00356
      ],
      [
        -0.02996,
        -0.99764,
        -0.06179
      ],
      [
        0.00542,
        0.06166,
        -0.99808
      ]
    ],
    "simulated_seconds_remaining": 21.384,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 6.609092377126217,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.58
                  },
                  "note": "The bottle now overlaps the bowl interior in both views. Lowering the last few centimeters before opening the gripper."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 22,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.31374,
      0.56626,
      0.2149,
      -2.06607,
      -0.31991,
      2.57108,
      0.80185
    ],
    "gripper_open": 0.2677,
    "tcp_xyz": [
      0.49918,
      0.28926,
      0.58093
    ],
    "tcp_roll_pitch_yaw": [
      0.00766,
      -0.08196,
      0.014
    ],
    "tcp_rotation_matrix": [
      [
        0.99954,
        -0.03023,
        0.00294
      ],
      [
        -0.02999,
        -0.99762,
        -0.06211
      ],
      [
        0.00481,
        0.06199,
        -0.99806
      ]
    ],
    "simulated_seconds_remaining": 20.658,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 4.603874715976417,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 1
                  },
                  "note": "The bottle is lowered over the bowl interior. Opening the jaws to release it onto the bowl."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 23,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.31374,
      0.56626,
      0.2149,
      -2.06607,
      -0.31991,
      2.57108,
      0.80185
    ],
    "gripper_open": 0.9965,
    "tcp_xyz": [
      0.49918,
      0.28926,
      0.58092
    ],
    "tcp_roll_pitch_yaw": [
      0.00766,
      -0.08197,
      0.01401
    ],
    "tcp_rotation_matrix": [
      [
        0.99954,
        -0.03023,
        0.00294
      ],
      [
        -0.02999,
        -0.99762,
        -0.06211
      ],
      [
        0.00481,
        0.06199,
        -0.99807
      ]
    ],
    "simulated_seconds_remaining": 19.734,
    "calls_remaining_including_this": 35
  },
  "api_seconds": 4.804371322505176,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.82
                  },
                  "note": "The bottle has left the fingers and is resting within the white bowl. Raising the open gripper to confirm it remains in place."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 29,
    "motion_seconds": 1.9140000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 24,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.24089,
      0.1495,
      0.31703,
      -1.97957,
      -0.11615,
      2.08881,
      0.64468
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.49927,
      0.28932,
      0.81881
    ],
    "tcp_roll_pitch_yaw": [
      0.00781,
      -0.08232,
      0.014
    ],
    "tcp_rotation_matrix": [
      [
        0.99954,
        -0.03025,
        0.00329
      ],
      [
        -0.02998,
        -0.99763,
        -0.06196
      ],
      [
        0.00516,
        0.06183,
        -0.99807
      ]
    ],
    "simulated_seconds_remaining": 17.82,
    "calls_remaining_including_this": 34
  },
  "api_seconds": 9.807632912881672,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "done",
                "args": {
                  "note": "The bottle is released and resting on the white bowl, and the gripper has withdrawn."
                }
              }
            }
          ]
        }
      }
    ]
  }
}

========================================================================
GPT-Astra / Pick & place / 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,
  "status": "completed",
  "success": true,
  "oracle_success": true,
  "action_decisions": 24,
  "wall_seconds": 274.06,
  "usage": {
    "input_tokens": 472181,
    "cached_input_tokens": 436096,
    "cache_write_input_tokens": 0,
    "output_tokens": 4499,
    "reasoning_output_tokens": 1918
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick-and-place 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 45 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 and grasp the requested object, lift it, move it to the named receptacle, and release it in or on that receptacle. Complete the entire pick-and-place 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 object and place it in the requested receptacle.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [-0.02667, -0.75818, -0.0193, -2.38803, -0.04137, 1.54258, 0.00311], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.29494, -0.02398, 0.99024], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.99524, -0.0413, -0.08827], [-0.04363, -0.99875, -0.02456], [-0.08714, 0.0283, -0.99579]], \"simulated_seconds_remaining\": 45.012, \"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": 1.18,
    "note": "The bowl is on the right and several foods are on the table; I am moving higher and forward to identify the potato 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": 0.46,
      "y": 0,
      "z": 1.18
    },
    "note": "The bowl is on the right and food is spread across the table; moving higher and forward will give a clearer view of the potato."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [-0.00888, -0.05238, 0.02269, -1.25627, -0.02469, 1.11527, 0.04639], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.45917, -0.00012, 1.17895], \"tcp_roll_pitch_yaw\": [-1e-05, 3e-05, 2e-05], \"tcp_rotation_matrix\": [[0.99524, -0.04128, -0.0883], [-0.04361, -0.99875, -0.02457], [-0.08717, 0.0283, -0.99579]], \"simulated_seconds_remaining\": 43.032, \"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": 0.55,
      "y": 0.09,
      "z": 0.98
    },
    "note": "The potato is the small brown oval left of the tomato in the wrist view. I am approaching it from above with the gripper open."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.06615, 0.05984, 0.10344, -1.65559, -0.01549, 1.62343, 0.21367], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.54944, 0.08951, 0.98101], \"tcp_roll_pitch_yaw\": [-5e-05, 0.00039, 0.00011], \"tcp_rotation_matrix\": [[0.99521, -0.04118, -0.08865], [-0.04352, -0.99875, -0.02462], [-0.08753, 0.02836, -0.99576]], \"simulated_seconds_remaining\": 41.184, \"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": 0.6,
      "y": 0.09,
      "z": 0.98
    },
    "note": "The potato remains left of the gripper center. A small forward adjustment will establish its alignment before descending."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.06781, 0.22956, 0.10045, -1.43437, -0.03238, 1.57098, 0.21068], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.59884, 0.08996, 0.97993], \"tcp_roll_pitch_yaw\": [-7e-05, 0.00055, 7e-05], \"tcp_rotation_matrix\": [[0.99519, -0.04122, -0.08882], [-0.04357, -0.99875, -0.02464], [-0.08769, 0.02839, -0.99574]], \"simulated_seconds_remaining\": 40.524, \"calls_remaining_including_this\": 54}"
      },
      {
        "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": 0.44,
      "y": -0.015,
      "z": 0.94
    },
    "note": "The forward adjustment moved the potato upward in the wrist view. I am moving back and right to center it between the fingers."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [-0.02375, -0.30079, 0.00511, -2.16034, -0.02531, 1.77105, 0.02983], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.44111, -0.01433, 0.94032], \"tcp_roll_pitch_yaw\": [-8e-05, 0.00052, -8e-05], \"tcp_rotation_matrix\": [[0.99519, -0.04136, -0.08878], [-0.04371, -0.99874, -0.02463], [-0.08765, 0.0284, -0.99575]], \"simulated_seconds_remaining\": 38.94, \"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": {
      "z": 0.825
    },
    "note": "The potato is now centered between the open fingers. I am lowering vertically toward its sides for a grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [-0.02454, -0.21991, 0.00468, -2.37897, -0.02893, 2.07011, 0.0376], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.44103, -0.01433, 0.82623], \"tcp_roll_pitch_yaw\": [-8e-05, 0.00088, -8e-05], \"tcp_rotation_matrix\": [[0.99516, -0.04135, -0.08915], [-0.04371, -0.99874, -0.02463], [-0.08802, 0.02841, -0.99571]], \"simulated_seconds_remaining\": 37.884, \"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": {
      "z": 0.775
    },
    "note": "The gripper is aligned above the potato, which is now obscured by the hand in the wrist view. I am lowering the last few centimeters to surround it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [-0.0253, -0.14888, 0.00459, -2.44477, -0.03208, 2.20657, 0.04205], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.44096, -0.01433, 0.77609], \"tcp_roll_pitch_yaw\": [-8e-05, 0.0012, -8e-05], \"tcp_rotation_matrix\": [[0.99513, -0.04135, -0.08946], [-0.04371, -0.99874, -0.02463], [-0.08833, 0.02842, -0.99569]], \"simulated_seconds_remaining\": 37.224, \"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 fingers are at potato height and straddle its position. I am closing them to secure it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [-0.0253, -0.14888, 0.00459, -2.44477, -0.03208, 2.20657, 0.04205], \"gripper_open\": 0.0, \"tcp_xyz\": [0.44096, -0.01433, 0.77608], \"tcp_roll_pitch_yaw\": [-8e-05, 0.00119, -8e-05], \"tcp_rotation_matrix\": [[0.99513, -0.04135, -0.08946], [-0.04371, -0.99874, -0.02463], [-0.08833, 0.02842, -0.99569]], \"simulated_seconds_remaining\": 36.3, \"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": {
      "z": 0.95,
      "gripper": 1
    },
    "note": "The fingers closed fully and the potato remains visible beside them, indicating a missed grasp. I am reopening and raising to correct alignment."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [-0.02374, -0.30243, 0.00518, -2.14031, -0.02517, 1.74905, 0.02934], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.44104, -0.01433, 0.94875], \"tcp_roll_pitch_yaw\": [-8e-05, 0.00085, -8e-05], \"tcp_rotation_matrix\": [[0.99516, -0.04136, -0.08911], [-0.04371, -0.99874, -0.02464], [-0.08798, 0.02841, -0.99572]], \"simulated_seconds_remaining\": 34.848, \"calls_remaining_including_this\": 49}"
      },
      {
        "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": 0.495,
      "y": -0.07,
      "z": 0.88
    },
    "note": "The potato sits left and behind the fingertip gap in the wrist image. I am shifting the open gripper forward and right to bring the gap over it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [-0.06648, -0.09966, -0.0548, -2.10372, -0.04321, 1.91798, -0.06155], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.49427, -0.06934, 0.88077], \"tcp_roll_pitch_yaw\": [-4e-05, 0.00112, -0.00022], \"tcp_rotation_matrix\": [[0.99513, -0.04149, -0.08938], [-0.04385, -0.99874, -0.02458], [-0.08825, 0.02838, -0.99569]], \"simulated_seconds_remaining\": 33.858, \"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": 0.565,
      "y": -0.07,
      "z": 0.79
    },
    "note": "The potato is horizontally centered, but still just behind the fingertip gap. I am advancing while lowering to put the fingertips around its middle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 11, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [-0.06281, 0.18738, -0.05009, -1.98354, -0.02887, 2.084, -0.05441], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.56411, -0.06998, 0.79093], \"tcp_roll_pitch_yaw\": [-2e-05, 0.00142, -0.0002], \"tcp_rotation_matrix\": [[0.99511, -0.04146, -0.08969], [-0.04383, -0.99874, -0.02456], [-0.08855, 0.02837, -0.99567]], \"simulated_seconds_remaining\": 32.802, \"calls_remaining_including_this\": 47}"
      },
      {
        "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 potato is visibly inside the gap between the fingers at grasp height. I am closing the gripper around it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 12, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [-0.05603, 0.17014, -0.04133, -1.97281, -0.0238, 2.08045, -0.05484], \"gripper_open\": 0.0297, \"tcp_xyz\": [0.57065, -0.06059, 0.80509], \"tcp_roll_pitch_yaw\": [0.00379, -0.02349, 0.01276], \"tcp_rotation_matrix\": [[0.99749, -0.02912, -0.06458], [-0.03057, -0.9993, -0.02161], [-0.0639, 0.02353, -0.99768]], \"simulated_seconds_remaining\": 31.878, \"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": {
      "z": 0.96
    },
    "note": "The fingers have closed near the potato. I am lifting vertically to check whether it is secured before moving toward the bowl."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 13, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [-0.05466, 0.08672, -0.04105, -1.6831, -0.02435, 1.70781, -0.06171], \"gripper_open\": 0.0, \"tcp_xyz\": [0.57072, -0.06059, 0.95879], \"tcp_roll_pitch_yaw\": [0.00376, -0.02387, 0.01277], \"tcp_rotation_matrix\": [[0.99751, -0.02912, -0.0642], [-0.03057, -0.9993, -0.02164], [-0.06352, 0.02355, -0.9977]], \"simulated_seconds_remaining\": 30.558, \"calls_remaining_including_this\": 45}"
      },
      {
        "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": 0.625,
      "y": -0.085,
      "z": 0.8,
      "gripper": 1,
      "roll": 0,
      "pitch": 0,
      "yaw": 0
    },
    "note": "The potato stayed on the table, so the grasp was shallow and displaced it slightly. I am reopening and moving farther forward to center the fingertips on its new position."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 14, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [-0.07581, 0.35803, -0.05329, -1.71057, -0.01836, 1.98328, -0.07594], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.6245, -0.08482, 0.80106], \"tcp_roll_pitch_yaw\": [6e-05, 0.00018, 7e-05], \"tcp_rotation_matrix\": [[0.99523, -0.04123, -0.08845], [-0.04356, -0.99875, -0.02451], [-0.08733, 0.02825, -0.99578]], \"simulated_seconds_remaining\": 29.106, \"calls_remaining_including_this\": 44}"
      },
      {
        "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": 0.57,
      "y": -0.07,
      "z": 0.8
    },
    "note": "The potato is now ahead of the open fingertips in the wrist image. I am backing up slightly at the same height to center it in the grasp gap."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 15, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [-0.06267, 0.19663, -0.04966, -1.94591, -0.02775, 2.05687, -0.05533], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.57128, -0.07032, 0.80008], \"tcp_roll_pitch_yaw\": [6e-05, 0.00015, 0.00011], \"tcp_rotation_matrix\": [[0.99523, -0.04118, -0.08841], [-0.04351, -0.99875, -0.02451], [-0.08729, 0.02824, -0.99578]], \"simulated_seconds_remaining\": 28.446, \"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": {
      "z": 0.745
    },
    "note": "The potato is centered in the fingertip gap. I am lowering a little farther so the fingers contact its sides instead of its upper surface."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 16, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [-0.06379, 0.26435, -0.04918, -1.99998, -0.02606, 2.17826, -0.05359], \"gripper_open\": 0.9967, \"tcp_xyz\": [0.57119, -0.0703, 0.74614], \"tcp_roll_pitch_yaw\": [9e-05, 0.0005, 0.00013], \"tcp_rotation_matrix\": [[0.9952, -0.04116, -0.08876], [-0.04349, -0.99875, -0.02448], [-0.08764, 0.02822, -0.99575]], \"simulated_seconds_remaining\": 27.786, \"calls_remaining_including_this\": 42}"
      },
      {
        "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 now extend alongside the potato at a lower grasp height. I am closing them around its body."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 17, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [-0.06362, 0.26395, -0.04894, -1.99978, -0.02592, 2.17813, -0.05362], \"gripper_open\": 0.8216, \"tcp_xyz\": [0.57135, -0.07005, 0.74642], \"tcp_roll_pitch_yaw\": [0.00022, 1e-05, 0.00046], \"tcp_rotation_matrix\": [[0.99526, -0.04084, -0.08826], [-0.04315, -0.99877, -0.02438], [-0.08716, 0.02807, -0.9958]], \"simulated_seconds_remaining\": 26.862, \"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": {
      "z": 0.98
    },
    "note": "The gripper remains partly open around the potato, indicating contact. I am lifting it clear of the table to verify the grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 18, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [-0.06092, 0.11616, -0.04943, -1.59037, -0.02825, 1.62154, -0.06553], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.57141, -0.07005, 0.97878], \"tcp_roll_pitch_yaw\": [0.0002, -0.00037, 0.00047], \"tcp_rotation_matrix\": [[0.99529, -0.04085, -0.08789], [-0.04314, -0.99877, -0.02441], [-0.08678, 0.02809, -0.99583]], \"simulated_seconds_remaining\": 25.014, \"calls_remaining_including_this\": 40}"
      },
      {
        "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": 0.745,
      "gripper": 1
    },
    "note": "The gripper reopened during the lift and left the potato on the table. I am returning to the successful contact position and will explicitly maintain the closed command while lifting."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 19, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [-0.0636, 0.26421, -0.04897, -2.00007, -0.02591, 2.17865, -0.05362], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.57132, -0.07004, 0.74621], \"tcp_roll_pitch_yaw\": [0.00023, 3e-05, 0.00047], \"tcp_rotation_matrix\": [[0.99526, -0.04083, -0.08829], [-0.04314, -0.99877, -0.02438], [-0.08718, 0.02807, -0.9958]], \"simulated_seconds_remaining\": 23.166, \"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": {
      "gripper": 0
    },
    "note": "The potato is again between the fingers at the lower grasp height. I am closing firmly around it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 20, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [-0.06358, 0.26431, -0.04894, -2.00022, -0.0259, 2.17854, -0.05361], \"gripper_open\": 0.8102, \"tcp_xyz\": [0.57121, -0.07, 0.74607], \"tcp_roll_pitch_yaw\": [0.00028, 0.00038, 0.0005], \"tcp_rotation_matrix\": [[0.99523, -0.04079, -0.08863], [-0.0431, -0.99877, -0.02433], [-0.08753, 0.02804, -0.99577]], \"simulated_seconds_remaining\": 22.242, \"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": {
      "z": 0.97,
      "gripper": 0
    },
    "note": "The fingers are contacting the potato. I am lifting while explicitly keeping the gripper closed."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 21, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [-0.06085, 0.11426, -0.0494, -1.61912, -0.02838, 1.64718, -0.06474], \"gripper_open\": 0.7891, \"tcp_xyz\": [0.57117, -0.06999, 0.96839], \"tcp_roll_pitch_yaw\": [0.00033, 0.00084, 0.0005], \"tcp_rotation_matrix\": [[0.99519, -0.04078, -0.08909], [-0.0431, -0.99878, -0.02428], [-0.08799, 0.028, -0.99573]], \"simulated_seconds_remaining\": 20.46, \"calls_remaining_including_this\": 37}"
      },
      {
        "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 potato is securely lifted. I’m moving it over the bowl and will lower it before releasing.


{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.34,
      "y": 0.3,
      "z": 1.05,
      "gripper": 0
    },
    "note": "The potato remains held in both views. I am carrying it toward the blue-and-white bowl while maintaining clearance above the table."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 22, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.25532, -0.26852, 0.37177, -1.82734, 0.12818, 1.48879, 0.65732], \"gripper_open\": 0.7815, \"tcp_xyz\": [0.34061, 0.29891, 1.04949], \"tcp_roll_pitch_yaw\": [1e-05, 0.00139, 0.00082], \"tcp_rotation_matrix\": [[0.99515, -0.04045, -0.08963], [-0.04281, -0.99878, -0.02463], [-0.08852, 0.02835, -0.99567]], \"simulated_seconds_remaining\": 17.226, \"calls_remaining_including_this\": 36}"
      },
      {
        "type": "text",
        "text": "{\"previous_execution\": {\"steps\": 49, \"motion_seconds\": 3.234, \"status\": \"executing; next observation shows actual arrival\"}}"
      },
      {
        "type": "text",
        "text": "exterior"
      },
      {
        "type": "image",
        "mimeType": "image/png"
      },
      {
        "type": "text",
        "text": "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": 0.3,
      "z": 0.88,
      "gripper": 0
    },
    "note": "The bowl is directly ahead of the held potato in the wrist view. I am lowering toward its center with a small backward correction."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 23, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.29132, -0.33723, 0.41626, -2.31709, 0.18232, 1.91409, 0.65297], \"gripper_open\": 0.7751, \"tcp_xyz\": [0.31005, 0.29987, 0.88095], \"tcp_roll_pitch_yaw\": [-0.00055, 0.00226, 0.00087], \"tcp_rotation_matrix\": [[0.99508, -0.04037, -0.0905], [-0.04281, -0.99877, -0.02519], [-0.08937, 0.02894, -0.99558]], \"simulated_seconds_remaining\": 15.774, \"calls_remaining_including_this\": 35}"
      },
      {
        "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": {
      "z": 0.82,
      "gripper": 0
    },
    "note": "The potato is centered above the bowl opening in the exterior view. I am lowering it close to the bowl before releasing."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 24, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.29104, -0.27356, 0.43976, -2.41945, 0.17794, 2.0772, 0.65936], \"gripper_open\": 0.7725, \"tcp_xyz\": [0.30985, 0.29971, 0.821], \"tcp_roll_pitch_yaw\": [-0.00104, 0.00303, 0.00087], \"tcp_rotation_matrix\": [[0.99501, -0.04035, -0.09126], [-0.04286, -0.99875, -0.02567], [-0.09011, 0.02946, -0.9955]], \"simulated_seconds_remaining\": 14.85, \"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": 1
    },
    "note": "The potato is positioned over the bowl at a low release height. I am opening the fingers to place it into the bowl."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "Episode ended. Do not call more tools. Return a brief final response."
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

Placed the potato in the bowl.

TURN USAGE
{
  "input_tokens": 472181,
  "cached_input_tokens": 436096,
  "cache_write_input_tokens": 0,
  "output_tokens": 4499,
  "reasoning_output_tokens": 1918
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      -0.02667,
      -0.75818,
      -0.0193,
      -2.38803,
      -0.04137,
      1.54258,
      0.00311
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.29494,
      -0.02398,
      0.99024
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99524,
        -0.0413,
        -0.08827
      ],
      [
        -0.04363,
        -0.99875,
        -0.02456
      ],
      [
        -0.08714,
        0.0283,
        -0.99579
      ]
    ],
    "simulated_seconds_remaining": 45.012,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 20.41481902450323,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.46,
                    "y": 0,
                    "z": 1.18
                  },
                  "note": "The bowl is on the right and food is spread across the table; moving higher and forward will give a clearer view of the potato."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 30,
    "motion_seconds": 1.98,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      -0.00888,
      -0.05238,
      0.02269,
      -1.25627,
      -0.02469,
      1.11527,
      0.04639
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.45917,
      -0.00012,
      1.17895
    ],
    "tcp_roll_pitch_yaw": [
      -1e-05,
      3e-05,
      2e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99524,
        -0.04128,
        -0.0883
      ],
      [
        -0.04361,
        -0.99875,
        -0.02457
      ],
      [
        -0.08717,
        0.0283,
        -0.99579
      ]
    ],
    "simulated_seconds_remaining": 43.032,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 10.407744761556387,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.55,
                    "y": 0.09,
                    "z": 0.98
                  },
                  "note": "The potato is the small brown oval left of the tomato in the wrist view. I am approaching it from above with the gripper open."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 28,
    "motion_seconds": 1.848,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.06615,
      0.05984,
      0.10344,
      -1.65559,
      -0.01549,
      1.62343,
      0.21367
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.54944,
      0.08951,
      0.98101
    ],
    "tcp_roll_pitch_yaw": [
      -5e-05,
      0.00039,
      0.00011
    ],
    "tcp_rotation_matrix": [
      [
        0.99521,
        -0.04118,
        -0.08865
      ],
      [
        -0.04352,
        -0.99875,
        -0.02462
      ],
      [
        -0.08753,
        0.02836,
        -0.99576
      ]
    ],
    "simulated_seconds_remaining": 41.184,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 10.207438017241657,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.6,
                    "y": 0.09,
                    "z": 0.98
                  },
                  "note": "The potato remains left of the gripper center. A small forward adjustment will establish its alignment before descending."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.06781,
      0.22956,
      0.10045,
      -1.43437,
      -0.03238,
      1.57098,
      0.21068
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.59884,
      0.08996,
      0.97993
    ],
    "tcp_roll_pitch_yaw": [
      -7e-05,
      0.00055,
      7e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99519,
        -0.04122,
        -0.08882
      ],
      [
        -0.04357,
        -0.99875,
        -0.02464
      ],
      [
        -0.08769,
        0.02839,
        -0.99574
      ]
    ],
    "simulated_seconds_remaining": 40.524,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 7.405763681046665,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.44,
                    "y": -0.015,
                    "z": 0.94
                  },
                  "note": "The forward adjustment moved the potato upward in the wrist view. I am moving back and right to center it between the fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 24,
    "motion_seconds": 1.584,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      -0.02375,
      -0.30079,
      0.00511,
      -2.16034,
      -0.02531,
      1.77105,
      0.02983
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44111,
      -0.01433,
      0.94032
    ],
    "tcp_roll_pitch_yaw": [
      -8e-05,
      0.00052,
      -8e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99519,
        -0.04136,
        -0.08878
      ],
      [
        -0.04371,
        -0.99874,
        -0.02463
      ],
      [
        -0.08765,
        0.0284,
        -0.99575
      ]
    ],
    "simulated_seconds_remaining": 38.94,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 5.208848284557462,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.825
                  },
                  "note": "The potato is now centered between the open fingers. I am lowering vertically toward its sides for a grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      -0.02454,
      -0.21991,
      0.00468,
      -2.37897,
      -0.02893,
      2.07011,
      0.0376
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44103,
      -0.01433,
      0.82623
    ],
    "tcp_roll_pitch_yaw": [
      -8e-05,
      0.00088,
      -8e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99516,
        -0.04135,
        -0.08915
      ],
      [
        -0.04371,
        -0.99874,
        -0.02463
      ],
      [
        -0.08802,
        0.02841,
        -0.99571
      ]
    ],
    "simulated_seconds_remaining": 37.884,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 9.809697205200791,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.775
                  },
                  "note": "The gripper is aligned above the potato, which is now obscured by the hand in the wrist view. I am lowering the last few centimeters to surround it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      -0.0253,
      -0.14888,
      0.00459,
      -2.44477,
      -0.03208,
      2.20657,
      0.04205
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44096,
      -0.01433,
      0.77609
    ],
    "tcp_roll_pitch_yaw": [
      -8e-05,
      0.0012,
      -8e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99513,
        -0.04135,
        -0.08946
      ],
      [
        -0.04371,
        -0.99874,
        -0.02463
      ],
      [
        -0.08833,
        0.02842,
        -0.99569
      ]
    ],
    "simulated_seconds_remaining": 37.224,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 4.603814456611872,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The fingers are at potato height and straddle its position. I am closing them to secure it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      -0.0253,
      -0.14888,
      0.00459,
      -2.44477,
      -0.03208,
      2.20657,
      0.04205
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.44096,
      -0.01433,
      0.77608
    ],
    "tcp_roll_pitch_yaw": [
      -8e-05,
      0.00119,
      -8e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99513,
        -0.04135,
        -0.08946
      ],
      [
        -0.04371,
        -0.99874,
        -0.02463
      ],
      [
        -0.08833,
        0.02842,
        -0.99569
      ]
    ],
    "simulated_seconds_remaining": 36.3,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 6.805125056765974,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.95,
                    "gripper": 1
                  },
                  "note": "The fingers closed fully and the potato remains visible beside them, indicating a missed grasp. I am reopening and raising to correct alignment."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 22,
    "motion_seconds": 1.452,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      -0.02374,
      -0.30243,
      0.00518,
      -2.14031,
      -0.02517,
      1.74905,
      0.02934
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44104,
      -0.01433,
      0.94875
    ],
    "tcp_roll_pitch_yaw": [
      -8e-05,
      0.00085,
      -8e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99516,
        -0.04136,
        -0.08911
      ],
      [
        -0.04371,
        -0.99874,
        -0.02464
      ],
      [
        -0.08798,
        0.02841,
        -0.99572
      ]
    ],
    "simulated_seconds_remaining": 34.848,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 22.816710939630866,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.495,
                    "y": -0.07,
                    "z": 0.88
                  },
                  "note": "The potato sits left and behind the fingertip gap in the wrist image. I am shifting the open gripper forward and right to bring the gap over it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      -0.06648,
      -0.09966,
      -0.0548,
      -2.10372,
      -0.04321,
      1.91798,
      -0.06155
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.49427,
      -0.06934,
      0.88077
    ],
    "tcp_roll_pitch_yaw": [
      -4e-05,
      0.00112,
      -0.00022
    ],
    "tcp_rotation_matrix": [
      [
        0.99513,
        -0.04149,
        -0.08938
      ],
      [
        -0.04385,
        -0.99874,
        -0.02458
      ],
      [
        -0.08825,
        0.02838,
        -0.99569
      ]
    ],
    "simulated_seconds_remaining": 33.858,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 7.005853546783328,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.565,
                    "y": -0.07,
                    "z": 0.79
                  },
                  "note": "The potato is horizontally centered, but still just behind the fingertip gap. I am advancing while lowering to put the fingertips around its middle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      -0.06281,
      0.18738,
      -0.05009,
      -1.98354,
      -0.02887,
      2.084,
      -0.05441
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.56411,
      -0.06998,
      0.79093
    ],
    "tcp_roll_pitch_yaw": [
      -2e-05,
      0.00142,
      -0.0002
    ],
    "tcp_rotation_matrix": [
      [
        0.99511,
        -0.04146,
        -0.08969
      ],
      [
        -0.04383,
        -0.99874,
        -0.02456
      ],
      [
        -0.08855,
        0.02837,
        -0.99567
      ]
    ],
    "simulated_seconds_remaining": 32.802,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 5.604820863343775,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The potato is visibly inside the gap between the fingers at grasp height. I am closing the gripper around it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      -0.05603,
      0.17014,
      -0.04133,
      -1.97281,
      -0.0238,
      2.08045,
      -0.05484
    ],
    "gripper_open": 0.0297,
    "tcp_xyz": [
      0.57065,
      -0.06059,
      0.80509
    ],
    "tcp_roll_pitch_yaw": [
      0.00379,
      -0.02349,
      0.01276
    ],
    "tcp_rotation_matrix": [
      [
        0.99749,
        -0.02912,
        -0.06458
      ],
      [
        -0.03057,
        -0.9993,
        -0.02161
      ],
      [
        -0.0639,
        0.02353,
        -0.99768
      ]
    ],
    "simulated_seconds_remaining": 31.878,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 5.004163954406977,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.96
                  },
                  "note": "The fingers have closed near the potato. I am lifting vertically to check whether it is secured before moving toward the bowl."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      -0.05466,
      0.08672,
      -0.04105,
      -1.6831,
      -0.02435,
      1.70781,
      -0.06171
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.57072,
      -0.06059,
      0.95879
    ],
    "tcp_roll_pitch_yaw": [
      0.00376,
      -0.02387,
      0.01277
    ],
    "tcp_rotation_matrix": [
      [
        0.99751,
        -0.02912,
        -0.0642
      ],
      [
        -0.03057,
        -0.9993,
        -0.02164
      ],
      [
        -0.06352,
        0.02355,
        -0.9977
      ]
    ],
    "simulated_seconds_remaining": 30.558,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 12.208628255873919,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.625,
                    "y": -0.085,
                    "z": 0.8,
                    "gripper": 1,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 0
                  },
                  "note": "The potato stayed on the table, so the grasp was shallow and displaced it slightly. I am reopening and moving farther forward to center the fingertips on its new position."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 22,
    "motion_seconds": 1.452,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      -0.07581,
      0.35803,
      -0.05329,
      -1.71057,
      -0.01836,
      1.98328,
      -0.07594
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.6245,
      -0.08482,
      0.80106
    ],
    "tcp_roll_pitch_yaw": [
      6e-05,
      0.00018,
      7e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99523,
        -0.04123,
        -0.08845
      ],
      [
        -0.04356,
        -0.99875,
        -0.02451
      ],
      [
        -0.08733,
        0.02825,
        -0.99578
      ]
    ],
    "simulated_seconds_remaining": 29.106,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 16.012724984437227,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.57,
                    "y": -0.07,
                    "z": 0.8
                  },
                  "note": "The potato is now ahead of the open fingertips in the wrist image. I am backing up slightly at the same height to center it in the grasp gap."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      -0.06267,
      0.19663,
      -0.04966,
      -1.94591,
      -0.02775,
      2.05687,
      -0.05533
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.57128,
      -0.07032,
      0.80008
    ],
    "tcp_roll_pitch_yaw": [
      6e-05,
      0.00015,
      0.00011
    ],
    "tcp_rotation_matrix": [
      [
        0.99523,
        -0.04118,
        -0.08841
      ],
      [
        -0.04351,
        -0.99875,
        -0.02451
      ],
      [
        -0.08729,
        0.02824,
        -0.99578
      ]
    ],
    "simulated_seconds_remaining": 28.446,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 5.2100567584857345,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.745
                  },
                  "note": "The potato is centered in the fingertip gap. I am lowering a little farther so the fingers contact its sides instead of its upper surface."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      -0.06379,
      0.26435,
      -0.04918,
      -1.99998,
      -0.02606,
      2.17826,
      -0.05359
    ],
    "gripper_open": 0.9967,
    "tcp_xyz": [
      0.57119,
      -0.0703,
      0.74614
    ],
    "tcp_roll_pitch_yaw": [
      9e-05,
      0.0005,
      0.00013
    ],
    "tcp_rotation_matrix": [
      [
        0.9952,
        -0.04116,
        -0.08876
      ],
      [
        -0.04349,
        -0.99875,
        -0.02448
      ],
      [
        -0.08764,
        0.02822,
        -0.99575
      ]
    ],
    "simulated_seconds_remaining": 27.786,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 4.80392284784466,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The fingers now extend alongside the potato at a lower grasp height. I am closing them around its body."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      -0.06362,
      0.26395,
      -0.04894,
      -1.99978,
      -0.02592,
      2.17813,
      -0.05362
    ],
    "gripper_open": 0.8216,
    "tcp_xyz": [
      0.57135,
      -0.07005,
      0.74642
    ],
    "tcp_roll_pitch_yaw": [
      0.00022,
      1e-05,
      0.00046
    ],
    "tcp_rotation_matrix": [
      [
        0.99526,
        -0.04084,
        -0.08826
      ],
      [
        -0.04315,
        -0.99877,
        -0.02438
      ],
      [
        -0.08716,
        0.02807,
        -0.9958
      ]
    ],
    "simulated_seconds_remaining": 26.862,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 4.408021758310497,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.98
                  },
                  "note": "The gripper remains partly open around the potato, indicating contact. I am lifting it clear of the table to verify the grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 28,
    "motion_seconds": 1.848,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      -0.06092,
      0.11616,
      -0.04943,
      -1.59037,
      -0.02825,
      1.62154,
      -0.06553
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.57141,
      -0.07005,
      0.97878
    ],
    "tcp_roll_pitch_yaw": [
      0.0002,
      -0.00037,
      0.00047
    ],
    "tcp_rotation_matrix": [
      [
        0.99529,
        -0.04085,
        -0.08789
      ],
      [
        -0.04314,
        -0.99877,
        -0.02441
      ],
      [
        -0.08678,
        0.02809,
        -0.99583
      ]
    ],
    "simulated_seconds_remaining": 25.014,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 5.60452570579946,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.745,
                    "gripper": 1
                  },
                  "note": "The gripper reopened during the lift and left the potato on the table. I am returning to the successful contact position and will explicitly maintain the closed command while lifting."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 28,
    "motion_seconds": 1.848,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 19,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      -0.0636,
      0.26421,
      -0.04897,
      -2.00007,
      -0.02591,
      2.17865,
      -0.05362
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.57132,
      -0.07004,
      0.74621
    ],
    "tcp_roll_pitch_yaw": [
      0.00023,
      3e-05,
      0.00047
    ],
    "tcp_rotation_matrix": [
      [
        0.99526,
        -0.04083,
        -0.08829
      ],
      [
        -0.04314,
        -0.99877,
        -0.02438
      ],
      [
        -0.08718,
        0.02807,
        -0.9958
      ]
    ],
    "simulated_seconds_remaining": 23.166,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 4.2035358333960176,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The potato is again between the fingers at the lower grasp height. I am closing firmly around it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 20,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      -0.06358,
      0.26431,
      -0.04894,
      -2.00022,
      -0.0259,
      2.17854,
      -0.05361
    ],
    "gripper_open": 0.8102,
    "tcp_xyz": [
      0.57121,
      -0.07,
      0.74607
    ],
    "tcp_roll_pitch_yaw": [
      0.00028,
      0.00038,
      0.0005
    ],
    "tcp_rotation_matrix": [
      [
        0.99523,
        -0.04079,
        -0.08863
      ],
      [
        -0.0431,
        -0.99877,
        -0.02433
      ],
      [
        -0.08753,
        0.02804,
        -0.99577
      ]
    ],
    "simulated_seconds_remaining": 22.242,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 4.203497039154172,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.97,
                    "gripper": 0
                  },
                  "note": "The fingers are contacting the potato. I am lifting while explicitly keeping the gripper closed."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 27,
    "motion_seconds": 1.782,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 21,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      -0.06085,
      0.11426,
      -0.0494,
      -1.61912,
      -0.02838,
      1.64718,
      -0.06474
    ],
    "gripper_open": 0.7891,
    "tcp_xyz": [
      0.57117,
      -0.06999,
      0.96839
    ],
    "tcp_roll_pitch_yaw": [
      0.00033,
      0.00084,
      0.0005
    ],
    "tcp_rotation_matrix": [
      [
        0.99519,
        -0.04078,
        -0.08909
      ],
      [
        -0.0431,
        -0.99878,
        -0.02428
      ],
      [
        -0.08799,
        0.028,
        -0.99573
      ]
    ],
    "simulated_seconds_remaining": 20.46,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 10.207498523406684,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.34,
                    "y": 0.3,
                    "z": 1.05,
                    "gripper": 0
                  },
                  "note": "The potato remains held in both views. I am carrying it toward the blue-and-white bowl while maintaining clearance above the table."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 49,
    "motion_seconds": 3.234,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 22,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.25532,
      -0.26852,
      0.37177,
      -1.82734,
      0.12818,
      1.48879,
      0.65732
    ],
    "gripper_open": 0.7815,
    "tcp_xyz": [
      0.34061,
      0.29891,
      1.04949
    ],
    "tcp_roll_pitch_yaw": [
      1e-05,
      0.00139,
      0.00082
    ],
    "tcp_rotation_matrix": [
      [
        0.99515,
        -0.04045,
        -0.08963
      ],
      [
        -0.04281,
        -0.99878,
        -0.02463
      ],
      [
        -0.08852,
        0.02835,
        -0.99567
      ]
    ],
    "simulated_seconds_remaining": 17.226,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 16.41173099167645,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.31,
                    "y": 0.3,
                    "z": 0.88,
                    "gripper": 0
                  },
                  "note": "The bowl is directly ahead of the held potato in the wrist view. I am lowering toward its center with a small backward correction."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 22,
    "motion_seconds": 1.452,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 23,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.29132,
      -0.33723,
      0.41626,
      -2.31709,
      0.18232,
      1.91409,
      0.65297
    ],
    "gripper_open": 0.7751,
    "tcp_xyz": [
      0.31005,
      0.29987,
      0.88095
    ],
    "tcp_roll_pitch_yaw": [
      -0.00055,
      0.00226,
      0.00087
    ],
    "tcp_rotation_matrix": [
      [
        0.99508,
        -0.04037,
        -0.0905
      ],
      [
        -0.04281,
        -0.99877,
        -0.02519
      ],
      [
        -0.08937,
        0.02894,
        -0.99558
      ]
    ],
    "simulated_seconds_remaining": 15.774,
    "calls_remaining_including_this": 35
  },
  "api_seconds": 8.00619924813509,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.82,
                    "gripper": 0
                  },
                  "note": "The potato is centered above the bowl opening in the exterior view. I am lowering it close to the bowl before releasing."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 24,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.29104,
      -0.27356,
      0.43976,
      -2.41945,
      0.17794,
      2.0772,
      0.65936
    ],
    "gripper_open": 0.7725,
    "tcp_xyz": [
      0.30985,
      0.29971,
      0.821
    ],
    "tcp_roll_pitch_yaw": [
      -0.00104,
      0.00303,
      0.00087
    ],
    "tcp_rotation_matrix": [
      [
        0.99501,
        -0.04035,
        -0.09126
      ],
      [
        -0.04286,
        -0.99875,
        -0.02567
      ],
      [
        -0.09011,
        0.02946,
        -0.9955
      ]
    ],
    "simulated_seconds_remaining": 14.85,
    "calls_remaining_including_this": 34
  },
  "api_seconds": 4.603703785687685,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 1
                  },
                  "note": "The potato is positioned over the bowl at a low release height. I am opening the fingers to place it into the bowl."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

========================================================================
GPT-Astra / Pick & place / 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,
  "status": "completed",
  "success": true,
  "oracle_success": true,
  "action_decisions": 21,
  "wall_seconds": 274.1,
  "usage": {
    "input_tokens": 401122,
    "cached_input_tokens": 382976,
    "cache_write_input_tokens": 0,
    "output_tokens": 4392,
    "reasoning_output_tokens": 2040
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick-and-place 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 45 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 and grasp the requested object, lift it, move it to the named receptacle, and release it in or on that receptacle. Complete the entire pick-and-place 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 guide the gripper through the pick and place.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.01711, -0.80616, -0.00928, -2.33187, 0.02651, 1.52898, -0.04917], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.29774, 0.00944, 1.02944], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.99813, 0.061, 0.00288], [0.06087, -0.99759, 0.03321], [0.0049, -0.03297, -0.99944]], \"simulated_seconds_remaining\": 45.012, \"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": 0.88,
    "gripper": 1,
    "note": "The potato is visible near the lower center of the wrist view, with the yellow bowl beside it. I lower the open gripper to get a closer alignment 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": {
      "z": 0.88,
      "gripper": 1
    },
    "note": "The potato is near the lower center of the wrist image and the yellow bowl is beside it. I lower the open gripper for closer alignment."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.01591, -0.8448, -0.00868, -2.73343, 0.02812, 1.89146, -0.05968], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.29769, 0.00944, 0.88123], \"tcp_roll_pitch_yaw\": [-1e-05, 0.00029, 1e-05], \"tcp_rotation_matrix\": [[0.99813, 0.061, 0.00259], [0.06088, -0.99759, 0.0332], [0.00461, -0.03298, -0.99945]], \"simulated_seconds_remaining\": 43.692, \"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": 0.2,
      "y": -0.04,
      "z": 0.91
    },
    "note": "The potato slipped below the wrist view as I descended, so I move backward and slightly right to bring it between the fingers."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [-0.06994, -1.22573, -0.10896, -2.81418, -0.0692, 1.58958, -0.1665], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.20119, -0.03945, 0.90973], \"tcp_roll_pitch_yaw\": [-1e-05, 4e-05, -6e-05], \"tcp_rotation_matrix\": [[0.99814, 0.06094, 0.00285], [0.06082, -0.9976, 0.0332], [0.00486, -0.03297, -0.99944]], \"simulated_seconds_remaining\": 42.636, \"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,
      "y": 0.06,
      "z": 0.96
    },
    "note": "The exterior view shows the gripper outside the table edge. I move forward over the table and rise slightly to recover a clear view of the potato."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.04298, -0.37724, 0.06354, -2.19981, 0.05804, 1.829, 0.02649], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.43876, 0.05949, 0.95972], \"tcp_roll_pitch_yaw\": [-4e-05, 0.00011, -1e-05], \"tcp_rotation_matrix\": [[0.99813, 0.06099, 0.00277], [0.06086, -0.99759, 0.03317], [0.00479, -0.03294, -0.99945]], \"simulated_seconds_remaining\": 40.59, \"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": {
      "z": 0.82
    },
    "note": "The potato is clearly visible between the open fingers in the wrist view. I descend vertically to judge its final grasp alignment."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.04579, -0.27753, 0.07238, -2.47018, 0.06484, 2.19858, 0.01654], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.43869, 0.05949, 0.82119], \"tcp_roll_pitch_yaw\": [-7e-05, 0.00046, -1e-05], \"tcp_rotation_matrix\": [[0.99814, 0.06098, 0.00242], [0.06087, -0.9976, 0.03314], [0.00444, -0.03294, -0.99945]], \"simulated_seconds_remaining\": 39.336, \"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": 0.045,
      "z": 0.765
    },
    "note": "The potato is slightly right of the finger gap. I shift right a little and lower the grasp point around its sides."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.03331, -0.19274, 0.05701, -2.54267, 0.06176, 2.3543, -0.01512], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.43861, 0.04531, 0.76619], \"tcp_roll_pitch_yaw\": [-8e-05, 0.00082, -6e-05], \"tcp_rotation_matrix\": [[0.99814, 0.06091, 0.00207], [0.06081, -0.9976, 0.03313], [0.00408, -0.03295, -0.99945]], \"simulated_seconds_remaining\": 38.676, \"calls_remaining_including_this\": 52}"
      },
      {
        "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": 0.48,
      "y": 0.085,
      "z": 0.79
    },
    "note": "The closer wrist view places the potato beyond the lower right edge of the gap. I correct forward and left, with a small rise to keep the fingers clear."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.062, -0.10187, 0.09884, -2.37383, 0.05585, 2.27912, 0.06314], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.47921, 0.08425, 0.78956], \"tcp_roll_pitch_yaw\": [-7e-05, 0.00071, 6e-05], \"tcp_rotation_matrix\": [[0.99813, 0.06104, 0.00217], [0.06093, -0.99759, 0.03314], [0.00419, -0.03294, -0.99945]], \"simulated_seconds_remaining\": 37.95, \"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": {
      "x": 0.495,
      "y": 0.09,
      "z": 0.735
    },
    "note": "The potato is now centered across the finger gap. I lower the fingers around it, adding a small forward correction as it grows in the wrist view."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.06647, 0.03199, 0.10543, -2.36699, 0.08011, 2.41388, 0.07607], \"gripper_open\": 0.9976, \"tcp_xyz\": [0.4962, 0.09564, 0.73886], \"tcp_roll_pitch_yaw\": [0.02609, -0.00246, -0.02521], \"tcp_rotation_matrix\": [[0.99933, 0.03601, 0.00683], [0.03554, -0.99762, 0.05912], [0.00894, -0.05884, -0.99823]], \"simulated_seconds_remaining\": 37.29, \"calls_remaining_including_this\": 50}"
      },
      {
        "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 potato fills the space between the fingers at table height. I close the gripper to secure it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.06694, 0.03148, 0.10603, -2.36608, 0.08048, 2.41443, 0.07616], \"gripper_open\": 0.7324, \"tcp_xyz\": [0.49672, 0.09619, 0.73947], \"tcp_roll_pitch_yaw\": [0.02613, -0.00428, -0.02403], \"tcp_rotation_matrix\": [[0.99927, 0.03729, 0.00858], [0.03672, -0.99757, 0.05912], [0.01076, -0.05877, -0.99821]], \"simulated_seconds_remaining\": 36.366, \"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": 0.93
    },
    "note": "The fingers have stopped against the potato. I lift vertically to verify that it is held and clear the table."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.06165, -0.18434, 0.09684, -2.09312, 0.07982, 1.92669, 0.09278], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.4968, 0.09621, 0.92879], \"tcp_roll_pitch_yaw\": [0.02619, -0.00464, -0.02404], \"tcp_rotation_matrix\": [[0.99926, 0.03731, 0.00893], [0.03672, -0.99757, 0.05918], [0.01112, -0.0588, -0.99821]], \"simulated_seconds_remaining\": 34.782, \"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": 0.475,
      "y": 0.065,
      "z": 0.79,
      "gripper": 1,
      "roll": 0,
      "pitch": 0,
      "yaw": 0
    },
    "note": "The potato remained on the table after the lift. I realign over its new position for another grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 11, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.04421, -0.12379, 0.07877, -2.39401, 0.05595, 2.27648, 0.02552], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.47513, 0.06527, 0.79117], \"tcp_roll_pitch_yaw\": [0.00021, 0.0003, -0.00027], \"tcp_rotation_matrix\": [[0.99815, 0.06072, 0.00259], [0.0606, -0.9976, 0.03342], [0.00461, -0.03321, -0.99944]], \"simulated_seconds_remaining\": 33.528, \"calls_remaining_including_this\": 47}"
      },
      {
        "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": 0.085,
      "z": 0.745,
      "gripper": 1
    },
    "note": "The potato is slightly right of center. I shift left and descend so the fingers surround its middle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 12, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.06486, -0.04085, 0.10469, -2.42638, 0.05687, 2.40095, 0.06468], \"gripper_open\": 0.9986, \"tcp_xyz\": [0.47726, 0.08745, 0.74878], \"tcp_roll_pitch_yaw\": [0.00313, -0.00737, 0.00206], \"tcp_rotation_matrix\": [[0.99794, 0.06332, 0.01017], [0.06291, -0.99736, 0.03636], [0.01245, -0.03564, -0.99929]], \"simulated_seconds_remaining\": 32.868, \"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 potato sits between the fingers. I close the gripper around it before lifting with the close command maintained."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 13, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.06476, -0.04105, 0.10457, -2.42634, 0.05681, 2.40084, 0.0647], \"gripper_open\": 0.7325, \"tcp_xyz\": [0.47726, 0.08728, 0.74881], \"tcp_roll_pitch_yaw\": [0.00304, -0.00734, 0.00182], \"tcp_rotation_matrix\": [[0.99796, 0.06308, 0.01015], [0.06267, -0.99737, 0.03627], [0.01241, -0.03556, -0.99929]], \"simulated_seconds_remaining\": 31.944, \"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": 0.94,
      "gripper": 0
    },
    "note": "The gripper is contacting the potato. I lift while explicitly keeping the jaws closed."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 14, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.06166, -0.24931, 0.09347, -2.13402, 0.06062, 1.90026, 0.0703], \"gripper_open\": 0.7375, \"tcp_xyz\": [0.47719, 0.08727, 0.93843], \"tcp_roll_pitch_yaw\": [0.00298, -0.00686, 0.00182], \"tcp_rotation_matrix\": [[0.99796, 0.06307, 0.00967], [0.06268, -0.99738, 0.03621], [0.01193, -0.03553, -0.9993]], \"simulated_seconds_remaining\": 30.36, \"calls_remaining_including_this\": 44}"
      },
      {
        "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"
}

The potato is held above the table. I’m moving it over the yellow bowl.


{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.43,
      "y": 0.25,
      "z": 0.96,
      "gripper": 0
    },
    "note": "The potato stayed between the fingers during the lift. The bowl is to the right in the wrist image, so I move left in the base frame toward it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 15, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.18728, -0.23531, 0.29302, -2.05774, 0.09927, 1.85517, 0.38348], \"gripper_open\": 0.7361, \"tcp_xyz\": [0.4302, 0.24878, 0.95949], \"tcp_roll_pitch_yaw\": [0.00266, -0.00612, 0.00213], \"tcp_rotation_matrix\": [[0.99795, 0.06334, 0.00892], [0.06298, -0.99737, 0.03589], [0.01117, -0.03526, -0.99932]], \"simulated_seconds_remaining\": 28.908, \"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": {
      "z": 1.1,
      "gripper": 0
    },
    "note": "The bowl is obscured by the held potato in the wrist view. I raise it to see the rim and refine the placement position."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 16, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.1797, -0.17651, 0.28793, -1.64032, 0.07829, 1.49474, 0.40765], \"gripper_open\": 0.7398, \"tcp_xyz\": [0.43021, 0.24878, 1.09845], \"tcp_roll_pitch_yaw\": [0.00249, -0.00562, 0.00214], \"tcp_rotation_matrix\": [[0.99796, 0.06333, 0.00842], [0.06299, -0.99737, 0.03571], [0.01066, -0.03511, -0.99933]], \"simulated_seconds_remaining\": 27.654, \"calls_remaining_including_this\": 42}"
      },
      {
        "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": 0.25,
      "z": 1.02,
      "gripper": 0
    },
    "note": "The bowl rim is visible beyond the potato, and the exterior view shows the hand short of the bowl. I move forward over its center while keeping the grasp closed."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 17, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.1661, 0.20071, 0.27252, -1.40128, -0.02469, 1.61617, 0.37061], \"gripper_open\": 0.7357, \"tcp_xyz\": [0.56882, 0.24987, 1.02004], \"tcp_roll_pitch_yaw\": [0.00209, -0.00444, 0.00201], \"tcp_rotation_matrix\": [[0.99798, 0.06316, 0.00725], [0.06287, -0.9974, 0.03532], [0.00946, -0.03479, -0.99935]], \"simulated_seconds_remaining\": 26.268, \"calls_remaining_including_this\": 41}"
      },
      {
        "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": 0.86,
      "gripper": 0
    },
    "note": "The bowl is centered laterally in the wrist view. I lower the potato toward the opening to check the rim alignment before releasing."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 18, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.15782, 0.2098, 0.26598, -1.79753, -0.02809, 2.01966, 0.36658], \"gripper_open\": 0.7284, \"tcp_xyz\": [0.56859, 0.24976, 0.86071], \"tcp_roll_pitch_yaw\": [0.00167, -0.00318, 0.00201], \"tcp_rotation_matrix\": [[0.99799, 0.06312, 0.00599], [0.06287, -0.99741, 0.03489], [0.00817, -0.03445, -0.99937]], \"simulated_seconds_remaining\": 24.882, \"calls_remaining_including_this\": 40}"
      },
      {
        "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": 0.275,
      "z": 0.805,
      "gripper": 0
    },
    "note": "The bowl opening is slightly to the right of the potato in the wrist view. I shift left in the base frame and lower the potato just above the rim."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 19, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.17958, 0.27693, 0.2608, -1.82078, -0.13399, 2.136, 0.41892], \"gripper_open\": 0.7058, \"tcp_xyz\": [0.58735, 0.25161, 0.81984], \"tcp_roll_pitch_yaw\": [-0.05156, -0.06085, 0.01862], \"tcp_rotation_matrix\": [[0.99487, 0.07833, 0.06401], [0.07958, -0.99668, -0.01716], [0.06245, 0.02216, -0.9978]], \"simulated_seconds_remaining\": 23.958, \"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": 0.94,
      "gripper": 0,
      "roll": 0,
      "pitch": 0,
      "yaw": 0
    },
    "note": "The hand contacted the bowl rim before reaching the requested pose. I lift clear while holding the potato so I can center it more accurately."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 20, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.15634, 0.24394, 0.27248, -1.55126, -0.03762, 1.8024, 0.36784], \"gripper_open\": 0.7266, \"tcp_xyz\": [0.58731, 0.25156, 0.9384], \"tcp_roll_pitch_yaw\": [-0.00073, -0.00012, 0.00012], \"tcp_rotation_matrix\": [[0.99813, 0.06113, 0.003], [0.061, -0.99761, 0.03248], [0.00498, -0.03223, -0.99947]], \"simulated_seconds_remaining\": 22.836, \"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": 0.525,
      "y": 0.275,
      "z": 0.9,
      "gripper": 0
    },
    "note": "With the rim visible again, I bring the potato backward and slightly left to align it over the center of the opening."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 21, \"instruction\": \"pick up the potato and place it on the bowl.\", \"joint_positions\": [0.18078, 0.10058, 0.30245, -1.83725, -0.00257, 1.94999, 0.42119], \"gripper_open\": 0.6916, \"tcp_xyz\": [0.52565, 0.27468, 0.9001], \"tcp_roll_pitch_yaw\": [-0.00108, 0.00083, 0.00032], \"tcp_rotation_matrix\": [[0.99812, 0.06129, 0.00204], [0.06119, -0.99761, 0.03213], [0.00401, -0.03194, -0.99948]], \"simulated_seconds_remaining\": 21.912, \"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": 1
    },
    "note": "The potato is aligned over the bowl opening and clear of its rim. I open the fingers to release it into the bowl."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "Episode ended. Do not call more tools. Return a brief final response."
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

Placed the potato in the bowl.

TURN USAGE
{
  "input_tokens": 401122,
  "cached_input_tokens": 382976,
  "cache_write_input_tokens": 0,
  "output_tokens": 4392,
  "reasoning_output_tokens": 2040
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.01711,
      -0.80616,
      -0.00928,
      -2.33187,
      0.02651,
      1.52898,
      -0.04917
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.29774,
      0.00944,
      1.02944
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99813,
        0.061,
        0.00288
      ],
      [
        0.06087,
        -0.99759,
        0.03321
      ],
      [
        0.0049,
        -0.03297,
        -0.99944
      ]
    ],
    "simulated_seconds_remaining": 45.012,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 22.01663430966437,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.88,
                    "gripper": 1
                  },
                  "note": "The potato is near the lower center of the wrist image and the yellow bowl is beside it. I lower the open gripper for closer alignment."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.01591,
      -0.8448,
      -0.00868,
      -2.73343,
      0.02812,
      1.89146,
      -0.05968
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.29769,
      0.00944,
      0.88123
    ],
    "tcp_roll_pitch_yaw": [
      -1e-05,
      0.00029,
      1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99813,
        0.061,
        0.00259
      ],
      [
        0.06088,
        -0.99759,
        0.0332
      ],
      [
        0.00461,
        -0.03298,
        -0.99945
      ]
    ],
    "simulated_seconds_remaining": 43.692,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 7.406012902036309,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.2,
                    "y": -0.04,
                    "z": 0.91
                  },
                  "note": "The potato slipped below the wrist view as I descended, so I move backward and slightly right to bring it between the fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      -0.06994,
      -1.22573,
      -0.10896,
      -2.81418,
      -0.0692,
      1.58958,
      -0.1665
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.20119,
      -0.03945,
      0.90973
    ],
    "tcp_roll_pitch_yaw": [
      -1e-05,
      4e-05,
      -6e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99814,
        0.06094,
        0.00285
      ],
      [
        0.06082,
        -0.9976,
        0.0332
      ],
      [
        0.00486,
        -0.03297,
        -0.99944
      ]
    ],
    "simulated_seconds_remaining": 42.636,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 8.606985932216048,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.44,
                    "y": 0.06,
                    "z": 0.96
                  },
                  "note": "The exterior view shows the gripper outside the table edge. I move forward over the table and rise slightly to recover a clear view of the potato."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 31,
    "motion_seconds": 2.0460000000000003,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.04298,
      -0.37724,
      0.06354,
      -2.19981,
      0.05804,
      1.829,
      0.02649
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.43876,
      0.05949,
      0.95972
    ],
    "tcp_roll_pitch_yaw": [
      -4e-05,
      0.00011,
      -1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99813,
        0.06099,
        0.00277
      ],
      [
        0.06086,
        -0.99759,
        0.03317
      ],
      [
        0.00479,
        -0.03294,
        -0.99945
      ]
    ],
    "simulated_seconds_remaining": 40.59,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 16.815763732418418,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.82
                  },
                  "note": "The potato is clearly visible between the open fingers in the wrist view. I descend vertically to judge its final grasp alignment."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.04579,
      -0.27753,
      0.07238,
      -2.47018,
      0.06484,
      2.19858,
      0.01654
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.43869,
      0.05949,
      0.82119
    ],
    "tcp_roll_pitch_yaw": [
      -7e-05,
      0.00046,
      -1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99814,
        0.06098,
        0.00242
      ],
      [
        0.06087,
        -0.9976,
        0.03314
      ],
      [
        0.00444,
        -0.03294,
        -0.99945
      ]
    ],
    "simulated_seconds_remaining": 39.336,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 9.006949034519494,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.045,
                    "z": 0.765
                  },
                  "note": "The potato is slightly right of the finger gap. I shift right a little and lower the grasp point around its sides."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.03331,
      -0.19274,
      0.05701,
      -2.54267,
      0.06176,
      2.3543,
      -0.01512
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.43861,
      0.04531,
      0.76619
    ],
    "tcp_roll_pitch_yaw": [
      -8e-05,
      0.00082,
      -6e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99814,
        0.06091,
        0.00207
      ],
      [
        0.06081,
        -0.9976,
        0.03313
      ],
      [
        0.00408,
        -0.03295,
        -0.99945
      ]
    ],
    "simulated_seconds_remaining": 38.676,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 6.205625546164811,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48,
                    "y": 0.085,
                    "z": 0.79
                  },
                  "note": "The closer wrist view places the potato beyond the lower right edge of the gap. I correct forward and left, with a small rise to keep the fingers clear."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.062,
      -0.10187,
      0.09884,
      -2.37383,
      0.05585,
      2.27912,
      0.06314
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.47921,
      0.08425,
      0.78956
    ],
    "tcp_roll_pitch_yaw": [
      -7e-05,
      0.00071,
      6e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99813,
        0.06104,
        0.00217
      ],
      [
        0.06093,
        -0.99759,
        0.03314
      ],
      [
        0.00419,
        -0.03294,
        -0.99945
      ]
    ],
    "simulated_seconds_remaining": 37.95,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 8.807337620295584,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.495,
                    "y": 0.09,
                    "z": 0.735
                  },
                  "note": "The potato is now centered across the finger gap. I lower the fingers around it, adding a small forward correction as it grows in the wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.06647,
      0.03199,
      0.10543,
      -2.36699,
      0.08011,
      2.41388,
      0.07607
    ],
    "gripper_open": 0.9976,
    "tcp_xyz": [
      0.4962,
      0.09564,
      0.73886
    ],
    "tcp_roll_pitch_yaw": [
      0.02609,
      -0.00246,
      -0.02521
    ],
    "tcp_rotation_matrix": [
      [
        0.99933,
        0.03601,
        0.00683
      ],
      [
        0.03554,
        -0.99762,
        0.05912
      ],
      [
        0.00894,
        -0.05884,
        -0.99823
      ]
    ],
    "simulated_seconds_remaining": 37.29,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 4.803750359453261,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The potato fills the space between the fingers at table height. 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": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.06694,
      0.03148,
      0.10603,
      -2.36608,
      0.08048,
      2.41443,
      0.07616
    ],
    "gripper_open": 0.7324,
    "tcp_xyz": [
      0.49672,
      0.09619,
      0.73947
    ],
    "tcp_roll_pitch_yaw": [
      0.02613,
      -0.00428,
      -0.02403
    ],
    "tcp_rotation_matrix": [
      [
        0.99927,
        0.03729,
        0.00858
      ],
      [
        0.03672,
        -0.99757,
        0.05912
      ],
      [
        0.01076,
        -0.05877,
        -0.99821
      ]
    ],
    "simulated_seconds_remaining": 36.366,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 4.604038044810295,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.93
                  },
                  "note": "The fingers have stopped against the potato. I lift vertically to verify that it is held and clear the table."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 24,
    "motion_seconds": 1.584,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.06165,
      -0.18434,
      0.09684,
      -2.09312,
      0.07982,
      1.92669,
      0.09278
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.4968,
      0.09621,
      0.92879
    ],
    "tcp_roll_pitch_yaw": [
      0.02619,
      -0.00464,
      -0.02404
    ],
    "tcp_rotation_matrix": [
      [
        0.99926,
        0.03731,
        0.00893
      ],
      [
        0.03672,
        -0.99757,
        0.05918
      ],
      [
        0.01112,
        -0.0588,
        -0.99821
      ]
    ],
    "simulated_seconds_remaining": 34.782,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 13.0126196090132,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.475,
                    "y": 0.065,
                    "z": 0.79,
                    "gripper": 1,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 0
                  },
                  "note": "The potato remained on the table after the lift. I realign over its new position for another grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.04421,
      -0.12379,
      0.07877,
      -2.39401,
      0.05595,
      2.27648,
      0.02552
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.47513,
      0.06527,
      0.79117
    ],
    "tcp_roll_pitch_yaw": [
      0.00021,
      0.0003,
      -0.00027
    ],
    "tcp_rotation_matrix": [
      [
        0.99815,
        0.06072,
        0.00259
      ],
      [
        0.0606,
        -0.9976,
        0.03342
      ],
      [
        0.00461,
        -0.03321,
        -0.99944
      ]
    ],
    "simulated_seconds_remaining": 33.528,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 5.003421211615205,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.085,
                    "z": 0.745,
                    "gripper": 1
                  },
                  "note": "The potato is slightly right of center. I shift left and descend so the fingers surround its middle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.06486,
      -0.04085,
      0.10469,
      -2.42638,
      0.05687,
      2.40095,
      0.06468
    ],
    "gripper_open": 0.9986,
    "tcp_xyz": [
      0.47726,
      0.08745,
      0.74878
    ],
    "tcp_roll_pitch_yaw": [
      0.00313,
      -0.00737,
      0.00206
    ],
    "tcp_rotation_matrix": [
      [
        0.99794,
        0.06332,
        0.01017
      ],
      [
        0.06291,
        -0.99736,
        0.03636
      ],
      [
        0.01245,
        -0.03564,
        -0.99929
      ]
    ],
    "simulated_seconds_remaining": 32.868,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 4.203387243673205,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The potato sits between the fingers. I close the gripper around it before lifting with the close command maintained."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.06476,
      -0.04105,
      0.10457,
      -2.42634,
      0.05681,
      2.40084,
      0.0647
    ],
    "gripper_open": 0.7325,
    "tcp_xyz": [
      0.47726,
      0.08728,
      0.74881
    ],
    "tcp_roll_pitch_yaw": [
      0.00304,
      -0.00734,
      0.00182
    ],
    "tcp_rotation_matrix": [
      [
        0.99796,
        0.06308,
        0.01015
      ],
      [
        0.06267,
        -0.99737,
        0.03627
      ],
      [
        0.01241,
        -0.03556,
        -0.99929
      ]
    ],
    "simulated_seconds_remaining": 31.944,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 4.203572743572295,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.94,
                    "gripper": 0
                  },
                  "note": "The gripper is contacting the potato. I lift while explicitly keeping the jaws closed."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 24,
    "motion_seconds": 1.584,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.06166,
      -0.24931,
      0.09347,
      -2.13402,
      0.06062,
      1.90026,
      0.0703
    ],
    "gripper_open": 0.7375,
    "tcp_xyz": [
      0.47719,
      0.08727,
      0.93843
    ],
    "tcp_roll_pitch_yaw": [
      0.00298,
      -0.00686,
      0.00182
    ],
    "tcp_rotation_matrix": [
      [
        0.99796,
        0.06307,
        0.00967
      ],
      [
        0.06268,
        -0.99738,
        0.03621
      ],
      [
        0.01193,
        -0.03553,
        -0.9993
      ]
    ],
    "simulated_seconds_remaining": 30.36,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 13.009498667903244,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.43,
                    "y": 0.25,
                    "z": 0.96,
                    "gripper": 0
                  },
                  "note": "The potato stayed between the fingers during the lift. The bowl is to the right in the wrist image, so I move left in the base frame toward it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 22,
    "motion_seconds": 1.452,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.18728,
      -0.23531,
      0.29302,
      -2.05774,
      0.09927,
      1.85517,
      0.38348
    ],
    "gripper_open": 0.7361,
    "tcp_xyz": [
      0.4302,
      0.24878,
      0.95949
    ],
    "tcp_roll_pitch_yaw": [
      0.00266,
      -0.00612,
      0.00213
    ],
    "tcp_rotation_matrix": [
      [
        0.99795,
        0.06334,
        0.00892
      ],
      [
        0.06298,
        -0.99737,
        0.03589
      ],
      [
        0.01117,
        -0.03526,
        -0.99932
      ]
    ],
    "simulated_seconds_remaining": 28.908,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 11.008519756607711,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.1,
                    "gripper": 0
                  },
                  "note": "The bowl is obscured by the held potato in the wrist view. I raise it to see the rim and refine the placement position."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.1797,
      -0.17651,
      0.28793,
      -1.64032,
      0.07829,
      1.49474,
      0.40765
    ],
    "gripper_open": 0.7398,
    "tcp_xyz": [
      0.43021,
      0.24878,
      1.09845
    ],
    "tcp_roll_pitch_yaw": [
      0.00249,
      -0.00562,
      0.00214
    ],
    "tcp_rotation_matrix": [
      [
        0.99796,
        0.06333,
        0.00842
      ],
      [
        0.06299,
        -0.99737,
        0.03571
      ],
      [
        0.01066,
        -0.03511,
        -0.99933
      ]
    ],
    "simulated_seconds_remaining": 27.654,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 29.42674194741994,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.57,
                    "y": 0.25,
                    "z": 1.02,
                    "gripper": 0
                  },
                  "note": "The bowl rim is visible beyond the potato, and the exterior view shows the hand short of the bowl. I move forward over its center while keeping the grasp closed."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.1661,
      0.20071,
      0.27252,
      -1.40128,
      -0.02469,
      1.61617,
      0.37061
    ],
    "gripper_open": 0.7357,
    "tcp_xyz": [
      0.56882,
      0.24987,
      1.02004
    ],
    "tcp_roll_pitch_yaw": [
      0.00209,
      -0.00444,
      0.00201
    ],
    "tcp_rotation_matrix": [
      [
        0.99798,
        0.06316,
        0.00725
      ],
      [
        0.06287,
        -0.9974,
        0.03532
      ],
      [
        0.00946,
        -0.03479,
        -0.99935
      ]
    ],
    "simulated_seconds_remaining": 26.268,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 8.006457388401031,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.86,
                    "gripper": 0
                  },
                  "note": "The bowl is centered laterally in the wrist view. I lower the potato toward the opening to check the rim alignment before releasing."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.15782,
      0.2098,
      0.26598,
      -1.79753,
      -0.02809,
      2.01966,
      0.36658
    ],
    "gripper_open": 0.7284,
    "tcp_xyz": [
      0.56859,
      0.24976,
      0.86071
    ],
    "tcp_roll_pitch_yaw": [
      0.00167,
      -0.00318,
      0.00201
    ],
    "tcp_rotation_matrix": [
      [
        0.99799,
        0.06312,
        0.00599
      ],
      [
        0.06287,
        -0.99741,
        0.03489
      ],
      [
        0.00817,
        -0.03445,
        -0.99937
      ]
    ],
    "simulated_seconds_remaining": 24.882,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 8.406582935713232,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.275,
                    "z": 0.805,
                    "gripper": 0
                  },
                  "note": "The bowl opening is slightly to the right of the potato in the wrist view. I shift left in the base frame and lower the potato just above the rim."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 19,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.17958,
      0.27693,
      0.2608,
      -1.82078,
      -0.13399,
      2.136,
      0.41892
    ],
    "gripper_open": 0.7058,
    "tcp_xyz": [
      0.58735,
      0.25161,
      0.81984
    ],
    "tcp_roll_pitch_yaw": [
      -0.05156,
      -0.06085,
      0.01862
    ],
    "tcp_rotation_matrix": [
      [
        0.99487,
        0.07833,
        0.06401
      ],
      [
        0.07958,
        -0.99668,
        -0.01716
      ],
      [
        0.06245,
        0.02216,
        -0.9978
      ]
    ],
    "simulated_seconds_remaining": 23.958,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 8.206126286648214,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.94,
                    "gripper": 0,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 0
                  },
                  "note": "The hand contacted the bowl rim before reaching the requested pose. I lift clear while holding the potato so I can center it more accurately."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 20,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.15634,
      0.24394,
      0.27248,
      -1.55126,
      -0.03762,
      1.8024,
      0.36784
    ],
    "gripper_open": 0.7266,
    "tcp_xyz": [
      0.58731,
      0.25156,
      0.9384
    ],
    "tcp_roll_pitch_yaw": [
      -0.00073,
      -0.00012,
      0.00012
    ],
    "tcp_rotation_matrix": [
      [
        0.99813,
        0.06113,
        0.003
      ],
      [
        0.061,
        -0.99761,
        0.03248
      ],
      [
        0.00498,
        -0.03223,
        -0.99947
      ]
    ],
    "simulated_seconds_remaining": 22.836,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 23.41697541065514,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.525,
                    "y": 0.275,
                    "z": 0.9,
                    "gripper": 0
                  },
                  "note": "With the rim visible again, I bring the potato backward and slightly left to align it over the center of the opening."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 21,
  "state": {
    "instruction": "pick up the potato and place it on the bowl.",
    "joint_positions": [
      0.18078,
      0.10058,
      0.30245,
      -1.83725,
      -0.00257,
      1.94999,
      0.42119
    ],
    "gripper_open": 0.6916,
    "tcp_xyz": [
      0.52565,
      0.27468,
      0.9001
    ],
    "tcp_roll_pitch_yaw": [
      -0.00108,
      0.00083,
      0.00032
    ],
    "tcp_rotation_matrix": [
      [
        0.99812,
        0.06129,
        0.00204
      ],
      [
        0.06119,
        -0.99761,
        0.03213
      ],
      [
        0.00401,
        -0.03194,
        -0.99948
      ]
    ],
    "simulated_seconds_remaining": 21.912,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 5.804440498352051,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 1
                  },
                  "note": "The potato is aligned over the bowl opening and clear of its rim. I open the fingers to release it into the bowl."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

========================================================================
GPT-Astra / Pick & place / 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,
  "status": "completed",
  "success": false,
  "oracle_success": false,
  "action_decisions": 35,
  "wall_seconds": 454.62,
  "usage": {
    "input_tokens": 825724,
    "cached_input_tokens": 774272,
    "cache_write_input_tokens": 0,
    "output_tokens": 7415,
    "reasoning_output_tokens": 3748
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick-and-place 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 45 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 and grasp the requested object, lift it, move it to the named receptacle, and release it in or on that receptacle. Complete the entire pick-and-place 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\": \"pick up the remote and place it on the bowl.\", \"joint_positions\": [-0.01562, -0.79918, -0.0276, -2.34723, -0.04189, 1.56041, -0.04127], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.30365, -0.02378, 1.02273], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.99992, 0.00547, 0.01137], [0.00572, -0.99973, -0.02252], [0.01124, 0.02258, -0.99968]], \"simulated_seconds_remaining\": 45.012, \"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 remote is the slim light object beside the dark bowl. I am lifting the open gripper to improve the view before approaching."
  },
  "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 slim light remote lies beside the dark bowl. I am raising the open gripper for a clearer view before approaching."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"pick up the remote and place it on the bowl.\", \"joint_positions\": [-0.01408, -0.56963, -0.02242, -1.70761, -0.03748, 1.15065, -0.05414], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.30368, -0.02378, 1.19867], \"tcp_roll_pitch_yaw\": [-0.0, -0.00019, 0.0], \"tcp_rotation_matrix\": [[0.99992, 0.00547, 0.01156], [0.00573, -0.99973, -0.02252], [0.01143, 0.02258, -0.99968]], \"simulated_seconds_remaining\": 43.56, \"calls_remaining_including_this\": 56}"
      },
      {
        "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": 0.46,
      "y": 0.02,
      "z": 1.16
    },
    "note": "The wrist view shows the white remote between the red object and dark bowl. I am moving over that area with clearance."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"pick up the remote and place it on the bowl.\", \"joint_positions\": [0.00761, -0.19236, 0.04118, -1.49199, -0.01572, 1.30999, 0.03829], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.45875, 0.01965, 1.1602], \"tcp_roll_pitch_yaw\": [-3e-05, 0.00011, 5e-05], \"tcp_rotation_matrix\": [[0.99992, 0.00552, 0.01126], [0.00577, -0.99973, -0.02254], [0.01113, 0.0226, -0.99968]], \"simulated_seconds_remaining\": 42.174, \"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": 0.17,
      "z": 1.08
    },
    "note": "The remote remains ahead of the fingers. I am shifting laterally and lowering slightly to resolve its center and long axis."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"pick up the remote and place it on the bowl.\", \"joint_positions\": [0.11602, -0.19543, 0.21726, -1.70629, 0.01692, 1.51856, 0.32436], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.45872, 0.16892, 1.08056], \"tcp_roll_pitch_yaw\": [-8e-05, 0.00026, 0.00029], \"tcp_rotation_matrix\": [[0.99992, 0.00576, 0.01111], [0.00601, -0.99973, -0.02259], [0.01098, 0.02265, -0.99968]], \"simulated_seconds_remaining\": 40.722, \"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": 0.46,
      "y": -0.06,
      "z": 0.94
    },
    "note": "The lateral motion placed the remote left of the open jaws. I am correcting toward its center and descending to a closer approach."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"pick up the remote and place it on the bowl.\", \"joint_positions\": [-0.04388, -0.31358, -0.06485, -2.19122, -0.04347, 1.89124, -0.09794], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.45997, -0.05894, 0.94064], \"tcp_roll_pitch_yaw\": [-3e-05, 0.00043, 5e-05], \"tcp_rotation_matrix\": [[0.99992, 0.00553, 0.01094], [0.00578, -0.99973, -0.02255], [0.01081, 0.02261, -0.99969]], \"simulated_seconds_remaining\": 38.61, \"calls_remaining_including_this\": 53}"
      },
      {
        "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": 0.55,
      "y": 0.17,
      "z": 0.86
    },
    "note": "The exterior view places the remote left of the gripper, while the wrist view confirms its slim shape. I am moving left over it and lowering toward the tabletop."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"pick up the remote and place it on the bowl.\", \"joint_positions\": [0.13872, 0.07664, 0.17315, -1.96397, -0.04265, 2.04247, 0.32478], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.54949, 0.1689, 0.86035], \"tcp_roll_pitch_yaw\": [-6e-05, 0.00057, 0.00029], \"tcp_rotation_matrix\": [[0.99992, 0.00577, 0.0108], [0.00602, -0.99973, -0.02258], [0.01067, 0.02264, -0.99969]], \"simulated_seconds_remaining\": 36.564, \"calls_remaining_including_this\": 52}"
      },
      {
        "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": 0.51,
      "y": 0.14,
      "z": 0.815
    },
    "note": "The gripper is close to the remote in the exterior view. I am making a small centering adjustment and bringing the fingers down around it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"pick up the remote and place it on the bowl.\", \"joint_positions\": [0.12026, -0.01206, 0.1572, -2.19317, -0.02789, 2.18507, 0.28764], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.51075, 0.14053, 0.81584], \"tcp_roll_pitch_yaw\": [-0.00012, 0.00078, 0.00024], \"tcp_rotation_matrix\": [[0.99993, 0.00573, 0.01059], [0.00597, -0.99973, -0.02264], [0.01046, 0.0227, -0.99969]], \"simulated_seconds_remaining\": 35.838, \"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": {
      "gripper": 0
    },
    "note": "The fingers now straddle the remote’s location at tabletop height. I am closing the jaws to grasp it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"pick up the remote and place it on the bowl.\", \"joint_positions\": [0.12026, -0.01206, 0.1572, -2.19317, -0.02789, 2.18507, 0.28764], \"gripper_open\": 0.0, \"tcp_xyz\": [0.51074, 0.14053, 0.81583], \"tcp_roll_pitch_yaw\": [-0.00012, 0.00078, 0.00024], \"tcp_rotation_matrix\": [[0.99993, 0.00573, 0.0106], [0.00597, -0.99973, -0.02264], [0.01047, 0.0227, -0.99969]], \"simulated_seconds_remaining\": 34.914, \"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": {
      "z": 0.95
    },
    "note": "The jaws closed fully, so the grasp may have missed. I am lifting slightly to check whether the remote moves with the gripper."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"pick up the remote and place it on the bowl.\", \"joint_positions\": [0.11893, -0.10699, 0.15308, -1.95333, -0.00873, 1.85208, 0.26775], \"gripper_open\": 0.0, \"tcp_xyz\": [0.51081, 0.14055, 0.94879], \"tcp_roll_pitch_yaw\": [-4e-05, 0.00042, 0.00024], \"tcp_rotation_matrix\": [[0.99992, 0.00572, 0.01095], [0.00597, -0.99973, -0.02256], [0.01082, 0.02262, -0.99969]], \"simulated_seconds_remaining\": 33.726, \"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": 0.39,
      "y": 0.02,
      "gripper": 1
    },
    "note": "The remote stayed on the table and is left of the wrist gripper center. I am reopening and shifting the approach toward it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"pick up the remote and place it on the bowl.\", \"joint_positions\": [0.05122, -0.53921, 0.01333, -2.36387, -0.01694, 1.83426, 0.06132], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.39095, 0.02088, 0.94884], \"tcp_roll_pitch_yaw\": [-3e-05, 0.00033, 0.0001], \"tcp_rotation_matrix\": [[0.99992, 0.00557, 0.01104], [0.00582, -0.99973, -0.02255], [0.01091, 0.02261, -0.99968]], \"simulated_seconds_remaining\": 32.274, \"calls_remaining_including_this\": 48}"
      },
      {
        "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": 0.58,
      "y": 0.14,
      "z": 0.85
    },
    "note": "The exterior view shows the previous approach was short of the remote. I am repositioning farther forward at a shallow grasp height."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 11, \"instruction\": \"pick up the remote and place it on the bowl.\", \"joint_positions\": [0.12195, 0.14465, 0.12935, -1.90151, -0.04862, 2.04941, 0.26644], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.57891, 0.13936, 0.85046], \"tcp_roll_pitch_yaw\": [-6e-05, 0.00053, 0.00018], \"tcp_rotation_matrix\": [[0.99993, 0.00566, 0.01084], [0.0059, -0.99973, -0.02258], [0.01071, 0.02264, -0.99969]], \"simulated_seconds_remaining\": 30.36, \"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": {
      "gripper": 0
    },
    "note": "The jaws are beside the remote at the new forward position. I am closing to check this alignment."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 12, \"instruction\": \"pick up the remote and place it on the bowl.\", \"joint_positions\": [0.12195, 0.14465, 0.12935, -1.90151, -0.04862, 2.04941, 0.26644], \"gripper_open\": 0.0, \"tcp_xyz\": [0.57892, 0.13937, 0.85045], \"tcp_roll_pitch_yaw\": [-6e-05, 0.00053, 0.00018], \"tcp_rotation_matrix\": [[0.99993, 0.00566, 0.01084], [0.0059, -0.99973, -0.02258], [0.01071, 0.02264, -0.99969]], \"simulated_seconds_remaining\": 29.436, \"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": 0.08,
      "gripper": 1
    },
    "note": "The closed fingertips were just left of the remote in the exterior image. I am shifting right by six centimeters and reopening around its width."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 13, \"instruction\": \"pick up the remote and place it on the bowl.\", \"joint_positions\": [0.06446, 0.10996, 0.08664, -1.94696, -0.03799, 2.06355, 0.16281], \"gripper_open\": 0.9965, \"tcp_xyz\": [0.57893, 0.08118, 0.85046], \"tcp_roll_pitch_yaw\": [-8e-05, 0.00053, -2e-05], \"tcp_rotation_matrix\": [[0.99993, 0.00546, 0.01084], [0.00571, -0.99973, -0.0226], [0.01072, 0.02266, -0.99969]], \"simulated_seconds_remaining\": 28.512, \"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": 0.825,
      "gripper": 0
    },
    "note": "The open fingers now align with the remote in the exterior view. I am lowering slightly and closing across its narrow sides."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 14, \"instruction\": \"pick up the remote and place it on the bowl.\", \"joint_positions\": [0.06477, 0.13247, 0.08618, -1.98258, -0.04146, 2.12143, 0.16614], \"gripper_open\": 0.0, \"tcp_xyz\": [0.57891, 0.08118, 0.826], \"tcp_roll_pitch_yaw\": [-9e-05, 0.00062, -2e-05], \"tcp_rotation_matrix\": [[0.99993, 0.00546, 0.01075], [0.00571, -0.99973, -0.02261], [0.01063, 0.02267, -0.99969]], \"simulated_seconds_remaining\": 27.588, \"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": -0.005,
      "z": 0.85,
      "gripper": 1
    },
    "note": "The remote is still visible to the left of the closed jaws in the wrist image. I am shifting farther across its width and reopening."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 15, \"instruction\": \"pick up the remote and place it on the bowl.\", \"joint_positions\": [-0.01879, 0.09117, 0.02089, -1.97375, -0.02805, 2.07552, 0.01015], \"gripper_open\": 0.9965, \"tcp_xyz\": [0.57894, -0.00394, 0.8497], \"tcp_roll_pitch_yaw\": [-0.00011, 0.00053, -0.00032], \"tcp_rotation_matrix\": [[0.99993, 0.00516, 0.01083], [0.00541, -0.99973, -0.02263], [0.01071, 0.02269, -0.99969]], \"simulated_seconds_remaining\": 26.664, \"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 remote is now centered between the two jaws in the wrist view. I am closing at this aligned pose."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 16, \"instruction\": \"pick up the remote and place it on the bowl.\", \"joint_positions\": [-0.01879, 0.09117, 0.02089, -1.97375, -0.02805, 2.07552, 0.01015], \"gripper_open\": 0.0, \"tcp_xyz\": [0.57894, -0.00395, 0.8497], \"tcp_roll_pitch_yaw\": [-0.00011, 0.00053, -0.00032], \"tcp_rotation_matrix\": [[0.99993, 0.00517, 0.01083], [0.00541, -0.99973, -0.02263], [0.01071, 0.02269, -0.99969]], \"simulated_seconds_remaining\": 25.74, \"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": {
      "z": 0.77,
      "gripper": 1
    },
    "note": "The jaws closed without holding the remote, indicating they were above it. I am reopening and lowering along the same centered approach."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 17, \"instruction\": \"pick up the remote and place it on the bowl.\", \"joint_positions\": [-0.01863, 0.17958, 0.01981, -2.07087, -0.03395, 2.26063, 0.01702], \"gripper_open\": 0.9965, \"tcp_xyz\": [0.57887, -0.00396, 0.77099], \"tcp_roll_pitch_yaw\": [-0.00011, 0.00085, -0.00032], \"tcp_rotation_matrix\": [[0.99993, 0.00517, 0.01051], [0.00541, -0.99973, -0.02263], [0.01039, 0.02269, -0.99969]], \"simulated_seconds_remaining\": 24.816, \"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": 0.615,
      "y": 0.012
    },
    "note": "At the lower height, the remote sits slightly forward and right of the jaw center in the wrist image. I am making a small final centering move."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 18, \"instruction\": \"pick up the remote and place it on the bowl.\", \"joint_positions\": [-0.00106, 0.27685, 0.02891, -1.93189, -0.03861, 2.21816, 0.04445], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.61378, 0.01152, 0.77096], \"tcp_roll_pitch_yaw\": [-0.0001, 0.00088, -0.00021], \"tcp_rotation_matrix\": [[0.99993, 0.00528, 0.01049], [0.00552, -0.99973, -0.02262], [0.01037, 0.02267, -0.99969]], \"simulated_seconds_remaining\": 24.288, \"calls_remaining_including_this\": 40}"
      },
      {
        "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 remote is centered beneath the jaws at the lower grasp height. I am closing to secure it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 19, \"instruction\": \"pick up the remote and place it on the bowl.\", \"joint_positions\": [0.00322, 0.26806, 0.03468, -1.92384, -0.03583, 2.22077, 0.04461], \"gripper_open\": 0.0184, \"tcp_xyz\": [0.61889, 0.01836, 0.78027], \"tcp_roll_pitch_yaw\": [0.00403, -0.0185, 0.00779], \"tcp_rotation_matrix\": [[0.99947, 0.01291, 0.03], [0.01346, -0.99974, -0.01825], [0.02976, 0.01864, -0.99938]], \"simulated_seconds_remaining\": 23.364, \"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": 0.96
    },
    "note": "The fingers met slight resistance during closure. I am lifting to verify whether the remote is held."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 20, \"instruction\": \"pick up the remote and place it on the bowl.\", \"joint_positions\": [0.0031, 0.15664, 0.0373, -1.61109, -0.02591, 1.79719, 0.03211], \"gripper_open\": 0.0, \"tcp_xyz\": [0.61896, 0.01836, 0.95883], \"tcp_roll_pitch_yaw\": [0.00405, -0.01888, 0.00779], \"tcp_rotation_matrix\": [[0.99946, 0.01291, 0.03038], [0.01347, -0.99974, -0.01823], [0.03014, 0.01863, -0.99937]], \"simulated_seconds_remaining\": 21.846, \"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": 0.63,
      "y": 0.015,
      "z": 0.72,
      "roll": 0,
      "pitch": 0,
      "yaw": 0,
      "gripper": 1
    },
    "note": "The remote remained on the table. I am opening and descending farther so the fingertips reach its sides rather than closing above it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 21, \"instruction\": \"pick up the remote and place it on the bowl.\", \"joint_positions\": [0.0035, 0.32799, 0.02856, -1.89374, -0.04641, 2.28932, 0.05694], \"gripper_open\": 1.0, \"tcp_xyz\": [0.64079, 0.0145, 0.76322], \"tcp_roll_pitch_yaw\": [-0.00099, -0.05753, -0.00226], \"tcp_rotation_matrix\": [[0.99763, 0.00185, 0.06877], [0.00348, -0.99971, -0.02366], [0.06871, 0.02384, -0.99735]], \"simulated_seconds_remaining\": 19.932, \"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": 0.53,
      "y": 0.045,
      "z": 0.8,
      "roll": 0,
      "pitch": 0,
      "yaw": 0
    },
    "note": "The downward motion reached the tabletop, but the remote remains ahead of the finger pads. I am shifting back to place the pads over its center."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 22, \"instruction\": \"pick up the remote and place it on the bowl.\", \"joint_positions\": [0.03568, 0.01428, 0.05701, -2.20743, -0.03084, 2.23144, 0.10582], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.53122, 0.04473, 0.79968], \"tcp_roll_pitch_yaw\": [0.0, -0.00075, 8e-05], \"tcp_rotation_matrix\": [[0.99991, 0.00553, 0.01212], [0.00581, -0.99973, -0.02251], [0.01199, 0.02258, -0.99967]], \"simulated_seconds_remaining\": 18.81, \"calls_remaining_including_this\": 36}"
      },
      {
        "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 remote is now beneath the finger pads and mostly occluded in the wrist image. I am closing around it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 23, \"instruction\": \"pick up the remote and place it on the bowl.\", \"joint_positions\": [0.03568, 0.01428, 0.05701, -2.20743, -0.03084, 2.23144, 0.10582], \"gripper_open\": 0.0, \"tcp_xyz\": [0.53121, 0.04473, 0.79968], \"tcp_roll_pitch_yaw\": [0.0, -0.00074, 8e-05], \"tcp_rotation_matrix\": [[0.99991, 0.00553, 0.01211], [0.0058, -0.99973, -0.02251], [0.01198, 0.02258, -0.99967]], \"simulated_seconds_remaining\": 17.886, \"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": 0.94
    },
    "note": "I am lifting from this centered grasp to check whether the remote follows the gripper."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 24, \"instruction\": \"pick up the remote and place it on the bowl.\", \"joint_positions\": [0.03573, -0.0978, 0.05619, -1.97105, -0.01897, 1.88371, 0.09177], \"gripper_open\": 0.0, \"tcp_xyz\": [0.53128, 0.04474, 0.93882], \"tcp_roll_pitch_yaw\": [3e-05, -0.0011, 8e-05], \"tcp_rotation_matrix\": [[0.99991, 0.00553, 0.01247], [0.00581, -0.99973, -0.02248], [0.01234, 0.02255, -0.99967]], \"simulated_seconds_remaining\": 16.632, \"calls_remaining_including_this\": 34}"
      },
      {
        "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": {
      "z": 0.755,
      "gripper": 1
    },
    "note": "The remote is still on the table. I am lowering the open pads to the remote’s actual height at the corrected horizontal position."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 25, \"instruction\": \"pick up the remote and place it on the bowl.\", \"joint_positions\": [0.03578, 0.07858, 0.05639, -2.25092, -0.03888, 2.33897, 0.11319], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.53119, 0.04473, 0.75621], \"tcp_roll_pitch_yaw\": [-0.0, -0.00071, 7e-05], \"tcp_rotation_matrix\": [[0.99991, 0.00553, 0.01208], [0.0058, -0.99973, -0.02252], [0.01195, 0.02259, -0.99967]], \"simulated_seconds_remaining\": 15.114, \"calls_remaining_including_this\": 33}"
      },
      {
        "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 pads are now at tabletop height over the remote. I am closing for the grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 26, \"instruction\": \"pick up the remote and place it on the bowl.\", \"joint_positions\": [0.0363, 0.07801, 0.05708, -2.25023, -0.03855, 2.33931, 0.11321], \"gripper_open\": 0.0, \"tcp_xyz\": [0.53162, 0.04547, 0.75682], \"tcp_roll_pitch_yaw\": [0.00042, -0.00228, 0.00105], \"tcp_rotation_matrix\": [[0.99989, 0.00647, 0.01367], [0.00677, -0.99973, -0.02209], [0.01353, 0.02218, -0.99966]], \"simulated_seconds_remaining\": 14.19, \"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": 0.675,
      "y": 0.045,
      "z": 0.8,
      "gripper": 1,
      "roll": 0,
      "pitch": 0,
      "yaw": 0
    },
    "note": "The exterior view shows the gripper is still behind the remote. I am moving forward to bring the remote into the wrist camera’s grasp center."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 27, \"instruction\": \"pick up the remote and place it on the bowl.\", \"joint_positions\": [0.03404, 0.42907, 0.04728, -1.62536, -0.04879, 2.06319, 0.09424], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.67378, 0.04499, 0.79961], \"tcp_roll_pitch_yaw\": [1e-05, -7e-05, -2e-05], \"tcp_rotation_matrix\": [[0.99992, 0.00545, 0.01144], [0.0057, -0.99973, -0.02251], [0.01131, 0.02257, -0.99968]], \"simulated_seconds_remaining\": 12.87, \"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": 0.66,
      "y": 0.025,
      "z": 0.765
    },
    "note": "The remote is visible near the wrist image center. I am making a small alignment correction and lowering the open fingers to its sides."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 28, \"instruction\": \"pick up the remote and place it on the bowl.\", \"joint_positions\": [0.0115, 0.41848, 0.0388, -1.73234, -0.0467, 2.16015, 0.06719], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.66032, 0.02546, 0.76584], \"tcp_roll_pitch_yaw\": [-3e-05, 0.00019, -0.00014], \"tcp_rotation_matrix\": [[0.99992, 0.00533, 0.01117], [0.00558, -0.99973, -0.02255], [0.01105, 0.02261, -0.99968]], \"simulated_seconds_remaining\": 12.276, \"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 remote is centered under the grasp axis at tabletop height. I am closing the jaws."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 29, \"instruction\": \"pick up the remote and place it on the bowl.\", \"joint_positions\": [0.00651, 0.40598, 0.03228, -1.72164, -0.05069, 2.16292, 0.06702], \"gripper_open\": 0.2757, \"tcp_xyz\": [0.66732, 0.01731, 0.77931], \"tcp_roll_pitch_yaw\": [-0.00515, -0.02598, -0.00881], \"tcp_rotation_matrix\": [[0.9993, -0.00406, 0.03708], [-0.00302, -0.9996, -0.02799], [0.03718, 0.02786, -0.99892]], \"simulated_seconds_remaining\": 11.352, \"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": {
      "z": 0.96
    },
    "note": "The gripper stopped partially open against the remote, indicating a grasp. I am lifting it clear of the table."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 30, \"instruction\": \"pick up the remote and place it on the bowl.\", \"joint_positions\": [0.00797, 0.32322, 0.03572, -1.38054, -0.04145, 1.73972, 0.0514], \"gripper_open\": 0.0, \"tcp_xyz\": [0.66739, 0.01732, 0.95884], \"tcp_roll_pitch_yaw\": [-0.00513, -0.02637, -0.0088], \"tcp_rotation_matrix\": [[0.99929, -0.00406, 0.03747], [-0.00301, -0.9996, -0.02798], [0.03757, 0.02784, -0.99891]], \"simulated_seconds_remaining\": 9.834, \"calls_remaining_including_this\": 28}"
      },
      {
        "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": 0.7,
      "y": 0.03,
      "z": 0.785,
      "yaw": -0.55,
      "roll": 0,
      "pitch": 0,
      "gripper": 1
    },
    "note": "The remote slipped free during the lift. I am aligning the jaws with its long axis and approaching slightly farther forward for a centered pinch."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 31, \"instruction\": \"pick up the remote and place it on the bowl.\", \"joint_positions\": [0.07215, 0.53554, -0.02715, -1.49084, -0.01247, 2.02267, 0.59584], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.69976, 0.02995, 0.78565], \"tcp_roll_pitch_yaw\": [-0.00021, 0.00021, -0.54715], \"tcp_rotation_matrix\": [[0.85692, -0.51544, -0.0023], [-0.51532, -0.85662, -0.02521], [0.01103, 0.02279, -0.99968]], \"simulated_seconds_remaining\": 8.382, \"calls_remaining_including_this\": 27}"
      },
      {
        "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": 0.69,
      "y": 0.005,
      "z": 0.775
    },
    "note": "The remote’s long axis is now aligned with the jaws. I am shifting its center under the grasp point before closing."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 32, \"instruction\": \"pick up the remote and place it on the bowl.\", \"joint_positions\": [0.04545, 0.51059, -0.0355, -1.55818, -0.00897, 2.06571, 0.5605], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.6904, 0.00592, 0.77542], \"tcp_roll_pitch_yaw\": [-0.00032, 0.00027, -0.54739], \"tcp_rotation_matrix\": [[0.8568, -0.51564, -0.00241], [-0.51553, -0.8565, -0.02528], [0.01097, 0.0229, -0.99968]], \"simulated_seconds_remaining\": 7.92, \"calls_remaining_including_this\": 26}"
      },
      {
        "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 remote is centered and aligned with the jaws. I am closing across its narrow width."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 33, \"instruction\": \"pick up the remote and place it on the bowl.\", \"joint_positions\": [0.04564, 0.50674, -0.03534, -1.55402, -0.00884, 2.0681, 0.56053], \"gripper_open\": 0.0154, \"tcp_xyz\": [0.69308, 0.00628, 0.78022], \"tcp_roll_pitch_yaw\": [0.00549, -0.00835, -0.54703], \"tcp_rotation_matrix\": [[0.85684, -0.51552, 0.00798], [-0.51521, -0.85671, -0.0248], [0.01962, 0.01714, -0.99966]], \"simulated_seconds_remaining\": 6.996, \"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": 0.62,
      "z": 0.785,
      "gripper": 1
    },
    "note": "The remote remains ahead of the closed pad contact point. I am shifting back along its length to place the pads around its middle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 34, \"instruction\": \"pick up the remote and place it on the bowl.\", \"joint_positions\": [0.05276, 0.28171, -0.03726, -1.88557, -0.01771, 2.17463, 0.56854], \"gripper_open\": 0.9965, \"tcp_xyz\": [0.62108, 0.00628, 0.78499], \"tcp_roll_pitch_yaw\": [0.00551, -0.00839, -0.54702], \"tcp_rotation_matrix\": [[0.85684, -0.51551, 0.00803], [-0.5152, -0.85671, -0.0248], [0.01966, 0.01711, -0.99966]], \"simulated_seconds_remaining\": 6.072, \"calls_remaining_including_this\": 24}"
      },
      {
        "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 remote’s middle now lies between the aligned pads. I am closing to secure it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 35, \"instruction\": \"pick up the remote and place it on the bowl.\", \"joint_positions\": [0.05276, 0.28171, -0.03726, -1.88557, -0.01771, 2.17463, 0.56854], \"gripper_open\": 0.0, \"tcp_xyz\": [0.62107, 0.00628, 0.78498], \"tcp_roll_pitch_yaw\": [0.00551, -0.00839, -0.54702], \"tcp_rotation_matrix\": [[0.85684, -0.51551, 0.00803], [-0.5152, -0.85671, -0.0248], [0.01966, 0.01711, -0.99966]], \"simulated_seconds_remaining\": 5.148, \"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": "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 remote after repeated visually guided attempts, and the remaining motion time is insufficient to complete the placement."
  },
  "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 remote, so I ended the attempt without completing the placement.

TURN USAGE
{
  "input_tokens": 825724,
  "cached_input_tokens": 774272,
  "cache_write_input_tokens": 0,
  "output_tokens": 7415,
  "reasoning_output_tokens": 3748
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "pick up the remote and place it on the bowl.",
    "joint_positions": [
      -0.01562,
      -0.79918,
      -0.0276,
      -2.34723,
      -0.04189,
      1.56041,
      -0.04127
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.30365,
      -0.02378,
      1.02273
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99992,
        0.00547,
        0.01137
      ],
      [
        0.00572,
        -0.99973,
        -0.02252
      ],
      [
        0.01124,
        0.02258,
        -0.99968
      ]
    ],
    "simulated_seconds_remaining": 45.012,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 31.42529426328838,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.2
                  },
                  "note": "The slim light remote lies beside the dark bowl. I am raising the open gripper for a clearer view before approaching."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 22,
    "motion_seconds": 1.452,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "pick up the remote and place it on the bowl.",
    "joint_positions": [
      -0.01408,
      -0.56963,
      -0.02242,
      -1.70761,
      -0.03748,
      1.15065,
      -0.05414
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.30368,
      -0.02378,
      1.19867
    ],
    "tcp_roll_pitch_yaw": [
      -0.0,
      -0.00019,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99992,
        0.00547,
        0.01156
      ],
      [
        0.00573,
        -0.99973,
        -0.02252
      ],
      [
        0.01143,
        0.02258,
        -0.99968
      ]
    ],
    "simulated_seconds_remaining": 43.56,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 10.208113683387637,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.46,
                    "y": 0.02,
                    "z": 1.16
                  },
                  "note": "The wrist view shows the white remote between the red object and dark bowl. I am moving over that area with clearance."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "pick up the remote and place it on the bowl.",
    "joint_positions": [
      0.00761,
      -0.19236,
      0.04118,
      -1.49199,
      -0.01572,
      1.30999,
      0.03829
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.45875,
      0.01965,
      1.1602
    ],
    "tcp_roll_pitch_yaw": [
      -3e-05,
      0.00011,
      5e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99992,
        0.00552,
        0.01126
      ],
      [
        0.00577,
        -0.99973,
        -0.02254
      ],
      [
        0.01113,
        0.0226,
        -0.99968
      ]
    ],
    "simulated_seconds_remaining": 42.174,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 9.007439928129315,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.17,
                    "z": 1.08
                  },
                  "note": "The remote remains ahead of the fingers. I am shifting laterally and lowering slightly to resolve its center and long axis."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 22,
    "motion_seconds": 1.452,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "pick up the remote and place it on the bowl.",
    "joint_positions": [
      0.11602,
      -0.19543,
      0.21726,
      -1.70629,
      0.01692,
      1.51856,
      0.32436
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.45872,
      0.16892,
      1.08056
    ],
    "tcp_roll_pitch_yaw": [
      -8e-05,
      0.00026,
      0.00029
    ],
    "tcp_rotation_matrix": [
      [
        0.99992,
        0.00576,
        0.01111
      ],
      [
        0.00601,
        -0.99973,
        -0.02259
      ],
      [
        0.01098,
        0.02265,
        -0.99968
      ]
    ],
    "simulated_seconds_remaining": 40.722,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 16.01125015038997,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.46,
                    "y": -0.06,
                    "z": 0.94
                  },
                  "note": "The lateral motion placed the remote left of the open jaws. I am correcting toward its center and descending to a closer approach."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 32,
    "motion_seconds": 2.112,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "pick up the remote and place it on the bowl.",
    "joint_positions": [
      -0.04388,
      -0.31358,
      -0.06485,
      -2.19122,
      -0.04347,
      1.89124,
      -0.09794
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.45997,
      -0.05894,
      0.94064
    ],
    "tcp_roll_pitch_yaw": [
      -3e-05,
      0.00043,
      5e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99992,
        0.00553,
        0.01094
      ],
      [
        0.00578,
        -0.99973,
        -0.02255
      ],
      [
        0.01081,
        0.02261,
        -0.99969
      ]
    ],
    "simulated_seconds_remaining": 38.61,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 17.01171087473631,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.55,
                    "y": 0.17,
                    "z": 0.86
                  },
                  "note": "The exterior view places the remote left of the gripper, while the wrist view confirms its slim shape. I am moving left over it and lowering toward the tabletop."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 31,
    "motion_seconds": 2.0460000000000003,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "pick up the remote and place it on the bowl.",
    "joint_positions": [
      0.13872,
      0.07664,
      0.17315,
      -1.96397,
      -0.04265,
      2.04247,
      0.32478
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.54949,
      0.1689,
      0.86035
    ],
    "tcp_roll_pitch_yaw": [
      -6e-05,
      0.00057,
      0.00029
    ],
    "tcp_rotation_matrix": [
      [
        0.99992,
        0.00577,
        0.0108
      ],
      [
        0.00602,
        -0.99973,
        -0.02258
      ],
      [
        0.01067,
        0.02264,
        -0.99969
      ]
    ],
    "simulated_seconds_remaining": 36.564,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 14.209915274754167,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.51,
                    "y": 0.14,
                    "z": 0.815
                  },
                  "note": "The gripper is close to the remote in the exterior view. I am making a small centering adjustment and bringing the fingers down around it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "pick up the remote and place it on the bowl.",
    "joint_positions": [
      0.12026,
      -0.01206,
      0.1572,
      -2.19317,
      -0.02789,
      2.18507,
      0.28764
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.51075,
      0.14053,
      0.81584
    ],
    "tcp_roll_pitch_yaw": [
      -0.00012,
      0.00078,
      0.00024
    ],
    "tcp_rotation_matrix": [
      [
        0.99993,
        0.00573,
        0.01059
      ],
      [
        0.00597,
        -0.99973,
        -0.02264
      ],
      [
        0.01046,
        0.0227,
        -0.99969
      ]
    ],
    "simulated_seconds_remaining": 35.838,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 5.604439157061279,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The fingers now straddle the remote’s location at tabletop height. I am closing the jaws to grasp it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "pick up the remote and place it on the bowl.",
    "joint_positions": [
      0.12026,
      -0.01206,
      0.1572,
      -2.19317,
      -0.02789,
      2.18507,
      0.28764
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.51074,
      0.14053,
      0.81583
    ],
    "tcp_roll_pitch_yaw": [
      -0.00012,
      0.00078,
      0.00024
    ],
    "tcp_rotation_matrix": [
      [
        0.99993,
        0.00573,
        0.0106
      ],
      [
        0.00597,
        -0.99973,
        -0.02264
      ],
      [
        0.01047,
        0.0227,
        -0.99969
      ]
    ],
    "simulated_seconds_remaining": 34.914,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 5.003850326873362,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.95
                  },
                  "note": "The jaws closed fully, so the grasp may have missed. I am lifting slightly to check whether the remote moves with the gripper."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "pick up the remote and place it on the bowl.",
    "joint_positions": [
      0.11893,
      -0.10699,
      0.15308,
      -1.95333,
      -0.00873,
      1.85208,
      0.26775
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.51081,
      0.14055,
      0.94879
    ],
    "tcp_roll_pitch_yaw": [
      -4e-05,
      0.00042,
      0.00024
    ],
    "tcp_rotation_matrix": [
      [
        0.99992,
        0.00572,
        0.01095
      ],
      [
        0.00597,
        -0.99973,
        -0.02256
      ],
      [
        0.01082,
        0.02262,
        -0.99969
      ]
    ],
    "simulated_seconds_remaining": 33.726,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 12.408387579023838,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.39,
                    "y": 0.02,
                    "gripper": 1
                  },
                  "note": "The remote stayed on the table and is left of the wrist gripper center. I am reopening and shifting the approach toward it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 22,
    "motion_seconds": 1.452,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "pick up the remote and place it on the bowl.",
    "joint_positions": [
      0.05122,
      -0.53921,
      0.01333,
      -2.36387,
      -0.01694,
      1.83426,
      0.06132
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.39095,
      0.02088,
      0.94884
    ],
    "tcp_roll_pitch_yaw": [
      -3e-05,
      0.00033,
      0.0001
    ],
    "tcp_rotation_matrix": [
      [
        0.99992,
        0.00557,
        0.01104
      ],
      [
        0.00582,
        -0.99973,
        -0.02255
      ],
      [
        0.01091,
        0.02261,
        -0.99968
      ]
    ],
    "simulated_seconds_remaining": 32.274,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 30.42276188917458,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.58,
                    "y": 0.14,
                    "z": 0.85
                  },
                  "note": "The exterior view shows the previous approach was short of the remote. I am repositioning farther forward at a shallow grasp height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 29,
    "motion_seconds": 1.9140000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "pick up the remote and place it on the bowl.",
    "joint_positions": [
      0.12195,
      0.14465,
      0.12935,
      -1.90151,
      -0.04862,
      2.04941,
      0.26644
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.57891,
      0.13936,
      0.85046
    ],
    "tcp_roll_pitch_yaw": [
      -6e-05,
      0.00053,
      0.00018
    ],
    "tcp_rotation_matrix": [
      [
        0.99993,
        0.00566,
        0.01084
      ],
      [
        0.0059,
        -0.99973,
        -0.02258
      ],
      [
        0.01071,
        0.02264,
        -0.99969
      ]
    ],
    "simulated_seconds_remaining": 30.36,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 9.408283424563706,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The jaws are beside the remote at the new forward position. I am closing to check this alignment."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "pick up the remote and place it on the bowl.",
    "joint_positions": [
      0.12195,
      0.14465,
      0.12935,
      -1.90151,
      -0.04862,
      2.04941,
      0.26644
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.57892,
      0.13937,
      0.85045
    ],
    "tcp_roll_pitch_yaw": [
      -6e-05,
      0.00053,
      0.00018
    ],
    "tcp_rotation_matrix": [
      [
        0.99993,
        0.00566,
        0.01084
      ],
      [
        0.0059,
        -0.99973,
        -0.02258
      ],
      [
        0.01071,
        0.02264,
        -0.99969
      ]
    ],
    "simulated_seconds_remaining": 29.436,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 10.007467068731785,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.08,
                    "gripper": 1
                  },
                  "note": "The closed fingertips were just left of the remote in the exterior image. I am shifting right by six centimeters and reopening around its width."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "pick up the remote and place it on the bowl.",
    "joint_positions": [
      0.06446,
      0.10996,
      0.08664,
      -1.94696,
      -0.03799,
      2.06355,
      0.16281
    ],
    "gripper_open": 0.9965,
    "tcp_xyz": [
      0.57893,
      0.08118,
      0.85046
    ],
    "tcp_roll_pitch_yaw": [
      -8e-05,
      0.00053,
      -2e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99993,
        0.00546,
        0.01084
      ],
      [
        0.00571,
        -0.99973,
        -0.0226
      ],
      [
        0.01072,
        0.02266,
        -0.99969
      ]
    ],
    "simulated_seconds_remaining": 28.512,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 6.4046615306288,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.825,
                    "gripper": 0
                  },
                  "note": "The open fingers now align with the remote in the exterior view. I am lowering slightly and closing across its narrow sides."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "pick up the remote and place it on the bowl.",
    "joint_positions": [
      0.06477,
      0.13247,
      0.08618,
      -1.98258,
      -0.04146,
      2.12143,
      0.16614
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.57891,
      0.08118,
      0.826
    ],
    "tcp_roll_pitch_yaw": [
      -9e-05,
      0.00062,
      -2e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99993,
        0.00546,
        0.01075
      ],
      [
        0.00571,
        -0.99973,
        -0.02261
      ],
      [
        0.01063,
        0.02267,
        -0.99969
      ]
    ],
    "simulated_seconds_remaining": 27.588,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 7.806183301843703,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": -0.005,
                    "z": 0.85,
                    "gripper": 1
                  },
                  "note": "The remote is still visible to the left of the closed jaws in the wrist image. I am shifting farther across its width and reopening."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "pick up the remote and place it on the bowl.",
    "joint_positions": [
      -0.01879,
      0.09117,
      0.02089,
      -1.97375,
      -0.02805,
      2.07552,
      0.01015
    ],
    "gripper_open": 0.9965,
    "tcp_xyz": [
      0.57894,
      -0.00394,
      0.8497
    ],
    "tcp_roll_pitch_yaw": [
      -0.00011,
      0.00053,
      -0.00032
    ],
    "tcp_rotation_matrix": [
      [
        0.99993,
        0.00516,
        0.01083
      ],
      [
        0.00541,
        -0.99973,
        -0.02263
      ],
      [
        0.01071,
        0.02269,
        -0.99969
      ]
    ],
    "simulated_seconds_remaining": 26.664,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 8.206266015768051,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The remote is now centered between the two jaws in the wrist view. I am closing at this aligned pose."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "pick up the remote and place it on the bowl.",
    "joint_positions": [
      -0.01879,
      0.09117,
      0.02089,
      -1.97375,
      -0.02805,
      2.07552,
      0.01015
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.57894,
      -0.00395,
      0.8497
    ],
    "tcp_roll_pitch_yaw": [
      -0.00011,
      0.00053,
      -0.00032
    ],
    "tcp_rotation_matrix": [
      [
        0.99993,
        0.00517,
        0.01083
      ],
      [
        0.00541,
        -0.99973,
        -0.02263
      ],
      [
        0.01071,
        0.02269,
        -0.99969
      ]
    ],
    "simulated_seconds_remaining": 25.74,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 9.206847172230482,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.77,
                    "gripper": 1
                  },
                  "note": "The jaws closed without holding the remote, indicating they were above it. I am reopening and lowering along the same centered approach."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "pick up the remote and place it on the bowl.",
    "joint_positions": [
      -0.01863,
      0.17958,
      0.01981,
      -2.07087,
      -0.03395,
      2.26063,
      0.01702
    ],
    "gripper_open": 0.9965,
    "tcp_xyz": [
      0.57887,
      -0.00396,
      0.77099
    ],
    "tcp_roll_pitch_yaw": [
      -0.00011,
      0.00085,
      -0.00032
    ],
    "tcp_rotation_matrix": [
      [
        0.99993,
        0.00517,
        0.01051
      ],
      [
        0.00541,
        -0.99973,
        -0.02263
      ],
      [
        0.01039,
        0.02269,
        -0.99969
      ]
    ],
    "simulated_seconds_remaining": 24.816,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 8.206968820653856,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.615,
                    "y": 0.012
                  },
                  "note": "At the lower height, the remote sits slightly forward and right of the jaw center in the wrist image. I am making a small final centering move."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 8,
    "motion_seconds": 0.528,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "pick up the remote and place it on the bowl.",
    "joint_positions": [
      -0.00106,
      0.27685,
      0.02891,
      -1.93189,
      -0.03861,
      2.21816,
      0.04445
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.61378,
      0.01152,
      0.77096
    ],
    "tcp_roll_pitch_yaw": [
      -0.0001,
      0.00088,
      -0.00021
    ],
    "tcp_rotation_matrix": [
      [
        0.99993,
        0.00528,
        0.01049
      ],
      [
        0.00552,
        -0.99973,
        -0.02262
      ],
      [
        0.01037,
        0.02267,
        -0.99969
      ]
    ],
    "simulated_seconds_remaining": 24.288,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 7.20620706025511,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The remote is centered beneath the jaws at the lower grasp height. I am closing to secure it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 19,
  "state": {
    "instruction": "pick up the remote and place it on the bowl.",
    "joint_positions": [
      0.00322,
      0.26806,
      0.03468,
      -1.92384,
      -0.03583,
      2.22077,
      0.04461
    ],
    "gripper_open": 0.0184,
    "tcp_xyz": [
      0.61889,
      0.01836,
      0.78027
    ],
    "tcp_roll_pitch_yaw": [
      0.00403,
      -0.0185,
      0.00779
    ],
    "tcp_rotation_matrix": [
      [
        0.99947,
        0.01291,
        0.03
      ],
      [
        0.01346,
        -0.99974,
        -0.01825
      ],
      [
        0.02976,
        0.01864,
        -0.99938
      ]
    ],
    "simulated_seconds_remaining": 23.364,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 5.2042719051241875,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.96
                  },
                  "note": "The fingers met slight resistance during closure. I am lifting to verify whether the remote is held."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 20,
  "state": {
    "instruction": "pick up the remote and place it on the bowl.",
    "joint_positions": [
      0.0031,
      0.15664,
      0.0373,
      -1.61109,
      -0.02591,
      1.79719,
      0.03211
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.61896,
      0.01836,
      0.95883
    ],
    "tcp_roll_pitch_yaw": [
      0.00405,
      -0.01888,
      0.00779
    ],
    "tcp_rotation_matrix": [
      [
        0.99946,
        0.01291,
        0.03038
      ],
      [
        0.01347,
        -0.99974,
        -0.01823
      ],
      [
        0.03014,
        0.01863,
        -0.99937
      ]
    ],
    "simulated_seconds_remaining": 21.846,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 20.615995718166232,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.63,
                    "y": 0.015,
                    "z": 0.72,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 0,
                    "gripper": 1
                  },
                  "note": "The remote remained on the table. I am opening and descending farther so the fingertips reach its sides rather than closing above it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 29,
    "motion_seconds": 1.9140000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 21,
  "state": {
    "instruction": "pick up the remote and place it on the bowl.",
    "joint_positions": [
      0.0035,
      0.32799,
      0.02856,
      -1.89374,
      -0.04641,
      2.28932,
      0.05694
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.64079,
      0.0145,
      0.76322
    ],
    "tcp_roll_pitch_yaw": [
      -0.00099,
      -0.05753,
      -0.00226
    ],
    "tcp_rotation_matrix": [
      [
        0.99763,
        0.00185,
        0.06877
      ],
      [
        0.00348,
        -0.99971,
        -0.02366
      ],
      [
        0.06871,
        0.02384,
        -0.99735
      ]
    ],
    "simulated_seconds_remaining": 19.932,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 11.609042350202799,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.53,
                    "y": 0.045,
                    "z": 0.8,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 0
                  },
                  "note": "The downward motion reached the tabletop, but the remote remains ahead of the finger pads. I am shifting back to place the pads over its center."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 22,
  "state": {
    "instruction": "pick up the remote and place it on the bowl.",
    "joint_positions": [
      0.03568,
      0.01428,
      0.05701,
      -2.20743,
      -0.03084,
      2.23144,
      0.10582
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.53122,
      0.04473,
      0.79968
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      -0.00075,
      8e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99991,
        0.00553,
        0.01212
      ],
      [
        0.00581,
        -0.99973,
        -0.02251
      ],
      [
        0.01199,
        0.02258,
        -0.99967
      ]
    ],
    "simulated_seconds_remaining": 18.81,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 6.204631886444986,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The remote is now beneath the finger pads and mostly occluded in the wrist image. I am closing around it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 23,
  "state": {
    "instruction": "pick up the remote and place it on the bowl.",
    "joint_positions": [
      0.03568,
      0.01428,
      0.05701,
      -2.20743,
      -0.03084,
      2.23144,
      0.10582
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.53121,
      0.04473,
      0.79968
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      -0.00074,
      8e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99991,
        0.00553,
        0.01211
      ],
      [
        0.0058,
        -0.99973,
        -0.02251
      ],
      [
        0.01198,
        0.02258,
        -0.99967
      ]
    ],
    "simulated_seconds_remaining": 17.886,
    "calls_remaining_including_this": 35
  },
  "api_seconds": 7.405720254406333,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.94
                  },
                  "note": "I am lifting from this centered grasp to check whether the remote follows the gripper."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 24,
  "state": {
    "instruction": "pick up the remote and place it on the bowl.",
    "joint_positions": [
      0.03573,
      -0.0978,
      0.05619,
      -1.97105,
      -0.01897,
      1.88371,
      0.09177
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.53128,
      0.04474,
      0.93882
    ],
    "tcp_roll_pitch_yaw": [
      3e-05,
      -0.0011,
      8e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99991,
        0.00553,
        0.01247
      ],
      [
        0.00581,
        -0.99973,
        -0.02248
      ],
      [
        0.01234,
        0.02255,
        -0.99967
      ]
    ],
    "simulated_seconds_remaining": 16.632,
    "calls_remaining_including_this": 34
  },
  "api_seconds": 9.207069887779653,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.755,
                    "gripper": 1
                  },
                  "note": "The remote is still on the table. I am lowering the open pads to the remote’s actual height at the corrected horizontal position."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 25,
  "state": {
    "instruction": "pick up the remote and place it on the bowl.",
    "joint_positions": [
      0.03578,
      0.07858,
      0.05639,
      -2.25092,
      -0.03888,
      2.33897,
      0.11319
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.53119,
      0.04473,
      0.75621
    ],
    "tcp_roll_pitch_yaw": [
      -0.0,
      -0.00071,
      7e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99991,
        0.00553,
        0.01208
      ],
      [
        0.0058,
        -0.99973,
        -0.02252
      ],
      [
        0.01195,
        0.02259,
        -0.99967
      ]
    ],
    "simulated_seconds_remaining": 15.114,
    "calls_remaining_including_this": 33
  },
  "api_seconds": 5.4048329629004,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The pads are now at tabletop height over the remote. I am closing for the grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 26,
  "state": {
    "instruction": "pick up the remote and place it on the bowl.",
    "joint_positions": [
      0.0363,
      0.07801,
      0.05708,
      -2.25023,
      -0.03855,
      2.33931,
      0.11321
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.53162,
      0.04547,
      0.75682
    ],
    "tcp_roll_pitch_yaw": [
      0.00042,
      -0.00228,
      0.00105
    ],
    "tcp_rotation_matrix": [
      [
        0.99989,
        0.00647,
        0.01367
      ],
      [
        0.00677,
        -0.99973,
        -0.02209
      ],
      [
        0.01353,
        0.02218,
        -0.99966
      ]
    ],
    "simulated_seconds_remaining": 14.19,
    "calls_remaining_including_this": 32
  },
  "api_seconds": 17.61373513378203,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.675,
                    "y": 0.045,
                    "z": 0.8,
                    "gripper": 1,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 0
                  },
                  "note": "The exterior view shows the gripper is still behind the remote. I am moving forward to bring the remote into the wrist camera’s grasp center."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 27,
  "state": {
    "instruction": "pick up the remote and place it on the bowl.",
    "joint_positions": [
      0.03404,
      0.42907,
      0.04728,
      -1.62536,
      -0.04879,
      2.06319,
      0.09424
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.67378,
      0.04499,
      0.79961
    ],
    "tcp_roll_pitch_yaw": [
      1e-05,
      -7e-05,
      -2e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99992,
        0.00545,
        0.01144
      ],
      [
        0.0057,
        -0.99973,
        -0.02251
      ],
      [
        0.01131,
        0.02257,
        -0.99968
      ]
    ],
    "simulated_seconds_remaining": 12.87,
    "calls_remaining_including_this": 31
  },
  "api_seconds": 7.606255508027971,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.66,
                    "y": 0.025,
                    "z": 0.765
                  },
                  "note": "The remote is visible near the wrist image center. I am making a small alignment correction and lowering the open fingers to its sides."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 28,
  "state": {
    "instruction": "pick up the remote and place it on the bowl.",
    "joint_positions": [
      0.0115,
      0.41848,
      0.0388,
      -1.73234,
      -0.0467,
      2.16015,
      0.06719
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.66032,
      0.02546,
      0.76584
    ],
    "tcp_roll_pitch_yaw": [
      -3e-05,
      0.00019,
      -0.00014
    ],
    "tcp_rotation_matrix": [
      [
        0.99992,
        0.00533,
        0.01117
      ],
      [
        0.00558,
        -0.99973,
        -0.02255
      ],
      [
        0.01105,
        0.02261,
        -0.99968
      ]
    ],
    "simulated_seconds_remaining": 12.276,
    "calls_remaining_including_this": 30
  },
  "api_seconds": 7.005179417319596,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The remote is centered under the grasp axis at tabletop height. I am closing the jaws."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 29,
  "state": {
    "instruction": "pick up the remote and place it on the bowl.",
    "joint_positions": [
      0.00651,
      0.40598,
      0.03228,
      -1.72164,
      -0.05069,
      2.16292,
      0.06702
    ],
    "gripper_open": 0.2757,
    "tcp_xyz": [
      0.66732,
      0.01731,
      0.77931
    ],
    "tcp_roll_pitch_yaw": [
      -0.00515,
      -0.02598,
      -0.00881
    ],
    "tcp_rotation_matrix": [
      [
        0.9993,
        -0.00406,
        0.03708
      ],
      [
        -0.00302,
        -0.9996,
        -0.02799
      ],
      [
        0.03718,
        0.02786,
        -0.99892
      ]
    ],
    "simulated_seconds_remaining": 11.352,
    "calls_remaining_including_this": 29
  },
  "api_seconds": 6.605994361452758,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.96
                  },
                  "note": "The gripper stopped partially open against the remote, indicating a grasp. I am lifting it clear of the table."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 30,
  "state": {
    "instruction": "pick up the remote and place it on the bowl.",
    "joint_positions": [
      0.00797,
      0.32322,
      0.03572,
      -1.38054,
      -0.04145,
      1.73972,
      0.0514
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.66739,
      0.01732,
      0.95884
    ],
    "tcp_roll_pitch_yaw": [
      -0.00513,
      -0.02637,
      -0.0088
    ],
    "tcp_rotation_matrix": [
      [
        0.99929,
        -0.00406,
        0.03747
      ],
      [
        -0.00301,
        -0.9996,
        -0.02798
      ],
      [
        0.03757,
        0.02784,
        -0.99891
      ]
    ],
    "simulated_seconds_remaining": 9.834,
    "calls_remaining_including_this": 28
  },
  "api_seconds": 16.611918670125306,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.7,
                    "y": 0.03,
                    "z": 0.785,
                    "yaw": -0.55,
                    "roll": 0,
                    "pitch": 0,
                    "gripper": 1
                  },
                  "note": "The remote slipped free during the lift. I am aligning the jaws with its long axis and approaching slightly farther forward for a centered pinch."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 22,
    "motion_seconds": 1.452,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 31,
  "state": {
    "instruction": "pick up the remote and place it on the bowl.",
    "joint_positions": [
      0.07215,
      0.53554,
      -0.02715,
      -1.49084,
      -0.01247,
      2.02267,
      0.59584
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.69976,
      0.02995,
      0.78565
    ],
    "tcp_roll_pitch_yaw": [
      -0.00021,
      0.00021,
      -0.54715
    ],
    "tcp_rotation_matrix": [
      [
        0.85692,
        -0.51544,
        -0.0023
      ],
      [
        -0.51532,
        -0.85662,
        -0.02521
      ],
      [
        0.01103,
        0.02279,
        -0.99968
      ]
    ],
    "simulated_seconds_remaining": 8.382,
    "calls_remaining_including_this": 27
  },
  "api_seconds": 10.207912377081811,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.69,
                    "y": 0.005,
                    "z": 0.775
                  },
                  "note": "The remote’s long axis is now aligned with the jaws. I am shifting its center under the grasp point before closing."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 7,
    "motion_seconds": 0.462,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 32,
  "state": {
    "instruction": "pick up the remote and place it on the bowl.",
    "joint_positions": [
      0.04545,
      0.51059,
      -0.0355,
      -1.55818,
      -0.00897,
      2.06571,
      0.5605
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.6904,
      0.00592,
      0.77542
    ],
    "tcp_roll_pitch_yaw": [
      -0.00032,
      0.00027,
      -0.54739
    ],
    "tcp_rotation_matrix": [
      [
        0.8568,
        -0.51564,
        -0.00241
      ],
      [
        -0.51553,
        -0.8565,
        -0.02528
      ],
      [
        0.01097,
        0.0229,
        -0.99968
      ]
    ],
    "simulated_seconds_remaining": 7.92,
    "calls_remaining_including_this": 26
  },
  "api_seconds": 5.604890250600874,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The remote is centered and aligned with the jaws. I am closing across its narrow width."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 33,
  "state": {
    "instruction": "pick up the remote and place it on the bowl.",
    "joint_positions": [
      0.04564,
      0.50674,
      -0.03534,
      -1.55402,
      -0.00884,
      2.0681,
      0.56053
    ],
    "gripper_open": 0.0154,
    "tcp_xyz": [
      0.69308,
      0.00628,
      0.78022
    ],
    "tcp_roll_pitch_yaw": [
      0.00549,
      -0.00835,
      -0.54703
    ],
    "tcp_rotation_matrix": [
      [
        0.85684,
        -0.51552,
        0.00798
      ],
      [
        -0.51521,
        -0.85671,
        -0.0248
      ],
      [
        0.01962,
        0.01714,
        -0.99966
      ]
    ],
    "simulated_seconds_remaining": 6.996,
    "calls_remaining_including_this": 25
  },
  "api_seconds": 9.808162912726402,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.62,
                    "z": 0.785,
                    "gripper": 1
                  },
                  "note": "The remote remains ahead of the closed pad contact point. I am shifting back along its length to place the pads around its middle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 34,
  "state": {
    "instruction": "pick up the remote and place it on the bowl.",
    "joint_positions": [
      0.05276,
      0.28171,
      -0.03726,
      -1.88557,
      -0.01771,
      2.17463,
      0.56854
    ],
    "gripper_open": 0.9965,
    "tcp_xyz": [
      0.62108,
      0.00628,
      0.78499
    ],
    "tcp_roll_pitch_yaw": [
      0.00551,
      -0.00839,
      -0.54702
    ],
    "tcp_rotation_matrix": [
      [
        0.85684,
        -0.51551,
        0.00803
      ],
      [
        -0.5152,
        -0.85671,
        -0.0248
      ],
      [
        0.01966,
        0.01711,
        -0.99966
      ]
    ],
    "simulated_seconds_remaining": 6.072,
    "calls_remaining_including_this": 24
  },
  "api_seconds": 5.40478044282645,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The remote’s middle now lies between the aligned pads. I am closing to secure it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 35,
  "state": {
    "instruction": "pick up the remote and place it on the bowl.",
    "joint_positions": [
      0.05276,
      0.28171,
      -0.03726,
      -1.88557,
      -0.01771,
      2.17463,
      0.56854
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.62107,
      0.00628,
      0.78498
    ],
    "tcp_roll_pitch_yaw": [
      0.00551,
      -0.00839,
      -0.54702
    ],
    "tcp_rotation_matrix": [
      [
        0.85684,
        -0.51551,
        0.00803
      ],
      [
        -0.5152,
        -0.85671,
        -0.0248
      ],
      [
        0.01966,
        0.01711,
        -0.99966
      ]
    ],
    "simulated_seconds_remaining": 5.148,
    "calls_remaining_including_this": 23
  },
  "api_seconds": 20.215608830563724,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "give_up",
                "args": {
                  "note": "I could not secure the remote after repeated visually guided attempts, and the remaining motion time is insufficient to complete the placement."
                }
              }
            }
          ]
        }
      }
    ]
  }
}

========================================================================
GPT-Astra / Pick & place / 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,
  "status": "completed",
  "success": false,
  "oracle_success": false,
  "action_decisions": 43,
  "wall_seconds": 483.86,
  "usage": {
    "input_tokens": 1070097,
    "cached_input_tokens": 1010432,
    "cache_write_input_tokens": 0,
    "output_tokens": 7742,
    "reasoning_output_tokens": 3449
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick-and-place 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 45 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 and grasp the requested object, lift it, move it to the named receptacle, and release it in or on that receptacle. Complete the entire pick-and-place 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 guide the pick and place.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.04586, -0.75872, -0.03389, -2.37412, -0.02953, 1.54398, -0.03444], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.29901, -0.0034, 0.9966], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.99582, 0.05691, -0.07148], [0.05649, -0.99837, -0.00778], [-0.0718, 0.00371, -0.99741]], \"simulated_seconds_remaining\": 45.012, \"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": 0.4,
    "y": 0,
    "z": 0.88,
    "note": "The bottle is beside the bowl on the table. I move closer with the gripper open to resolve their positions."
  },
  "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": 0.4,
      "y": 0,
      "z": 0.88
    },
    "note": "The bottle is beside the bowl. I move closer with the gripper open to resolve their positions."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.05224, -0.41863, -0.04344, -2.42318, -0.0262, 1.93281, -0.03346], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.39907, -3e-05, 0.88093], \"tcp_roll_pitch_yaw\": [-1e-05, 0.00033, 0.0], \"tcp_rotation_matrix\": [[0.99579, 0.05691, -0.0718], [0.05649, -0.99837, -0.0078], [-0.07213, 0.00371, -0.99739]], \"simulated_seconds_remaining\": 43.692, \"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": {
      "z": 0.79
    },
    "note": "The bottle’s green top appears between the open fingers, with the bowl just beyond it. I lower to improve alignment before grasping."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.05202, -0.31345, -0.0479, -2.57218, -0.02704, 2.18662, -0.0334], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.39899, -3e-05, 0.79117], \"tcp_roll_pitch_yaw\": [-2e-05, 0.00067, 1e-05], \"tcp_rotation_matrix\": [[0.99577, 0.05691, -0.07215], [0.0565, -0.99837, -0.00781], [-0.07248, 0.0037, -0.99736]], \"simulated_seconds_remaining\": 42.768, \"calls_remaining_including_this\": 55}"
      },
      {
        "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": 0.365,
      "y": -0.012,
      "z": 0.73
    },
    "note": "The bottle is slightly below and right of the grasp center in the wrist view. I shift toward it and descend with the jaws open."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.0355, -0.29745, -0.06666, -2.73869, -0.04202, 2.36915, -0.05315], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.36551, -0.0118, 0.73099], \"tcp_roll_pitch_yaw\": [-3e-05, 0.00096, -2e-05], \"tcp_rotation_matrix\": [[0.99575, 0.05689, -0.07243], [0.05647, -0.99837, -0.00781], [-0.07276, 0.00369, -0.99734]], \"simulated_seconds_remaining\": 41.976, \"calls_remaining_including_this\": 54}"
      },
      {
        "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": 0.46,
      "y": 0.035,
      "z": 0.76
    },
    "note": "The wrist view shows the bottle below the jaws after the last shift. I correct forward and left, lifting slightly for clearance."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.08818, -0.07755, -0.01221, -2.41522, -0.00423, 2.26487, 0.02201], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.45893, 0.03448, 0.75968], \"tcp_roll_pitch_yaw\": [-3e-05, 0.00088, 5e-05], \"tcp_rotation_matrix\": [[0.99575, 0.05696, -0.07235], [0.05655, -0.99837, -0.00782], [-0.07268, 0.0037, -0.99735]], \"simulated_seconds_remaining\": 40.92, \"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": 0.68
    },
    "note": "The bottle top is centered between the open jaws. I lower toward its neck for a secure pinch."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.08812, 0.08294, -0.01224, -2.46528, -0.00211, 2.47507, 0.02072], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.45884, 0.03447, 0.68113], \"tcp_roll_pitch_yaw\": [-6e-05, 0.00122, 6e-05], \"tcp_rotation_matrix\": [[0.99573, 0.05697, -0.07269], [0.05654, -0.99837, -0.00785], [-0.07302, 0.00371, -0.99732]], \"simulated_seconds_remaining\": 40.062, \"calls_remaining_including_this\": 52}"
      },
      {
        "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": 0.47,
      "y": 0.039,
      "z": 0.625
    },
    "note": "The bottle remains within the jaw opening. I make a small centering correction and lower the fingers around its neck."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.09018, 0.23128, -0.01081, -2.42285, 0.00106, 2.64429, 0.02661], \"gripper_open\": 0.9969, \"tcp_xyz\": [0.48943, 0.03844, 0.63821], \"tcp_roll_pitch_yaw\": [0.00502, -0.06204, -0.00479], \"tcp_rotation_matrix\": [[0.9986, 0.0521, -0.00951], [0.05207, -0.99864, -0.00274], [-0.00964, 0.00224, -0.99995]], \"simulated_seconds_remaining\": 39.402, \"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 fingers have reached the bottle beside the bowl. I close the jaws to secure it before lifting."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.09013, 0.22583, -0.01108, -2.41797, 0.00036, 2.6464, 0.02657], \"gripper_open\": 0.3545, \"tcp_xyz\": [0.49417, 0.03864, 0.64273], \"tcp_roll_pitch_yaw\": [0.00572, -0.07431, -0.00449], \"tcp_rotation_matrix\": [[0.99862, 0.05241, 0.00276], [0.05242, -0.99862, -0.00209], [0.00265, 0.00223, -0.99999]], \"simulated_seconds_remaining\": 38.478, \"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": {
      "z": 0.83
    },
    "note": "The jaws stopped partially closed, indicating contact. I lift to verify that the bottle is held and clear the bowl."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.09087, -0.12447, -0.01165, -2.28937, -0.00444, 2.167, 0.02941], \"gripper_open\": 0.1868, \"tcp_xyz\": [0.49405, 0.03864, 0.82838], \"tcp_roll_pitch_yaw\": [0.00576, -0.07381, -0.00455], \"tcp_rotation_matrix\": [[0.99863, 0.05236, 0.00227], [0.05236, -0.99863, -0.00205], [0.00216, 0.00217, -1.0]], \"simulated_seconds_remaining\": 36.96, \"calls_remaining_including_this\": 49}"
      },
      {
        "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"
}

The lift caught the bowl. I’ll set it down and adjust toward the bottle.


{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "z": 0.675
    },
    "note": "The wrist view shows the bowl in the grasp while the bottle remains on the table. I lower the bowl back before releasing it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.0921, 0.14293, -0.00961, -2.41381, -0.00033, 2.56304, 0.0274], \"gripper_open\": 0.1916, \"tcp_xyz\": [0.49543, 0.04065, 0.67796], \"tcp_roll_pitch_yaw\": [0.00678, -0.07791, -0.00157], \"tcp_rotation_matrix\": [[0.99844, 0.0554, 0.00637], [0.05541, -0.99846, -0.00103], [0.0063, 0.00138, -0.99998]], \"simulated_seconds_remaining\": 35.64, \"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": {
      "gripper": 1
    },
    "note": "The bowl is back at table height. I open the fingers to leave it on the table."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 11, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.09209, 0.14293, -0.00962, -2.41377, -0.00034, 2.56308, 0.02739], \"gripper_open\": 0.9965, \"tcp_xyz\": [0.49548, 0.04066, 0.67798], \"tcp_roll_pitch_yaw\": [0.00679, -0.07804, -0.00153], \"tcp_rotation_matrix\": [[0.99844, 0.05544, 0.0065], [0.05545, -0.99846, -0.00102], [0.00644, 0.00138, -0.99998]], \"simulated_seconds_remaining\": 34.716, \"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": {
      "z": 0.82
    },
    "note": "The bowl is released and the bottle is visible to its right in the wrist image. I lift for a clear lateral approach to the bottle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 12, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.09235, -0.11092, -0.00968, -2.30172, -0.00324, 2.19758, 0.02914], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.49559, 0.04067, 0.8188], \"tcp_roll_pitch_yaw\": [0.00683, -0.07842, -0.00154], \"tcp_rotation_matrix\": [[0.99844, 0.05544, 0.00688], [0.05545, -0.99846, -0.00098], [0.00682, 0.00136, -0.99998]], \"simulated_seconds_remaining\": 33.462, \"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": {
      "y": 0.105
    },
    "note": "The bottle neck lies to the right of the bowl in the wrist image. I translate left in the base frame to center the bottle under the gripper."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 13, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.1487, -0.08451, 0.05797, -2.27138, 0.00308, 2.19354, 0.14895], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.49558, 0.10383, 0.8188], \"tcp_roll_pitch_yaw\": [0.00681, -0.07842, -0.00126], \"tcp_rotation_matrix\": [[0.99842, 0.05572, 0.00688], [0.05573, -0.99845, -0.001], [0.00682, 0.00138, -0.99998]], \"simulated_seconds_remaining\": 32.736, \"calls_remaining_including_this\": 45}"
      },
      {
        "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": 0.715
    },
    "note": "The bottle neck is now near the wrist image center and separated from the bowl. I lower the open jaws around it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 14, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.14704, 0.04643, 0.05561, -2.35302, -0.01321, 2.4938, 0.16083], \"gripper_open\": 1.0, \"tcp_xyz\": [0.51907, 0.1059, 0.74506], \"tcp_roll_pitch_yaw\": [0.02222, -0.16518, -0.00694], \"tcp_rotation_matrix\": [[0.99424, 0.05224, 0.09358], [0.05117, -0.9986, 0.01372], [0.09417, -0.00886, -0.99552]], \"simulated_seconds_remaining\": 31.746, \"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": {
      "gripper": 0
    },
    "note": "The bottle neck sits within the open gripper and descent met contact. I close gently at this height to test the grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 15, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.14737, 0.0441, 0.05603, -2.35048, -0.01352, 2.49524, 0.16071], \"gripper_open\": 0.0, \"tcp_xyz\": [0.52089, 0.10662, 0.74757], \"tcp_roll_pitch_yaw\": [0.0232, -0.1713, -0.00606], \"tcp_rotation_matrix\": [[0.99359, 0.05334, 0.09967], [0.05213, -0.99853, 0.01475], [0.10031, -0.00946, -0.99491]], \"simulated_seconds_remaining\": 30.822, \"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": {
      "z": 0.82,
      "gripper": 1,
      "pitch": 0,
      "roll": 0,
      "yaw": 0
    },
    "note": "The fingers closed fully, so the neck was outside the pinch. I reopen and lift to correct the offset."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 16, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.14479, 0.03908, 0.05503, -2.10443, 0.00489, 2.07401, 0.14061], \"gripper_open\": 0.9965, \"tcp_xyz\": [0.52102, 0.10664, 0.81932], \"tcp_roll_pitch_yaw\": [0.00032, -0.00224, -7e-05], \"tcp_rotation_matrix\": [[0.99598, 0.05683, -0.06925], [0.05645, -0.99838, -0.00746], [-0.06956, 0.00353, -0.99757]], \"simulated_seconds_remaining\": 29.898, \"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,
      "y": 0.075,
      "z": 0.76
    },
    "note": "The neck is above and left of the finger pinch in the wrist view. I shift back and right to bring it between the fingertips."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 17, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.1236, -0.03551, 0.03386, -2.36223, 0.00605, 2.25687, 0.09672], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.47073, 0.07545, 0.76085], \"tcp_roll_pitch_yaw\": [0.00027, -0.00199, -0.00013], \"tcp_rotation_matrix\": [[0.99597, 0.05677, -0.06949], [0.05639, -0.99838, -0.0075], [-0.06981, 0.00355, -0.99755]], \"simulated_seconds_remaining\": 29.04, \"calls_remaining_including_this\": 41}"
      },
      {
        "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": {
      "z": 0.715
    },
    "note": "The bottle neck is now centered between the fingertips. I lower a short distance to engage its sides."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 18, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.1237, 0.04688, 0.03392, -2.39658, 0.00275, 2.37324, 0.09892], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.47064, 0.07543, 0.71615], \"tcp_roll_pitch_yaw\": [0.00022, -0.00166, -0.00013], \"tcp_rotation_matrix\": [[0.99594, 0.05677, -0.06982], [0.05638, -0.99838, -0.00755], [-0.07014, 0.00359, -0.99753]], \"simulated_seconds_remaining\": 28.446, \"calls_remaining_including_this\": 40}"
      },
      {
        "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 bottle is between the jaws at neck height. I close the fingers to grasp it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 19, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.1237, 0.04688, 0.03392, -2.39658, 0.00275, 2.37324, 0.09892], \"gripper_open\": 0.0, \"tcp_xyz\": [0.47064, 0.07543, 0.71614], \"tcp_roll_pitch_yaw\": [0.00022, -0.00166, -0.00013], \"tcp_rotation_matrix\": [[0.99594, 0.05677, -0.06982], [0.05638, -0.99838, -0.00755], [-0.07014, 0.00359, -0.99753]], \"simulated_seconds_remaining\": 27.522, \"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,
      "z": 0.76,
      "x": 0.505,
      "y": 0.075
    },
    "note": "The empty closure shows the neck just beyond the fingertip contact area. I reopen and move forward slightly to align the pinch with the neck."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 20, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.11809, 0.058, 0.0287, -2.25005, 0.00138, 2.23795, 0.08926], \"gripper_open\": 0.9965, \"tcp_xyz\": [0.50431, 0.07501, 0.7591], \"tcp_roll_pitch_yaw\": [0.00025, -0.00183, -0.00015], \"tcp_rotation_matrix\": [[0.99596, 0.05675, -0.06966], [0.05636, -0.99838, -0.00753], [-0.06997, 0.00357, -0.99754]], \"simulated_seconds_remaining\": 26.598, \"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": 0.523,
      "z": 0.7
    },
    "note": "The neck is nearly aligned with the pinch. I advance slightly while lowering so the fingers meet the neck rather than closing in front of it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 21, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.11624, 0.20557, 0.02558, -2.22424, -0.00405, 2.35954, 0.0879], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.52261, 0.07495, 0.70114], \"tcp_roll_pitch_yaw\": [0.00022, -0.0017, -0.00027], \"tcp_rotation_matrix\": [[0.99595, 0.05663, -0.06978], [0.05624, -0.99839, -0.00754], [-0.0701, 0.00359, -0.99753]], \"simulated_seconds_remaining\": 25.872, \"calls_remaining_including_this\": 37}"
      },
      {
        "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 neck now overlaps the fingertip contact region. I close the jaws and check whether they stop on the bottle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 22, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.11619, 0.20546, 0.02553, -2.22419, -0.00404, 2.35957, 0.0879], \"gripper_open\": 0.0, \"tcp_xyz\": [0.52268, 0.0749, 0.70121], \"tcp_roll_pitch_yaw\": [0.00024, -0.0019, -0.00037], \"tcp_rotation_matrix\": [[0.99597, 0.05653, -0.06959], [0.05614, -0.99839, -0.00752], [-0.0699, 0.00358, -0.99755]], \"simulated_seconds_remaining\": 24.948, \"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
    },
    "note": "The jaws still closed fully above the bottle. I reopen to descend farther around the neck."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 23, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.11615, 0.20535, 0.02548, -2.22413, -0.00404, 2.3596, 0.08791], \"gripper_open\": 0.9965, \"tcp_xyz\": [0.52274, 0.07486, 0.70129], \"tcp_roll_pitch_yaw\": [0.00026, -0.00209, -0.00048], \"tcp_rotation_matrix\": [[0.99599, 0.05642, -0.0694], [0.05604, -0.9984, -0.0075], [-0.06971, 0.00358, -0.99756]], \"simulated_seconds_remaining\": 24.024, \"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": 0.635
    },
    "note": "The bottle neck remains between the open fingers. I lower to place the grasp point below its top."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 24, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.11758, 0.33905, 0.02308, -2.23602, -0.00931, 2.50532, 0.09121], \"gripper_open\": 0.9978, \"tcp_xyz\": [0.52286, 0.07468, 0.63641], \"tcp_roll_pitch_yaw\": [0.00017, -0.00229, -0.00072], \"tcp_rotation_matrix\": [[0.99602, 0.05618, -0.0692], [0.05579, -0.99841, -0.00756], [-0.06952, 0.00367, -0.99757]], \"simulated_seconds_remaining\": 23.298, \"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": {
      "z": 0.83
    },
    "note": "The bottle tipped sideways during descent. I lift clear to locate its new position and grasp its body."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 25, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.11491, 0.01869, 0.02617, -2.10419, 0.00198, 2.05362, 0.08403], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.52296, 0.0747, 0.82878], \"tcp_roll_pitch_yaw\": [0.00023, -0.00267, -0.00072], \"tcp_rotation_matrix\": [[0.99605, 0.05618, -0.06882], [0.05579, -0.99841, -0.00751], [-0.06913, 0.00364, -0.9976]], \"simulated_seconds_remaining\": 21.714, \"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": 0.083,
      "z": 0.7
    },
    "note": "The bottle lies horizontally with its body below the wrist-view center. I move over its body with the jaw opening across its width."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 26, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.12017, 0.29959, 0.02686, -2.08357, -0.00724, 2.31346, 0.09511], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.55953, 0.0829, 0.70115], \"tcp_roll_pitch_yaw\": [0.00018, -0.00232, -0.00072], \"tcp_rotation_matrix\": [[0.99602, 0.05618, -0.06917], [0.05579, -0.99841, -0.00756], [-0.06948, 0.00367, -0.99758]], \"simulated_seconds_remaining\": 20.526, \"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": 0.63,
      "y": 0.11,
      "z": 0.73
    },
    "note": "The bottle body remains below the fingertips in the wrist view. I advance farther over it while maintaining clearance."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 27, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.14138, 0.45159, 0.03363, -1.76269, -0.01222, 2.14464, 0.123], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.62895, 0.10962, 0.72958], \"tcp_roll_pitch_yaw\": [0.00021, -0.00244, -0.00067], \"tcp_rotation_matrix\": [[0.99603, 0.05623, -0.06905], [0.05584, -0.99841, -0.00752], [-0.06936, 0.00364, -0.99759]], \"simulated_seconds_remaining\": 19.668, \"calls_remaining_including_this\": 31}"
      },
      {
        "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": 0.645,
      "y": 0.13,
      "z": 0.64
    },
    "note": "The horizontal bottle body is between the jaws. I center it slightly and lower to surround its sides."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 28, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.16442, 0.62322, 0.03487, -1.6937, -0.02039, 2.23954, 0.15249], \"gripper_open\": 1.0, \"tcp_xyz\": [0.6444, 0.128, 0.65355], \"tcp_roll_pitch_yaw\": [-0.00292, 0.00481, -0.00243], \"tcp_rotation_matrix\": [[0.99559, 0.05451, -0.07629], [0.05386, -0.99849, -0.01051], [-0.07675, 0.00636, -0.99703]], \"simulated_seconds_remaining\": 18.744, \"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 fingers straddle the bottle body at table height. I close around the body."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 29, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.16451, 0.62173, 0.03504, -1.69316, -0.02028, 2.23904, 0.15249], \"gripper_open\": 0.9968, \"tcp_xyz\": [0.64485, 0.12827, 0.65471], \"tcp_roll_pitch_yaw\": [-0.0025, 0.00336, -0.00229], \"tcp_rotation_matrix\": [[0.9957, 0.05464, -0.07485], [0.05403, -0.99849, -0.01011], [-0.07529, 0.00602, -0.99714]], \"simulated_seconds_remaining\": 17.82, \"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": {
      "z": 0.75,
      "gripper": 1,
      "x": 0.69
    },
    "note": "The body is too wide for the jaws to close here. I lift and shift along the bottle toward its narrower neck."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 30, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.15733, 0.63543, 0.03367, -1.40891, -0.01751, 1.96887, 0.13817], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.68954, 0.12828, 0.74894], \"tcp_roll_pitch_yaw\": [-0.00244, 0.00299, -0.00232], \"tcp_rotation_matrix\": [[0.99573, 0.05461, -0.07448], [0.05401, -0.99849, -0.01004], [-0.07491, 0.00598, -0.99717]], \"simulated_seconds_remaining\": 16.83, \"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": 0.755,
      "y": 0.15,
      "z": 0.69
    },
    "note": "The bottle axis runs down the wrist image, with the neck beyond the wider body. I move farther along it and descend toward the narrow end."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 31, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.17836, 1.01063, 0.03145, -0.90631, -0.02281, 1.84119, 0.14856], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.75402, 0.1497, 0.6906], \"tcp_roll_pitch_yaw\": [-0.0025, 0.00335, -0.00229], \"tcp_rotation_matrix\": [[0.9957, 0.05464, -0.07484], [0.05403, -0.99849, -0.01011], [-0.07528, 0.00602, -0.99714]], \"simulated_seconds_remaining\": 15.906, \"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": 0.8,
      "y": 0.17,
      "z": 0.675
    },
    "note": "The narrow end is just beyond the bottom of the visible body. I make a small advance to place the jaws around it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 32, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.17836, 1.01063, 0.03145, -0.90631, -0.02281, 1.84119, 0.14856], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.75402, 0.1497, 0.6906], \"tcp_roll_pitch_yaw\": [-0.0025, 0.00335, -0.00229], \"tcp_rotation_matrix\": [[0.9957, 0.05464, -0.07484], [0.05403, -0.99849, -0.01011], [-0.07528, 0.00602, -0.99714]], \"simulated_seconds_remaining\": 15.906, \"calls_remaining_including_this\": 26}"
      },
      {
        "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": 0.778,
      "y": 0.165,
      "z": 0.69,
      "pitch": -0.35
    },
    "note": "The straight-down reach was rejected. I angle the wrist forward and use a shorter step toward the bottle’s neck."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 33, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.23532, 0.78713, -0.01643, -1.40966, -0.09486, 2.45938, 0.23836], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.77765, 0.16486, 0.68984], \"tcp_roll_pitch_yaw\": [-0.00282, -0.34545, -0.0022], \"tcp_rotation_matrix\": [[0.96148, 0.04913, 0.27046], [0.05417, -0.99847, -0.01119], [0.2695, 0.02541, -0.96267]], \"simulated_seconds_remaining\": 15.114, \"calls_remaining_including_this\": 25}"
      },
      {
        "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": 0.799,
      "y": 0.19,
      "z": 0.64,
      "pitch": -0.45
    },
    "note": "The narrow neck is visible at the lower end of the bottle. I shift toward it and lower the angled jaws."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 34, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.29048, 0.90044, -0.05539, -1.35616, -0.1305, 2.63777, 0.31427], \"gripper_open\": 1.0, \"tcp_xyz\": [0.80536, 0.19267, 0.65635], \"tcp_roll_pitch_yaw\": [0.00482, -0.4712, -0.00386], \"tcp_rotation_matrix\": [[0.91998, 0.04735, 0.38909], [0.05329, -0.99857, -0.00448], [0.38832, 0.02485, -0.92119]], \"simulated_seconds_remaining\": 14.388, \"calls_remaining_including_this\": 24}"
      },
      {
        "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 tapered end sits between the fingers. I close here to secure the bottle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 35, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.29033, 0.90061, -0.05557, -1.35629, -0.13056, 2.6377, 0.31423], \"gripper_open\": 0.9988, \"tcp_xyz\": [0.80533, 0.19238, 0.65613], \"tcp_roll_pitch_yaw\": [0.00448, -0.47093, -0.00391], \"tcp_rotation_matrix\": [[0.9201, 0.04716, 0.38884], [0.05322, -0.99857, -0.00484], [0.38806, 0.02515, -0.92129]], \"simulated_seconds_remaining\": 13.464, \"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": {
      "z": 0.73
    },
    "note": "The jaws cannot close at this depth. I lift slightly while maintaining the closing command to catch the narrower portion above the contact."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 36, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.28753, 0.78377, -0.04772, -1.36491, -0.12439, 2.5305, 0.29617], \"gripper_open\": 0.9967, \"tcp_xyz\": [0.80544, 0.19242, 0.72896], \"tcp_roll_pitch_yaw\": [0.00461, -0.47132, -0.00396], \"tcp_rotation_matrix\": [[0.91994, 0.04715, 0.3892], [0.05318, -0.99857, -0.00473], [0.38842, 0.02505, -0.92114]], \"simulated_seconds_remaining\": 12.672, \"calls_remaining_including_this\": 22}"
      },
      {
        "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 neck is now clearly centered between the fingertips after lifting. I close at this narrower section."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 37, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.28753, 0.78377, -0.04772, -1.36491, -0.12439, 2.5305, 0.29617], \"gripper_open\": 0.0, \"tcp_xyz\": [0.80543, 0.19241, 0.72897], \"tcp_roll_pitch_yaw\": [0.00461, -0.47132, -0.00396], \"tcp_rotation_matrix\": [[0.91995, 0.04715, 0.3892], [0.05318, -0.99857, -0.00473], [0.38842, 0.02505, -0.92114]], \"simulated_seconds_remaining\": 11.748, \"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": {
      "gripper": 1,
      "z": 0.69,
      "x": 0.814
    },
    "note": "The closure was above the neck. I reopen and lower a few centimeters while keeping the neck centered."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 38, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.28367, 0.87111, -0.04876, -1.3134, -0.12403, 2.56631, 0.29834], \"gripper_open\": 0.9965, \"tcp_xyz\": [0.81377, 0.19239, 0.69073], \"tcp_roll_pitch_yaw\": [0.00455, -0.47115, -0.00394], \"tcp_rotation_matrix\": [[0.92001, 0.04715, 0.38904], [0.05319, -0.99857, -0.00478], [0.38826, 0.02509, -0.92121]], \"simulated_seconds_remaining\": 10.824, \"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": {
      "gripper": 0
    },
    "note": "The fingers now extend alongside the bottle neck. I close to establish the grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 39, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.28368, 0.86446, -0.04908, -1.30784, -0.12419, 2.56948, 0.29834], \"gripper_open\": 0.0109, \"tcp_xyz\": [0.81773, 0.19348, 0.69988], \"tcp_roll_pitch_yaw\": [0.009, -0.48596, -0.00544], \"tcp_rotation_matrix\": [[0.91412, 0.04735, 0.40267], [0.05217, -0.99864, -0.001], [0.40207, 0.02192, -0.91535]], \"simulated_seconds_remaining\": 9.9, \"calls_remaining_including_this\": 19}"
      },
      {
        "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": 0.83,
      "gripper": 0
    },
    "note": "The fingers met slight resistance at the neck. I lift with the jaws closed to verify that the bottle comes free."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 40, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.27932, 0.71457, -0.03703, -1.22832, -0.11016, 2.34162, 0.26513], \"gripper_open\": 0.0, \"tcp_xyz\": [0.81781, 0.1935, 0.82896], \"tcp_roll_pitch_yaw\": [0.00913, -0.48637, -0.00549], \"tcp_rotation_matrix\": [[0.91396, 0.04735, 0.40304], [0.05213, -0.99864, -0.00089], [0.40245, 0.02182, -0.91518]], \"simulated_seconds_remaining\": 8.712, \"calls_remaining_including_this\": 18}"
      },
      {
        "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": 0.845,
      "y": 0.19,
      "z": 0.66,
      "pitch": -0.65,
      "gripper": 1
    },
    "note": "The bottle stayed on the table. I make a final lower approach to its neck with the wrist angled to reach the table edge."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 41, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.31654, 0.97441, -0.11928, -1.30641, -0.17427, 2.83013, 0.37633], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.84466, 0.18997, 0.66098], \"tcp_roll_pitch_yaw\": [0.00892, -0.64821, -0.00541], \"tcp_rotation_matrix\": [[0.83717, 0.04309, 0.54524], [0.0526, -0.99861, -0.00184], [0.5444, 0.03022, -0.83828]], \"simulated_seconds_remaining\": 7.26, \"calls_remaining_including_this\": 17}"
      },
      {
        "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": 0.23,
      "z": 0.7
    },
    "note": "The neck is offset within the jaw opening. I shift sideways and raise slightly to center the narrow section at the pinch."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 42, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.37499, 0.94336, -0.13392, -1.25484, -0.17691, 2.73806, 0.41784], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.84469, 0.22929, 0.69928], \"tcp_roll_pitch_yaw\": [0.00913, -0.64847, -0.00531], \"tcp_rotation_matrix\": [[0.83702, 0.04332, 0.54545], [0.05271, -0.99861, -0.00157], [0.54463, 0.03006, -0.83814]], \"simulated_seconds_remaining\": 6.6, \"calls_remaining_including_this\": 16}"
      },
      {
        "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 neck is aligned with the inner finger contact region. I close for the grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 43, \"instruction\": \"pick up the bottle and place it on the bowl.\", \"joint_positions\": [0.37499, 0.94336, -0.13392, -1.25484, -0.17691, 2.73806, 0.41784], \"gripper_open\": 0.0, \"tcp_xyz\": [0.84469, 0.22929, 0.69929], \"tcp_roll_pitch_yaw\": [0.00913, -0.64847, -0.00531], \"tcp_rotation_matrix\": [[0.83702, 0.04332, 0.54545], [0.05271, -0.99861, -0.00158], [0.54462, 0.03007, -0.83814]], \"simulated_seconds_remaining\": 5.676, \"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": "give_up",
  "arguments": {
    "note": "I could not establish a secure bottle grasp. The bottle remains on the table, and the remaining motion time is insufficient to complete a verified pick and place."
  },
  "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 bottle before time ran out. The bottle remains on the table; the placement was not completed.

TURN USAGE
{
  "input_tokens": 1070097,
  "cached_input_tokens": 1010432,
  "cache_write_input_tokens": 0,
  "output_tokens": 7742,
  "reasoning_output_tokens": 3449
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.04586,
      -0.75872,
      -0.03389,
      -2.37412,
      -0.02953,
      1.54398,
      -0.03444
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.29901,
      -0.0034,
      0.9966
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99582,
        0.05691,
        -0.07148
      ],
      [
        0.05649,
        -0.99837,
        -0.00778
      ],
      [
        -0.0718,
        0.00371,
        -0.99741
      ]
    ],
    "simulated_seconds_remaining": 45.012,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 27.420761556364596,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "y": 0,
                    "z": 0.88
                  },
                  "note": "The bottle is beside the bowl. I move closer with the gripper open to resolve their positions."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.05224,
      -0.41863,
      -0.04344,
      -2.42318,
      -0.0262,
      1.93281,
      -0.03346
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.39907,
      -3e-05,
      0.88093
    ],
    "tcp_roll_pitch_yaw": [
      -1e-05,
      0.00033,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99579,
        0.05691,
        -0.0718
      ],
      [
        0.05649,
        -0.99837,
        -0.0078
      ],
      [
        -0.07213,
        0.00371,
        -0.99739
      ]
    ],
    "simulated_seconds_remaining": 43.692,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 14.811263200826943,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.79
                  },
                  "note": "The bottle’s green top appears between the open fingers, with the bowl just beyond it. I lower to improve alignment before grasping."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.05202,
      -0.31345,
      -0.0479,
      -2.57218,
      -0.02704,
      2.18662,
      -0.0334
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.39899,
      -3e-05,
      0.79117
    ],
    "tcp_roll_pitch_yaw": [
      -2e-05,
      0.00067,
      1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99577,
        0.05691,
        -0.07215
      ],
      [
        0.0565,
        -0.99837,
        -0.00781
      ],
      [
        -0.07248,
        0.0037,
        -0.99736
      ]
    ],
    "simulated_seconds_remaining": 42.768,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 12.608863131143153,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.365,
                    "y": -0.012,
                    "z": 0.73
                  },
                  "note": "The bottle is slightly below and right of the grasp center in the wrist view. I shift toward it and descend with the jaws open."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.0355,
      -0.29745,
      -0.06666,
      -2.73869,
      -0.04202,
      2.36915,
      -0.05315
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.36551,
      -0.0118,
      0.73099
    ],
    "tcp_roll_pitch_yaw": [
      -3e-05,
      0.00096,
      -2e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99575,
        0.05689,
        -0.07243
      ],
      [
        0.05647,
        -0.99837,
        -0.00781
      ],
      [
        -0.07276,
        0.00369,
        -0.99734
      ]
    ],
    "simulated_seconds_remaining": 41.976,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 12.20975143648684,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.46,
                    "y": 0.035,
                    "z": 0.76
                  },
                  "note": "The wrist view shows the bottle below the jaws after the last shift. I correct forward and left, lifting slightly for clearance."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.08818,
      -0.07755,
      -0.01221,
      -2.41522,
      -0.00423,
      2.26487,
      0.02201
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.45893,
      0.03448,
      0.75968
    ],
    "tcp_roll_pitch_yaw": [
      -3e-05,
      0.00088,
      5e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99575,
        0.05696,
        -0.07235
      ],
      [
        0.05655,
        -0.99837,
        -0.00782
      ],
      [
        -0.07268,
        0.0037,
        -0.99735
      ]
    ],
    "simulated_seconds_remaining": 40.92,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 12.220433101058006,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.68
                  },
                  "note": "The bottle top is centered between the open jaws. I lower toward its neck for a secure pinch."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.08812,
      0.08294,
      -0.01224,
      -2.46528,
      -0.00211,
      2.47507,
      0.02072
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.45884,
      0.03447,
      0.68113
    ],
    "tcp_roll_pitch_yaw": [
      -6e-05,
      0.00122,
      6e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99573,
        0.05697,
        -0.07269
      ],
      [
        0.05654,
        -0.99837,
        -0.00785
      ],
      [
        -0.07302,
        0.00371,
        -0.99732
      ]
    ],
    "simulated_seconds_remaining": 40.062,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 8.807690049521625,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.47,
                    "y": 0.039,
                    "z": 0.625
                  },
                  "note": "The bottle remains within the jaw opening. I make a small centering correction and lower the fingers around its neck."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.09018,
      0.23128,
      -0.01081,
      -2.42285,
      0.00106,
      2.64429,
      0.02661
    ],
    "gripper_open": 0.9969,
    "tcp_xyz": [
      0.48943,
      0.03844,
      0.63821
    ],
    "tcp_roll_pitch_yaw": [
      0.00502,
      -0.06204,
      -0.00479
    ],
    "tcp_rotation_matrix": [
      [
        0.9986,
        0.0521,
        -0.00951
      ],
      [
        0.05207,
        -0.99864,
        -0.00274
      ],
      [
        -0.00964,
        0.00224,
        -0.99995
      ]
    ],
    "simulated_seconds_remaining": 39.402,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 5.40487995184958,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The fingers have reached the bottle beside the bowl. I close the jaws to secure it before lifting."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.09013,
      0.22583,
      -0.01108,
      -2.41797,
      0.00036,
      2.6464,
      0.02657
    ],
    "gripper_open": 0.3545,
    "tcp_xyz": [
      0.49417,
      0.03864,
      0.64273
    ],
    "tcp_roll_pitch_yaw": [
      0.00572,
      -0.07431,
      -0.00449
    ],
    "tcp_rotation_matrix": [
      [
        0.99862,
        0.05241,
        0.00276
      ],
      [
        0.05242,
        -0.99862,
        -0.00209
      ],
      [
        0.00265,
        0.00223,
        -0.99999
      ]
    ],
    "simulated_seconds_remaining": 38.478,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 4.8044479209929705,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.83
                  },
                  "note": "The jaws stopped partially closed, indicating contact. I lift to verify that the bottle is held and clear the bowl."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.09087,
      -0.12447,
      -0.01165,
      -2.28937,
      -0.00444,
      2.167,
      0.02941
    ],
    "gripper_open": 0.1868,
    "tcp_xyz": [
      0.49405,
      0.03864,
      0.82838
    ],
    "tcp_roll_pitch_yaw": [
      0.00576,
      -0.07381,
      -0.00455
    ],
    "tcp_rotation_matrix": [
      [
        0.99863,
        0.05236,
        0.00227
      ],
      [
        0.05236,
        -0.99863,
        -0.00205
      ],
      [
        0.00216,
        0.00217,
        -1.0
      ]
    ],
    "simulated_seconds_remaining": 36.96,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 6.6057978784665465,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.675
                  },
                  "note": "The wrist view shows the bowl in the grasp while the bottle remains on the table. I lower the bowl back before releasing it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.0921,
      0.14293,
      -0.00961,
      -2.41381,
      -0.00033,
      2.56304,
      0.0274
    ],
    "gripper_open": 0.1916,
    "tcp_xyz": [
      0.49543,
      0.04065,
      0.67796
    ],
    "tcp_roll_pitch_yaw": [
      0.00678,
      -0.07791,
      -0.00157
    ],
    "tcp_rotation_matrix": [
      [
        0.99844,
        0.0554,
        0.00637
      ],
      [
        0.05541,
        -0.99846,
        -0.00103
      ],
      [
        0.0063,
        0.00138,
        -0.99998
      ]
    ],
    "simulated_seconds_remaining": 35.64,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 5.20477245375514,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 1
                  },
                  "note": "The bowl is back at table height. I open the fingers to leave it on the table."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.09209,
      0.14293,
      -0.00962,
      -2.41377,
      -0.00034,
      2.56308,
      0.02739
    ],
    "gripper_open": 0.9965,
    "tcp_xyz": [
      0.49548,
      0.04066,
      0.67798
    ],
    "tcp_roll_pitch_yaw": [
      0.00679,
      -0.07804,
      -0.00153
    ],
    "tcp_rotation_matrix": [
      [
        0.99844,
        0.05544,
        0.0065
      ],
      [
        0.05545,
        -0.99846,
        -0.00102
      ],
      [
        0.00644,
        0.00138,
        -0.99998
      ]
    ],
    "simulated_seconds_remaining": 34.716,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 12.608907046727836,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.82
                  },
                  "note": "The bowl is released and the bottle is visible to its right in the wrist image. I lift for a clear lateral approach to the bottle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.09235,
      -0.11092,
      -0.00968,
      -2.30172,
      -0.00324,
      2.19758,
      0.02914
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.49559,
      0.04067,
      0.8188
    ],
    "tcp_roll_pitch_yaw": [
      0.00683,
      -0.07842,
      -0.00154
    ],
    "tcp_rotation_matrix": [
      [
        0.99844,
        0.05544,
        0.00688
      ],
      [
        0.05545,
        -0.99846,
        -0.00098
      ],
      [
        0.00682,
        0.00136,
        -0.99998
      ]
    ],
    "simulated_seconds_remaining": 33.462,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 6.204831723123789,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.105
                  },
                  "note": "The bottle neck lies to the right of the bowl in the wrist image. I translate left in the base frame to center the bottle under the gripper."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.1487,
      -0.08451,
      0.05797,
      -2.27138,
      0.00308,
      2.19354,
      0.14895
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.49558,
      0.10383,
      0.8188
    ],
    "tcp_roll_pitch_yaw": [
      0.00681,
      -0.07842,
      -0.00126
    ],
    "tcp_rotation_matrix": [
      [
        0.99842,
        0.05572,
        0.00688
      ],
      [
        0.05573,
        -0.99845,
        -0.001
      ],
      [
        0.00682,
        0.00138,
        -0.99998
      ]
    ],
    "simulated_seconds_remaining": 32.736,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 6.80467348638922,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.715
                  },
                  "note": "The bottle neck is now near the wrist image center and separated from the bowl. I lower the open jaws around it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.14704,
      0.04643,
      0.05561,
      -2.35302,
      -0.01321,
      2.4938,
      0.16083
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.51907,
      0.1059,
      0.74506
    ],
    "tcp_roll_pitch_yaw": [
      0.02222,
      -0.16518,
      -0.00694
    ],
    "tcp_rotation_matrix": [
      [
        0.99424,
        0.05224,
        0.09358
      ],
      [
        0.05117,
        -0.9986,
        0.01372
      ],
      [
        0.09417,
        -0.00886,
        -0.99552
      ]
    ],
    "simulated_seconds_remaining": 31.746,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 14.010462475009263,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The bottle neck sits within the open gripper and descent met contact. I close gently at this height to test the grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.14737,
      0.0441,
      0.05603,
      -2.35048,
      -0.01352,
      2.49524,
      0.16071
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.52089,
      0.10662,
      0.74757
    ],
    "tcp_roll_pitch_yaw": [
      0.0232,
      -0.1713,
      -0.00606
    ],
    "tcp_rotation_matrix": [
      [
        0.99359,
        0.05334,
        0.09967
      ],
      [
        0.05213,
        -0.99853,
        0.01475
      ],
      [
        0.10031,
        -0.00946,
        -0.99491
      ]
    ],
    "simulated_seconds_remaining": 30.822,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 9.007484881207347,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.82,
                    "gripper": 1,
                    "pitch": 0,
                    "roll": 0,
                    "yaw": 0
                  },
                  "note": "The fingers closed fully, so the neck was outside the pinch. I reopen and lift to correct the offset."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.14479,
      0.03908,
      0.05503,
      -2.10443,
      0.00489,
      2.07401,
      0.14061
    ],
    "gripper_open": 0.9965,
    "tcp_xyz": [
      0.52102,
      0.10664,
      0.81932
    ],
    "tcp_roll_pitch_yaw": [
      0.00032,
      -0.00224,
      -7e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99598,
        0.05683,
        -0.06925
      ],
      [
        0.05645,
        -0.99838,
        -0.00746
      ],
      [
        -0.06956,
        0.00353,
        -0.99757
      ]
    ],
    "simulated_seconds_remaining": 29.898,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 7.606554470025003,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.47,
                    "y": 0.075,
                    "z": 0.76
                  },
                  "note": "The neck is above and left of the finger pinch in the wrist view. I shift back and right to bring it between the fingertips."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.1236,
      -0.03551,
      0.03386,
      -2.36223,
      0.00605,
      2.25687,
      0.09672
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.47073,
      0.07545,
      0.76085
    ],
    "tcp_roll_pitch_yaw": [
      0.00027,
      -0.00199,
      -0.00013
    ],
    "tcp_rotation_matrix": [
      [
        0.99597,
        0.05677,
        -0.06949
      ],
      [
        0.05639,
        -0.99838,
        -0.0075
      ],
      [
        -0.06981,
        0.00355,
        -0.99755
      ]
    ],
    "simulated_seconds_remaining": 29.04,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 5.604558560997248,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.715
                  },
                  "note": "The bottle neck is now centered between the fingertips. I lower a short distance to engage its sides."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.1237,
      0.04688,
      0.03392,
      -2.39658,
      0.00275,
      2.37324,
      0.09892
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.47064,
      0.07543,
      0.71615
    ],
    "tcp_roll_pitch_yaw": [
      0.00022,
      -0.00166,
      -0.00013
    ],
    "tcp_rotation_matrix": [
      [
        0.99594,
        0.05677,
        -0.06982
      ],
      [
        0.05638,
        -0.99838,
        -0.00755
      ],
      [
        -0.07014,
        0.00359,
        -0.99753
      ]
    ],
    "simulated_seconds_remaining": 28.446,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 6.005290491506457,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The bottle is between the jaws at neck height. I close the fingers to grasp it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 19,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.1237,
      0.04688,
      0.03392,
      -2.39658,
      0.00275,
      2.37324,
      0.09892
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.47064,
      0.07543,
      0.71614
    ],
    "tcp_roll_pitch_yaw": [
      0.00022,
      -0.00166,
      -0.00013
    ],
    "tcp_rotation_matrix": [
      [
        0.99594,
        0.05677,
        -0.06982
      ],
      [
        0.05638,
        -0.99838,
        -0.00755
      ],
      [
        -0.07014,
        0.00359,
        -0.99753
      ]
    ],
    "simulated_seconds_remaining": 27.522,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 11.208587325178087,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 1,
                    "z": 0.76,
                    "x": 0.505,
                    "y": 0.075
                  },
                  "note": "The empty closure shows the neck just beyond the fingertip contact area. I reopen and move forward slightly to align the pinch with the neck."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 20,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.11809,
      0.058,
      0.0287,
      -2.25005,
      0.00138,
      2.23795,
      0.08926
    ],
    "gripper_open": 0.9965,
    "tcp_xyz": [
      0.50431,
      0.07501,
      0.7591
    ],
    "tcp_roll_pitch_yaw": [
      0.00025,
      -0.00183,
      -0.00015
    ],
    "tcp_rotation_matrix": [
      [
        0.99596,
        0.05675,
        -0.06966
      ],
      [
        0.05636,
        -0.99838,
        -0.00753
      ],
      [
        -0.06997,
        0.00357,
        -0.99754
      ]
    ],
    "simulated_seconds_remaining": 26.598,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 7.206366788595915,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.523,
                    "z": 0.7
                  },
                  "note": "The neck is nearly aligned with the pinch. I advance slightly while lowering so the fingers meet the neck rather than closing in front of it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 21,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.11624,
      0.20557,
      0.02558,
      -2.22424,
      -0.00405,
      2.35954,
      0.0879
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.52261,
      0.07495,
      0.70114
    ],
    "tcp_roll_pitch_yaw": [
      0.00022,
      -0.0017,
      -0.00027
    ],
    "tcp_rotation_matrix": [
      [
        0.99595,
        0.05663,
        -0.06978
      ],
      [
        0.05624,
        -0.99839,
        -0.00754
      ],
      [
        -0.0701,
        0.00359,
        -0.99753
      ]
    ],
    "simulated_seconds_remaining": 25.872,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 5.2040510112419724,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The neck now overlaps the fingertip contact region. I close the jaws and check whether they stop on the bottle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 22,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.11619,
      0.20546,
      0.02553,
      -2.22419,
      -0.00404,
      2.35957,
      0.0879
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.52268,
      0.0749,
      0.70121
    ],
    "tcp_roll_pitch_yaw": [
      0.00024,
      -0.0019,
      -0.00037
    ],
    "tcp_rotation_matrix": [
      [
        0.99597,
        0.05653,
        -0.06959
      ],
      [
        0.05614,
        -0.99839,
        -0.00752
      ],
      [
        -0.0699,
        0.00358,
        -0.99755
      ]
    ],
    "simulated_seconds_remaining": 24.948,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 7.206377700902522,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 1
                  },
                  "note": "The jaws still closed fully above the bottle. I reopen to descend farther around the neck."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 23,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.11615,
      0.20535,
      0.02548,
      -2.22413,
      -0.00404,
      2.3596,
      0.08791
    ],
    "gripper_open": 0.9965,
    "tcp_xyz": [
      0.52274,
      0.07486,
      0.70129
    ],
    "tcp_roll_pitch_yaw": [
      0.00026,
      -0.00209,
      -0.00048
    ],
    "tcp_rotation_matrix": [
      [
        0.99599,
        0.05642,
        -0.0694
      ],
      [
        0.05604,
        -0.9984,
        -0.0075
      ],
      [
        -0.06971,
        0.00358,
        -0.99756
      ]
    ],
    "simulated_seconds_remaining": 24.024,
    "calls_remaining_including_this": 35
  },
  "api_seconds": 7.2061922037974,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.635
                  },
                  "note": "The bottle neck remains between the open fingers. I lower to place the grasp point below its top."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 24,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.11758,
      0.33905,
      0.02308,
      -2.23602,
      -0.00931,
      2.50532,
      0.09121
    ],
    "gripper_open": 0.9978,
    "tcp_xyz": [
      0.52286,
      0.07468,
      0.63641
    ],
    "tcp_roll_pitch_yaw": [
      0.00017,
      -0.00229,
      -0.00072
    ],
    "tcp_rotation_matrix": [
      [
        0.99602,
        0.05618,
        -0.0692
      ],
      [
        0.05579,
        -0.99841,
        -0.00756
      ],
      [
        -0.06952,
        0.00367,
        -0.99757
      ]
    ],
    "simulated_seconds_remaining": 23.298,
    "calls_remaining_including_this": 34
  },
  "api_seconds": 6.213217685930431,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.83
                  },
                  "note": "The bottle tipped sideways during descent. I lift clear to locate its new position and grasp its body."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 24,
    "motion_seconds": 1.584,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 25,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.11491,
      0.01869,
      0.02617,
      -2.10419,
      0.00198,
      2.05362,
      0.08403
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.52296,
      0.0747,
      0.82878
    ],
    "tcp_roll_pitch_yaw": [
      0.00023,
      -0.00267,
      -0.00072
    ],
    "tcp_rotation_matrix": [
      [
        0.99605,
        0.05618,
        -0.06882
      ],
      [
        0.05579,
        -0.99841,
        -0.00751
      ],
      [
        -0.06913,
        0.00364,
        -0.9976
      ]
    ],
    "simulated_seconds_remaining": 21.714,
    "calls_remaining_including_this": 33
  },
  "api_seconds": 11.609278593212366,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.56,
                    "y": 0.083,
                    "z": 0.7
                  },
                  "note": "The bottle lies horizontally with its body below the wrist-view center. I move over its body with the jaw opening across its width."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 26,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.12017,
      0.29959,
      0.02686,
      -2.08357,
      -0.00724,
      2.31346,
      0.09511
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.55953,
      0.0829,
      0.70115
    ],
    "tcp_roll_pitch_yaw": [
      0.00018,
      -0.00232,
      -0.00072
    ],
    "tcp_rotation_matrix": [
      [
        0.99602,
        0.05618,
        -0.06917
      ],
      [
        0.05579,
        -0.99841,
        -0.00756
      ],
      [
        -0.06948,
        0.00367,
        -0.99758
      ]
    ],
    "simulated_seconds_remaining": 20.526,
    "calls_remaining_including_this": 32
  },
  "api_seconds": 14.611681544221938,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.63,
                    "y": 0.11,
                    "z": 0.73
                  },
                  "note": "The bottle body remains below the fingertips in the wrist view. I advance farther over it while maintaining clearance."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 27,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.14138,
      0.45159,
      0.03363,
      -1.76269,
      -0.01222,
      2.14464,
      0.123
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.62895,
      0.10962,
      0.72958
    ],
    "tcp_roll_pitch_yaw": [
      0.00021,
      -0.00244,
      -0.00067
    ],
    "tcp_rotation_matrix": [
      [
        0.99603,
        0.05623,
        -0.06905
      ],
      [
        0.05584,
        -0.99841,
        -0.00752
      ],
      [
        -0.06936,
        0.00364,
        -0.99759
      ]
    ],
    "simulated_seconds_remaining": 19.668,
    "calls_remaining_including_this": 31
  },
  "api_seconds": 15.613347043283284,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.645,
                    "y": 0.13,
                    "z": 0.64
                  },
                  "note": "The horizontal bottle body is between the jaws. I center it slightly and lower to surround its sides."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 28,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.16442,
      0.62322,
      0.03487,
      -1.6937,
      -0.02039,
      2.23954,
      0.15249
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.6444,
      0.128,
      0.65355
    ],
    "tcp_roll_pitch_yaw": [
      -0.00292,
      0.00481,
      -0.00243
    ],
    "tcp_rotation_matrix": [
      [
        0.99559,
        0.05451,
        -0.07629
      ],
      [
        0.05386,
        -0.99849,
        -0.01051
      ],
      [
        -0.07675,
        0.00636,
        -0.99703
      ]
    ],
    "simulated_seconds_remaining": 18.744,
    "calls_remaining_including_this": 30
  },
  "api_seconds": 6.005097632296383,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The fingers straddle the bottle body at table height. I close around the body."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 29,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.16451,
      0.62173,
      0.03504,
      -1.69316,
      -0.02028,
      2.23904,
      0.15249
    ],
    "gripper_open": 0.9968,
    "tcp_xyz": [
      0.64485,
      0.12827,
      0.65471
    ],
    "tcp_roll_pitch_yaw": [
      -0.0025,
      0.00336,
      -0.00229
    ],
    "tcp_rotation_matrix": [
      [
        0.9957,
        0.05464,
        -0.07485
      ],
      [
        0.05403,
        -0.99849,
        -0.01011
      ],
      [
        -0.07529,
        0.00602,
        -0.99714
      ]
    ],
    "simulated_seconds_remaining": 17.82,
    "calls_remaining_including_this": 29
  },
  "api_seconds": 8.806707975454628,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.75,
                    "gripper": 1,
                    "x": 0.69
                  },
                  "note": "The body is too wide for the jaws to close here. I lift and shift along the bottle toward its narrower neck."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 30,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.15733,
      0.63543,
      0.03367,
      -1.40891,
      -0.01751,
      1.96887,
      0.13817
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.68954,
      0.12828,
      0.74894
    ],
    "tcp_roll_pitch_yaw": [
      -0.00244,
      0.00299,
      -0.00232
    ],
    "tcp_rotation_matrix": [
      [
        0.99573,
        0.05461,
        -0.07448
      ],
      [
        0.05401,
        -0.99849,
        -0.01004
      ],
      [
        -0.07491,
        0.00598,
        -0.99717
      ]
    ],
    "simulated_seconds_remaining": 16.83,
    "calls_remaining_including_this": 28
  },
  "api_seconds": 9.007539588026702,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.755,
                    "y": 0.15,
                    "z": 0.69
                  },
                  "note": "The bottle axis runs down the wrist image, with the neck beyond the wider body. I move farther along it and descend toward the narrow end."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 31,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.17836,
      1.01063,
      0.03145,
      -0.90631,
      -0.02281,
      1.84119,
      0.14856
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.75402,
      0.1497,
      0.6906
    ],
    "tcp_roll_pitch_yaw": [
      -0.0025,
      0.00335,
      -0.00229
    ],
    "tcp_rotation_matrix": [
      [
        0.9957,
        0.05464,
        -0.07484
      ],
      [
        0.05403,
        -0.99849,
        -0.01011
      ],
      [
        -0.07528,
        0.00602,
        -0.99714
      ]
    ],
    "simulated_seconds_remaining": 15.906,
    "calls_remaining_including_this": 27
  },
  "api_seconds": 9.80780797637999,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.8,
                    "y": 0.17,
                    "z": 0.675
                  },
                  "note": "The narrow end is just beyond the bottom of the visible body. I make a small advance to place the jaws around it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 32,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.17836,
      1.01063,
      0.03145,
      -0.90631,
      -0.02281,
      1.84119,
      0.14856
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.75402,
      0.1497,
      0.6906
    ],
    "tcp_roll_pitch_yaw": [
      -0.0025,
      0.00335,
      -0.00229
    ],
    "tcp_rotation_matrix": [
      [
        0.9957,
        0.05464,
        -0.07484
      ],
      [
        0.05403,
        -0.99849,
        -0.01011
      ],
      [
        -0.07528,
        0.00602,
        -0.99714
      ]
    ],
    "simulated_seconds_remaining": 15.906,
    "calls_remaining_including_this": 26
  },
  "api_seconds": 11.410604564473033,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.778,
                    "y": 0.165,
                    "z": 0.69,
                    "pitch": -0.35
                  },
                  "note": "The straight-down reach was rejected. I angle the wrist forward and use a shorter step toward the bottle’s neck."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 33,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.23532,
      0.78713,
      -0.01643,
      -1.40966,
      -0.09486,
      2.45938,
      0.23836
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.77765,
      0.16486,
      0.68984
    ],
    "tcp_roll_pitch_yaw": [
      -0.00282,
      -0.34545,
      -0.0022
    ],
    "tcp_rotation_matrix": [
      [
        0.96148,
        0.04913,
        0.27046
      ],
      [
        0.05417,
        -0.99847,
        -0.01119
      ],
      [
        0.2695,
        0.02541,
        -0.96267
      ]
    ],
    "simulated_seconds_remaining": 15.114,
    "calls_remaining_including_this": 25
  },
  "api_seconds": 7.0060677248984575,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.799,
                    "y": 0.19,
                    "z": 0.64,
                    "pitch": -0.45
                  },
                  "note": "The narrow neck is visible at the lower end of the bottle. I shift toward it and lower the angled jaws."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 34,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.29048,
      0.90044,
      -0.05539,
      -1.35616,
      -0.1305,
      2.63777,
      0.31427
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.80536,
      0.19267,
      0.65635
    ],
    "tcp_roll_pitch_yaw": [
      0.00482,
      -0.4712,
      -0.00386
    ],
    "tcp_rotation_matrix": [
      [
        0.91998,
        0.04735,
        0.38909
      ],
      [
        0.05329,
        -0.99857,
        -0.00448
      ],
      [
        0.38832,
        0.02485,
        -0.92119
      ]
    ],
    "simulated_seconds_remaining": 14.388,
    "calls_remaining_including_this": 24
  },
  "api_seconds": 8.80830132868141,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The tapered end sits between the fingers. I close here to secure the bottle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 35,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.29033,
      0.90061,
      -0.05557,
      -1.35629,
      -0.13056,
      2.6377,
      0.31423
    ],
    "gripper_open": 0.9988,
    "tcp_xyz": [
      0.80533,
      0.19238,
      0.65613
    ],
    "tcp_roll_pitch_yaw": [
      0.00448,
      -0.47093,
      -0.00391
    ],
    "tcp_rotation_matrix": [
      [
        0.9201,
        0.04716,
        0.38884
      ],
      [
        0.05322,
        -0.99857,
        -0.00484
      ],
      [
        0.38806,
        0.02515,
        -0.92129
      ]
    ],
    "simulated_seconds_remaining": 13.464,
    "calls_remaining_including_this": 23
  },
  "api_seconds": 7.806622076779604,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.73
                  },
                  "note": "The jaws cannot close at this depth. I lift slightly while maintaining the closing command to catch the narrower portion above the contact."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 36,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.28753,
      0.78377,
      -0.04772,
      -1.36491,
      -0.12439,
      2.5305,
      0.29617
    ],
    "gripper_open": 0.9967,
    "tcp_xyz": [
      0.80544,
      0.19242,
      0.72896
    ],
    "tcp_roll_pitch_yaw": [
      0.00461,
      -0.47132,
      -0.00396
    ],
    "tcp_rotation_matrix": [
      [
        0.91994,
        0.04715,
        0.3892
      ],
      [
        0.05318,
        -0.99857,
        -0.00473
      ],
      [
        0.38842,
        0.02505,
        -0.92114
      ]
    ],
    "simulated_seconds_remaining": 12.672,
    "calls_remaining_including_this": 22
  },
  "api_seconds": 8.606702887453139,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The neck is now clearly centered between the fingertips after lifting. I close at this narrower section."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 37,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.28753,
      0.78377,
      -0.04772,
      -1.36491,
      -0.12439,
      2.5305,
      0.29617
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.80543,
      0.19241,
      0.72897
    ],
    "tcp_roll_pitch_yaw": [
      0.00461,
      -0.47132,
      -0.00396
    ],
    "tcp_rotation_matrix": [
      [
        0.91995,
        0.04715,
        0.3892
      ],
      [
        0.05318,
        -0.99857,
        -0.00473
      ],
      [
        0.38842,
        0.02505,
        -0.92114
      ]
    ],
    "simulated_seconds_remaining": 11.748,
    "calls_remaining_including_this": 21
  },
  "api_seconds": 7.206931123510003,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 1,
                    "z": 0.69,
                    "x": 0.814
                  },
                  "note": "The closure was above the neck. I reopen and lower a few centimeters while keeping the neck centered."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 38,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.28367,
      0.87111,
      -0.04876,
      -1.3134,
      -0.12403,
      2.56631,
      0.29834
    ],
    "gripper_open": 0.9965,
    "tcp_xyz": [
      0.81377,
      0.19239,
      0.69073
    ],
    "tcp_roll_pitch_yaw": [
      0.00455,
      -0.47115,
      -0.00394
    ],
    "tcp_rotation_matrix": [
      [
        0.92001,
        0.04715,
        0.38904
      ],
      [
        0.05319,
        -0.99857,
        -0.00478
      ],
      [
        0.38826,
        0.02509,
        -0.92121
      ]
    ],
    "simulated_seconds_remaining": 10.824,
    "calls_remaining_including_this": 20
  },
  "api_seconds": 4.804225062020123,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The fingers now extend alongside the bottle neck. I close to establish the grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 39,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.28368,
      0.86446,
      -0.04908,
      -1.30784,
      -0.12419,
      2.56948,
      0.29834
    ],
    "gripper_open": 0.0109,
    "tcp_xyz": [
      0.81773,
      0.19348,
      0.69988
    ],
    "tcp_roll_pitch_yaw": [
      0.009,
      -0.48596,
      -0.00544
    ],
    "tcp_rotation_matrix": [
      [
        0.91412,
        0.04735,
        0.40267
      ],
      [
        0.05217,
        -0.99864,
        -0.001
      ],
      [
        0.40207,
        0.02192,
        -0.91535
      ]
    ],
    "simulated_seconds_remaining": 9.9,
    "calls_remaining_including_this": 19
  },
  "api_seconds": 5.804889978840947,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.83,
                    "gripper": 0
                  },
                  "note": "The fingers met slight resistance at the neck. I lift with the jaws closed to verify that the bottle comes free."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 40,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.27932,
      0.71457,
      -0.03703,
      -1.22832,
      -0.11016,
      2.34162,
      0.26513
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.81781,
      0.1935,
      0.82896
    ],
    "tcp_roll_pitch_yaw": [
      0.00913,
      -0.48637,
      -0.00549
    ],
    "tcp_rotation_matrix": [
      [
        0.91396,
        0.04735,
        0.40304
      ],
      [
        0.05213,
        -0.99864,
        -0.00089
      ],
      [
        0.40245,
        0.02182,
        -0.91518
      ]
    ],
    "simulated_seconds_remaining": 8.712,
    "calls_remaining_including_this": 18
  },
  "api_seconds": 11.408943598158658,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.845,
                    "y": 0.19,
                    "z": 0.66,
                    "pitch": -0.65,
                    "gripper": 1
                  },
                  "note": "The bottle stayed on the table. I make a final lower approach to its neck with the wrist angled to reach the table edge."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 22,
    "motion_seconds": 1.452,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 41,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.31654,
      0.97441,
      -0.11928,
      -1.30641,
      -0.17427,
      2.83013,
      0.37633
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.84466,
      0.18997,
      0.66098
    ],
    "tcp_roll_pitch_yaw": [
      0.00892,
      -0.64821,
      -0.00541
    ],
    "tcp_rotation_matrix": [
      [
        0.83717,
        0.04309,
        0.54524
      ],
      [
        0.0526,
        -0.99861,
        -0.00184
      ],
      [
        0.5444,
        0.03022,
        -0.83828
      ]
    ],
    "simulated_seconds_remaining": 7.26,
    "calls_remaining_including_this": 17
  },
  "api_seconds": 10.408099073916674,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.23,
                    "z": 0.7
                  },
                  "note": "The neck is offset within the jaw opening. I shift sideways and raise slightly to center the narrow section at the pinch."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 42,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.37499,
      0.94336,
      -0.13392,
      -1.25484,
      -0.17691,
      2.73806,
      0.41784
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.84469,
      0.22929,
      0.69928
    ],
    "tcp_roll_pitch_yaw": [
      0.00913,
      -0.64847,
      -0.00531
    ],
    "tcp_rotation_matrix": [
      [
        0.83702,
        0.04332,
        0.54545
      ],
      [
        0.05271,
        -0.99861,
        -0.00157
      ],
      [
        0.54463,
        0.03006,
        -0.83814
      ]
    ],
    "simulated_seconds_remaining": 6.6,
    "calls_remaining_including_this": 16
  },
  "api_seconds": 5.604867693036795,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The neck is aligned with the inner finger contact region. I close for the grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 43,
  "state": {
    "instruction": "pick up the bottle and place it on the bowl.",
    "joint_positions": [
      0.37499,
      0.94336,
      -0.13392,
      -1.25484,
      -0.17691,
      2.73806,
      0.41784
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.84469,
      0.22929,
      0.69929
    ],
    "tcp_roll_pitch_yaw": [
      0.00913,
      -0.64847,
      -0.00531
    ],
    "tcp_rotation_matrix": [
      [
        0.83702,
        0.04332,
        0.54545
      ],
      [
        0.05271,
        -0.99861,
        -0.00158
      ],
      [
        0.54462,
        0.03007,
        -0.83814
      ]
    ],
    "simulated_seconds_remaining": 5.676,
    "calls_remaining_including_this": 15
  },
  "api_seconds": 10.20821284595877,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "give_up",
                "args": {
                  "note": "I could not establish a secure bottle grasp. The bottle remains on the table, and the remaining motion time is insufficient to complete a verified pick and place."
                }
              }
            }
          ]
        }
      }
    ]
  }
}

========================================================================
GPT-Astra / Pick & place / 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,
  "status": "completed",
  "success": true,
  "oracle_success": true,
  "action_decisions": 29,
  "wall_seconds": 332.58,
  "usage": {
    "input_tokens": 592412,
    "cached_input_tokens": 552832,
    "cache_write_input_tokens": 0,
    "output_tokens": 4848,
    "reasoning_output_tokens": 1667
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick-and-place 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 45 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 and grasp the requested object, lift it, move it to the named receptacle, and release it in or on that receptacle. Complete the entire pick-and-place 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 and place the requested object using fresh camera feedback.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [-0.03094, -0.77116, 0.01267, -2.36897, 0.03422, 1.52573, -0.02179], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.29406, 0.00345, 1.00161], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.99744, -0.00103, -0.07147], [0.00089, -0.99964, 0.02694], [-0.07147, -0.02694, -0.99708]], \"simulated_seconds_remaining\": 45.012, \"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": 1.12,
    "note": "The bowl is at the left of the counter. A slim utensil is partly hidden by the gripper in the wrist view; lifting improves visibility before approaching 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": {
      "z": 1.12
    },
    "note": "The fork is partly obscured near the bottom of the wrist image. Raising the open gripper will expose the utensil and its position relative to the bowl."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [-0.03074, -0.65736, 0.00959, -1.98455, 0.03276, 1.25542, -0.01425], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.2941, 0.00345, 1.11868], \"tcp_roll_pitch_yaw\": [1e-05, -0.00023, -0.0], \"tcp_rotation_matrix\": [[0.99746, -0.00103, -0.07124], [0.00089, -0.99964, 0.02695], [-0.07125, -0.02695, -0.99709]], \"simulated_seconds_remaining\": 43.956, \"calls_remaining_including_this\": 56}"
      },
      {
        "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": -0.035,
      "z": 1.04
    },
    "note": "The fork lies beside the red tomato, with its long axis nearly vertical in the wrist image. I am moving forward and slightly right to center over its handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [-0.04708, -0.48099, -0.04289, -2.06523, 0.00103, 1.51096, -0.08422], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.37907, -0.0346, 1.04075], \"tcp_roll_pitch_yaw\": [5e-05, 9e-05, -6e-05], \"tcp_rotation_matrix\": [[0.99744, -0.0011, -0.07156], [0.00084, -0.99964, 0.02699], [-0.07156, -0.02698, -0.99707]], \"simulated_seconds_remaining\": 42.834, \"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": {
      "x": 0.36,
      "y": 0.035,
      "z": 0.94
    },
    "note": "The fork is now fully visible just right of the tomato. I am shifting left and descending to align the jaws across its narrow shaft."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [0.00235, -0.56851, 0.05746, -2.38883, 0.06241, 1.75023, 0.03638], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.36017, 0.03429, 0.94103], \"tcp_roll_pitch_yaw\": [0.0, 0.00031, 8e-05], \"tcp_rotation_matrix\": [[0.99742, -0.00097, -0.07177], [0.00097, -0.99964, 0.02694], [-0.07177, -0.02694, -0.99706]], \"simulated_seconds_remaining\": 41.712, \"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": 0.37,
      "y": 0.085,
      "z": 0.86
    },
    "note": "The fork shaft remains right of the gap between the fingers. I am making a small leftward correction and lowering toward the tabletop with the jaws open."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [0.04645, -0.47694, 0.14114, -2.52111, 0.11258, 1.97911, 0.12144], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.36981, 0.08431, 0.86105], \"tcp_roll_pitch_yaw\": [-6e-05, 0.00059, 0.00019], \"tcp_rotation_matrix\": [[0.9974, -0.00086, -0.07207], [0.00108, -0.99964, 0.02687], [-0.07206, -0.02687, -0.99704]], \"simulated_seconds_remaining\": 40.788, \"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": 0.37,
      "y": 0.105,
      "z": 0.795
    },
    "note": "The fork shaft is close to the center of the open jaws. I am correcting slightly left and descending to the shaft's height for the grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [0.06711, -0.38063, 0.18378, -2.61496, 0.13459, 2.17141, 0.15569], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.36992, 0.10459, 0.79622], \"tcp_roll_pitch_yaw\": [-0.00014, 0.00094, 0.00026], \"tcp_rotation_matrix\": [[0.99737, -0.0008, -0.07241], [0.00114, -0.99964, 0.02679], [-0.07241, -0.0268, -0.99701]], \"simulated_seconds_remaining\": 40.062, \"calls_remaining_including_this\": 52}"
      },
      {
        "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": 0.752,
      "y": 0.112
    },
    "note": "The fork is centered beneath the jaw gap, with its handle visible ahead of the fingers. I am lowering the last few centimeters so the fingers can pinch the shaft."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [0.07333, -0.29381, 0.20406, -2.66192, 0.13997, 2.30558, 0.16936], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.36984, 0.11178, 0.75313], \"tcp_roll_pitch_yaw\": [-0.0002, 0.00126, 0.00029], \"tcp_rotation_matrix\": [[0.99735, -0.00078, -0.07273], [0.00116, -0.99964, 0.02672], [-0.07273, -0.02674, -0.99699]], \"simulated_seconds_remaining\": 39.468, \"calls_remaining_including_this\": 51}"
      },
      {
        "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 gripper has reached the tabletop and the fork shaft is beneath the fingers. I am closing the jaws to secure it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [0.06763, -0.30168, 0.19757, -2.65559, 0.13479, 2.30567, 0.16994], \"gripper_open\": 0.3378, \"tcp_xyz\": [0.37541, 0.10799, 0.75877], \"tcp_roll_pitch_yaw\": [0.00037, -0.01336, -0.00814], \"tcp_rotation_matrix\": [[0.99828, -0.00881, -0.05792], [-0.00721, -0.99959, 0.02779], [-0.05814, -0.02732, -0.99793]], \"simulated_seconds_remaining\": 38.544, \"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": {
      "z": 0.95
    },
    "note": "The jaws stopped partially closed, suggesting contact with the fork. I am lifting vertically to check that the utensil is held before moving toward the bowl."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [0.0629, -0.50024, 0.15777, -2.31461, 0.11641, 1.76708, 0.18195], \"gripper_open\": 0.0, \"tcp_xyz\": [0.37548, 0.10801, 0.94875], \"tcp_roll_pitch_yaw\": [0.00044, -0.01367, -0.00814], \"tcp_rotation_matrix\": [[0.9983, -0.0088, -0.0576], [-0.00721, -0.99959, 0.02785], [-0.05782, -0.02739, -0.99795]], \"simulated_seconds_remaining\": 36.96, \"calls_remaining_including_this\": 49}"
      },
      {
        "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": 0.345,
      "y": 0.065,
      "z": 0.86,
      "gripper": 1
    },
    "note": "The fork remained on the counter after the lift. Its shaft lies left of the actual pinch point, so I am opening and repositioning slightly back and right for a corrected grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [0.04273, -0.58182, 0.1104, -2.60543, 0.10412, 1.97064, 0.0983], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.34534, 0.06552, 0.86106], \"tcp_roll_pitch_yaw\": [0.00042, -0.01344, -0.00821], \"tcp_rotation_matrix\": [[0.99829, -0.00887, -0.05783], [-0.00727, -0.99959, 0.02784], [-0.05805, -0.02737, -0.99794]], \"simulated_seconds_remaining\": 35.97, \"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": 0.39,
      "y": 0.065,
      "z": 0.79
    },
    "note": "The fork now lies within the lateral jaw gap. I am moving forward as I descend to keep the shaft at the pinch point rather than letting it slip behind the fingers."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 11, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [0.02787, -0.34268, 0.11903, -2.60158, 0.09381, 2.20517, 0.08934], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.38924, 0.06499, 0.79103], \"tcp_roll_pitch_yaw\": [0.00039, -0.01313, -0.00824], \"tcp_rotation_matrix\": [[0.99827, -0.00891, -0.05815], [-0.0073, -0.99959, 0.02782], [-0.05837, -0.02734, -0.99792]], \"simulated_seconds_remaining\": 35.112, \"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": {
      "y": 0.09
    },
    "note": "At grasp height, the fork shaft is just right of the middle of the jaws. I am shifting left slightly to center the shaft before closing."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 12, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [0.05213, -0.33075, 0.15248, -2.58948, 0.10939, 2.20761, 0.13564], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.38924, 0.08896, 0.79103], \"tcp_roll_pitch_yaw\": [0.00037, -0.01313, -0.00807], \"tcp_rotation_matrix\": [[0.99827, -0.00875, -0.05814], [-0.00714, -0.99959, 0.02778], [-0.05836, -0.02732, -0.99792]], \"simulated_seconds_remaining\": 34.65, \"calls_remaining_including_this\": 46}"
      },
      {
        "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": 0.405,
      "z": 0.773
    },
    "note": "The fork shaft is aligned between the fingers. I am lowering slightly and advancing along the shaft so the jaws meet it just above the counter."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 13, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [0.04531, -0.2538, 0.15386, -2.56624, 0.09985, 2.26083, 0.13561], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.40427, 0.08894, 0.77374], \"tcp_roll_pitch_yaw\": [0.00035, -0.01296, -0.0081], \"tcp_rotation_matrix\": [[0.99826, -0.00878, -0.05832], [-0.00717, -0.99959, 0.02777], [-0.05854, -0.0273, -0.99791]], \"simulated_seconds_remaining\": 34.188, \"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": {
      "gripper": 0
    },
    "note": "The fork shaft passes directly through the jaw gap at tabletop height. I am closing the fingers around it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 14, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [0.04531, -0.2538, 0.15386, -2.56624, 0.09985, 2.26083, 0.13561], \"gripper_open\": 0.0, \"tcp_xyz\": [0.40428, 0.08894, 0.77373], \"tcp_roll_pitch_yaw\": [0.00035, -0.01296, -0.0081], \"tcp_rotation_matrix\": [[0.99826, -0.00878, -0.05832], [-0.00717, -0.99959, 0.02777], [-0.05854, -0.0273, -0.99791]], \"simulated_seconds_remaining\": 33.264, \"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": {
      "z": 0.93
    },
    "note": "The fingers have closed over the fork's shaft. I am lifting to check whether this corrected grasp holds the utensil."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 15, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [0.04247, -0.41628, 0.1314, -2.29807, 0.09293, 1.83096, 0.143], \"gripper_open\": 0.0, \"tcp_xyz\": [0.40437, 0.08896, 0.92874], \"tcp_roll_pitch_yaw\": [0.00041, -0.0133, -0.00811], \"tcp_rotation_matrix\": [[0.99828, -0.00877, -0.05798], [-0.00717, -0.99959, 0.02782], [-0.0582, -0.02736, -0.99793]], \"simulated_seconds_remaining\": 31.944, \"calls_remaining_including_this\": 43}"
      },
      {
        "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": 0.455,
      "y": 0.088,
      "z": 0.78,
      "gripper": 1
    },
    "note": "The fork is still on the surface; the previous closure was near the end of its handle. I am advancing along the utensil to grasp farther down its shaft."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 16, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [0.02986, -0.11955, 0.14444, -2.40308, 0.06911, 2.23083, 0.13699], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.45448, 0.08798, 0.78119], \"tcp_roll_pitch_yaw\": [0.00037, -0.01294, -0.00813], \"tcp_rotation_matrix\": [[0.99826, -0.00881, -0.05834], [-0.0072, -0.99959, 0.02778], [-0.05856, -0.02732, -0.99791]], \"simulated_seconds_remaining\": 30.624, \"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": {
      "y": 0.074,
      "z": 0.746
    },
    "note": "The middle of the fork is now between the fingers. I am shifting a little right and lowering to make contact with the thin utensil."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 17, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [0.01689, -0.06618, 0.13139, -2.44357, 0.06133, 2.32304, 0.11272], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.45441, 0.07443, 0.74709], \"tcp_roll_pitch_yaw\": [0.00034, -0.01264, -0.00822], \"tcp_rotation_matrix\": [[0.99824, -0.00891, -0.05864], [-0.00729, -0.99959, 0.02777], [-0.05886, -0.02729, -0.99789]], \"simulated_seconds_remaining\": 30.096, \"calls_remaining_including_this\": 41}"
      },
      {
        "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": 0.083,
      "z": 0.729
    },
    "note": "The shaft is slightly right of the pinch center. I am making a final small correction and lowering another two centimeters for a firm grasp on the flat fork."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 18, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [0.0191, -0.06042, 0.13349, -2.44312, 0.05451, 2.33186, 0.13321], \"gripper_open\": 1.0, \"tcp_xyz\": [0.45578, 0.07573, 0.74524], \"tcp_roll_pitch_yaw\": [-0.00464, -0.0163, -0.01961], \"tcp_rotation_matrix\": [[0.99829, -0.02028, -0.05476], [-0.01902, -0.99955, 0.0234], [-0.05521, -0.02231, -0.99823]], \"simulated_seconds_remaining\": 29.634, \"calls_remaining_including_this\": 40}"
      },
      {
        "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 fingers have reached the counter and straddle the fork's middle. I am closing at this contact height."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 19, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [0.01479, -0.06872, 0.12807, -2.43918, 0.05141, 2.32895, 0.13443], \"gripper_open\": 0.8179, \"tcp_xyz\": [0.45903, 0.07119, 0.75042], \"tcp_roll_pitch_yaw\": [-0.00585, -0.02591, -0.02817], \"tcp_rotation_matrix\": [[0.99858, -0.02865, -0.045], [-0.02766, -0.99937, 0.02239], [-0.04561, -0.02111, -0.99874]], \"simulated_seconds_remaining\": 28.71, \"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": 0.775
    },
    "note": "The jaws are obstructed at the tabletop. I am lifting only a few centimeters with the close command maintained so they can finish pinching the fork."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 20, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [0.01482, -0.11027, 0.12674, -2.41634, 0.05514, 2.26499, 0.13252], \"gripper_open\": 0.9948, \"tcp_xyz\": [0.4591, 0.07119, 0.77402], \"tcp_roll_pitch_yaw\": [-0.00582, -0.02616, -0.02817], \"tcp_rotation_matrix\": [[0.99859, -0.02864, -0.04475], [-0.02766, -0.99937, 0.02241], [-0.04536, -0.02114, -0.99875]], \"simulated_seconds_remaining\": 28.248, \"calls_remaining_including_this\": 38}"
      },
      {
        "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 fingers are now clear of the tabletop, and the fork's shaft remains in the gap. I am closing again at this slightly higher height."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 21, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [0.01482, -0.11027, 0.12674, -2.41634, 0.05514, 2.26499, 0.13252], \"gripper_open\": 0.0, \"tcp_xyz\": [0.4591, 0.07119, 0.77403], \"tcp_roll_pitch_yaw\": [-0.00582, -0.02615, -0.02817], \"tcp_rotation_matrix\": [[0.99859, -0.02864, -0.04475], [-0.02766, -0.99937, 0.02241], [-0.04537, -0.02114, -0.99875]], \"simulated_seconds_remaining\": 27.324, \"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": {
      "z": 0.91,
      "gripper": 0
    },
    "note": "The fork lies immediately ahead of the closed fingertips. I am lifting with the close command held to verify whether it moves with the gripper."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 22, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [0.01322, -0.25671, 0.11619, -2.20465, 0.06066, 1.90771, 0.13194], \"gripper_open\": 0.0, \"tcp_xyz\": [0.45919, 0.07121, 0.90876], \"tcp_roll_pitch_yaw\": [-0.00577, -0.02652, -0.02818], \"tcp_rotation_matrix\": [[0.9986, -0.02864, -0.04439], [-0.02766, -0.99937, 0.02245], [-0.045, -0.02119, -0.99876]], \"simulated_seconds_remaining\": 26.136, \"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"
}

The fork has stayed on the counter through the grasp checks. I’m adjusting the pinch height and alignment for another attempt.


{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.452,
      "y": 0.078,
      "z": 0.76,
      "gripper": 1
    },
    "note": "The fork did not lift. I am returning with the jaws open, a small lateral correction, and a lower pinch height just above tabletop contact."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 23, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [0.02201, -0.10548, 0.13689, -2.44907, 0.05855, 2.30301, 0.14596], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.45198, 0.07793, 0.76119], \"tcp_roll_pitch_yaw\": [-0.00582, -0.02616, -0.02816], \"tcp_rotation_matrix\": [[0.99859, -0.02863, -0.04475], [-0.02765, -0.99937, 0.02241], [-0.04536, -0.02114, -0.99875]], \"simulated_seconds_remaining\": 24.816, \"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": {
      "gripper": 0
    },
    "note": "The fork's middle runs through the jaw gap, and the fingers are just above the table. I am closing at this lower grasp height."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 24, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [0.02201, -0.10542, 0.13689, -2.44914, 0.05855, 2.30298, 0.14596], \"gripper_open\": 0.223, \"tcp_xyz\": [0.45193, 0.07793, 0.76112], \"tcp_roll_pitch_yaw\": [-0.00584, -0.026, -0.02816], \"tcp_rotation_matrix\": [[0.99858, -0.02864, -0.04491], [-0.02765, -0.99937, 0.02239], [-0.04552, -0.02112, -0.99874]], \"simulated_seconds_remaining\": 23.892, \"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": {
      "z": 0.94,
      "gripper": 0
    },
    "note": "The jaws stopped around the fork with a small opening, and the utensil shifted into the pinch. I am lifting while maintaining the grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 25, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [0.01974, -0.28773, 0.12143, -2.15783, 0.06481, 1.83022, 0.14574], \"gripper_open\": 0.223, \"tcp_xyz\": [0.45197, 0.07793, 0.93873], \"tcp_roll_pitch_yaw\": [-0.00581, -0.02617, -0.02817], \"tcp_rotation_matrix\": [[0.99859, -0.02864, -0.04473], [-0.02766, -0.99937, 0.02242], [-0.04535, -0.02115, -0.99875]], \"simulated_seconds_remaining\": 22.374, \"calls_remaining_including_this\": 33}"
      },
      {
        "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": 0.44,
      "y": 0.28,
      "z": 0.98,
      "gripper": 0
    },
    "note": "The fork stayed fixed between the fingers during the lift, confirming the grasp. The bowl is to the left, so I am carrying the fork leftward above the counter."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 26, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [0.16502, -0.11831, 0.35724, -1.87313, 0.08409, 1.73372, 0.53246], \"gripper_open\": 0.223, \"tcp_xyz\": [0.44002, 0.27874, 0.97966], \"tcp_roll_pitch_yaw\": [-0.00587, -0.02604, -0.02789], \"tcp_rotation_matrix\": [[0.99859, -0.02836, -0.04487], [-0.02738, -0.99938, 0.02235], [-0.04548, -0.02109, -0.99874]], \"simulated_seconds_remaining\": 20.724, \"calls_remaining_including_this\": 32}"
      },
      {
        "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": 0.475,
      "y": 0.31,
      "z": 0.89,
      "gripper": 0
    },
    "note": "The bowl is beneath the held fork, slightly ahead and left of the pinch point. I am centering over its opening and lowering toward the rim."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 27, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [0.18892, 0.0403, 0.38951, -1.89448, 0.02747, 1.93128, 0.58826], \"gripper_open\": 0.2266, \"tcp_xyz\": [0.47451, 0.31678, 0.90539], \"tcp_roll_pitch_yaw\": [0.00672, -0.04812, -0.0208], \"tcp_rotation_matrix\": [[0.99954, -0.02021, -0.02273], [-0.01942, -0.99923, 0.03412], [-0.0234, -0.03366, -0.99916]], \"simulated_seconds_remaining\": 19.734, \"calls_remaining_including_this\": 31}"
      },
      {
        "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": 0.27,
      "z": 0.94,
      "gripper": 0
    },
    "note": "The bowl opening is left of the held fork in the wrist view, so I am shifting right in base coordinates to bring the opening directly beneath the fork while clearing the rim."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 28, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [0.14672, -0.04931, 0.34681, -1.90786, 0.06003, 1.85708, 0.49597], \"gripper_open\": 0.2229, \"tcp_xyz\": [0.47453, 0.27096, 0.93924], \"tcp_roll_pitch_yaw\": [0.00669, -0.04808, -0.02093], \"tcp_rotation_matrix\": [[0.99953, -0.02033, -0.02276], [-0.01955, -0.99923, 0.0341], [-0.02344, -0.03364, -0.99916]], \"simulated_seconds_remaining\": 18.81, \"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": {
      "z": 0.905,
      "gripper": 0
    },
    "note": "The fork is now centered over the bowl opening. I am lowering it toward the rim for a short, controlled release."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 29, \"instruction\": \"pick up the fork and place it on the bowl.\", \"joint_positions\": [0.14815, -0.03598, 0.34888, -1.97912, 0.05704, 1.9407, 0.496], \"gripper_open\": 0.2229, \"tcp_xyz\": [0.47448, 0.27093, 0.9057], \"tcp_roll_pitch_yaw\": [0.00659, -0.04781, -0.02092], \"tcp_rotation_matrix\": [[0.99953, -0.02034, -0.02304], [-0.01955, -0.99923, 0.034], [-0.02371, -0.03353, -0.99916]], \"simulated_seconds_remaining\": 17.886, \"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": 1
    },
    "note": "The fork is positioned over the center of the bowl at rim height. I am opening the fingers to place it on the bowl."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "Episode ended. Do not call more tools. Return a brief final response."
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

Placed the fork on the bowl.

TURN USAGE
{
  "input_tokens": 592412,
  "cached_input_tokens": 552832,
  "cache_write_input_tokens": 0,
  "output_tokens": 4848,
  "reasoning_output_tokens": 1667
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      -0.03094,
      -0.77116,
      0.01267,
      -2.36897,
      0.03422,
      1.52573,
      -0.02179
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.29406,
      0.00345,
      1.00161
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99744,
        -0.00103,
        -0.07147
      ],
      [
        0.00089,
        -0.99964,
        0.02694
      ],
      [
        -0.07147,
        -0.02694,
        -0.99708
      ]
    ],
    "simulated_seconds_remaining": 45.012,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 26.823166594840586,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.12
                  },
                  "note": "The fork is partly obscured near the bottom of the wrist image. Raising the open gripper will expose the utensil and its position relative to the bowl."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      -0.03074,
      -0.65736,
      0.00959,
      -1.98455,
      0.03276,
      1.25542,
      -0.01425
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.2941,
      0.00345,
      1.11868
    ],
    "tcp_roll_pitch_yaw": [
      1e-05,
      -0.00023,
      -0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99746,
        -0.00103,
        -0.07124
      ],
      [
        0.00089,
        -0.99964,
        0.02695
      ],
      [
        -0.07125,
        -0.02695,
        -0.99709
      ]
    ],
    "simulated_seconds_remaining": 43.956,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 13.611146773211658,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.38,
                    "y": -0.035,
                    "z": 1.04
                  },
                  "note": "The fork lies beside the red tomato, with its long axis nearly vertical in the wrist image. I am moving forward and slightly right to center over its handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      -0.04708,
      -0.48099,
      -0.04289,
      -2.06523,
      0.00103,
      1.51096,
      -0.08422
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.37907,
      -0.0346,
      1.04075
    ],
    "tcp_roll_pitch_yaw": [
      5e-05,
      9e-05,
      -6e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99744,
        -0.0011,
        -0.07156
      ],
      [
        0.00084,
        -0.99964,
        0.02699
      ],
      [
        -0.07156,
        -0.02698,
        -0.99707
      ]
    ],
    "simulated_seconds_remaining": 42.834,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 11.609115115366876,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.36,
                    "y": 0.035,
                    "z": 0.94
                  },
                  "note": "The fork is now fully visible just right of the tomato. I am shifting left and descending to align the jaws across its narrow shaft."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      0.00235,
      -0.56851,
      0.05746,
      -2.38883,
      0.06241,
      1.75023,
      0.03638
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.36017,
      0.03429,
      0.94103
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.00031,
      8e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99742,
        -0.00097,
        -0.07177
      ],
      [
        0.00097,
        -0.99964,
        0.02694
      ],
      [
        -0.07177,
        -0.02694,
        -0.99706
      ]
    ],
    "simulated_seconds_remaining": 41.712,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 9.80776135250926,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.37,
                    "y": 0.085,
                    "z": 0.86
                  },
                  "note": "The fork shaft remains right of the gap between the fingers. I am making a small leftward correction and lowering toward the tabletop with the jaws open."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      0.04645,
      -0.47694,
      0.14114,
      -2.52111,
      0.11258,
      1.97911,
      0.12144
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.36981,
      0.08431,
      0.86105
    ],
    "tcp_roll_pitch_yaw": [
      -6e-05,
      0.00059,
      0.00019
    ],
    "tcp_rotation_matrix": [
      [
        0.9974,
        -0.00086,
        -0.07207
      ],
      [
        0.00108,
        -0.99964,
        0.02687
      ],
      [
        -0.07206,
        -0.02687,
        -0.99704
      ]
    ],
    "simulated_seconds_remaining": 40.788,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 7.406637251377106,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.37,
                    "y": 0.105,
                    "z": 0.795
                  },
                  "note": "The fork shaft is close to the center of the open jaws. I am correcting slightly left and descending to the shaft's height for the grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      0.06711,
      -0.38063,
      0.18378,
      -2.61496,
      0.13459,
      2.17141,
      0.15569
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.36992,
      0.10459,
      0.79622
    ],
    "tcp_roll_pitch_yaw": [
      -0.00014,
      0.00094,
      0.00026
    ],
    "tcp_rotation_matrix": [
      [
        0.99737,
        -0.0008,
        -0.07241
      ],
      [
        0.00114,
        -0.99964,
        0.02679
      ],
      [
        -0.07241,
        -0.0268,
        -0.99701
      ]
    ],
    "simulated_seconds_remaining": 40.062,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 9.207757849246264,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.752,
                    "y": 0.112
                  },
                  "note": "The fork is centered beneath the jaw gap, with its handle visible ahead of the fingers. I am lowering the last few centimeters so the fingers can pinch the shaft."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      0.07333,
      -0.29381,
      0.20406,
      -2.66192,
      0.13997,
      2.30558,
      0.16936
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.36984,
      0.11178,
      0.75313
    ],
    "tcp_roll_pitch_yaw": [
      -0.0002,
      0.00126,
      0.00029
    ],
    "tcp_rotation_matrix": [
      [
        0.99735,
        -0.00078,
        -0.07273
      ],
      [
        0.00116,
        -0.99964,
        0.02672
      ],
      [
        -0.07273,
        -0.02674,
        -0.99699
      ]
    ],
    "simulated_seconds_remaining": 39.468,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 5.605073885992169,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The gripper has reached the tabletop and the fork shaft is beneath the fingers. I am closing the jaws to secure it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      0.06763,
      -0.30168,
      0.19757,
      -2.65559,
      0.13479,
      2.30567,
      0.16994
    ],
    "gripper_open": 0.3378,
    "tcp_xyz": [
      0.37541,
      0.10799,
      0.75877
    ],
    "tcp_roll_pitch_yaw": [
      0.00037,
      -0.01336,
      -0.00814
    ],
    "tcp_rotation_matrix": [
      [
        0.99828,
        -0.00881,
        -0.05792
      ],
      [
        -0.00721,
        -0.99959,
        0.02779
      ],
      [
        -0.05814,
        -0.02732,
        -0.99793
      ]
    ],
    "simulated_seconds_remaining": 38.544,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 5.204745076596737,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.95
                  },
                  "note": "The jaws stopped partially closed, suggesting contact with the fork. I am lifting vertically to check that the utensil is held before moving toward the bowl."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 24,
    "motion_seconds": 1.584,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      0.0629,
      -0.50024,
      0.15777,
      -2.31461,
      0.11641,
      1.76708,
      0.18195
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.37548,
      0.10801,
      0.94875
    ],
    "tcp_roll_pitch_yaw": [
      0.00044,
      -0.01367,
      -0.00814
    ],
    "tcp_rotation_matrix": [
      [
        0.9983,
        -0.0088,
        -0.0576
      ],
      [
        -0.00721,
        -0.99959,
        0.02785
      ],
      [
        -0.05782,
        -0.02739,
        -0.99795
      ]
    ],
    "simulated_seconds_remaining": 36.96,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 13.41115806158632,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.345,
                    "y": 0.065,
                    "z": 0.86,
                    "gripper": 1
                  },
                  "note": "The fork remained on the counter after the lift. Its shaft lies left of the actual pinch point, so I am opening and repositioning slightly back and right for a corrected grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      0.04273,
      -0.58182,
      0.1104,
      -2.60543,
      0.10412,
      1.97064,
      0.0983
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.34534,
      0.06552,
      0.86106
    ],
    "tcp_roll_pitch_yaw": [
      0.00042,
      -0.01344,
      -0.00821
    ],
    "tcp_rotation_matrix": [
      [
        0.99829,
        -0.00887,
        -0.05783
      ],
      [
        -0.00727,
        -0.99959,
        0.02784
      ],
      [
        -0.05805,
        -0.02737,
        -0.99794
      ]
    ],
    "simulated_seconds_remaining": 35.97,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 8.006890912540257,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.39,
                    "y": 0.065,
                    "z": 0.79
                  },
                  "note": "The fork now lies within the lateral jaw gap. I am moving forward as I descend to keep the shaft at the pinch point rather than letting it slip behind the fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      0.02787,
      -0.34268,
      0.11903,
      -2.60158,
      0.09381,
      2.20517,
      0.08934
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.38924,
      0.06499,
      0.79103
    ],
    "tcp_roll_pitch_yaw": [
      0.00039,
      -0.01313,
      -0.00824
    ],
    "tcp_rotation_matrix": [
      [
        0.99827,
        -0.00891,
        -0.05815
      ],
      [
        -0.0073,
        -0.99959,
        0.02782
      ],
      [
        -0.05837,
        -0.02734,
        -0.99792
      ]
    ],
    "simulated_seconds_remaining": 35.112,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 8.20683490484953,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.09
                  },
                  "note": "At grasp height, the fork shaft is just right of the middle of the jaws. I am shifting left slightly to center the shaft before closing."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 7,
    "motion_seconds": 0.462,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      0.05213,
      -0.33075,
      0.15248,
      -2.58948,
      0.10939,
      2.20761,
      0.13564
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.38924,
      0.08896,
      0.79103
    ],
    "tcp_roll_pitch_yaw": [
      0.00037,
      -0.01313,
      -0.00807
    ],
    "tcp_rotation_matrix": [
      [
        0.99827,
        -0.00875,
        -0.05814
      ],
      [
        -0.00714,
        -0.99959,
        0.02778
      ],
      [
        -0.05836,
        -0.02732,
        -0.99792
      ]
    ],
    "simulated_seconds_remaining": 34.65,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 6.205635058693588,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.405,
                    "z": 0.773
                  },
                  "note": "The fork shaft is aligned between the fingers. I am lowering slightly and advancing along the shaft so the jaws meet it just above the counter."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 7,
    "motion_seconds": 0.462,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      0.04531,
      -0.2538,
      0.15386,
      -2.56624,
      0.09985,
      2.26083,
      0.13561
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.40427,
      0.08894,
      0.77374
    ],
    "tcp_roll_pitch_yaw": [
      0.00035,
      -0.01296,
      -0.0081
    ],
    "tcp_rotation_matrix": [
      [
        0.99826,
        -0.00878,
        -0.05832
      ],
      [
        -0.00717,
        -0.99959,
        0.02777
      ],
      [
        -0.05854,
        -0.0273,
        -0.99791
      ]
    ],
    "simulated_seconds_remaining": 34.188,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 5.20469178352505,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The fork shaft passes directly through the jaw gap at tabletop height. I am closing the fingers around it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      0.04531,
      -0.2538,
      0.15386,
      -2.56624,
      0.09985,
      2.26083,
      0.13561
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.40428,
      0.08894,
      0.77373
    ],
    "tcp_roll_pitch_yaw": [
      0.00035,
      -0.01296,
      -0.0081
    ],
    "tcp_rotation_matrix": [
      [
        0.99826,
        -0.00878,
        -0.05832
      ],
      [
        -0.00717,
        -0.99959,
        0.02777
      ],
      [
        -0.05854,
        -0.0273,
        -0.99791
      ]
    ],
    "simulated_seconds_remaining": 33.264,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 6.005160734988749,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.93
                  },
                  "note": "The fingers have closed over the fork's shaft. I am lifting to check whether this corrected grasp holds the utensil."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      0.04247,
      -0.41628,
      0.1314,
      -2.29807,
      0.09293,
      1.83096,
      0.143
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.40437,
      0.08896,
      0.92874
    ],
    "tcp_roll_pitch_yaw": [
      0.00041,
      -0.0133,
      -0.00811
    ],
    "tcp_rotation_matrix": [
      [
        0.99828,
        -0.00877,
        -0.05798
      ],
      [
        -0.00717,
        -0.99959,
        0.02782
      ],
      [
        -0.0582,
        -0.02736,
        -0.99793
      ]
    ],
    "simulated_seconds_remaining": 31.944,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 17.413179420866072,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.455,
                    "y": 0.088,
                    "z": 0.78,
                    "gripper": 1
                  },
                  "note": "The fork is still on the surface; the previous closure was near the end of its handle. I am advancing along the utensil to grasp farther down its shaft."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      0.02986,
      -0.11955,
      0.14444,
      -2.40308,
      0.06911,
      2.23083,
      0.13699
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.45448,
      0.08798,
      0.78119
    ],
    "tcp_roll_pitch_yaw": [
      0.00037,
      -0.01294,
      -0.00813
    ],
    "tcp_rotation_matrix": [
      [
        0.99826,
        -0.00881,
        -0.05834
      ],
      [
        -0.0072,
        -0.99959,
        0.02778
      ],
      [
        -0.05856,
        -0.02732,
        -0.99791
      ]
    ],
    "simulated_seconds_remaining": 30.624,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 6.606029675342143,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.074,
                    "z": 0.746
                  },
                  "note": "The middle of the fork is now between the fingers. I am shifting a little right and lowering to make contact with the thin utensil."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 8,
    "motion_seconds": 0.528,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      0.01689,
      -0.06618,
      0.13139,
      -2.44357,
      0.06133,
      2.32304,
      0.11272
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.45441,
      0.07443,
      0.74709
    ],
    "tcp_roll_pitch_yaw": [
      0.00034,
      -0.01264,
      -0.00822
    ],
    "tcp_rotation_matrix": [
      [
        0.99824,
        -0.00891,
        -0.05864
      ],
      [
        -0.00729,
        -0.99959,
        0.02777
      ],
      [
        -0.05886,
        -0.02729,
        -0.99789
      ]
    ],
    "simulated_seconds_remaining": 30.096,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 8.607430991716683,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.083,
                    "z": 0.729
                  },
                  "note": "The shaft is slightly right of the pinch center. I am making a final small correction and lowering another two centimeters for a firm grasp on the flat fork."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 7,
    "motion_seconds": 0.462,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      0.0191,
      -0.06042,
      0.13349,
      -2.44312,
      0.05451,
      2.33186,
      0.13321
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.45578,
      0.07573,
      0.74524
    ],
    "tcp_roll_pitch_yaw": [
      -0.00464,
      -0.0163,
      -0.01961
    ],
    "tcp_rotation_matrix": [
      [
        0.99829,
        -0.02028,
        -0.05476
      ],
      [
        -0.01902,
        -0.99955,
        0.0234
      ],
      [
        -0.05521,
        -0.02231,
        -0.99823
      ]
    ],
    "simulated_seconds_remaining": 29.634,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 5.40505388751626,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The fingers have reached the counter and straddle the fork's middle. I am closing at this contact height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 19,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      0.01479,
      -0.06872,
      0.12807,
      -2.43918,
      0.05141,
      2.32895,
      0.13443
    ],
    "gripper_open": 0.8179,
    "tcp_xyz": [
      0.45903,
      0.07119,
      0.75042
    ],
    "tcp_roll_pitch_yaw": [
      -0.00585,
      -0.02591,
      -0.02817
    ],
    "tcp_rotation_matrix": [
      [
        0.99858,
        -0.02865,
        -0.045
      ],
      [
        -0.02766,
        -0.99937,
        0.02239
      ],
      [
        -0.04561,
        -0.02111,
        -0.99874
      ]
    ],
    "simulated_seconds_remaining": 28.71,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 5.605870836414397,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.775
                  },
                  "note": "The jaws are obstructed at the tabletop. I am lifting only a few centimeters with the close command maintained so they can finish pinching the fork."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 7,
    "motion_seconds": 0.462,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 20,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      0.01482,
      -0.11027,
      0.12674,
      -2.41634,
      0.05514,
      2.26499,
      0.13252
    ],
    "gripper_open": 0.9948,
    "tcp_xyz": [
      0.4591,
      0.07119,
      0.77402
    ],
    "tcp_roll_pitch_yaw": [
      -0.00582,
      -0.02616,
      -0.02817
    ],
    "tcp_rotation_matrix": [
      [
        0.99859,
        -0.02864,
        -0.04475
      ],
      [
        -0.02766,
        -0.99937,
        0.02241
      ],
      [
        -0.04536,
        -0.02114,
        -0.99875
      ]
    ],
    "simulated_seconds_remaining": 28.248,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 7.406106744892895,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The fingers are now clear of the tabletop, and the fork's shaft remains in the gap. I am closing again at this slightly higher height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 21,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      0.01482,
      -0.11027,
      0.12674,
      -2.41634,
      0.05514,
      2.26499,
      0.13252
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.4591,
      0.07119,
      0.77403
    ],
    "tcp_roll_pitch_yaw": [
      -0.00582,
      -0.02615,
      -0.02817
    ],
    "tcp_rotation_matrix": [
      [
        0.99859,
        -0.02864,
        -0.04475
      ],
      [
        -0.02766,
        -0.99937,
        0.02241
      ],
      [
        -0.04537,
        -0.02114,
        -0.99875
      ]
    ],
    "simulated_seconds_remaining": 27.324,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 6.4054550202563405,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.91,
                    "gripper": 0
                  },
                  "note": "The fork lies immediately ahead of the closed fingertips. I am lifting with the close command held to verify whether it moves with the gripper."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 22,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      0.01322,
      -0.25671,
      0.11619,
      -2.20465,
      0.06066,
      1.90771,
      0.13194
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.45919,
      0.07121,
      0.90876
    ],
    "tcp_roll_pitch_yaw": [
      -0.00577,
      -0.02652,
      -0.02818
    ],
    "tcp_rotation_matrix": [
      [
        0.9986,
        -0.02864,
        -0.04439
      ],
      [
        -0.02766,
        -0.99937,
        0.02245
      ],
      [
        -0.045,
        -0.02119,
        -0.99876
      ]
    ],
    "simulated_seconds_remaining": 26.136,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 14.411024517379701,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.452,
                    "y": 0.078,
                    "z": 0.76,
                    "gripper": 1
                  },
                  "note": "The fork did not lift. I am returning with the jaws open, a small lateral correction, and a lower pinch height just above tabletop contact."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 23,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      0.02201,
      -0.10548,
      0.13689,
      -2.44907,
      0.05855,
      2.30301,
      0.14596
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.45198,
      0.07793,
      0.76119
    ],
    "tcp_roll_pitch_yaw": [
      -0.00582,
      -0.02616,
      -0.02816
    ],
    "tcp_rotation_matrix": [
      [
        0.99859,
        -0.02863,
        -0.04475
      ],
      [
        -0.02765,
        -0.99937,
        0.02241
      ],
      [
        -0.04536,
        -0.02114,
        -0.99875
      ]
    ],
    "simulated_seconds_remaining": 24.816,
    "calls_remaining_including_this": 35
  },
  "api_seconds": 5.0043726079165936,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The fork's middle runs through the jaw gap, and the fingers are just above the table. I am closing at this lower grasp height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 24,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      0.02201,
      -0.10542,
      0.13689,
      -2.44914,
      0.05855,
      2.30298,
      0.14596
    ],
    "gripper_open": 0.223,
    "tcp_xyz": [
      0.45193,
      0.07793,
      0.76112
    ],
    "tcp_roll_pitch_yaw": [
      -0.00584,
      -0.026,
      -0.02816
    ],
    "tcp_rotation_matrix": [
      [
        0.99858,
        -0.02864,
        -0.04491
      ],
      [
        -0.02765,
        -0.99937,
        0.02239
      ],
      [
        -0.04552,
        -0.02112,
        -0.99874
      ]
    ],
    "simulated_seconds_remaining": 23.892,
    "calls_remaining_including_this": 34
  },
  "api_seconds": 7.2063651625067,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.94,
                    "gripper": 0
                  },
                  "note": "The jaws stopped around the fork with a small opening, and the utensil shifted into the pinch. I am lifting while maintaining the grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 25,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      0.01974,
      -0.28773,
      0.12143,
      -2.15783,
      0.06481,
      1.83022,
      0.14574
    ],
    "gripper_open": 0.223,
    "tcp_xyz": [
      0.45197,
      0.07793,
      0.93873
    ],
    "tcp_roll_pitch_yaw": [
      -0.00581,
      -0.02617,
      -0.02817
    ],
    "tcp_rotation_matrix": [
      [
        0.99859,
        -0.02864,
        -0.04473
      ],
      [
        -0.02766,
        -0.99937,
        0.02242
      ],
      [
        -0.04535,
        -0.02115,
        -0.99875
      ]
    ],
    "simulated_seconds_remaining": 22.374,
    "calls_remaining_including_this": 33
  },
  "api_seconds": 7.806483437307179,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.44,
                    "y": 0.28,
                    "z": 0.98,
                    "gripper": 0
                  },
                  "note": "The fork stayed fixed between the fingers during the lift, confirming the grasp. The bowl is to the left, so I am carrying the fork leftward above the counter."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 25,
    "motion_seconds": 1.6500000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 26,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      0.16502,
      -0.11831,
      0.35724,
      -1.87313,
      0.08409,
      1.73372,
      0.53246
    ],
    "gripper_open": 0.223,
    "tcp_xyz": [
      0.44002,
      0.27874,
      0.97966
    ],
    "tcp_roll_pitch_yaw": [
      -0.00587,
      -0.02604,
      -0.02789
    ],
    "tcp_rotation_matrix": [
      [
        0.99859,
        -0.02836,
        -0.04487
      ],
      [
        -0.02738,
        -0.99938,
        0.02235
      ],
      [
        -0.04548,
        -0.02109,
        -0.99874
      ]
    ],
    "simulated_seconds_remaining": 20.724,
    "calls_remaining_including_this": 32
  },
  "api_seconds": 7.606493282131851,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.475,
                    "y": 0.31,
                    "z": 0.89,
                    "gripper": 0
                  },
                  "note": "The bowl is beneath the held fork, slightly ahead and left of the pinch point. I am centering over its opening and lowering toward the rim."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 27,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      0.18892,
      0.0403,
      0.38951,
      -1.89448,
      0.02747,
      1.93128,
      0.58826
    ],
    "gripper_open": 0.2266,
    "tcp_xyz": [
      0.47451,
      0.31678,
      0.90539
    ],
    "tcp_roll_pitch_yaw": [
      0.00672,
      -0.04812,
      -0.0208
    ],
    "tcp_rotation_matrix": [
      [
        0.99954,
        -0.02021,
        -0.02273
      ],
      [
        -0.01942,
        -0.99923,
        0.03412
      ],
      [
        -0.0234,
        -0.03366,
        -0.99916
      ]
    ],
    "simulated_seconds_remaining": 19.734,
    "calls_remaining_including_this": 31
  },
  "api_seconds": 11.00911147147417,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.27,
                    "z": 0.94,
                    "gripper": 0
                  },
                  "note": "The bowl opening is left of the held fork in the wrist view, so I am shifting right in base coordinates to bring the opening directly beneath the fork while clearing the rim."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 28,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      0.14672,
      -0.04931,
      0.34681,
      -1.90786,
      0.06003,
      1.85708,
      0.49597
    ],
    "gripper_open": 0.2229,
    "tcp_xyz": [
      0.47453,
      0.27096,
      0.93924
    ],
    "tcp_roll_pitch_yaw": [
      0.00669,
      -0.04808,
      -0.02093
    ],
    "tcp_rotation_matrix": [
      [
        0.99953,
        -0.02033,
        -0.02276
      ],
      [
        -0.01955,
        -0.99923,
        0.0341
      ],
      [
        -0.02344,
        -0.03364,
        -0.99916
      ]
    ],
    "simulated_seconds_remaining": 18.81,
    "calls_remaining_including_this": 30
  },
  "api_seconds": 6.2056887075304985,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.905,
                    "gripper": 0
                  },
                  "note": "The fork is now centered over the bowl opening. I am lowering it toward the rim for a short, controlled release."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 29,
  "state": {
    "instruction": "pick up the fork and place it on the bowl.",
    "joint_positions": [
      0.14815,
      -0.03598,
      0.34888,
      -1.97912,
      0.05704,
      1.9407,
      0.496
    ],
    "gripper_open": 0.2229,
    "tcp_xyz": [
      0.47448,
      0.27093,
      0.9057
    ],
    "tcp_roll_pitch_yaw": [
      0.00659,
      -0.04781,
      -0.02092
    ],
    "tcp_rotation_matrix": [
      [
        0.99953,
        -0.02034,
        -0.02304
      ],
      [
        -0.01955,
        -0.99923,
        0.034
      ],
      [
        -0.02371,
        -0.03353,
        -0.99916
      ]
    ],
    "simulated_seconds_remaining": 17.886,
    "calls_remaining_including_this": 29
  },
  "api_seconds": 6.808825962245464,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 1
                  },
                  "note": "The fork is positioned over the center of the bowl at rim height. I am opening the fingers to place it on the bowl."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

========================================================================
GPT-Astra / Pick & place / 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,
  "status": "completed",
  "success": true,
  "oracle_success": true,
  "action_decisions": 16,
  "wall_seconds": 268.73,
  "usage": {
    "input_tokens": 303213,
    "cached_input_tokens": 263296,
    "cache_write_input_tokens": 0,
    "output_tokens": 4252,
    "reasoning_output_tokens": 2405
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick-and-place 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 45 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 and grasp the requested object, lift it, move it to the named receptacle, and release it in or on that receptacle. Complete the entire pick-and-place 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 object and place it in the requested receptacle.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"pick up the ladle and place it on the bowl.\", \"joint_positions\": [0.00591, -0.81277, 0.00533, -2.33376, 0.04951, 1.6162, -0.01274], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.31901, 0.0163, 1.03949], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.99521, 0.02471, 0.09456], [0.02038, -0.99871, 0.0465], [0.09558, -0.04435, -0.99443]], \"simulated_seconds_remaining\": 45.012, \"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": 0.91,
    "note": "The black bowl is near the center and the ladle is below it in the wrist view. I lower the open gripper for 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": 0.91
    },
    "note": "The black bowl is central and the ladle is below it in the wrist view. I lower the open gripper to see the handle more clearly."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"pick up the ladle and place it on the bowl.\", \"joint_positions\": [0.00687, -0.85997, 0.00981, -2.68881, 0.05611, 1.92351, -0.02589], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.31897, 0.0163, 0.91121], \"tcp_roll_pitch_yaw\": [-1e-05, 0.00028, 1e-05], \"tcp_rotation_matrix\": [[0.99524, 0.02471, 0.09428], [0.02039, -0.99871, 0.04649], [0.09531, -0.04435, -0.99446]], \"simulated_seconds_remaining\": 43.824, \"calls_remaining_including_this\": 56}"
      },
      {
        "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": 0.23,
      "z": 0.99
    },
    "note": "The bowl fills the wrist view while the ladle lies closer to the robot. I move back and slightly up to bring the ladle handle into view."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"pick up the ladle and place it on the bowl.\", \"joint_positions\": [0.00759, -1.14753, 0.00638, -2.61033, 0.05135, 1.55817, -0.00904], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.23101, 0.01631, 0.98925], \"tcp_roll_pitch_yaw\": [0.0, -5e-05, 1e-05], \"tcp_rotation_matrix\": [[0.99521, 0.02472, 0.09461], [0.02039, -0.99871, 0.0465], [0.09564, -0.04435, -0.99443]], \"simulated_seconds_remaining\": 42.702, \"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": {
      "x": 0.44,
      "z": 1.04
    },
    "note": "The previous move shifted the bowl downward, revealing the camera direction. I move forward to center the ladle beyond the bowl."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"pick up the ladle and place it on the bowl.\", \"joint_positions\": [0.00574, -0.44661, 0.00445, -2.08027, 0.04811, 1.72868, -0.01807], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.43868, 0.0163, 1.03964], \"tcp_roll_pitch_yaw\": [1e-05, 7e-05, -0.0], \"tcp_rotation_matrix\": [[0.99522, 0.0247, 0.09449], [0.02037, -0.99871, 0.0465], [0.09552, -0.04436, -0.99444]], \"simulated_seconds_remaining\": 40.986, \"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": 0.4,
      "y": 0.05,
      "z": 0.86,
      "yaw": 0.3
    },
    "note": "The ladle has a dark handle leading to the light scoop. I approach the middle of the handle and align the finger opening across it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"pick up the ladle and place it on the bowl.\", \"joint_positions\": [0.09539, -0.50875, -0.00398, -2.58771, 0.07582, 2.16053, -0.26874], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.40016, 0.04982, 0.86089], \"tcp_roll_pitch_yaw\": [7e-05, 0.00038, 0.29834], \"tcp_rotation_matrix\": [[0.9453, 0.31716, 0.07633], [0.31201, -0.94733, 0.07219], [0.0952, -0.04443, -0.99447]], \"simulated_seconds_remaining\": 39.468, \"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": 0.47,
      "y": 0.09,
      "z": 0.9,
      "yaw": 1.3
    },
    "note": "The handle is left of the gripper and nearly parallel to its opening. I shift toward it and rotate the jaws to grip across the handle."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"pick up the ladle and place it on the bowl.\", \"joint_positions\": [0.28695, -0.23925, -0.13682, -2.22061, 0.0794, 1.9792, -1.1958], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.46972, 0.08984, 0.89984], \"tcp_roll_pitch_yaw\": [7e-05, 0.0004, 1.29547], \"tcp_rotation_matrix\": [[0.25097, 0.9678, -0.01921], [0.9633, -0.24775, 0.10327], [0.09519, -0.04442, -0.99447]], \"simulated_seconds_remaining\": 37.818, \"calls_remaining_including_this\": 52}"
      },
      {
        "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": 0.515,
      "y": 0.13,
      "z": 0.83
    },
    "note": "The handle is now vertical in the wrist image, suited to a crosswise grasp. I center the open jaws over its middle while descending."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"pick up the ladle and place it on the bowl.\", \"joint_positions\": [0.31773, -0.026, -0.11114, -2.17052, 0.12181, 2.14339, -1.17764], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.5143, 0.12947, 0.83086], \"tcp_roll_pitch_yaw\": [0.00031, 0.00056, 1.29557], \"tcp_rotation_matrix\": [[0.2509, 0.96782, -0.0195], [0.96334, -0.24766, 0.10319], [0.09503, -0.04467, -0.99447]], \"simulated_seconds_remaining\": 36.894, \"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": 0.555
    },
    "note": "The scoop remains left of the jaws. I make a small forward correction to measure its alignment before lowering to grasp height."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"pick up the ladle and place it on the bowl.\", \"joint_positions\": [0.30778, 0.08694, -0.11955, -2.0299, 0.13496, 2.11234, -1.19927], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.55389, 0.12944, 0.83083], \"tcp_roll_pitch_yaw\": [0.00035, 0.00059, 1.29551], \"tcp_rotation_matrix\": [[0.25096, 0.9678, -0.01954], [0.96332, -0.24772, 0.10317], [0.09501, -0.04471, -0.99447]], \"simulated_seconds_remaining\": 36.3, \"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": 0.578,
      "y": 0.055,
      "z": 0.83
    },
    "note": "The forward correction moved the handle toward the jaw center. I now shift along the handle so the fingers will close around the shaft above the scoop."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"pick up the ladle and place it on the bowl.\", \"joint_positions\": [0.23121, 0.13199, -0.17918, -1.97145, 0.14659, 2.08265, -1.33745], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.57761, 0.05614, 0.83001], \"tcp_roll_pitch_yaw\": [0.00035, 0.00061, 1.29517], \"tcp_rotation_matrix\": [[0.25129, 0.96772, -0.01951], [0.96324, -0.24805, 0.10315], [0.09498, -0.04471, -0.99447]], \"simulated_seconds_remaining\": 35.508, \"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": {
      "y": 0.018,
      "z": 0.77
    },
    "note": "The shaft is centered between the fingers. I shift slightly toward the handle end and lower the open gripper to the shaft."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"pick up the ladle and place it on the bowl.\", \"joint_positions\": [0.19019, 0.19997, -0.20067, -2.04116, 0.17809, 2.20892, -1.43287], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.57755, 0.01859, 0.77093], \"tcp_roll_pitch_yaw\": [0.00061, 0.00071, 1.29502], \"tcp_rotation_matrix\": [[0.25146, 0.96767, -0.01977], [0.96321, -0.24819, 0.10313], [0.09489, -0.04498, -0.99447]], \"simulated_seconds_remaining\": 34.716, \"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": {
      "x": 0.566,
      "z": 0.745
    },
    "note": "The handle passes through the jaw gap, slightly right of center. I make a small centering correction and lower to grasp height."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 11, \"instruction\": \"pick up the ladle and place it on the bowl.\", \"joint_positions\": [0.1909, 0.20503, -0.19752, -2.10301, 0.18896, 2.27703, -1.44545], \"gripper_open\": 0.9994, \"tcp_xyz\": [0.56709, 0.01863, 0.74705], \"tcp_roll_pitch_yaw\": [-0.00124, 1e-05, 1.29504], \"tcp_rotation_matrix\": [[0.25125, 0.96776, -0.01781], [0.96319, -0.24816, 0.1033], [0.09555, -0.04311, -0.99449]], \"simulated_seconds_remaining\": 34.254, \"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": {
      "gripper": 0
    },
    "note": "The ladle shaft is inside the open jaw gap at table height. I close the fingers to secure it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 12, \"instruction\": \"pick up the ladle and place it on the bowl.\", \"joint_positions\": [0.1898, 0.19444, -0.19948, -2.09112, 0.18868, 2.29437, -1.44555], \"gripper_open\": 0.1527, \"tcp_xyz\": [0.57869, 0.01657, 0.75965], \"tcp_roll_pitch_yaw\": [-0.03943, -0.00999, 1.29119], \"tcp_rotation_matrix\": [[0.25119, 0.96769, 0.02186], [0.96227, -0.2521, 0.10244], [0.10464, -0.00469, -0.9945]], \"simulated_seconds_remaining\": 33.33, \"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": {
      "z": 0.94
    },
    "note": "The fingers stopped partially closed around the handle. I lift the ladle clear of the table to verify the grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 13, \"instruction\": \"pick up the ladle and place it on the bowl.\", \"joint_positions\": [0.1943, 0.03524, -0.21079, -1.81954, 0.11563, 1.87275, -1.36538], \"gripper_open\": 0.1501, \"tcp_xyz\": [0.57876, 0.01656, 0.93881], \"tcp_roll_pitch_yaw\": [-0.03976, -0.01011, 1.29118], \"tcp_rotation_matrix\": [[0.25116, 0.96769, 0.02221], [0.96226, -0.2521, 0.10247], [0.10476, -0.00436, -0.99449]], \"simulated_seconds_remaining\": 31.812, \"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"
}

The ladle is securely lifted. I’ll position its scoop over the black bowl and lower it into place.


{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.27,
      "y": -0.1,
      "z": 1.04
    },
    "note": "The ladle stayed in the gripper during the lift. I carry it toward the black bowl with clearance above the table."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 14, \"instruction\": \"pick up the ladle and place it on the bowl.\", \"joint_positions\": [0.02768, -0.85599, -0.27872, -2.30184, -0.10488, 1.47206, -1.4847], \"gripper_open\": 0.1475, \"tcp_xyz\": [0.27124, -0.09958, 1.03968], \"tcp_roll_pitch_yaw\": [-0.04, -0.0102, 1.29108], \"tcp_rotation_matrix\": [[0.25124, 0.96767, 0.02248], [0.96223, -0.25221, 0.10249], [0.10484, -0.00412, -0.99448]], \"simulated_seconds_remaining\": 29.238, \"calls_remaining_including_this\": 44}"
      },
      {
        "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": 0.307,
      "y": -0.155,
      "z": 0.87
    },
    "note": "The bowl is visible just left of the held handle. I center the held section over the bowl and lower toward its rim."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 15, \"instruction\": \"pick up the ladle and place it on the bowl.\", \"joint_positions\": [0.00299, -0.71594, -0.47411, -2.62147, -0.21495, 1.93855, -1.59957], \"gripper_open\": 0.1477, \"tcp_xyz\": [0.30669, -0.15457, 0.87116], \"tcp_roll_pitch_yaw\": [-0.03967, -0.01021, 1.29107], \"tcp_rotation_matrix\": [[0.25127, 0.96766, 0.02216], [0.96222, -0.25221, 0.10258], [0.10486, -0.00445, -0.99448]], \"simulated_seconds_remaining\": 27.72, \"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": {
      "z": 0.825
    },
    "note": "The exterior view shows the ladle over the black bowl. I lower it gently to the rim so the bowl can support it on release."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 16, \"instruction\": \"pick up the ladle and place it on the bowl.\", \"joint_positions\": [0.00052, -0.66998, -0.51145, -2.70666, -0.23465, 2.06972, -1.61006], \"gripper_open\": 0.1465, \"tcp_xyz\": [0.30687, -0.15478, 0.82655], \"tcp_roll_pitch_yaw\": [-0.04043, -0.01023, 1.29071], \"tcp_rotation_matrix\": [[0.25155, 0.96757, 0.02293], [0.96215, -0.25257, 0.10239], [0.10486, -0.00369, -0.99448]], \"simulated_seconds_remaining\": 27.126, \"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": 1
    },
    "note": "The ladle scoop is positioned over the bowl interior at its rim. I open the gripper to set the ladle onto the bowl."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "Episode ended. Do not call more tools. Return a brief final response."
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

Placed the ladle on the bowl.

TURN USAGE
{
  "input_tokens": 303213,
  "cached_input_tokens": 263296,
  "cache_write_input_tokens": 0,
  "output_tokens": 4252,
  "reasoning_output_tokens": 2405
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "pick up the ladle and place it on the bowl.",
    "joint_positions": [
      0.00591,
      -0.81277,
      0.00533,
      -2.33376,
      0.04951,
      1.6162,
      -0.01274
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.31901,
      0.0163,
      1.03949
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99521,
        0.02471,
        0.09456
      ],
      [
        0.02038,
        -0.99871,
        0.0465
      ],
      [
        0.09558,
        -0.04435,
        -0.99443
      ]
    ],
    "simulated_seconds_remaining": 45.012,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 33.82564550731331,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.91
                  },
                  "note": "The black bowl is central and the ladle is below it in the wrist view. I lower the open gripper to see the handle more clearly."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "pick up the ladle and place it on the bowl.",
    "joint_positions": [
      0.00687,
      -0.85997,
      0.00981,
      -2.68881,
      0.05611,
      1.92351,
      -0.02589
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.31897,
      0.0163,
      0.91121
    ],
    "tcp_roll_pitch_yaw": [
      -1e-05,
      0.00028,
      1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99524,
        0.02471,
        0.09428
      ],
      [
        0.02039,
        -0.99871,
        0.04649
      ],
      [
        0.09531,
        -0.04435,
        -0.99446
      ]
    ],
    "simulated_seconds_remaining": 43.824,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 9.207379433326423,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.23,
                    "z": 0.99
                  },
                  "note": "The bowl fills the wrist view while the ladle lies closer to the robot. I move back and slightly up to bring the ladle handle into view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "pick up the ladle and place it on the bowl.",
    "joint_positions": [
      0.00759,
      -1.14753,
      0.00638,
      -2.61033,
      0.05135,
      1.55817,
      -0.00904
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.23101,
      0.01631,
      0.98925
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      -5e-05,
      1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99521,
        0.02472,
        0.09461
      ],
      [
        0.02039,
        -0.99871,
        0.0465
      ],
      [
        0.09564,
        -0.04435,
        -0.99443
      ]
    ],
    "simulated_seconds_remaining": 42.702,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 8.80738185532391,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.44,
                    "z": 1.04
                  },
                  "note": "The previous move shifted the bowl downward, revealing the camera direction. I move forward to center the ladle beyond the bowl."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 26,
    "motion_seconds": 1.7160000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "pick up the ladle and place it on the bowl.",
    "joint_positions": [
      0.00574,
      -0.44661,
      0.00445,
      -2.08027,
      0.04811,
      1.72868,
      -0.01807
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.43868,
      0.0163,
      1.03964
    ],
    "tcp_roll_pitch_yaw": [
      1e-05,
      7e-05,
      -0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99522,
        0.0247,
        0.09449
      ],
      [
        0.02037,
        -0.99871,
        0.0465
      ],
      [
        0.09552,
        -0.04436,
        -0.99444
      ]
    ],
    "simulated_seconds_remaining": 40.986,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 18.8150631794706,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "y": 0.05,
                    "z": 0.86,
                    "yaw": 0.3
                  },
                  "note": "The ladle has a dark handle leading to the light scoop. I approach the middle of the handle and align the finger opening across it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "pick up the ladle and place it on the bowl.",
    "joint_positions": [
      0.09539,
      -0.50875,
      -0.00398,
      -2.58771,
      0.07582,
      2.16053,
      -0.26874
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.40016,
      0.04982,
      0.86089
    ],
    "tcp_roll_pitch_yaw": [
      7e-05,
      0.00038,
      0.29834
    ],
    "tcp_rotation_matrix": [
      [
        0.9453,
        0.31716,
        0.07633
      ],
      [
        0.31201,
        -0.94733,
        0.07219
      ],
      [
        0.0952,
        -0.04443,
        -0.99447
      ]
    ],
    "simulated_seconds_remaining": 39.468,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 18.21386492624879,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.47,
                    "y": 0.09,
                    "z": 0.9,
                    "yaw": 1.3
                  },
                  "note": "The handle is left of the gripper and nearly parallel to its opening. I shift toward it and rotate the jaws to grip across the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 25,
    "motion_seconds": 1.6500000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "pick up the ladle and place it on the bowl.",
    "joint_positions": [
      0.28695,
      -0.23925,
      -0.13682,
      -2.22061,
      0.0794,
      1.9792,
      -1.1958
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.46972,
      0.08984,
      0.89984
    ],
    "tcp_roll_pitch_yaw": [
      7e-05,
      0.0004,
      1.29547
    ],
    "tcp_rotation_matrix": [
      [
        0.25097,
        0.9678,
        -0.01921
      ],
      [
        0.9633,
        -0.24775,
        0.10327
      ],
      [
        0.09519,
        -0.04442,
        -0.99447
      ]
    ],
    "simulated_seconds_remaining": 37.818,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 21.41677815746516,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.515,
                    "y": 0.13,
                    "z": 0.83
                  },
                  "note": "The handle is now vertical in the wrist image, suited to a crosswise grasp. I center the open jaws over its middle while descending."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "pick up the ladle and place it on the bowl.",
    "joint_positions": [
      0.31773,
      -0.026,
      -0.11114,
      -2.17052,
      0.12181,
      2.14339,
      -1.17764
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.5143,
      0.12947,
      0.83086
    ],
    "tcp_roll_pitch_yaw": [
      0.00031,
      0.00056,
      1.29557
    ],
    "tcp_rotation_matrix": [
      [
        0.2509,
        0.96782,
        -0.0195
      ],
      [
        0.96334,
        -0.24766,
        0.10319
      ],
      [
        0.09503,
        -0.04467,
        -0.99447
      ]
    ],
    "simulated_seconds_remaining": 36.894,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 8.206987110897899,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.555
                  },
                  "note": "The scoop remains left of the jaws. I make a small forward correction to measure its alignment before lowering to grasp height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "pick up the ladle and place it on the bowl.",
    "joint_positions": [
      0.30778,
      0.08694,
      -0.11955,
      -2.0299,
      0.13496,
      2.11234,
      -1.19927
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.55389,
      0.12944,
      0.83083
    ],
    "tcp_roll_pitch_yaw": [
      0.00035,
      0.00059,
      1.29551
    ],
    "tcp_rotation_matrix": [
      [
        0.25096,
        0.9678,
        -0.01954
      ],
      [
        0.96332,
        -0.24772,
        0.10317
      ],
      [
        0.09501,
        -0.04471,
        -0.99447
      ]
    ],
    "simulated_seconds_remaining": 36.3,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 13.010035149753094,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.578,
                    "y": 0.055,
                    "z": 0.83
                  },
                  "note": "The forward correction moved the handle toward the jaw center. I now shift along the handle so the fingers will close around the shaft above the scoop."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "pick up the ladle and place it on the bowl.",
    "joint_positions": [
      0.23121,
      0.13199,
      -0.17918,
      -1.97145,
      0.14659,
      2.08265,
      -1.33745
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.57761,
      0.05614,
      0.83001
    ],
    "tcp_roll_pitch_yaw": [
      0.00035,
      0.00061,
      1.29517
    ],
    "tcp_rotation_matrix": [
      [
        0.25129,
        0.96772,
        -0.01951
      ],
      [
        0.96324,
        -0.24805,
        0.10315
      ],
      [
        0.09498,
        -0.04471,
        -0.99447
      ]
    ],
    "simulated_seconds_remaining": 35.508,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 11.409597201272845,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.018,
                    "z": 0.77
                  },
                  "note": "The shaft is centered between the fingers. I shift slightly toward the handle end and lower the open gripper to the shaft."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "pick up the ladle and place it on the bowl.",
    "joint_positions": [
      0.19019,
      0.19997,
      -0.20067,
      -2.04116,
      0.17809,
      2.20892,
      -1.43287
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.57755,
      0.01859,
      0.77093
    ],
    "tcp_roll_pitch_yaw": [
      0.00061,
      0.00071,
      1.29502
    ],
    "tcp_rotation_matrix": [
      [
        0.25146,
        0.96767,
        -0.01977
      ],
      [
        0.96321,
        -0.24819,
        0.10313
      ],
      [
        0.09489,
        -0.04498,
        -0.99447
      ]
    ],
    "simulated_seconds_remaining": 34.716,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 9.207670943811536,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.566,
                    "z": 0.745
                  },
                  "note": "The handle passes through the jaw gap, slightly right of center. I make a small centering correction and lower to grasp height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 7,
    "motion_seconds": 0.462,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "pick up the ladle and place it on the bowl.",
    "joint_positions": [
      0.1909,
      0.20503,
      -0.19752,
      -2.10301,
      0.18896,
      2.27703,
      -1.44545
    ],
    "gripper_open": 0.9994,
    "tcp_xyz": [
      0.56709,
      0.01863,
      0.74705
    ],
    "tcp_roll_pitch_yaw": [
      -0.00124,
      1e-05,
      1.29504
    ],
    "tcp_rotation_matrix": [
      [
        0.25125,
        0.96776,
        -0.01781
      ],
      [
        0.96319,
        -0.24816,
        0.1033
      ],
      [
        0.09555,
        -0.04311,
        -0.99449
      ]
    ],
    "simulated_seconds_remaining": 34.254,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 5.207519415766001,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The ladle shaft is inside the open jaw gap at table height. I close the fingers to secure it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "pick up the ladle and place it on the bowl.",
    "joint_positions": [
      0.1898,
      0.19444,
      -0.19948,
      -2.09112,
      0.18868,
      2.29437,
      -1.44555
    ],
    "gripper_open": 0.1527,
    "tcp_xyz": [
      0.57869,
      0.01657,
      0.75965
    ],
    "tcp_roll_pitch_yaw": [
      -0.03943,
      -0.00999,
      1.29119
    ],
    "tcp_rotation_matrix": [
      [
        0.25119,
        0.96769,
        0.02186
      ],
      [
        0.96227,
        -0.2521,
        0.10244
      ],
      [
        0.10464,
        -0.00469,
        -0.9945
      ]
    ],
    "simulated_seconds_remaining": 33.33,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 5.404673365876079,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.94
                  },
                  "note": "The fingers stopped partially closed around the handle. I lift the ladle clear of the table to verify the grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "pick up the ladle and place it on the bowl.",
    "joint_positions": [
      0.1943,
      0.03524,
      -0.21079,
      -1.81954,
      0.11563,
      1.87275,
      -1.36538
    ],
    "gripper_open": 0.1501,
    "tcp_xyz": [
      0.57876,
      0.01656,
      0.93881
    ],
    "tcp_roll_pitch_yaw": [
      -0.03976,
      -0.01011,
      1.29118
    ],
    "tcp_rotation_matrix": [
      [
        0.25116,
        0.96769,
        0.02221
      ],
      [
        0.96226,
        -0.2521,
        0.10247
      ],
      [
        0.10476,
        -0.00436,
        -0.99449
      ]
    ],
    "simulated_seconds_remaining": 31.812,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 28.22193657234311,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.27,
                    "y": -0.1,
                    "z": 1.04
                  },
                  "note": "The ladle stayed in the gripper during the lift. I carry it toward the black bowl with clearance above the table."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 39,
    "motion_seconds": 2.5740000000000003,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "pick up the ladle and place it on the bowl.",
    "joint_positions": [
      0.02768,
      -0.85599,
      -0.27872,
      -2.30184,
      -0.10488,
      1.47206,
      -1.4847
    ],
    "gripper_open": 0.1475,
    "tcp_xyz": [
      0.27124,
      -0.09958,
      1.03968
    ],
    "tcp_roll_pitch_yaw": [
      -0.04,
      -0.0102,
      1.29108
    ],
    "tcp_rotation_matrix": [
      [
        0.25124,
        0.96767,
        0.02248
      ],
      [
        0.96223,
        -0.25221,
        0.10249
      ],
      [
        0.10484,
        -0.00412,
        -0.99448
      ]
    ],
    "simulated_seconds_remaining": 29.238,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 15.810714257881045,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.307,
                    "y": -0.155,
                    "z": 0.87
                  },
                  "note": "The bowl is visible just left of the held handle. I center the held section over the bowl and lower toward its rim."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "pick up the ladle and place it on the bowl.",
    "joint_positions": [
      0.00299,
      -0.71594,
      -0.47411,
      -2.62147,
      -0.21495,
      1.93855,
      -1.59957
    ],
    "gripper_open": 0.1477,
    "tcp_xyz": [
      0.30669,
      -0.15457,
      0.87116
    ],
    "tcp_roll_pitch_yaw": [
      -0.03967,
      -0.01021,
      1.29107
    ],
    "tcp_rotation_matrix": [
      [
        0.25127,
        0.96766,
        0.02216
      ],
      [
        0.96222,
        -0.25221,
        0.10258
      ],
      [
        0.10486,
        -0.00445,
        -0.99448
      ]
    ],
    "simulated_seconds_remaining": 27.72,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 11.610887533053756,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.825
                  },
                  "note": "The exterior view shows the ladle over the black bowl. I lower it gently to the rim so the bowl can support it on release."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "pick up the ladle and place it on the bowl.",
    "joint_positions": [
      0.00052,
      -0.66998,
      -0.51145,
      -2.70666,
      -0.23465,
      2.06972,
      -1.61006
    ],
    "gripper_open": 0.1465,
    "tcp_xyz": [
      0.30687,
      -0.15478,
      0.82655
    ],
    "tcp_roll_pitch_yaw": [
      -0.04043,
      -0.01023,
      1.29071
    ],
    "tcp_rotation_matrix": [
      [
        0.25155,
        0.96757,
        0.02293
      ],
      [
        0.96215,
        -0.25257,
        0.10239
      ],
      [
        0.10486,
        -0.00369,
        -0.99448
      ]
    ],
    "simulated_seconds_remaining": 27.126,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 5.604617967270315,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 1
                  },
                  "note": "The ladle scoop is positioned over the bowl interior at its rim. I open the gripper to set the ladle onto the bowl."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

========================================================================
GPT-Astra / Pick & place / 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,
  "status": "completed",
  "success": true,
  "oracle_success": true,
  "action_decisions": 27,
  "wall_seconds": 349.88,
  "usage": {
    "input_tokens": 562440,
    "cached_input_tokens": 522496,
    "cache_write_input_tokens": 0,
    "output_tokens": 6002,
    "reasoning_output_tokens": 3045
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick-and-place 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 45 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 and grasp the requested object, lift it, move it to the named receptacle, and release it in or on that receptacle. Complete the entire pick-and-place 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 object and place it in the requested receptacle.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"pick up the cup and place it on the bowl.\", \"joint_positions\": [-4e-05, -0.79017, -0.03811, -2.31487, -0.04798, 1.52484, 0.00877], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.30087, -0.02406, 1.03192], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.99928, -0.03781, -0.00083], [-0.03782, -0.99907, -0.02084], [-5e-05, 0.02085, -0.99978]], \"simulated_seconds_remaining\": 45.012, \"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": 0.02,
    "z": 0.94,
    "gripper": 1,
    "note": "The gray cup is beside the tan bowl. I am moving closer above the pair to align 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": 0.43,
      "y": 0.02,
      "z": 0.94,
      "gripper": 1
    },
    "note": "The gray cup is beside the tan bowl. I am moving closer above the pair to align the grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"pick up the cup and place it on the bowl.\", \"joint_positions\": [0.03044, -0.40743, 0.02303, -2.27391, -0.01218, 1.86437, 0.09289], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.42891, 0.01965, 0.94067], \"tcp_roll_pitch_yaw\": [-3e-05, 0.00028, 4e-05], \"tcp_rotation_matrix\": [[0.99929, -0.03776, -0.00112], [-0.03778, -0.99907, -0.02087], [-0.00033, 0.0209, -0.99978]], \"simulated_seconds_remaining\": 43.626, \"calls_remaining_including_this\": 56}"
      },
      {
        "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": 0.11,
      "z": 0.88
    },
    "note": "The cup is behind and left of the bowl in the wrist view. I am centering above the cup while keeping the fingers open."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"pick up the cup and place it on the bowl.\", \"joint_positions\": [0.08941, 0.11163, 0.10972, -1.86389, -0.03518, 1.96922, 0.24991], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.57886, 0.10937, 0.88035], \"tcp_roll_pitch_yaw\": [-6e-05, 0.00048, 0.00014], \"tcp_rotation_matrix\": [[0.99929, -0.03766, -0.00131], [-0.03768, -0.99907, -0.0209], [-0.00052, 0.02093, -0.99978]], \"simulated_seconds_remaining\": 42.108, \"calls_remaining_including_this\": 55}"
      },
      {
        "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": 0.49,
      "y": 0.11,
      "z": 0.84
    },
    "note": "The cup is visible to the left of the open fingers. I am shifting back in x and lowering slightly to center its rim between the jaws."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"pick up the cup and place it on the bowl.\", \"joint_positions\": [0.10266, -0.1105, 0.12309, -2.23776, -0.00769, 2.12206, 0.26662], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.49121, 0.11003, 0.84056], \"tcp_roll_pitch_yaw\": [-9e-05, 0.00056, 0.00022], \"tcp_rotation_matrix\": [[0.99929, -0.03758, -0.00139], [-0.0376, -0.99907, -0.02092], [-0.0006, 0.02096, -0.99978]], \"simulated_seconds_remaining\": 41.184, \"calls_remaining_including_this\": 54}"
      },
      {
        "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": 0.005,
      "z": 0.84
    },
    "note": "The last view shows the cup below and left of the grasp center. I am correcting sideways alignment and moving forward slightly."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"pick up the cup and place it on the bowl.\", \"joint_positions\": [0.00488, -0.00654, 0.01448, -2.11936, -0.02423, 2.11086, 0.06974], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.53944, 0.0061, 0.83999], \"tcp_roll_pitch_yaw\": [-7e-05, 0.00059, -8e-05], \"tcp_rotation_matrix\": [[0.99928, -0.03788, -0.00142], [-0.0379, -0.99906, -0.02091], [-0.00063, 0.02095, -0.99978]], \"simulated_seconds_remaining\": 40.128, \"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": 0.56,
      "y": -0.055,
      "z": 0.81
    },
    "note": "The cup is partly obscured by the fingers as the gripper approaches. I am making a small lateral correction and lowering to its upper wall for grasping."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"pick up the cup and place it on the bowl.\", \"joint_positions\": [-0.05172, 0.08926, -0.03779, -2.07959, -0.02129, 2.16899, -0.03923], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.55961, -0.05405, 0.81046], \"tcp_roll_pitch_yaw\": [-6e-05, 0.00073, -0.00033], \"tcp_rotation_matrix\": [[0.99927, -0.03813, -0.00157], [-0.03815, -0.99905, -0.0209], [-0.00078, 0.02094, -0.99978]], \"simulated_seconds_remaining\": 39.336, \"calls_remaining_including_this\": 52}"
      },
      {
        "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": 0.765
    },
    "note": "The cup rim is now centered between the open fingers. I am lowering so the jaws straddle the cup wall before closing."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"pick up the cup and place it on the bowl.\", \"joint_positions\": [-0.05231, 0.14712, -0.0378, -2.1271, -0.02023, 2.27398, -0.03846], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.55953, -0.05404, 0.76611], \"tcp_roll_pitch_yaw\": [-4e-05, 0.00108, -0.00033], \"tcp_rotation_matrix\": [[0.99927, -0.03812, -0.00192], [-0.03815, -0.99905, -0.02088], [-0.00112, 0.02094, -0.99978]], \"simulated_seconds_remaining\": 38.742, \"calls_remaining_including_this\": 51}"
      },
      {
        "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 are positioned around the cup at grasp height. I am closing the jaws to secure it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"pick up the cup and place it on the bowl.\", \"joint_positions\": [-0.05231, 0.14712, -0.0378, -2.1271, -0.02023, 2.27398, -0.03846], \"gripper_open\": 0.0, \"tcp_xyz\": [0.55953, -0.05404, 0.7661], \"tcp_roll_pitch_yaw\": [-4e-05, 0.00107, -0.00033], \"tcp_rotation_matrix\": [[0.99927, -0.03812, -0.00191], [-0.03815, -0.99905, -0.02088], [-0.00111, 0.02094, -0.99978]], \"simulated_seconds_remaining\": 37.818, \"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": {
      "z": 0.94
    },
    "note": "The jaws closed fully, so the grasp may have missed. I am lifting to check whether the cup moves with the gripper."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"pick up the cup and place it on the bowl.\", \"joint_positions\": [-0.0505, -0.00042, -0.03697, -1.85497, -0.02185, 1.85477, -0.04319], \"gripper_open\": 0.0, \"tcp_xyz\": [0.5596, -0.05404, 0.93879], \"tcp_roll_pitch_yaw\": [-6e-05, 0.00069, -0.00033], \"tcp_rotation_matrix\": [[0.99927, -0.03812, -0.00153], [-0.03815, -0.99905, -0.0209], [-0.00073, 0.02094, -0.99978]], \"simulated_seconds_remaining\": 36.366, \"calls_remaining_including_this\": 49}"
      },
      {
        "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": 0.61,
      "y": -0.04,
      "z": 0.88,
      "gripper": 1
    },
    "note": "The cup remained on the table. Its rim is just ahead of the fingers in the wrist view; I am shifting forward and reopening for a centered attempt."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"pick up the cup and place it on the bowl.\", \"joint_positions\": [-0.0359, 0.17343, -0.02382, -1.78134, -0.01817, 1.95411, -0.01447], \"gripper_open\": 0.9965, \"tcp_xyz\": [0.60926, -0.04017, 0.88069], \"tcp_roll_pitch_yaw\": [-5e-05, 0.00096, -0.00028], \"tcp_rotation_matrix\": [[0.99927, -0.03807, -0.0018], [-0.0381, -0.99906, -0.02089], [-0.001, 0.02094, -0.99978]], \"simulated_seconds_remaining\": 35.442, \"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": {
      "y": -0.075,
      "z": 0.81
    },
    "note": "The cup is fully visible between the jaws but slightly left of their midpoint. I am adjusting laterally and lowering around its rim."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 11, \"instruction\": \"pick up the cup and place it on the bowl.\", \"joint_positions\": [-0.07157, 0.23683, -0.04611, -1.87741, -0.01188, 2.11424, -0.07201], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.60918, -0.07447, 0.81108], \"tcp_roll_pitch_yaw\": [-4e-05, 0.00132, -0.00042], \"tcp_rotation_matrix\": [[0.99927, -0.0382, -0.00216], [-0.03824, -0.99905, -0.02087], [-0.00136, 0.02094, -0.99978]], \"simulated_seconds_remaining\": 34.65, \"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": {
      "z": 0.755
    },
    "note": "The cup is now centered across the jaw opening. I am descending along its sides to obtain a firm wall grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 12, \"instruction\": \"pick up the cup and place it on the bowl.\", \"joint_positions\": [-0.07042, 0.22911, -0.04259, -1.92156, -0.00776, 2.23567, -0.07214], \"gripper_open\": 1.0, \"tcp_xyz\": [0.62431, -0.07237, 0.80718], \"tcp_roll_pitch_yaw\": [-0.00464, -0.08364, 0.00408], \"tcp_rotation_matrix\": [[0.99593, -0.03573, 0.08279], [-0.03376, -0.99911, -0.02514], [0.08361, 0.02225, -0.99625]], \"simulated_seconds_remaining\": 33.99, \"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 descent stopped against the cup rim, with the cup between the fingers. I am closing gently at this height to secure the rim."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 13, \"instruction\": \"pick up the cup and place it on the bowl.\", \"joint_positions\": [-0.06409, 0.21473, -0.0343, -1.91118, -0.00321, 2.23637, -0.07249], \"gripper_open\": 0.6545, \"tcp_xyz\": [0.63098, -0.06295, 0.82127], \"tcp_roll_pitch_yaw\": [-0.00142, -0.1096, 0.01618], \"tcp_rotation_matrix\": [[0.99377, -0.02385, 0.10887], [-0.02174, -0.99955, -0.0205], [0.10932, 0.018, -0.99384]], \"simulated_seconds_remaining\": 33.066, \"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": 0.97,
      "roll": 0,
      "pitch": 0,
      "yaw": 0
    },
    "note": "The jaws remain partly open against the cup, indicating contact. I am lifting vertically to verify the cup is secured."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 14, \"instruction\": \"pick up the cup and place it on the bowl.\", \"joint_positions\": [-0.06017, 0.23539, -0.03616, -1.47196, -0.01241, 1.7097, -0.05592], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.63106, -0.06295, 0.96884], \"tcp_roll_pitch_yaw\": [-3e-05, -0.00137, 0.00015], \"tcp_rotation_matrix\": [[0.99929, -0.03769, 0.00054], [-0.03767, -0.99907, -0.02087], [0.00132, 0.02083, -0.99978]], \"simulated_seconds_remaining\": 31.746, \"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": 0.61,
      "y": -0.075,
      "z": 0.815,
      "gripper": 1
    },
    "note": "The cup stayed on the table after the gripper reopened during lift. I am returning to the rim grasp and will hold the close command throughout the lift."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 15, \"instruction\": \"pick up the cup and place it on the bowl.\", \"joint_positions\": [-0.07365, 0.23302, -0.04455, -1.86959, -0.01208, 2.10494, -0.07313], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.61011, -0.07491, 0.81618], \"tcp_roll_pitch_yaw\": [-0.0, -0.00098, 0.00012], \"tcp_rotation_matrix\": [[0.99929, -0.03771, 0.00014], [-0.0377, -0.99907, -0.02084], [0.00093, 0.02082, -0.99978]], \"simulated_seconds_remaining\": 30.426, \"calls_remaining_including_this\": 43}"
      },
      {
        "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 cup rim is again within the jaw opening. I am closing the gripper at the current height."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 16, \"instruction\": \"pick up the cup and place it on the bowl.\", \"joint_positions\": [-0.07365, 0.23302, -0.04455, -1.86959, -0.01208, 2.10494, -0.07313], \"gripper_open\": 0.0, \"tcp_xyz\": [0.61011, -0.07491, 0.81617], \"tcp_roll_pitch_yaw\": [-0.0, -0.00098, 0.00012], \"tcp_rotation_matrix\": [[0.99929, -0.03771, 0.00015], [-0.0377, -0.99907, -0.02084], [0.00094, 0.02082, -0.99978]], \"simulated_seconds_remaining\": 29.502, \"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": 0.632,
      "y": -0.063,
      "z": 0.78,
      "gripper": 1
    },
    "note": "The fingers closed without resistance above the cup. I am reopening and moving slightly forward and lower to engage the cup wall."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 17, \"instruction\": \"pick up the cup and place it on the bowl.\", \"joint_positions\": [-0.06473, 0.2941, -0.04175, -1.81142, -0.01445, 2.15677, -0.05052], \"gripper_open\": 1.0, \"tcp_xyz\": [0.64042, -0.07101, 0.80987], \"tcp_roll_pitch_yaw\": [-0.00817, -0.04979, -0.00762], \"tcp_rotation_matrix\": [[0.99772, -0.04682, 0.04869], [-0.04542, -0.99854, -0.02937], [0.05, 0.02709, -0.99838]], \"simulated_seconds_remaining\": 28.578, \"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 fingers are contacting the rim at the lower pose. I am closing around the cup now."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 18, \"instruction\": \"pick up the cup and place it on the bowl.\", \"joint_positions\": [-0.07215, 0.27936, -0.05187, -1.79942, -0.03941, 2.15882, -0.05055], \"gripper_open\": 0.5153, \"tcp_xyz\": [0.64504, -0.08703, 0.82563], \"tcp_roll_pitch_yaw\": [-0.03469, -0.07594, -0.01051], \"tcp_rotation_matrix\": [[0.99586, -0.0524, 0.07433], [-0.04827, -0.99725, -0.05628], [0.07708, 0.05246, -0.99564]], \"simulated_seconds_remaining\": 27.654, \"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": {
      "z": 0.96,
      "gripper": 0
    },
    "note": "The jaws are held apart by the cup. I am lifting while explicitly maintaining the closed grip."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 19, \"instruction\": \"pick up the cup and place it on the bowl.\", \"joint_positions\": [-0.07127, 0.21974, -0.05189, -1.53965, -0.03689, 1.84008, -0.06261], \"gripper_open\": 0.0, \"tcp_xyz\": [0.64511, -0.08703, 0.95883], \"tcp_roll_pitch_yaw\": [-0.03472, -0.07633, -0.0105], \"tcp_rotation_matrix\": [[0.99583, -0.05241, 0.07472], [-0.04826, -0.99725, -0.05631], [0.07747, 0.05247, -0.99561]], \"simulated_seconds_remaining\": 26.466, \"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"
}

The cup has slipped out of the shallow rim grasps. I’m adjusting the approach to place the fingers farther around its sides.


{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.7,
      "y": -0.065,
      "z": 0.86,
      "roll": 0,
      "pitch": 0,
      "yaw": 0,
      "gripper": 1
    },
    "note": "The cup stayed on the table and appears ahead of the grasp point. I am advancing over its center for a deeper side grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 20, \"instruction\": \"pick up the cup and place it on the bowl.\", \"joint_positions\": [-0.06143, 0.49348, -0.03231, -1.36436, -0.00611, 1.85919, -0.05023], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.69932, -0.06522, 0.86094], \"tcp_roll_pitch_yaw\": [-0.00038, -0.00051, -8e-05], \"tcp_rotation_matrix\": [[0.99928, -0.03791, -0.00032], [-0.0379, -0.99906, -0.02122], [0.00048, 0.02121, -0.99977]], \"simulated_seconds_remaining\": 25.41, \"calls_remaining_including_this\": 38}"
      },
      {
        "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": -0.025,
      "z": 0.82,
      "gripper": 1
    },
    "note": "The cup is visible clear of the fingers. I am correcting toward the camera center and aligning the open jaws around the cup."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 21, \"instruction\": \"pick up the cup and place it on the bowl.\", \"joint_positions\": [-0.01725, 0.34163, -0.01706, -1.69959, -0.01736, 2.04135, 0.0123], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.65085, -0.02559, 0.82068], \"tcp_roll_pitch_yaw\": [-0.00035, -0.00036, 8e-05], \"tcp_rotation_matrix\": [[0.99929, -0.03774, -0.00048], [-0.03774, -0.99906, -0.02118], [0.00032, 0.02118, -0.99978]], \"simulated_seconds_remaining\": 24.618, \"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": -0.045,
      "z": 0.755,
      "gripper": 1
    },
    "note": "The cup is centered fore-and-aft and slightly left. I am making a small lateral correction and lowering the open jaws along its sides."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 22, \"instruction\": \"pick up the cup and place it on the bowl.\", \"joint_positions\": [-0.03916, 0.41109, -0.02569, -1.76798, -0.01333, 2.17937, -0.01725], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.65076, -0.04467, 0.75613], \"tcp_roll_pitch_yaw\": [-0.00035, 3e-05, -1e-05], \"tcp_rotation_matrix\": [[0.99928, -0.03782, -0.00087], [-0.03783, -0.99906, -0.02119], [-7e-05, 0.0212, -0.99978]], \"simulated_seconds_remaining\": 23.892, \"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": {
      "gripper": 0
    },
    "note": "The gripper reached the lower pose without being pushed up. I am closing on the cup sides."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 23, \"instruction\": \"pick up the cup and place it on the bowl.\", \"joint_positions\": [-0.04009, 0.40936, -0.02703, -1.76618, -0.01439, 2.18022, -0.0174], \"gripper_open\": 0.1626, \"tcp_xyz\": [0.65188, -0.0464, 0.75815], \"tcp_roll_pitch_yaw\": [-0.00198, -0.00426, -0.00137], \"tcp_rotation_matrix\": [[0.99922, -0.03928, 0.00339], [-0.03919, -0.99897, -0.02282], [0.00429, 0.02267, -0.99973]], \"simulated_seconds_remaining\": 22.968, \"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": 0.95,
      "gripper": 0
    },
    "note": "The jaws stopped partly closed on the cup. I am lifting while maintaining grip to verify that it is held."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 24, \"instruction\": \"pick up the cup and place it on the bowl.\", \"joint_positions\": [-0.03942, 0.29922, -0.0279, -1.43339, -0.0145, 1.73762, -0.02444], \"gripper_open\": 0.1618, \"tcp_xyz\": [0.65193, -0.04639, 0.94875], \"tcp_roll_pitch_yaw\": [-0.00197, -0.00451, -0.00137], \"tcp_rotation_matrix\": [[0.99922, -0.03928, 0.00365], [-0.03919, -0.99897, -0.02281], [0.00454, 0.02265, -0.99973]], \"simulated_seconds_remaining\": 21.384, \"calls_remaining_including_this\": 34}"
      },
      {
        "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"
}

The cup is now lifted and held securely. I’m moving it over the bowl, then I’ll lower and release it.


{
  "type": "mcp_tool_call",
  "tool": "move_to",
  "arguments": {
    "targets": {
      "x": 0.5,
      "y": -0.14,
      "z": 0.95,
      "gripper": 0
    },
    "note": "The cup is visibly suspended from the fingers. The bowl is farther up and left in the wrist view, so I am translating toward it while holding the cup."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 25, \"instruction\": \"pick up the cup and place it on the bowl.\", \"joint_positions\": [-0.13834, -0.14053, -0.11605, -1.98884, -0.03899, 1.85825, -0.20298], \"gripper_open\": 0.1618, \"tcp_xyz\": [0.50108, -0.13941, 0.95], \"tcp_roll_pitch_yaw\": [-0.00195, -0.00447, -0.00159], \"tcp_rotation_matrix\": [[0.99921, -0.0395, 0.0036], [-0.0394, -0.99896, -0.0228], [0.0045, 0.02264, -0.99973]], \"simulated_seconds_remaining\": 19.866, \"calls_remaining_including_this\": 33}"
      },
      {
        "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": 0.41,
      "y": -0.1,
      "z": 0.89,
      "gripper": 0
    },
    "note": "The bowl is visible just beyond the held cup. I am moving the cup over its center and lowering toward placement height."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 26, \"instruction\": \"pick up the cup and place it on the bowl.\", \"joint_positions\": [-0.13303, -0.41334, -0.08631, -2.40875, -0.06188, 2.00418, -0.14703], \"gripper_open\": 0.1611, \"tcp_xyz\": [0.41101, -0.10043, 0.89065], \"tcp_roll_pitch_yaw\": [-0.0019, -0.00428, -0.00155], \"tcp_rotation_matrix\": [[0.99922, -0.03946, 0.00341], [-0.03937, -0.99897, -0.02275], [0.0043, 0.02259, -0.99974]], \"simulated_seconds_remaining\": 18.81, \"calls_remaining_including_this\": 32}"
      },
      {
        "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": 0.825,
      "gripper": 0
    },
    "note": "The bowl is directly beneath the held cup and mostly occluded. I am lowering the cup to just above the bowl rim before release."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 27, \"instruction\": \"pick up the cup and place it on the bowl.\", \"joint_positions\": [-0.13405, -0.34801, -0.09253, -2.52284, -0.06475, 2.18307, -0.14471], \"gripper_open\": 0.1612, \"tcp_xyz\": [0.41091, -0.10041, 0.82615], \"tcp_roll_pitch_yaw\": [-0.00181, -0.00381, -0.00156], \"tcp_rotation_matrix\": [[0.99922, -0.03946, 0.00294], [-0.03938, -0.99897, -0.02266], [0.00383, 0.02252, -0.99974]], \"simulated_seconds_remaining\": 18.084, \"calls_remaining_including_this\": 31}"
      },
      {
        "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": 1
    },
    "note": "The cup is positioned over the bowl at a low release height. I am opening the fingers to set it onto the bowl."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "Episode ended. Do not call more tools. Return a brief final response."
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

Placed the cup on the bowl.

TURN USAGE
{
  "input_tokens": 562440,
  "cached_input_tokens": 522496,
  "cache_write_input_tokens": 0,
  "output_tokens": 6002,
  "reasoning_output_tokens": 3045
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "pick up the cup and place it on the bowl.",
    "joint_positions": [
      -4e-05,
      -0.79017,
      -0.03811,
      -2.31487,
      -0.04798,
      1.52484,
      0.00877
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.30087,
      -0.02406,
      1.03192
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99928,
        -0.03781,
        -0.00083
      ],
      [
        -0.03782,
        -0.99907,
        -0.02084
      ],
      [
        -5e-05,
        0.02085,
        -0.99978
      ]
    ],
    "simulated_seconds_remaining": 45.012,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 29.423710248433053,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.43,
                    "y": 0.02,
                    "z": 0.94,
                    "gripper": 1
                  },
                  "note": "The gray cup is beside the tan bowl. I am moving closer above the pair to align the grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "pick up the cup and place it on the bowl.",
    "joint_positions": [
      0.03044,
      -0.40743,
      0.02303,
      -2.27391,
      -0.01218,
      1.86437,
      0.09289
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.42891,
      0.01965,
      0.94067
    ],
    "tcp_roll_pitch_yaw": [
      -3e-05,
      0.00028,
      4e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99929,
        -0.03776,
        -0.00112
      ],
      [
        -0.03778,
        -0.99907,
        -0.02087
      ],
      [
        -0.00033,
        0.0209,
        -0.99978
      ]
    ],
    "simulated_seconds_remaining": 43.626,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 17.41334422491491,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.58,
                    "y": 0.11,
                    "z": 0.88
                  },
                  "note": "The cup is behind and left of the bowl in the wrist view. I am centering above the cup while keeping the fingers open."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "pick up the cup and place it on the bowl.",
    "joint_positions": [
      0.08941,
      0.11163,
      0.10972,
      -1.86389,
      -0.03518,
      1.96922,
      0.24991
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.57886,
      0.10937,
      0.88035
    ],
    "tcp_roll_pitch_yaw": [
      -6e-05,
      0.00048,
      0.00014
    ],
    "tcp_rotation_matrix": [
      [
        0.99929,
        -0.03766,
        -0.00131
      ],
      [
        -0.03768,
        -0.99907,
        -0.0209
      ],
      [
        -0.00052,
        0.02093,
        -0.99978
      ]
    ],
    "simulated_seconds_remaining": 42.108,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 19.41391916014254,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.49,
                    "y": 0.11,
                    "z": 0.84
                  },
                  "note": "The cup is visible to the left of the open fingers. I am shifting back in x and lowering slightly to center its rim between the jaws."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "pick up the cup and place it on the bowl.",
    "joint_positions": [
      0.10266,
      -0.1105,
      0.12309,
      -2.23776,
      -0.00769,
      2.12206,
      0.26662
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.49121,
      0.11003,
      0.84056
    ],
    "tcp_roll_pitch_yaw": [
      -9e-05,
      0.00056,
      0.00022
    ],
    "tcp_rotation_matrix": [
      [
        0.99929,
        -0.03758,
        -0.00139
      ],
      [
        -0.0376,
        -0.99907,
        -0.02092
      ],
      [
        -0.0006,
        0.02096,
        -0.99978
      ]
    ],
    "simulated_seconds_remaining": 41.184,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 8.006329495459795,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.54,
                    "y": 0.005,
                    "z": 0.84
                  },
                  "note": "The last view shows the cup below and left of the grasp center. I am correcting sideways alignment and moving forward slightly."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "pick up the cup and place it on the bowl.",
    "joint_positions": [
      0.00488,
      -0.00654,
      0.01448,
      -2.11936,
      -0.02423,
      2.11086,
      0.06974
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.53944,
      0.0061,
      0.83999
    ],
    "tcp_roll_pitch_yaw": [
      -7e-05,
      0.00059,
      -8e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99928,
        -0.03788,
        -0.00142
      ],
      [
        -0.0379,
        -0.99906,
        -0.02091
      ],
      [
        -0.00063,
        0.02095,
        -0.99978
      ]
    ],
    "simulated_seconds_remaining": 40.128,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 13.810594068840146,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.56,
                    "y": -0.055,
                    "z": 0.81
                  },
                  "note": "The cup is partly obscured by the fingers as the gripper approaches. I am making a small lateral correction and lowering to its upper wall for grasping."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "pick up the cup and place it on the bowl.",
    "joint_positions": [
      -0.05172,
      0.08926,
      -0.03779,
      -2.07959,
      -0.02129,
      2.16899,
      -0.03923
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.55961,
      -0.05405,
      0.81046
    ],
    "tcp_roll_pitch_yaw": [
      -6e-05,
      0.00073,
      -0.00033
    ],
    "tcp_rotation_matrix": [
      [
        0.99927,
        -0.03813,
        -0.00157
      ],
      [
        -0.03815,
        -0.99905,
        -0.0209
      ],
      [
        -0.00078,
        0.02094,
        -0.99978
      ]
    ],
    "simulated_seconds_remaining": 39.336,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 6.005311771295965,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.765
                  },
                  "note": "The cup rim is now centered between the open fingers. I am lowering so the jaws straddle the cup wall before closing."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "pick up the cup and place it on the bowl.",
    "joint_positions": [
      -0.05231,
      0.14712,
      -0.0378,
      -2.1271,
      -0.02023,
      2.27398,
      -0.03846
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.55953,
      -0.05404,
      0.76611
    ],
    "tcp_roll_pitch_yaw": [
      -4e-05,
      0.00108,
      -0.00033
    ],
    "tcp_rotation_matrix": [
      [
        0.99927,
        -0.03812,
        -0.00192
      ],
      [
        -0.03815,
        -0.99905,
        -0.02088
      ],
      [
        -0.00112,
        0.02094,
        -0.99978
      ]
    ],
    "simulated_seconds_remaining": 38.742,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 4.604073875583708,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The fingers are positioned around the cup at grasp height. I am closing the jaws to secure it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "pick up the cup and place it on the bowl.",
    "joint_positions": [
      -0.05231,
      0.14712,
      -0.0378,
      -2.1271,
      -0.02023,
      2.27398,
      -0.03846
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.55953,
      -0.05404,
      0.7661
    ],
    "tcp_roll_pitch_yaw": [
      -4e-05,
      0.00107,
      -0.00033
    ],
    "tcp_rotation_matrix": [
      [
        0.99927,
        -0.03812,
        -0.00191
      ],
      [
        -0.03815,
        -0.99905,
        -0.02088
      ],
      [
        -0.00111,
        0.02094,
        -0.99978
      ]
    ],
    "simulated_seconds_remaining": 37.818,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 6.005282725207508,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.94
                  },
                  "note": "The jaws closed fully, so the grasp may have missed. I am lifting to check whether the cup moves with the gripper."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 22,
    "motion_seconds": 1.452,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "pick up the cup and place it on the bowl.",
    "joint_positions": [
      -0.0505,
      -0.00042,
      -0.03697,
      -1.85497,
      -0.02185,
      1.85477,
      -0.04319
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.5596,
      -0.05404,
      0.93879
    ],
    "tcp_roll_pitch_yaw": [
      -6e-05,
      0.00069,
      -0.00033
    ],
    "tcp_rotation_matrix": [
      [
        0.99927,
        -0.03812,
        -0.00153
      ],
      [
        -0.03815,
        -0.99905,
        -0.0209
      ],
      [
        -0.00073,
        0.02094,
        -0.99978
      ]
    ],
    "simulated_seconds_remaining": 36.366,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 11.208966165781021,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.61,
                    "y": -0.04,
                    "z": 0.88,
                    "gripper": 1
                  },
                  "note": "The cup remained on the table. Its rim is just ahead of the fingers in the wrist view; I am shifting forward and reopening for a centered attempt."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "pick up the cup and place it on the bowl.",
    "joint_positions": [
      -0.0359,
      0.17343,
      -0.02382,
      -1.78134,
      -0.01817,
      1.95411,
      -0.01447
    ],
    "gripper_open": 0.9965,
    "tcp_xyz": [
      0.60926,
      -0.04017,
      0.88069
    ],
    "tcp_roll_pitch_yaw": [
      -5e-05,
      0.00096,
      -0.00028
    ],
    "tcp_rotation_matrix": [
      [
        0.99927,
        -0.03807,
        -0.0018
      ],
      [
        -0.0381,
        -0.99906,
        -0.02089
      ],
      [
        -0.001,
        0.02094,
        -0.99978
      ]
    ],
    "simulated_seconds_remaining": 35.442,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 12.208830768242478,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": -0.075,
                    "z": 0.81
                  },
                  "note": "The cup is fully visible between the jaws but slightly left of their midpoint. I am adjusting laterally and lowering around its rim."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "pick up the cup and place it on the bowl.",
    "joint_positions": [
      -0.07157,
      0.23683,
      -0.04611,
      -1.87741,
      -0.01188,
      2.11424,
      -0.07201
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.60918,
      -0.07447,
      0.81108
    ],
    "tcp_roll_pitch_yaw": [
      -4e-05,
      0.00132,
      -0.00042
    ],
    "tcp_rotation_matrix": [
      [
        0.99927,
        -0.0382,
        -0.00216
      ],
      [
        -0.03824,
        -0.99905,
        -0.02087
      ],
      [
        -0.00136,
        0.02094,
        -0.99978
      ]
    ],
    "simulated_seconds_remaining": 34.65,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 8.807524792850018,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.755
                  },
                  "note": "The cup is now centered across the jaw opening. I am descending along its sides to obtain a firm wall grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "pick up the cup and place it on the bowl.",
    "joint_positions": [
      -0.07042,
      0.22911,
      -0.04259,
      -1.92156,
      -0.00776,
      2.23567,
      -0.07214
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.62431,
      -0.07237,
      0.80718
    ],
    "tcp_roll_pitch_yaw": [
      -0.00464,
      -0.08364,
      0.00408
    ],
    "tcp_rotation_matrix": [
      [
        0.99593,
        -0.03573,
        0.08279
      ],
      [
        -0.03376,
        -0.99911,
        -0.02514
      ],
      [
        0.08361,
        0.02225,
        -0.99625
      ]
    ],
    "simulated_seconds_remaining": 33.99,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 9.007639551535249,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The descent stopped against the cup rim, with the cup between the fingers. I am closing gently at this height to secure the rim."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "pick up the cup and place it on the bowl.",
    "joint_positions": [
      -0.06409,
      0.21473,
      -0.0343,
      -1.91118,
      -0.00321,
      2.23637,
      -0.07249
    ],
    "gripper_open": 0.6545,
    "tcp_xyz": [
      0.63098,
      -0.06295,
      0.82127
    ],
    "tcp_roll_pitch_yaw": [
      -0.00142,
      -0.1096,
      0.01618
    ],
    "tcp_rotation_matrix": [
      [
        0.99377,
        -0.02385,
        0.10887
      ],
      [
        -0.02174,
        -0.99955,
        -0.0205
      ],
      [
        0.10932,
        0.018,
        -0.99384
      ]
    ],
    "simulated_seconds_remaining": 33.066,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 5.6048878924921155,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.97,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 0
                  },
                  "note": "The jaws remain partly open against the cup, indicating contact. I am lifting vertically to verify the cup is secured."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "pick up the cup and place it on the bowl.",
    "joint_positions": [
      -0.06017,
      0.23539,
      -0.03616,
      -1.47196,
      -0.01241,
      1.7097,
      -0.05592
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.63106,
      -0.06295,
      0.96884
    ],
    "tcp_roll_pitch_yaw": [
      -3e-05,
      -0.00137,
      0.00015
    ],
    "tcp_rotation_matrix": [
      [
        0.99929,
        -0.03769,
        0.00054
      ],
      [
        -0.03767,
        -0.99907,
        -0.02087
      ],
      [
        0.00132,
        0.02083,
        -0.99978
      ]
    ],
    "simulated_seconds_remaining": 31.746,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 8.80704466626048,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.61,
                    "y": -0.075,
                    "z": 0.815,
                    "gripper": 1
                  },
                  "note": "The cup stayed on the table after the gripper reopened during lift. I am returning to the rim grasp and will hold the close command throughout the lift."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "pick up the cup and place it on the bowl.",
    "joint_positions": [
      -0.07365,
      0.23302,
      -0.04455,
      -1.86959,
      -0.01208,
      2.10494,
      -0.07313
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.61011,
      -0.07491,
      0.81618
    ],
    "tcp_roll_pitch_yaw": [
      -0.0,
      -0.00098,
      0.00012
    ],
    "tcp_rotation_matrix": [
      [
        0.99929,
        -0.03771,
        0.00014
      ],
      [
        -0.0377,
        -0.99907,
        -0.02084
      ],
      [
        0.00093,
        0.02082,
        -0.99978
      ]
    ],
    "simulated_seconds_remaining": 30.426,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 4.603979801759124,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The cup rim is again within the jaw opening. I am closing the gripper at the current height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "pick up the cup and place it on the bowl.",
    "joint_positions": [
      -0.07365,
      0.23302,
      -0.04455,
      -1.86959,
      -0.01208,
      2.10494,
      -0.07313
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.61011,
      -0.07491,
      0.81617
    ],
    "tcp_roll_pitch_yaw": [
      -0.0,
      -0.00098,
      0.00012
    ],
    "tcp_rotation_matrix": [
      [
        0.99929,
        -0.03771,
        0.00015
      ],
      [
        -0.0377,
        -0.99907,
        -0.02084
      ],
      [
        0.00094,
        0.02082,
        -0.99978
      ]
    ],
    "simulated_seconds_remaining": 29.502,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 6.805732608772814,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.632,
                    "y": -0.063,
                    "z": 0.78,
                    "gripper": 1
                  },
                  "note": "The fingers closed without resistance above the cup. I am reopening and moving slightly forward and lower to engage the cup wall."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "pick up the cup and place it on the bowl.",
    "joint_positions": [
      -0.06473,
      0.2941,
      -0.04175,
      -1.81142,
      -0.01445,
      2.15677,
      -0.05052
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.64042,
      -0.07101,
      0.80987
    ],
    "tcp_roll_pitch_yaw": [
      -0.00817,
      -0.04979,
      -0.00762
    ],
    "tcp_rotation_matrix": [
      [
        0.99772,
        -0.04682,
        0.04869
      ],
      [
        -0.04542,
        -0.99854,
        -0.02937
      ],
      [
        0.05,
        0.02709,
        -0.99838
      ]
    ],
    "simulated_seconds_remaining": 28.578,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 5.404450760222971,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The fingers are contacting the rim at the lower pose. I am closing around the cup now."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "pick up the cup and place it on the bowl.",
    "joint_positions": [
      -0.07215,
      0.27936,
      -0.05187,
      -1.79942,
      -0.03941,
      2.15882,
      -0.05055
    ],
    "gripper_open": 0.5153,
    "tcp_xyz": [
      0.64504,
      -0.08703,
      0.82563
    ],
    "tcp_roll_pitch_yaw": [
      -0.03469,
      -0.07594,
      -0.01051
    ],
    "tcp_rotation_matrix": [
      [
        0.99586,
        -0.0524,
        0.07433
      ],
      [
        -0.04827,
        -0.99725,
        -0.05628
      ],
      [
        0.07708,
        0.05246,
        -0.99564
      ]
    ],
    "simulated_seconds_remaining": 27.654,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 4.603892487473786,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.96,
                    "gripper": 0
                  },
                  "note": "The jaws are held apart by the cup. I am lifting while explicitly maintaining the closed grip."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 19,
  "state": {
    "instruction": "pick up the cup and place it on the bowl.",
    "joint_positions": [
      -0.07127,
      0.21974,
      -0.05189,
      -1.53965,
      -0.03689,
      1.84008,
      -0.06261
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.64511,
      -0.08703,
      0.95883
    ],
    "tcp_roll_pitch_yaw": [
      -0.03472,
      -0.07633,
      -0.0105
    ],
    "tcp_rotation_matrix": [
      [
        0.99583,
        -0.05241,
        0.07472
      ],
      [
        -0.04826,
        -0.99725,
        -0.05631
      ],
      [
        0.07747,
        0.05247,
        -0.99561
      ]
    ],
    "simulated_seconds_remaining": 26.466,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 17.613816117867827,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.7,
                    "y": -0.065,
                    "z": 0.86,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 0,
                    "gripper": 1
                  },
                  "note": "The cup stayed on the table and appears ahead of the grasp point. I am advancing over its center for a deeper side grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 20,
  "state": {
    "instruction": "pick up the cup and place it on the bowl.",
    "joint_positions": [
      -0.06143,
      0.49348,
      -0.03231,
      -1.36436,
      -0.00611,
      1.85919,
      -0.05023
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.69932,
      -0.06522,
      0.86094
    ],
    "tcp_roll_pitch_yaw": [
      -0.00038,
      -0.00051,
      -8e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99928,
        -0.03791,
        -0.00032
      ],
      [
        -0.0379,
        -0.99906,
        -0.02122
      ],
      [
        0.00048,
        0.02121,
        -0.99977
      ]
    ],
    "simulated_seconds_remaining": 25.41,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 24.822037999518216,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.65,
                    "y": -0.025,
                    "z": 0.82,
                    "gripper": 1
                  },
                  "note": "The cup is visible clear of the fingers. I am correcting toward the camera center and aligning the open jaws around the cup."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 21,
  "state": {
    "instruction": "pick up the cup and place it on the bowl.",
    "joint_positions": [
      -0.01725,
      0.34163,
      -0.01706,
      -1.69959,
      -0.01736,
      2.04135,
      0.0123
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.65085,
      -0.02559,
      0.82068
    ],
    "tcp_roll_pitch_yaw": [
      -0.00035,
      -0.00036,
      8e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99929,
        -0.03774,
        -0.00048
      ],
      [
        -0.03774,
        -0.99906,
        -0.02118
      ],
      [
        0.00032,
        0.02118,
        -0.99978
      ]
    ],
    "simulated_seconds_remaining": 24.618,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 6.607987183146179,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": -0.045,
                    "z": 0.755,
                    "gripper": 1
                  },
                  "note": "The cup is centered fore-and-aft and slightly left. I am making a small lateral correction and lowering the open jaws along its sides."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 22,
  "state": {
    "instruction": "pick up the cup and place it on the bowl.",
    "joint_positions": [
      -0.03916,
      0.41109,
      -0.02569,
      -1.76798,
      -0.01333,
      2.17937,
      -0.01725
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.65076,
      -0.04467,
      0.75613
    ],
    "tcp_roll_pitch_yaw": [
      -0.00035,
      3e-05,
      -1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99928,
        -0.03782,
        -0.00087
      ],
      [
        -0.03783,
        -0.99906,
        -0.02119
      ],
      [
        -7e-05,
        0.0212,
        -0.99978
      ]
    ],
    "simulated_seconds_remaining": 23.892,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 5.008783309720457,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The gripper reached the lower pose without being pushed up. I am closing on the cup sides."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 23,
  "state": {
    "instruction": "pick up the cup and place it on the bowl.",
    "joint_positions": [
      -0.04009,
      0.40936,
      -0.02703,
      -1.76618,
      -0.01439,
      2.18022,
      -0.0174
    ],
    "gripper_open": 0.1626,
    "tcp_xyz": [
      0.65188,
      -0.0464,
      0.75815
    ],
    "tcp_roll_pitch_yaw": [
      -0.00198,
      -0.00426,
      -0.00137
    ],
    "tcp_rotation_matrix": [
      [
        0.99922,
        -0.03928,
        0.00339
      ],
      [
        -0.03919,
        -0.99897,
        -0.02282
      ],
      [
        0.00429,
        0.02267,
        -0.99973
      ]
    ],
    "simulated_seconds_remaining": 22.968,
    "calls_remaining_including_this": 35
  },
  "api_seconds": 6.2055975291877985,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.95,
                    "gripper": 0
                  },
                  "note": "The jaws stopped partly closed on the cup. I am lifting while maintaining grip to verify that it is held."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 24,
    "motion_seconds": 1.584,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 24,
  "state": {
    "instruction": "pick up the cup and place it on the bowl.",
    "joint_positions": [
      -0.03942,
      0.29922,
      -0.0279,
      -1.43339,
      -0.0145,
      1.73762,
      -0.02444
    ],
    "gripper_open": 0.1618,
    "tcp_xyz": [
      0.65193,
      -0.04639,
      0.94875
    ],
    "tcp_roll_pitch_yaw": [
      -0.00197,
      -0.00451,
      -0.00137
    ],
    "tcp_rotation_matrix": [
      [
        0.99922,
        -0.03928,
        0.00365
      ],
      [
        -0.03919,
        -0.99897,
        -0.02281
      ],
      [
        0.00454,
        0.02265,
        -0.99973
      ]
    ],
    "simulated_seconds_remaining": 21.384,
    "calls_remaining_including_this": 34
  },
  "api_seconds": 23.62114940583706,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.5,
                    "y": -0.14,
                    "z": 0.95,
                    "gripper": 0
                  },
                  "note": "The cup is visibly suspended from the fingers. The bowl is farther up and left in the wrist view, so I am translating toward it while holding the cup."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 25,
  "state": {
    "instruction": "pick up the cup and place it on the bowl.",
    "joint_positions": [
      -0.13834,
      -0.14053,
      -0.11605,
      -1.98884,
      -0.03899,
      1.85825,
      -0.20298
    ],
    "gripper_open": 0.1618,
    "tcp_xyz": [
      0.50108,
      -0.13941,
      0.95
    ],
    "tcp_roll_pitch_yaw": [
      -0.00195,
      -0.00447,
      -0.00159
    ],
    "tcp_rotation_matrix": [
      [
        0.99921,
        -0.0395,
        0.0036
      ],
      [
        -0.0394,
        -0.99896,
        -0.0228
      ],
      [
        0.0045,
        0.02264,
        -0.99973
      ]
    ],
    "simulated_seconds_remaining": 19.866,
    "calls_remaining_including_this": 33
  },
  "api_seconds": 9.811299512162805,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.41,
                    "y": -0.1,
                    "z": 0.89,
                    "gripper": 0
                  },
                  "note": "The bowl is visible just beyond the held cup. I am moving the cup over its center and lowering toward placement height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 26,
  "state": {
    "instruction": "pick up the cup and place it on the bowl.",
    "joint_positions": [
      -0.13303,
      -0.41334,
      -0.08631,
      -2.40875,
      -0.06188,
      2.00418,
      -0.14703
    ],
    "gripper_open": 0.1611,
    "tcp_xyz": [
      0.41101,
      -0.10043,
      0.89065
    ],
    "tcp_roll_pitch_yaw": [
      -0.0019,
      -0.00428,
      -0.00155
    ],
    "tcp_rotation_matrix": [
      [
        0.99922,
        -0.03946,
        0.00341
      ],
      [
        -0.03937,
        -0.99897,
        -0.02275
      ],
      [
        0.0043,
        0.02259,
        -0.99974
      ]
    ],
    "simulated_seconds_remaining": 18.81,
    "calls_remaining_including_this": 32
  },
  "api_seconds": 8.206591258756816,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.825,
                    "gripper": 0
                  },
                  "note": "The bowl is directly beneath the held cup and mostly occluded. I am lowering the cup to just above the bowl rim before release."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 27,
  "state": {
    "instruction": "pick up the cup and place it on the bowl.",
    "joint_positions": [
      -0.13405,
      -0.34801,
      -0.09253,
      -2.52284,
      -0.06475,
      2.18307,
      -0.14471
    ],
    "gripper_open": 0.1612,
    "tcp_xyz": [
      0.41091,
      -0.10041,
      0.82615
    ],
    "tcp_roll_pitch_yaw": [
      -0.00181,
      -0.00381,
      -0.00156
    ],
    "tcp_rotation_matrix": [
      [
        0.99922,
        -0.03946,
        0.00294
      ],
      [
        -0.03938,
        -0.99897,
        -0.02266
      ],
      [
        0.00383,
        0.02252,
        -0.99974
      ]
    ],
    "simulated_seconds_remaining": 18.084,
    "calls_remaining_including_this": 31
  },
  "api_seconds": 11.21252200845629,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 1
                  },
                  "note": "The cup is positioned over the bowl at a low release height. I am opening the fingers to set it onto the bowl."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

========================================================================
GPT-Astra / Pick & place / 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,
  "status": "completed",
  "success": true,
  "oracle_success": true,
  "action_decisions": 23,
  "wall_seconds": 313.23,
  "usage": {
    "input_tokens": 443610,
    "cached_input_tokens": 403584,
    "cache_write_input_tokens": 0,
    "output_tokens": 4806,
    "reasoning_output_tokens": 2234
  }
}


CONTROLLER SYSTEM INSTRUCTIONS
You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick-and-place 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 45 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 and grasp the requested object, lift it, move it to the named receptacle, and release it in or on that receptacle. Complete the entire pick-and-place 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 grasp the object and place it in the requested receptacle.


{
  "type": "mcp_tool_call",
  "tool": "observe",
  "arguments": {},
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 1, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [0.02447, -0.75558, 0.02514, -2.33038, 0.0025, 1.61939, -0.02846], \"gripper_open\": 0.9964, \"tcp_xyz\": [0.32689, 0.01653, 1.02265], \"tcp_roll_pitch_yaw\": [0.0, 0.0, 0.0], \"tcp_rotation_matrix\": [[0.99645, 0.07112, 0.04501], [0.07176, -0.99734, -0.01281], [0.04398, 0.01599, -0.9989]], \"simulated_seconds_remaining\": 45.012, \"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,
    "z": 0.9,
    "gripper": 1,
    "note": "The wrist view shows a tissue box on the left side of the dresser and a brown bowl on the right. I move closer for a clearer overhead 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": 0.45,
      "y": 0,
      "z": 0.9,
      "gripper": 1
    },
    "note": "The wrist view shows the tissue box to the left of a brown bowl. I move closer for a clearer overhead view."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 2, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [0.00757, -0.36375, -0.00085, -2.34879, -0.01495, 2.02962, -0.05842], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.449, 0.00012, 0.90085], \"tcp_roll_pitch_yaw\": [1e-05, 0.00032, -3e-05], \"tcp_rotation_matrix\": [[0.99647, 0.0711, 0.04469], [0.07173, -0.99734, -0.0128], [0.04366, 0.01596, -0.99892]], \"simulated_seconds_remaining\": 43.56, \"calls_remaining_including_this\": 56}"
      },
      {
        "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": 0.53,
      "y": 0.16,
      "z": 0.85
    },
    "note": "The tissue box is left of the wrist image and the bowl is right. I shift toward the box while staying above the dresser."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 3, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [0.1234, -0.00523, 0.17749, -2.10012, -0.02902, 2.13356, 0.2442], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.52937, 0.1589, 0.85032], \"tcp_roll_pitch_yaw\": [-4e-05, 0.00045, 0.00019], \"tcp_rotation_matrix\": [[0.99646, 0.07132, 0.04457], [0.07195, -0.99733, -0.01284], [0.04353, 0.016, -0.99892]], \"simulated_seconds_remaining\": 42.042, \"calls_remaining_including_this\": 55}"
      },
      {
        "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": -0.07,
      "z": 0.85
    },
    "note": "The tissue box moved to the far left in the wrist view. I correct sideways to bring it beneath the gripper."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 4, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [-0.07669, -0.06478, -0.0491, -2.17366, -0.01237, 2.15476, -0.1906], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.52936, -0.0688, 0.85], \"tcp_roll_pitch_yaw\": [-2e-05, 0.00045, -0.00013], \"tcp_rotation_matrix\": [[0.99648, 0.071, 0.04456], [0.07164, -0.99735, -0.01283], [0.04353, 0.01598, -0.99892]], \"simulated_seconds_remaining\": 40.194, \"calls_remaining_including_this\": 54}"
      },
      {
        "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": 0.59,
      "y": -0.07,
      "z": 0.74
    },
    "note": "The tissue box is now centered between the visible fingers. I lower toward it and move slightly forward to align the grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 5, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [-0.0769, 0.08257, -0.04739, -2.06647, 0.00102, 2.13316, -0.1874], \"gripper_open\": 1.0, \"tcp_xyz\": [0.55446, -0.06937, 0.81702], \"tcp_roll_pitch_yaw\": [0.01161, 0.06104, -0.00862], \"tcp_rotation_matrix\": [[0.99791, 0.06266, -0.01603], [0.06265, -0.99803, -0.00107], [-0.01606, 7e-05, -0.99987]], \"simulated_seconds_remaining\": 39.072, \"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": 0.62,
      "y": -0.07,
      "z": 0.91,
      "roll": 0,
      "pitch": 0,
      "yaw": 0
    },
    "note": "The arm stopped above the box before reaching the lower target, suggesting contact. I rise and shift forward to align over its center."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 6, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [-0.07095, 0.16465, -0.04183, -1.73147, -0.00083, 1.94167, -0.18322], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.61929, -0.06999, 0.909], \"tcp_roll_pitch_yaw\": [0.00012, 0.00048, -9e-05], \"tcp_rotation_matrix\": [[0.99648, 0.07104, 0.04453], [0.07167, -0.99735, -0.01269], [0.04351, 0.01583, -0.99893]], \"simulated_seconds_remaining\": 38.016, \"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": 0.57,
      "y": -0.09,
      "z": 0.86
    },
    "note": "The box is now clearly visible above the finger gap. I adjust back and slightly right to center the tissue beneath the grasp point."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 7, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [-0.09376, 0.05465, -0.06105, -1.99995, -0.00274, 2.10027, -0.22467], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.57082, -0.08971, 0.8608], \"tcp_roll_pitch_yaw\": [0.00014, 0.00067, -0.00019], \"tcp_rotation_matrix\": [[0.99649, 0.07094, 0.04434], [0.07157, -0.99736, -0.01268], [0.04332, 0.01581, -0.99894]], \"simulated_seconds_remaining\": 37.224, \"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": {
      "z": 0.79
    },
    "note": "The tissue is centered in the wrist image. I lower straight down so the open fingers straddle it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 8, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [-0.09502, 0.12869, -0.06111, -2.09201, 0.00249, 2.26726, -0.22785], \"gripper_open\": 0.9996, \"tcp_xyz\": [0.57106, -0.09019, 0.79165], \"tcp_roll_pitch_yaw\": [-0.00026, -0.00029, -0.00069], \"tcp_rotation_matrix\": [[0.99649, 0.07043, 0.0453], [0.07109, -0.99738, -0.0131], [0.04425, 0.01627, -0.99889]], \"simulated_seconds_remaining\": 36.432, \"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": {
      "z": 0.75
    },
    "note": "The tissue remains between the fingers as the box fills more of the wrist view. I lower a little further to reach a secure grasp height."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 9, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [-0.10069, 0.17897, -0.06655, -2.11997, 0.00441, 2.36603, -0.23093], \"gripper_open\": 1.0, \"tcp_xyz\": [0.57612, -0.09792, 0.76002], \"tcp_roll_pitch_yaw\": [-0.00635, -0.02024, -0.00938], \"tcp_rotation_matrix\": [[0.996, 0.0613, 0.06503], [0.0627, -0.99784, -0.01976], [0.06368, 0.02375, -0.99769]], \"simulated_seconds_remaining\": 35.838, \"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 fingers are down around the tissue box, with the tissue centered in their gap. I close the gripper to grasp it."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 10, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [-0.10204, 0.17567, -0.06847, -2.11813, 0.00262, 2.36563, -0.23168], \"gripper_open\": 0.9166, \"tcp_xyz\": [0.57698, -0.10022, 0.76275], \"tcp_roll_pitch_yaw\": [-0.00859, -0.02471, -0.01063], \"tcp_rotation_matrix\": [[0.99579, 0.05989, 0.06944], [0.06156, -0.99786, -0.02212], [0.06797, 0.0263, -0.99734]], \"simulated_seconds_remaining\": 34.914, \"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": {
      "z": 0.94
    },
    "note": "The gripper remains partly open under load, consistent with holding the box. I lift vertically to verify the grasp and clear the dresser."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 11, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [-0.09928, 0.01626, -0.06925, -1.85266, -0.00968, 1.94149, -0.22615], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.57705, -0.10024, 0.93878], \"tcp_roll_pitch_yaw\": [-0.00863, -0.0251, -0.01062], \"tcp_rotation_matrix\": [[0.99576, 0.05988, 0.06983], [0.06156, -0.99786, -0.02217], [0.06836, 0.02638, -0.99731]], \"simulated_seconds_remaining\": 33.462, \"calls_remaining_including_this\": 47}"
      },
      {
        "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": {
      "z": 0.77,
      "gripper": 1,
      "yaw": -0.4,
      "roll": 0,
      "pitch": 0
    },
    "note": "The box stayed on the dresser during the lift. I realign the jaws with its narrow sides and descend for another grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 12, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [-0.08586, 0.18133, -0.08132, -2.07785, -0.01104, 2.29922, 0.16775], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.57697, -0.10022, 0.77083], \"tcp_roll_pitch_yaw\": [-0.00012, 0.0002, -0.39763], \"tcp_rotation_matrix\": [[0.94651, -0.32062, 0.03631], [-0.31969, -0.94707, -0.02927], [0.04377, 0.0161, -0.99891]], \"simulated_seconds_remaining\": 32.01, \"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": {
      "z": 0.84,
      "yaw": 0.45,
      "gripper": 1
    },
    "note": "The first rotation increased the box’s diagonal angle. I rise slightly and rotate the other way to align the fingers with its narrow width."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 13, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [-0.1472, 0.0974, -0.03114, -2.00067, 0.02225, 2.14198, -0.70678], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.57701, -0.10023, 0.83972], \"tcp_roll_pitch_yaw\": [-0.00019, 9e-05, 0.44543], \"tcp_rotation_matrix\": [[0.86831, 0.49388, 0.04614], [0.49408, -0.86938, 0.00763], [0.04388, 0.01617, -0.99891]], \"simulated_seconds_remaining\": 30.558, \"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": 0.54,
      "y": -0.115,
      "z": 0.77,
      "gripper": 1
    },
    "note": "The box’s long sides now run along the fingers. I center the jaw gap farther over the box and lower to its sides."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 14, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [-0.16786, 0.08954, -0.04745, -2.20216, 0.02981, 2.33455, -0.75209], \"gripper_open\": 0.9966, \"tcp_xyz\": [0.5405, -0.11479, 0.77097], \"tcp_roll_pitch_yaw\": [-0.0, 0.00033, 0.44536], \"tcp_rotation_matrix\": [[0.86835, 0.49383, 0.04584], [0.49402, -0.86941, 0.00768], [0.04365, 0.01597, -0.99892]], \"simulated_seconds_remaining\": 29.7, \"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": {
      "gripper": 0
    },
    "note": "The box sits squarely between the open fingers. I close the jaws around its narrow sides."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 15, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [-0.17165, 0.08151, -0.05248, -2.19193, 0.02766, 2.34204, -0.75198], \"gripper_open\": 0.1982, \"tcp_xyz\": [0.54678, -0.12153, 0.78077], \"tcp_roll_pitch_yaw\": [-0.01724, -0.0189, 0.43792], \"tcp_rotation_matrix\": [[0.87078, 0.48658, 0.07058], [0.48781, -0.87295, -0.0001], [0.06156, 0.03452, -0.99751]], \"simulated_seconds_remaining\": 28.776, \"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": {
      "z": 0.95,
      "gripper": 0
    },
    "note": "The jaws closed around the tissue. I maintain closure and lift to check that the object follows."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 16, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [-0.17115, -0.06257, -0.05249, -1.91993, 0.01311, 1.92669, -0.73736], \"gripper_open\": 0.0, \"tcp_xyz\": [0.54685, -0.12155, 0.94883], \"tcp_roll_pitch_yaw\": [-0.01745, -0.0192, 0.43793], \"tcp_rotation_matrix\": [[0.87076, 0.48657, 0.07094], [0.48781, -0.87295, -0.00017], [0.06184, 0.03475, -0.99748]], \"simulated_seconds_remaining\": 27.324, \"calls_remaining_including_this\": 42}"
      },
      {
        "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": 0.585,
      "y": -0.12,
      "z": 0.79,
      "gripper": 1,
      "roll": 0,
      "pitch": 0
    },
    "note": "The object did not rise, so the last grasp missed its edge. I move the jaw gap forward over the box’s center and reopen for a deeper grasp."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 17, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [-0.16102, 0.16827, -0.03984, -2.01442, 0.03127, 2.24558, -0.73684], \"gripper_open\": 0.9968, \"tcp_xyz\": [0.58909, -0.1156, 0.80187], \"tcp_roll_pitch_yaw\": [-0.01112, -0.01617, 0.44635], \"tcp_rotation_matrix\": [[0.86689, 0.49417, 0.06549], [0.49496, -0.86891, 0.00483], [0.05929, 0.02823, -0.99784]], \"simulated_seconds_remaining\": 25.938, \"calls_remaining_including_this\": 41}"
      },
      {
        "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": 0.59,
      "y": -0.1,
      "z": 0.765,
      "yaw": 0.72,
      "gripper": 1
    },
    "note": "The tissue box shifted and rotated slightly. I follow its center and align the jaws with its new narrow-side direction."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 18, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [-0.17361, 0.2139, -0.00465, -2.05062, 0.04608, 2.32133, -0.99598], \"gripper_open\": 0.9972, \"tcp_xyz\": [0.59009, -0.10025, 0.76572], \"tcp_roll_pitch_yaw\": [-0.01137, -0.01638, 0.71571], \"tcp_rotation_matrix\": [[0.7039, 0.70757, 0.06216], [0.7078, -0.70606, 0.02203], [0.05948, 0.02849, -0.99782]], \"simulated_seconds_remaining\": 25.278, \"calls_remaining_including_this\": 40}"
      },
      {
        "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 jaws now straddle the aligned tissue box near its middle. I close them firmly."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 19, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [-0.17211, 0.20588, -0.00259, -2.04936, 0.04697, 2.31093, -0.99629], \"gripper_open\": 0.7556, \"tcp_xyz\": [0.58955, -0.09771, 0.77001], \"tcp_roll_pitch_yaw\": [-0.00959, -0.0168, 0.71937], \"tcp_rotation_matrix\": [[0.70134, 0.71019, 0.06123], [0.7103, -0.7035, 0.02387], [0.06002, 0.02675, -0.99784]], \"simulated_seconds_remaining\": 24.354, \"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": 0.96,
      "gripper": 0
    },
    "note": "The jaws are stopped at the box’s width. I keep them closed while lifting the tissue box clear of the dresser."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 20, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [-0.173, 0.06355, -0.00495, -1.73958, 0.0361, 1.85853, -0.97816], \"gripper_open\": 0.215, \"tcp_xyz\": [0.5895, -0.09771, 0.95839], \"tcp_roll_pitch_yaw\": [-0.00921, -0.01645, 0.71938], \"tcp_rotation_matrix\": [[0.70136, 0.71022, 0.06071], [0.7103, -0.70349, 0.02392], [0.0597, 0.02635, -0.99787]], \"simulated_seconds_remaining\": 22.77, \"calls_remaining_including_this\": 38}"
      },
      {
        "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": 0.47,
      "y": 0.13,
      "z": 0.97,
      "gripper": 0
    },
    "note": "The tissue box is visibly lifted in the exterior view. I carry it toward the brown bowl while keeping the jaws closed."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 21, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [0.01117, -0.29181, 0.22284, -2.10138, 0.07691, 1.87947, -0.58541], \"gripper_open\": 0.2141, \"tcp_xyz\": [0.47047, 0.12891, 0.96961], \"tcp_roll_pitch_yaw\": [-0.00886, -0.01573, 0.71969], \"tcp_rotation_matrix\": [[0.70118, 0.71046, 0.05993], [0.71054, -0.70326, 0.02374], [0.05901, 0.02594, -0.99792]], \"simulated_seconds_remaining\": 20.724, \"calls_remaining_including_this\": 37}"
      },
      {
        "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": {
      "z": 0.87,
      "gripper": 0
    },
    "note": "The box is above the bowl in the exterior view, and the bowl is partly hidden beneath it in the wrist view. I lower toward the rim."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 22, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [0.01408, -0.24381, 0.23651, -2.30357, 0.07579, 2.13502, -0.5833], \"gripper_open\": 0.1461, \"tcp_xyz\": [0.47185, 0.12874, 0.87396], \"tcp_roll_pitch_yaw\": [-0.01242, -0.02056, 0.71922], \"tcp_rotation_matrix\": [[0.70119, 0.70992, 0.06591], [0.71014, -0.70365, 0.0242], [0.06356, 0.02983, -0.99753]], \"simulated_seconds_remaining\": 19.734, \"calls_remaining_including_this\": 36}"
      },
      {
        "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": 0.45,
      "y": 0.16,
      "z": 0.845,
      "gripper": 0
    },
    "note": "The exterior view shows the box slightly to the right of the bowl. I make a small centering correction and settle it onto the rim."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "{\"call\": 23, \"instruction\": \"pick up the tissue and place it on the bowl.\", \"joint_positions\": [0.04291, -0.27785, 0.27714, -2.36442, 0.08599, 2.21823, -0.51916], \"gripper_open\": 0.2388, \"tcp_xyz\": [0.4625, 0.15868, 0.86837], \"tcp_roll_pitch_yaw\": [-0.04111, -0.0656, 0.71531], \"tcp_rotation_matrix\": [[0.70035, 0.70388, 0.11858], [0.70585, -0.70765, 0.0317], [0.10623, 0.0615, -0.99244]], \"simulated_seconds_remaining\": 19.14, \"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": 1
    },
    "note": "The box has reached support over the bowl and the arm stopped lowering. I open the gripper to leave the tissue box on the bowl."
  },
  "result": {
    "content": [
      {
        "type": "text",
        "text": "Episode ended. Do not call more tools. Return a brief final response."
      }
    ],
    "structured_content": null
  },
  "error": null,
  "status": "completed"
}

Placed the tissue on the bowl.

TURN USAGE
{
  "input_tokens": 443610,
  "cached_input_tokens": 403584,
  "cache_write_input_tokens": 0,
  "output_tokens": 4806,
  "reasoning_output_tokens": 2234
}


OBSERVATIONS AND EXECUTED ACTIONS

{
  "call": 1,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      0.02447,
      -0.75558,
      0.02514,
      -2.33038,
      0.0025,
      1.61939,
      -0.02846
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.32689,
      0.01653,
      1.02265
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99645,
        0.07112,
        0.04501
      ],
      [
        0.07176,
        -0.99734,
        -0.01281
      ],
      [
        0.04398,
        0.01599,
        -0.9989
      ]
    ],
    "simulated_seconds_remaining": 45.012,
    "calls_remaining_including_this": 57
  },
  "api_seconds": 27.81985049881041,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.45,
                    "y": 0,
                    "z": 0.9,
                    "gripper": 1
                  },
                  "note": "The wrist view shows the tissue box to the left of a brown bowl. I move closer for a clearer overhead view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 22,
    "motion_seconds": 1.452,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      0.00757,
      -0.36375,
      -0.00085,
      -2.34879,
      -0.01495,
      2.02962,
      -0.05842
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.449,
      0.00012,
      0.90085
    ],
    "tcp_roll_pitch_yaw": [
      1e-05,
      0.00032,
      -3e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99647,
        0.0711,
        0.04469
      ],
      [
        0.07173,
        -0.99734,
        -0.0128
      ],
      [
        0.04366,
        0.01596,
        -0.99892
      ]
    ],
    "simulated_seconds_remaining": 43.56,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 9.00668291002512,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.53,
                    "y": 0.16,
                    "z": 0.85
                  },
                  "note": "The tissue box is left of the wrist image and the bowl is right. I shift toward the box while staying above the dresser."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      0.1234,
      -0.00523,
      0.17749,
      -2.10012,
      -0.02902,
      2.13356,
      0.2442
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.52937,
      0.1589,
      0.85032
    ],
    "tcp_roll_pitch_yaw": [
      -4e-05,
      0.00045,
      0.00019
    ],
    "tcp_rotation_matrix": [
      [
        0.99646,
        0.07132,
        0.04457
      ],
      [
        0.07195,
        -0.99733,
        -0.01284
      ],
      [
        0.04353,
        0.016,
        -0.99892
      ]
    ],
    "simulated_seconds_remaining": 42.042,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 11.609595216810703,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": -0.07,
                    "z": 0.85
                  },
                  "note": "The tissue box moved to the far left in the wrist view. I correct sideways to bring it beneath the gripper."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 28,
    "motion_seconds": 1.848,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      -0.07669,
      -0.06478,
      -0.0491,
      -2.17366,
      -0.01237,
      2.15476,
      -0.1906
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.52936,
      -0.0688,
      0.85
    ],
    "tcp_roll_pitch_yaw": [
      -2e-05,
      0.00045,
      -0.00013
    ],
    "tcp_rotation_matrix": [
      [
        0.99648,
        0.071,
        0.04456
      ],
      [
        0.07164,
        -0.99735,
        -0.01283
      ],
      [
        0.04353,
        0.01598,
        -0.99892
      ]
    ],
    "simulated_seconds_remaining": 40.194,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 11.810256518423557,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.59,
                    "y": -0.07,
                    "z": 0.74
                  },
                  "note": "The tissue box is now centered between the visible fingers. I lower toward it and move slightly forward to align the grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      -0.0769,
      0.08257,
      -0.04739,
      -2.06647,
      0.00102,
      2.13316,
      -0.1874
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.55446,
      -0.06937,
      0.81702
    ],
    "tcp_roll_pitch_yaw": [
      0.01161,
      0.06104,
      -0.00862
    ],
    "tcp_rotation_matrix": [
      [
        0.99791,
        0.06266,
        -0.01603
      ],
      [
        0.06265,
        -0.99803,
        -0.00107
      ],
      [
        -0.01606,
        7e-05,
        -0.99987
      ]
    ],
    "simulated_seconds_remaining": 39.072,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 11.608932067640126,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.62,
                    "y": -0.07,
                    "z": 0.91,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 0
                  },
                  "note": "The arm stopped above the box before reaching the lower target, suggesting contact. I rise and shift forward to align over its center."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      -0.07095,
      0.16465,
      -0.04183,
      -1.73147,
      -0.00083,
      1.94167,
      -0.18322
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.61929,
      -0.06999,
      0.909
    ],
    "tcp_roll_pitch_yaw": [
      0.00012,
      0.00048,
      -9e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99648,
        0.07104,
        0.04453
      ],
      [
        0.07167,
        -0.99735,
        -0.01269
      ],
      [
        0.04351,
        0.01583,
        -0.99893
      ]
    ],
    "simulated_seconds_remaining": 38.016,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 8.607388641685247,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.57,
                    "y": -0.09,
                    "z": 0.86
                  },
                  "note": "The box is now clearly visible above the finger gap. I adjust back and slightly right to center the tissue beneath the grasp point."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      -0.09376,
      0.05465,
      -0.06105,
      -1.99995,
      -0.00274,
      2.10027,
      -0.22467
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.57082,
      -0.08971,
      0.8608
    ],
    "tcp_roll_pitch_yaw": [
      0.00014,
      0.00067,
      -0.00019
    ],
    "tcp_rotation_matrix": [
      [
        0.99649,
        0.07094,
        0.04434
      ],
      [
        0.07157,
        -0.99736,
        -0.01268
      ],
      [
        0.04332,
        0.01581,
        -0.99894
      ]
    ],
    "simulated_seconds_remaining": 37.224,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 5.204910929314792,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.79
                  },
                  "note": "The tissue is centered in the wrist image. I lower straight down so the open fingers straddle it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      -0.09502,
      0.12869,
      -0.06111,
      -2.09201,
      0.00249,
      2.26726,
      -0.22785
    ],
    "gripper_open": 0.9996,
    "tcp_xyz": [
      0.57106,
      -0.09019,
      0.79165
    ],
    "tcp_roll_pitch_yaw": [
      -0.00026,
      -0.00029,
      -0.00069
    ],
    "tcp_rotation_matrix": [
      [
        0.99649,
        0.07043,
        0.0453
      ],
      [
        0.07109,
        -0.99738,
        -0.0131
      ],
      [
        0.04425,
        0.01627,
        -0.99889
      ]
    ],
    "simulated_seconds_remaining": 36.432,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 5.6047804187983274,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.75
                  },
                  "note": "The tissue remains between the fingers as the box fills more of the wrist view. I lower a little further to reach a secure grasp height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      -0.10069,
      0.17897,
      -0.06655,
      -2.11997,
      0.00441,
      2.36603,
      -0.23093
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.57612,
      -0.09792,
      0.76002
    ],
    "tcp_roll_pitch_yaw": [
      -0.00635,
      -0.02024,
      -0.00938
    ],
    "tcp_rotation_matrix": [
      [
        0.996,
        0.0613,
        0.06503
      ],
      [
        0.0627,
        -0.99784,
        -0.01976
      ],
      [
        0.06368,
        0.02375,
        -0.99769
      ]
    ],
    "simulated_seconds_remaining": 35.838,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 5.2045462829992175,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The fingers are down around the tissue box, with the tissue centered in their gap. I close the gripper to grasp it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      -0.10204,
      0.17567,
      -0.06847,
      -2.11813,
      0.00262,
      2.36563,
      -0.23168
    ],
    "gripper_open": 0.9166,
    "tcp_xyz": [
      0.57698,
      -0.10022,
      0.76275
    ],
    "tcp_roll_pitch_yaw": [
      -0.00859,
      -0.02471,
      -0.01063
    ],
    "tcp_rotation_matrix": [
      [
        0.99579,
        0.05989,
        0.06944
      ],
      [
        0.06156,
        -0.99786,
        -0.02212
      ],
      [
        0.06797,
        0.0263,
        -0.99734
      ]
    ],
    "simulated_seconds_remaining": 34.914,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 4.403841524384916,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.94
                  },
                  "note": "The gripper remains partly open under load, consistent with holding the box. I lift vertically to verify the grasp and clear the dresser."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 22,
    "motion_seconds": 1.452,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      -0.09928,
      0.01626,
      -0.06925,
      -1.85266,
      -0.00968,
      1.94149,
      -0.22615
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.57705,
      -0.10024,
      0.93878
    ],
    "tcp_roll_pitch_yaw": [
      -0.00863,
      -0.0251,
      -0.01062
    ],
    "tcp_rotation_matrix": [
      [
        0.99576,
        0.05988,
        0.06983
      ],
      [
        0.06156,
        -0.99786,
        -0.02217
      ],
      [
        0.06836,
        0.02638,
        -0.99731
      ]
    ],
    "simulated_seconds_remaining": 33.462,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 12.810063528828323,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.77,
                    "gripper": 1,
                    "yaw": -0.4,
                    "roll": 0,
                    "pitch": 0
                  },
                  "note": "The box stayed on the dresser during the lift. I realign the jaws with its narrow sides and descend for another grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 22,
    "motion_seconds": 1.452,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      -0.08586,
      0.18133,
      -0.08132,
      -2.07785,
      -0.01104,
      2.29922,
      0.16775
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.57697,
      -0.10022,
      0.77083
    ],
    "tcp_roll_pitch_yaw": [
      -0.00012,
      0.0002,
      -0.39763
    ],
    "tcp_rotation_matrix": [
      [
        0.94651,
        -0.32062,
        0.03631
      ],
      [
        -0.31969,
        -0.94707,
        -0.02927
      ],
      [
        0.04377,
        0.0161,
        -0.99891
      ]
    ],
    "simulated_seconds_remaining": 32.01,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 6.605339207686484,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.84,
                    "yaw": 0.45,
                    "gripper": 1
                  },
                  "note": "The first rotation increased the box’s diagonal angle. I rise slightly and rotate the other way to align the fingers with its narrow width."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 22,
    "motion_seconds": 1.452,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      -0.1472,
      0.0974,
      -0.03114,
      -2.00067,
      0.02225,
      2.14198,
      -0.70678
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.57701,
      -0.10023,
      0.83972
    ],
    "tcp_roll_pitch_yaw": [
      -0.00019,
      9e-05,
      0.44543
    ],
    "tcp_rotation_matrix": [
      [
        0.86831,
        0.49388,
        0.04614
      ],
      [
        0.49408,
        -0.86938,
        0.00763
      ],
      [
        0.04388,
        0.01617,
        -0.99891
      ]
    ],
    "simulated_seconds_remaining": 30.558,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 13.81104329507798,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.54,
                    "y": -0.115,
                    "z": 0.77,
                    "gripper": 1
                  },
                  "note": "The box’s long sides now run along the fingers. I center the jaw gap farther over the box and lower to its sides."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      -0.16786,
      0.08954,
      -0.04745,
      -2.20216,
      0.02981,
      2.33455,
      -0.75209
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.5405,
      -0.11479,
      0.77097
    ],
    "tcp_roll_pitch_yaw": [
      -0.0,
      0.00033,
      0.44536
    ],
    "tcp_rotation_matrix": [
      [
        0.86835,
        0.49383,
        0.04584
      ],
      [
        0.49402,
        -0.86941,
        0.00768
      ],
      [
        0.04365,
        0.01597,
        -0.99892
      ]
    ],
    "simulated_seconds_remaining": 29.7,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 6.405173245817423,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The box sits squarely between the open fingers. I close the jaws around its narrow sides."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      -0.17165,
      0.08151,
      -0.05248,
      -2.19193,
      0.02766,
      2.34204,
      -0.75198
    ],
    "gripper_open": 0.1982,
    "tcp_xyz": [
      0.54678,
      -0.12153,
      0.78077
    ],
    "tcp_roll_pitch_yaw": [
      -0.01724,
      -0.0189,
      0.43792
    ],
    "tcp_rotation_matrix": [
      [
        0.87078,
        0.48658,
        0.07058
      ],
      [
        0.48781,
        -0.87295,
        -0.0001
      ],
      [
        0.06156,
        0.03452,
        -0.99751
      ]
    ],
    "simulated_seconds_remaining": 28.776,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 4.403589673340321,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.95,
                    "gripper": 0
                  },
                  "note": "The jaws closed around the tissue. I maintain closure and lift to check that the object follows."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 22,
    "motion_seconds": 1.452,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      -0.17115,
      -0.06257,
      -0.05249,
      -1.91993,
      0.01311,
      1.92669,
      -0.73736
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.54685,
      -0.12155,
      0.94883
    ],
    "tcp_roll_pitch_yaw": [
      -0.01745,
      -0.0192,
      0.43793
    ],
    "tcp_rotation_matrix": [
      [
        0.87076,
        0.48657,
        0.07094
      ],
      [
        0.48781,
        -0.87295,
        -0.00017
      ],
      [
        0.06184,
        0.03475,
        -0.99748
      ]
    ],
    "simulated_seconds_remaining": 27.324,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 19.81504898145795,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.585,
                    "y": -0.12,
                    "z": 0.79,
                    "gripper": 1,
                    "roll": 0,
                    "pitch": 0
                  },
                  "note": "The object did not rise, so the last grasp missed its edge. I move the jaw gap forward over the box’s center and reopen for a deeper grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      -0.16102,
      0.16827,
      -0.03984,
      -2.01442,
      0.03127,
      2.24558,
      -0.73684
    ],
    "gripper_open": 0.9968,
    "tcp_xyz": [
      0.58909,
      -0.1156,
      0.80187
    ],
    "tcp_roll_pitch_yaw": [
      -0.01112,
      -0.01617,
      0.44635
    ],
    "tcp_rotation_matrix": [
      [
        0.86689,
        0.49417,
        0.06549
      ],
      [
        0.49496,
        -0.86891,
        0.00483
      ],
      [
        0.05929,
        0.02823,
        -0.99784
      ]
    ],
    "simulated_seconds_remaining": 25.938,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 9.807608245871961,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.59,
                    "y": -0.1,
                    "z": 0.765,
                    "yaw": 0.72,
                    "gripper": 1
                  },
                  "note": "The tissue box shifted and rotated slightly. I follow its center and align the jaws with its new narrow-side direction."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      -0.17361,
      0.2139,
      -0.00465,
      -2.05062,
      0.04608,
      2.32133,
      -0.99598
    ],
    "gripper_open": 0.9972,
    "tcp_xyz": [
      0.59009,
      -0.10025,
      0.76572
    ],
    "tcp_roll_pitch_yaw": [
      -0.01137,
      -0.01638,
      0.71571
    ],
    "tcp_rotation_matrix": [
      [
        0.7039,
        0.70757,
        0.06216
      ],
      [
        0.7078,
        -0.70606,
        0.02203
      ],
      [
        0.05948,
        0.02849,
        -0.99782
      ]
    ],
    "simulated_seconds_remaining": 25.278,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 5.404349294491112,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "The jaws now straddle the aligned tissue box near its middle. I close them firmly."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 19,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      -0.17211,
      0.20588,
      -0.00259,
      -2.04936,
      0.04697,
      2.31093,
      -0.99629
    ],
    "gripper_open": 0.7556,
    "tcp_xyz": [
      0.58955,
      -0.09771,
      0.77001
    ],
    "tcp_roll_pitch_yaw": [
      -0.00959,
      -0.0168,
      0.71937
    ],
    "tcp_rotation_matrix": [
      [
        0.70134,
        0.71019,
        0.06123
      ],
      [
        0.7103,
        -0.7035,
        0.02387
      ],
      [
        0.06002,
        0.02675,
        -0.99784
      ]
    ],
    "simulated_seconds_remaining": 24.354,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 5.404442617669702,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.96,
                    "gripper": 0
                  },
                  "note": "The jaws are stopped at the box’s width. I keep them closed while lifting the tissue box clear of the dresser."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 24,
    "motion_seconds": 1.584,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 20,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      -0.173,
      0.06355,
      -0.00495,
      -1.73958,
      0.0361,
      1.85853,
      -0.97816
    ],
    "gripper_open": 0.215,
    "tcp_xyz": [
      0.5895,
      -0.09771,
      0.95839
    ],
    "tcp_roll_pitch_yaw": [
      -0.00921,
      -0.01645,
      0.71938
    ],
    "tcp_rotation_matrix": [
      [
        0.70136,
        0.71022,
        0.06071
      ],
      [
        0.7103,
        -0.70349,
        0.02392
      ],
      [
        0.0597,
        0.02635,
        -0.99787
      ]
    ],
    "simulated_seconds_remaining": 22.77,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 18.414846641011536,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.47,
                    "y": 0.13,
                    "z": 0.97,
                    "gripper": 0
                  },
                  "note": "The tissue box is visibly lifted in the exterior view. I carry it toward the brown bowl while keeping the jaws closed."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 31,
    "motion_seconds": 2.0460000000000003,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 21,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      0.01117,
      -0.29181,
      0.22284,
      -2.10138,
      0.07691,
      1.87947,
      -0.58541
    ],
    "gripper_open": 0.2141,
    "tcp_xyz": [
      0.47047,
      0.12891,
      0.96961
    ],
    "tcp_roll_pitch_yaw": [
      -0.00886,
      -0.01573,
      0.71969
    ],
    "tcp_rotation_matrix": [
      [
        0.70118,
        0.71046,
        0.05993
      ],
      [
        0.71054,
        -0.70326,
        0.02374
      ],
      [
        0.05901,
        0.02594,
        -0.99792
      ]
    ],
    "simulated_seconds_remaining": 20.724,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 5.80477637052536,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.87,
                    "gripper": 0
                  },
                  "note": "The box is above the bowl in the exterior view, and the bowl is partly hidden beneath it in the wrist view. I lower toward the rim."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 22,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      0.01408,
      -0.24381,
      0.23651,
      -2.30357,
      0.07579,
      2.13502,
      -0.5833
    ],
    "gripper_open": 0.1461,
    "tcp_xyz": [
      0.47185,
      0.12874,
      0.87396
    ],
    "tcp_roll_pitch_yaw": [
      -0.01242,
      -0.02056,
      0.71922
    ],
    "tcp_rotation_matrix": [
      [
        0.70119,
        0.70992,
        0.06591
      ],
      [
        0.71014,
        -0.70365,
        0.0242
      ],
      [
        0.06356,
        0.02983,
        -0.99753
      ]
    ],
    "simulated_seconds_remaining": 19.734,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 26.426915302872658,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.45,
                    "y": 0.16,
                    "z": 0.845,
                    "gripper": 0
                  },
                  "note": "The exterior view shows the box slightly to the right of the bowl. I make a small centering correction and settle it onto the rim."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 23,
  "state": {
    "instruction": "pick up the tissue and place it on the bowl.",
    "joint_positions": [
      0.04291,
      -0.27785,
      0.27714,
      -2.36442,
      0.08599,
      2.21823,
      -0.51916
    ],
    "gripper_open": 0.2388,
    "tcp_xyz": [
      0.4625,
      0.15868,
      0.86837
    ],
    "tcp_roll_pitch_yaw": [
      -0.04111,
      -0.0656,
      0.71531
    ],
    "tcp_rotation_matrix": [
      [
        0.70035,
        0.70388,
        0.11858
      ],
      [
        0.70585,
        -0.70765,
        0.0317
      ],
      [
        0.10623,
        0.0615,
        -0.99244
      ]
    ],
    "simulated_seconds_remaining": 19.14,
    "calls_remaining_including_this": 35
  },
  "api_seconds": 5.004330715164542,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 1
                  },
                  "note": "The box has reached support over the bowl and the arm stopped lowering. I open the gripper to leave the tissue box on the bowl."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}